phoenix6.controls.strict_follower#

Module Contents#

class phoenix6.controls.strict_follower.StrictFollower(master_id: int)#

Follow the motor output of another Talon while ignoring the master’s invert setting.

If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in percent supply output control, the duty cycle is matched. Motor direction is strictly determined by the configured invert and not the master. If you want motor direction to match or oppose the master, use FollowerRequest instead.

Parameters:

master_id (int) – Device ID of the master to follow.

property name: str#

Gets the name of this control request.

Returns:

Name of the control request

Return type:

str

property control_info: dict#

Gets information about this control request.

Returns:

Dictonary of control parameter names and corresponding applied values

Return type:

dict

master_id#

Device ID of the master to follow.

with_master_id(new_master_id: int) StrictFollower#

Modifies this Control Request’s master_id parameter and returns itself for method-chaining and easier to use request API.

Parameters:

new_master_id (int) – Parameter to modify

Returns:

Itself

Return type:

StrictFollower

with_update_freq_hz(new_update_freq_hz: phoenix6.units.hertz) StrictFollower#

Sets the period at which this control will update at. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms).

If this field is set to 0 Hz, the control request will be sent immediately as a one-shot frame. This may be useful for advanced applications that require outputs to be synchronized with data acquisition. In this case, we recommend not exceeding 50 ms between control calls.

Parameters:

new_update_freq_hz (hertz) – Parameter to modify

Returns:

Itself

Return type:

StrictFollower