Package com.ctre.phoenix6.controls

Class Follower

java.lang.Object
com.ctre.phoenix6.controls.Follower
All Implemented Interfaces:
ControlRequest, Cloneable
public final class Follower extends Object implements ControlRequest, Cloneable
Follow the motor output of another Talon.

The follower will atomically change its output type when it receives the leader's latest output status signal (DutyCycle, MotorVoltage, TorqueCurrent). If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in duty cycle output control, the duty cycle is matched. If Talon is in voltage output control, the motor voltage is matched. Motor direction either matches the leader's configured direction or opposes it based on the MotorAlignment.

The leader must ensure the status signal corresponding to its control output type (DutyCycle, MotorVoltage, TorqueCurrent) is enabled. The update rate of the status signal determines the update rate of the follower's output and should be no slower than 20 Hz.

  • Field Details

    • LeaderID

      public int LeaderID
      Device ID of the leader to follow.

    • MotorAlignment

      public MotorAlignmentValue MotorAlignment
      Set to Aligned for motor invert to match the leader's configured Invert - which is typical when leader and follower are mechanically linked and spin in the same direction. Set to Opposed for motor invert to oppose the leader's configured Invert - this is typical where the leader and follower mechanically spin in opposite directions.

    • UpdateFreqHz

      public double UpdateFreqHz
      The frequency at which this control will update. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms). Some update frequencies are not supported and will be promoted up to the next highest supported frequency.

      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.

  • Constructor Details

    • Follower

      public Follower(int LeaderID, MotorAlignmentValue MotorAlignment)
      Follow the motor output of another Talon.

      The follower will atomically change its output type when it receives the leader's latest output status signal (DutyCycle, MotorVoltage, TorqueCurrent). If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in duty cycle output control, the duty cycle is matched. If Talon is in voltage output control, the motor voltage is matched. Motor direction either matches the leader's configured direction or opposes it based on the MotorAlignment.

      The leader must ensure the status signal corresponding to its control output type (DutyCycle, MotorVoltage, TorqueCurrent) is enabled. The update rate of the status signal determines the update rate of the follower's output and should be no slower than 20 Hz.

      Parameters:
      LeaderID - Device ID of the leader to follow.
      MotorAlignment - Set to Aligned for motor invert to match the leader's configured Invert - which is typical when leader and follower are mechanically linked and spin in the same direction. Set to Opposed for motor invert to oppose the leader's configured Invert - this is typical where the leader and follower mechanically spin in opposite directions.

  • Method Details

    • getName

      public String getName()
      Description copied from interface: ControlRequest
      Gets the name of this control request.
      Specified by:
      getName in interface ControlRequest
      Returns:
      Name of the control request

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • sendRequest

      public StatusCode sendRequest(CANBus network, int deviceHash)
      Specified by:
      sendRequest in interface ControlRequest

    • getControlInfo

      public Map<String,String> getControlInfo()
      Gets information about this control request.
      Specified by:
      getControlInfo in interface ControlRequest
      Returns:
      Map of control parameter names and corresponding applied values

    • withLeaderID

      public Follower withLeaderID(int newLeaderID)
      Modifies this Control Request's LeaderID parameter and returns itself for method-chaining and easier to use request API.

      Device ID of the leader to follow.

      Parameters:
      newLeaderID - Parameter to modify
      Returns:
      Itself

    • withMotorAlignment

      public Follower withMotorAlignment(MotorAlignmentValue newMotorAlignment)
      Modifies this Control Request's MotorAlignment parameter and returns itself for method-chaining and easier to use request API.

      Set to Aligned for motor invert to match the leader's configured Invert - which is typical when leader and follower are mechanically linked and spin in the same direction. Set to Opposed for motor invert to oppose the leader's configured Invert - this is typical where the leader and follower mechanically spin in opposite directions.

      Parameters:
      newMotorAlignment - Parameter to modify
      Returns:
      Itself

    • withUpdateFreqHz

      public Follower withUpdateFreqHz(double newUpdateFreqHz)
      Sets the frequency at which this control will update. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms). Some update frequencies are not supported and will be promoted up to the next highest supported frequency.

      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.

      Specified by:
      withUpdateFreqHz in interface ControlRequest
      Parameters:
      newUpdateFreqHz - Parameter to modify
      Returns:
      Itself

    • withUpdateFreqHz

      public Follower withUpdateFreqHz(Frequency newUpdateFreqHz)
      Sets the frequency at which this control will update. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms). Some update frequencies are not supported and will be promoted up to the next highest supported frequency.

      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.

      Specified by:
      withUpdateFreqHz in interface ControlRequest
      Parameters:
      newUpdateFreqHz - Parameter to modify
      Returns:
      Itself

    • clone

      public Follower clone()
      Overrides:
      clone in class Object