Package com.ctre.phoenix6.controls

Class StrictFollower

java.lang.Object
com.ctre.phoenix6.controls.StrictFollower
All Implemented Interfaces:
ControlRequest, Cloneable
public final class StrictFollower extends Object implements ControlRequest, Cloneable
Follow the motor output of another Talon while ignoring the leader's invert setting.

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 is strictly determined by the configured invert and not the leader. If you want motor direction to match or oppose the leader, use Follower instead.

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.

    • 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

    • StrictFollower

      public StrictFollower(int LeaderID)
      Follow the motor output of another Talon while ignoring the leader's invert setting.

      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 is strictly determined by the configured invert and not the leader. If you want motor direction to match or oppose the leader, use Follower instead.

      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.

  • 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 StrictFollower 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

    • withUpdateFreqHz

      public StrictFollower 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 StrictFollower 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 StrictFollower clone()
      Overrides:
      clone in class Object