Follow the motor output of another Talon. More...

#include <ctre/phoenixpro/controls/Follower.hpp>

Inheritance diagram for ctre::phoenixpro::controls::Follower:

Public Member Functions
	Follower (int MasterID, bool OpposeMasterDirection)
	Follow the motor output of another Talon. More...

Follower &	WithMasterID (int newMasterID)
	Modifies this Control Request's MasterID parameter and returns itself for method-chaining and easier to use request API. More...

Follower &	WithOpposeMasterDirection (bool newOpposeMasterDirection)
	Modifies this Control Request's OpposeMasterDirection parameter and returns itself for method-chaining and easier to use request API. More...

Follower &	WithUpdateFreqHz (units::frequency::hertz_t newUpdateFreqHz)
	Sets the period at which this control will update at. More...

std::string	ToString () const
	Returns a string representation of the object. More...

void	ForceApplyConfigs ()
	Forces configs to be applied the next time this is used in a setControl. More...

Public Member Functions inherited from ctre::phoenixpro::controls::ControlRequest
	ControlRequest (std::string name)
	Constructs a new Control Request with the given name. More...

ControlInfo &	GetControlInfo ()
	Gets information about this control request. More...

const ControlInfo &	GetControlInfo () const
	Gets information about this control request. More...

virtual	~ControlRequest ()=default

virtual std::string	ToString () const =0

Public Attributes
int	MasterID
	Device ID of the master to follow. More...

bool	OpposeMasterDirection
	Set to false for motor invert to match the master's configured Invert - which is typical when master and follower are mechanically linked and spin in the same direction. More...

units::time::second_t	ConfigTimeout {0.1_s}
	The timeout when sending configs associated with this control. More...

units::frequency::hertz_t	UpdateFreqHz {20_Hz}
	The period at which this control will update at. More...

Additional Inherited Members
Protected Member Functions inherited from ctre::phoenixpro::controls::ControlRequest
	ControlRequest (ControlRequest const &)=default

	ControlRequest (ControlRequest &&)=default

ControlRequest &	operator= (ControlRequest const &)=default

ControlRequest &	operator= (ControlRequest &&)=default

Protected Attributes inherited from ctre::phoenixpro::controls::ControlRequest
ControlInfo	requestReference

Detailed Description

Follow the motor output of another Talon.

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 either matches master's configured direction or opposes it based on OpposeMasterDirection.

Constructor & Destructor Documentation

◆ Follower()

ctre::phoenixpro::controls::Follower::Follower	(	int	MasterID,
		bool	OpposeMasterDirection
	)

inline

Follow the motor output of another Talon.

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 either matches master's configured direction or opposes it based on OpposeMasterDirection.

Parameters

MasterID	Device ID of the master to follow.
OpposeMasterDirection	Set to false for motor invert to match the master's configured Invert - which is typical when master and follower are mechanically linked and spin in the same direction. Set to true for motor invert to oppose the master's configured Invert this is typical where the the master and follower mechanically spin in opposite directions.

Member Function Documentation

◆ ForceApplyConfigs()

void ctre::phoenixpro::controls::Follower::ForceApplyConfigs ( )

inline

Forces configs to be applied the next time this is used in a setControl.

This is not necessary in the majority of cases, because Phoenix will make sure configs are properly set when they are not already set

◆ ToString()

std::string ctre::phoenixpro::controls::Follower::ToString ( ) const

inlinevirtual

Returns a string representation of the object.

Returns: a string representation of the object.

Implements ctre::phoenixpro::controls::ControlRequest.

◆ WithMasterID()

Follower & ctre::phoenixpro::controls::Follower::WithMasterID ( int newMasterID )

inline

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

Parameters

newMasterID Parameter to modify

Returns: Itself

◆ WithOpposeMasterDirection()

Follower & ctre::phoenixpro::controls::Follower::WithOpposeMasterDirection ( bool newOpposeMasterDirection )

inline

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

Parameters

newOpposeMasterDirection Parameter to modify

Returns: Itself

◆ WithUpdateFreqHz()

Follower & ctre::phoenixpro::controls::Follower::WithUpdateFreqHz ( units::frequency::hertz_t newUpdateFreqHz )

inline

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

newUpdateFreqHz Parameter to modify

Returns: Itself

Member Data Documentation

◆ ConfigTimeout

units::time::second_t ctre::phoenixpro::controls::Follower::ConfigTimeout {0.1_s}

The timeout when sending configs associated with this control.

◆ MasterID

int ctre::phoenixpro::controls::Follower::MasterID

Device ID of the master to follow.

◆ OpposeMasterDirection

bool ctre::phoenixpro::controls::Follower::OpposeMasterDirection

Set to false for motor invert to match the master's configured Invert - which is typical when master and follower are mechanically linked and spin in the same direction.

Set to true for motor invert to oppose the master's configured Invert - this is typical where the the master and follower mechanically spin in opposite directions.

◆ UpdateFreqHz

units::frequency::hertz_t ctre::phoenixpro::controls::Follower::UpdateFreqHz {20_Hz}

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.

The documentation for this class was generated from the following file:

ctre/phoenixpro/controls/Follower.hpp

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Follower()

Member Function Documentation

◆ ForceApplyConfigs()

◆ ToString()

◆ WithMasterID()

◆ WithOpposeMasterDirection()

◆ WithUpdateFreqHz()

Member Data Documentation

◆ ConfigTimeout

◆ MasterID

◆ OpposeMasterDirection

◆ UpdateFreqHz