Package frc.spectrumLib.mechanism

Class Mechanism.FollowerConfig

java.lang.Object

frc.spectrumLib.mechanism.Mechanism.FollowerConfig

Enclosing class:

Mechanism

public static class Mechanism.FollowerConfig
extends Object

Configuration for a TalonFX follower motor that mirrors the leader.

A follower automatically copies the leader's output. Set opposeLeader to MotorAlignmentValue.Opposed when the physical motor is mounted in the opposite direction and must spin in reverse to produce the same mechanism motion.

Constructor Summary

Constructors

Constructor	Description
FollowerConfig(String name, int id, String canbus, MotorAlignmentValue opposeLeader)	Creates a follower motor configuration.

Method Summary

Modifier and Type	Method	Description
CanDeviceId	getId()	CAN bus device ID and bus name for this follower motor.
String	getName()	Human-readable name for this follower motor (used in alerts and logging).
MotorAlignmentValue	getOpposeLeader()	Alignment of the follower relative to the leader.
boolean	isAttached()	Whether hardware is attached for this follower.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

FollowerConfig

public FollowerConfig(String name,
 int id,
 String canbus,
 MotorAlignmentValue opposeLeader)

Creates a follower motor configuration.

Parameters:

name - human-readable name for this follower

id - CAN device ID

canbus - CAN bus name (e.g., "rio" or "canivore")

opposeLeader - alignment relative to the leader motor

Method Details

getName

public String getName()

Human-readable name for this follower motor (used in alerts and logging).

getId

public CanDeviceId getId()

CAN bus device ID and bus name for this follower motor.

isAttached

public boolean isAttached()

Whether hardware is attached for this follower.

getOpposeLeader

public MotorAlignmentValue getOpposeLeader()

Alignment of the follower relative to the leader. Use MotorAlignmentValue.Opposed when the follower is physically mounted in the opposite direction.