// ----- Follower ------//
/**
* Set the control mode and output value so that this motor controller will
* follow another motor controller. Currently supports following Victor SPX
* and Talon SRX.
*
* @param masterToFollow
* Motor Controller object to follow.
* @param followerType
* Type of following control. Use AuxOutput1 to follow the master
* device's auxiliary output 1.
* Use PercentOutput for standard follower mode.
*/
public void Follow(IMotorController masterToFollow, FollowerType followerType)
{
int id32 = masterToFollow.GetBaseID();
int id24 = id32;
id24 >>= 16;
id24 = (short)id24;
id24 <<= 8;
id24 |= (id32 & 0xFF);
Set(ControlMode.Follower, id24);
switch (followerType)
{
case FollowerType.PercentOutput:
Set(ControlMode.Follower, (double)id24);
break;
case FollowerType.AuxOutput1:
/* follow the motor controller, but set the aux flag
* to ensure we follow the processed output */
Set(ControlMode.Follower, (double)id24, DemandType.AuxPID, 0);
break;
default:
NeutralOutput();
break;
}
}
