CTRE Talon SRX, Follower mode and setInverted()

Technical Programming
1

Hi all -
We’ve been using the new CTRE Phoenix library with our Talons SRXs (latest 3.1 firmware), with mostly successful results. One behavior puzzled me though, and I wanted to see if others have experienced this.

We created some test code to run one Talon as a master and the other as a slave, running in Follower mode with the master. Both were configured with the same motor polarity (setInverted(false)). No problems, commanding the master also moved the slave, in the same direction.

I wanted to try a ‘mirror’ config, where the slave was still in Follower mode, but with an inverted motor polarity. This did not work, in fact the behavior was the same - following the master in the same direction.

My question is, does setInverted() work with Follower mode? I seem to recall there was a problem last year where it only worked with PercentOutput mode. Is this still the case?

Rob

2

We found that you have to set the same state of inversion for all motors. Follower or not.

3

May not affect your issue, but latest firmware is 3.3

4

We were able to have the follower run mirrored using Labview, with the 3.3 firmware upgrade.

5

3.1 update, sorry.

6