Is there anything inherently different between setting up a motor as a follower vs. just setting them both to a setpoint/velocity in the same method? Curious as to what the difference is if there is any.
The primary use-case for leader-follower is when you have 2 motors driving one gearbox.
In this case, your requirement above all else is that the motors have the same output so that they aren’t fighting each other. Chiefly the same direction and roughly the same power.
It could be dubious if by some fluke of measurement or dropped setpoint that the motors arrive at different output powers based on their control loop.
I’ll also say that this was more important with Talon SRX’s back when the motors didn’t have encoders built-in. You’d likely have one encoder mounted in the gearbox and you’d only wire it to one motor controller.
With Falcons/TalonFX, the outcome will in all likelihood be the same.
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