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Followers & Multi‑Motor

Use a Follower control request to mirror a leader TalonFX (match your elevator pattern).

Follower follower = new Follower(leaderId, true);
left.setControl(new PositionVoltage(targetPos));
right.setControl(follower);

Guidelines

  • Put the sensor on the leader
  • Apply the same configs to both motors (neutral mode, current limits)
  • Consider torque balancing if mechanisms bind under load