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Nick Valentine, for example, has a Pipe Revolver as his default weapon. I tried giving him a proper .44, but he wouldn't use it, and kept reverting back to his standard pistol. After I gave him ammo, he used the .44, but his stock of ammo went down over time as he used it up.
So yes, companions need ammo if you want them to use something other than their default weapon, and I'm not sure if Settlers will even take alternative guns at all. I gave some at Sanctuary Laser Muskets after taking their Pipe guns and .38 ammo, and they've utterly disappeared from their inventories, while they've magically spawned more ♥♥♥♥♥♥ Pipe guns.
Yes that's how I understand it.
Settlers tend to pick weapons up and use them, they don't seem to need to be supplied with ammo. (More noticable in some settlements than others)
For example, flame throwers seem to be popular at The Slog, and another settlement I don't remember which, it was miniguns.
(Not sure if their ammo stock becomes infinite when they are not an active companion)
Settlers only appear to need one round, but I normally give them a magazine full. However I think I may have noticed settlers that leave the build area of their workshop/settlement deplete their ammo stock.
(The Finch family chased a hostile mob during a settlement attack. This took them into agro range of the Super Mutants at the Satelite array. So they started a war with the mutants. They appeared to use their ammo during this attack.)
They do not seem to replenish their ammo from the battlefield, and instead will switch to the next weapon I have provided them, and use that and its ammo if possible.
They will resort to the melee weapon I gave them when they run out of ammo, if I gave them one and its superior to their default weapon.
Whatever I am doing, I can't quite think of a time I saw anyone use their regular weapon because I've always given them something else and the ammo to use it. Everyone but Codsworth and the nannybot prior to memory migration.
Settlers are kind of tricky. If they have one bullet in their inventory, that equates to an infinite amount. This works for normal ballistic & energy ammo (.38, .44, fusion cells, plasma, etc) as well as grenades. Explosive ammo (missiles, mini nukes) are not infinite. I have not tested every possibility, but I believe this is the general consensus.
Oh, and settlers have a habit of grabbing your entire ammo stock out of the workbench when grabbing weapons during an attack. I once needed to interrogate all of my settlers to find one that had 500 .45 rounds on him. lol
This mod enables you to set a specific weapon for long range/medium range/short range, and it works flawlessly, as your companion (not Dogmeat/Codsworth/or Currie before you change her) will change weapons depending upon the situation/distance. You can also select if you want ammo to be infinite for those weapons or not. You can also set companion distance, which can be useful if they always run in front of you. A very stable and updated mod.
I haven't tested it with grenades/missle launchers/or fatmans, so I'm unsure of the results there, but I never give my companions grenades anyway
As far as companions doing damage to you, there is a perk (can't remember off the top of my head the name of it) that eliminates their damage to you, and your damage to them. I take this perk as soon as I can.
Never give companions anything explosive or fiery....
Or Stealthboys. Pack Mule Piper used a stealthboy fighting a dog! She never gets to carry the valuable stuff again.
She also threw a grenade and blew up a whole bunch of abandoned cars....they went off like a chain reaction. But as it also fixed our little sting wing issue at the time I forgave her the singed hair.
That sounds cool. I might check it out. My go to companion/settler weapon is a fully upgraded advanced assault rifle - with suppressor for companions. Good rate of fire and stopping power. Best results I have had with companions in terms of firepower usefulness. They can actually steal kills!
Companions who are not a active companion for the SS, can also only need one round of ammo for each weapon you assign them to use. Just like settlers.