From 0dca57e9ec0590949f2dfa18f9c60d5ba53b2d1e Mon Sep 17 00:00:00 2001
From: Peter Johnson <johnson.peter@gmail.com>
Date: Thu, 6 Jan 2022 11:29:15 -0800
Subject: [PATCH] [templates] romieducational: Invert drivetrain and disable
 motor safety (#3869)

---
 .../wpilibj/templates/romieducational/RomiDrivetrain.java   | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romieducational/RomiDrivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romieducational/RomiDrivetrain.java
index bbba080e9a..4b73a448a0 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romieducational/RomiDrivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romieducational/RomiDrivetrain.java
@@ -31,6 +31,12 @@ public class RomiDrivetrain {
     m_leftEncoder.setDistancePerPulse((Math.PI * kWheelDiameterInch) / kCountsPerRevolution);
     m_rightEncoder.setDistancePerPulse((Math.PI * kWheelDiameterInch) / kCountsPerRevolution);
     resetEncoders();
+
+    // Invert right side since motor is flipped
+    m_rightMotor.setInverted(true);
+
+    // Disable motor safety
+    m_diffDrive.setSafetyEnabled(false);
   }
 
   public void arcadeDrive(double xaxisSpeed, double zaxisRotate) {