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[templates] romieducational: Invert drivetrain and disable motor safety (#3869)

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This commit is contained in:
Peter Johnson
2022-01-06 11:29:15 -08:00
committed by GitHub
parent 22c4da152e
commit 0dca57e9ec
1 changed files with 6 additions and 0 deletions
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6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romieducational/RomiDrivetrain.java
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@@ -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) {