Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-28 02:11:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Add setting to invert the right side of the drive (#1045)

Browse Source
This commit is contained in:
Austin Shalit
2018-05-19 04:22:20 -04:00
committed by Peter Johnson
parent 73439d8213
commit 17401e10f0
6 changed files with 135 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
wpilibc/src/main/native/include/Drive/DifferentialDrive.h
View File

@@ -115,6 +115,9 @@ class DifferentialDrive : public RobotDriveBase {
void SetQuickStopThreshold(double threshold);
void SetQuickStopAlpha(double alpha);
bool IsRightSideInverted() const;
void SetRightSideInverted(bool rightSideInverted);
void StopMotor() override;
void GetDescription(wpi::raw_ostream& desc) const override;
@@ -127,6 +130,7 @@ class DifferentialDrive : public RobotDriveBase {
double m_quickStopThreshold = kDefaultQuickStopThreshold;
double m_quickStopAlpha = kDefaultQuickStopAlpha;
double m_quickStopAccumulator = 0.0;
double m_rightSideInvertMultiplier = -1.0;
};
} // namespace frc