From 2b2aa8eef7bd29be00493be7f907563a7a1bc232 Mon Sep 17 00:00:00 2001 From: Ryan Blue Date: Mon, 28 Nov 2022 16:49:49 -0500 Subject: [PATCH] [examples] Update all examples to use NWU coordinate conventions (#4725) --- .../src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp | 2 +- .../cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp | 2 +- .../src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp | 2 +- .../main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp | 2 +- .../examples/DriveDistanceOffboard/cpp/RobotContainer.cpp | 2 +- .../src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp | 2 +- .../src/main/cpp/examples/GearsBot/cpp/RobotContainer.cpp | 6 +++--- .../src/main/cpp/examples/GettingStarted/cpp/Robot.cpp | 4 ++-- wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp | 6 ++---- .../cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp | 2 +- .../src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp | 4 ++-- .../cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp | 2 +- .../cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp | 2 +- .../MecanumControllerCommand/cpp/RobotContainer.cpp | 6 +++--- .../src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp | 4 ++-- .../main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp | 4 ++-- .../RapidReactCommandBot/cpp/RapidReactCommandBot.cpp | 4 ++-- .../main/cpp/examples/RomiReference/cpp/RobotContainer.cpp | 2 +- .../cpp/RobotContainer.cpp | 2 +- .../src/main/cpp/examples/TankDrive/cpp/Robot.cpp | 2 +- .../edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java | 2 +- .../wpilibj/examples/arcadedrivexboxcontroller/Robot.java | 2 +- .../wpi/first/wpilibj/examples/armbot/RobotContainer.java | 2 +- .../wpilibj/examples/armbotoffboard/RobotContainer.java | 2 +- .../examples/drivedistanceoffboard/RobotContainer.java | 2 +- .../first/wpilibj/examples/frisbeebot/RobotContainer.java | 2 +- .../wpi/first/wpilibj/examples/gearsbot/RobotContainer.java | 2 +- .../wpi/first/wpilibj/examples/gettingstarted/Robot.java | 2 +- .../java/edu/wpi/first/wpilibj/examples/gyro/Robot.java | 4 +--- .../wpilibj/examples/gyrodrivecommands/RobotContainer.java | 2 +- .../edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java | 2 +- .../wpilibj/examples/hatchbotinlined/RobotContainer.java | 2 +- .../examples/hatchbottraditional/RobotContainer.java | 4 +++- .../examples/mecanumcontrollercommand/RobotContainer.java | 6 +++--- .../edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java | 2 +- .../wpilibj/examples/ramsetecommand/RobotContainer.java | 2 +- .../examples/rapidreactcommandbot/RapidReactCommandBot.java | 3 ++- .../wpilibj/examples/romireference/RobotContainer.java | 2 +- .../RobotContainer.java | 2 +- .../edu/wpi/first/wpilibj/examples/tankdrive/Robot.java | 2 +- 40 files changed, 55 insertions(+), 56 deletions(-) diff --git a/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp index e346e41cb7..b636b44b47 100644 --- a/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp @@ -27,7 +27,7 @@ class Robot : public frc::TimedRobot { void TeleopPeriodic() override { // Drive with arcade style - m_robotDrive.ArcadeDrive(-m_stick.GetY(), m_stick.GetX()); + m_robotDrive.ArcadeDrive(-m_stick.GetY(), -m_stick.GetX()); } }; diff --git a/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp index 7f497b36e3..23c9a569dd 100644 --- a/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp @@ -30,7 +30,7 @@ class Robot : public frc::TimedRobot { // That means that the Y axis of the left stick moves forward // and backward, and the X of the right stick turns left and right. m_robotDrive.ArcadeDrive(-m_driverController.GetLeftY(), - m_driverController.GetRightX()); + -m_driverController.GetRightX()); } }; diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp index 4dbff4aa29..90aa789ab4 100644 --- a/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp +++ b/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp @@ -22,7 +22,7 @@ RobotContainer::RobotContainer() { m_drive.SetDefaultCommand(frc2::cmd::Run( [this] { m_drive.ArcadeDrive(-m_driverController.GetLeftY(), - m_driverController.GetRightX()); + -m_driverController.GetRightX()); }, {&m_drive})); } diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp index db1793e3d8..dce4b95c18 100644 --- a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp +++ b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp @@ -15,7 +15,7 @@ RobotContainer::RobotContainer() { // Set up default drive command m_drive.SetDefaultCommand(m_drive.ArcadeDriveCommand( [this] { return -m_driverController.GetLeftY(); }, - [this] { return m_driverController.GetRightX(); })); + [this] { return -m_driverController.GetRightX(); })); } void RobotContainer::ConfigureButtonBindings() { diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp index 4311db02ae..8c2423b0f3 100644 --- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp +++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp @@ -16,7 +16,7 @@ RobotContainer::RobotContainer() { m_drive.SetDefaultCommand(frc2::cmd::Run( [this] { m_drive.ArcadeDrive(-m_driverController.GetLeftY(), - m_driverController.GetRightX()); + -m_driverController.GetRightX()); }, {&m_drive})); } diff --git a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp index aeb1ea40e5..3841118cc5 100644 --- a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp +++ b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp @@ -14,7 +14,7 @@ RobotContainer::RobotContainer() { m_drive.SetDefaultCommand(frc2::cmd::Run( [this] { m_drive.ArcadeDrive(-m_driverController.GetLeftY(), - m_driverController.GetRightX()); + -m_driverController.GetRightX()); }, {&m_drive})); } diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/RobotContainer.cpp index f122cbe11e..c08faee741 100644 --- a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/RobotContainer.cpp +++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/RobotContainer.cpp @@ -22,9 +22,9 @@ RobotContainer::RobotContainer() frc::SmartDashboard::PutData(&m_wrist); frc::SmartDashboard::PutData(&m_claw); - m_drivetrain.SetDefaultCommand(TankDrive([this] { return m_joy.GetLeftY(); }, - [this] { return m_joy.GetRightY(); }, - m_drivetrain)); + m_drivetrain.SetDefaultCommand( + TankDrive([this] { return -m_joy.GetLeftY(); }, + [this] { return -m_joy.GetRightY(); }, m_drivetrain)); // Configure the button bindings ConfigureButtonBindings(); diff --git a/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp index 4456445245..a49d4f65f3 100644 --- a/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp @@ -11,11 +11,11 @@ class Robot : public frc::TimedRobot { public: Robot() { - m_right.SetInverted(true); - m_robotDrive.SetExpiration(100_ms); // We need to invert one side of the drivetrain so that positive voltages // result in both sides moving forward. Depending on how your robot's // gearbox is constructed, you might have to invert the left side instead. + m_right.SetInverted(true); + m_robotDrive.SetExpiration(100_ms); m_timer.Start(); } diff --git a/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp index 0e1410e0ac..5230c7c397 100644 --- a/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp @@ -32,9 +32,7 @@ class Robot : public frc::TimedRobot { */ void TeleopPeriodic() override { double turningValue = (kAngleSetpoint - m_gyro.GetAngle()) * kP; - // Invert the direction of the turn if we are going backwards - turningValue = std::copysign(turningValue, m_joystick.GetY()); - m_robotDrive.ArcadeDrive(-m_joystick.GetY(), turningValue); + m_drive.ArcadeDrive(-m_joystick.GetY(), -turningValue); } private: @@ -52,7 +50,7 @@ class Robot : public frc::TimedRobot { frc::PWMSparkMax m_left{kLeftMotorPort}; frc::PWMSparkMax m_right{kRightMotorPort}; - frc::DifferentialDrive m_robotDrive{m_left, m_right}; + frc::DifferentialDrive m_drive{m_left, m_right}; frc::AnalogGyro m_gyro{kGyroPort}; frc::Joystick m_joystick{kJoystickPort}; diff --git a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp index 739bed2319..3404b77a41 100644 --- a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp +++ b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp @@ -21,7 +21,7 @@ RobotContainer::RobotContainer() { m_drive.SetDefaultCommand(frc2::RunCommand( [this] { m_drive.ArcadeDrive(-m_driverController.GetLeftY(), - m_driverController.GetRightX()); + -m_driverController.GetRightX()); }, {&m_drive})); } diff --git a/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp index 176dc1e1fc..2207f79de5 100644 --- a/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp @@ -28,8 +28,8 @@ class Robot : public frc::TimedRobot { * Mecanum drive is used with the gyro angle as an input. */ void TeleopPeriodic() override { - m_robotDrive.DriveCartesian(-m_joystick.GetY(), m_joystick.GetX(), - m_joystick.GetZ(), m_gyro.GetRotation2d()); + m_robotDrive.DriveCartesian(-m_joystick.GetY(), -m_joystick.GetX(), + -m_joystick.GetZ(), m_gyro.GetRotation2d()); } private: diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp index 23757f8ce4..ce60a89983 100644 --- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp +++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp @@ -24,7 +24,7 @@ RobotContainer::RobotContainer() { m_drive.SetDefaultCommand(frc2::cmd::Run( [this] { m_drive.ArcadeDrive(-m_driverController.GetLeftY(), - m_driverController.GetRightX()); + -m_driverController.GetRightX()); }, {&m_drive})); } diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp index 1bee5d9ddb..876a984654 100644 --- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp +++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp @@ -28,7 +28,7 @@ RobotContainer::RobotContainer() { // Set up default drive command m_drive.SetDefaultCommand(DefaultDrive( &m_drive, [this] { return -m_driverController.GetLeftY(); }, - [this] { return m_driverController.GetRightX(); })); + [this] { return -m_driverController.GetRightX(); })); } void RobotContainer::ConfigureButtonBindings() { diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp index 182171f7ec..1e9a9ae2d3 100644 --- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp +++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp @@ -30,9 +30,9 @@ RobotContainer::RobotContainer() { // Set up default drive command m_drive.SetDefaultCommand(frc2::RunCommand( [this] { - m_drive.Drive(m_driverController.GetLeftY(), - m_driverController.GetRightX(), - m_driverController.GetLeftX(), false); + m_drive.Drive(-m_driverController.GetLeftY(), + -m_driverController.GetRightX(), + -m_driverController.GetLeftX(), false); }, {&m_drive})); } diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp index 6f70e20cca..2b57f3ce37 100644 --- a/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp @@ -24,8 +24,8 @@ class Robot : public frc::TimedRobot { /* Use the joystick X axis for forward movement, Y axis for lateral * movement, and Z axis for rotation. */ - m_robotDrive.DriveCartesian(-m_stick.GetY(), m_stick.GetX(), - m_stick.GetZ()); + m_robotDrive.DriveCartesian(-m_stick.GetY(), -m_stick.GetX(), + -m_stick.GetZ()); } private: diff --git a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp index fd595f394d..a72b1292eb 100644 --- a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp +++ b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp @@ -28,8 +28,8 @@ RobotContainer::RobotContainer() { // Set up default drive command m_drive.SetDefaultCommand(frc2::RunCommand( [this] { - m_drive.ArcadeDrive(m_driverController.GetLeftY(), - m_driverController.GetRightX()); + m_drive.ArcadeDrive(-m_driverController.GetLeftY(), + -m_driverController.GetRightX()); }, {&m_drive})); } diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp index 91058f001f..c25f0e820b 100644 --- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp @@ -25,8 +25,8 @@ void RapidReactCommandBot::ConfigureBindings() { // Control the drive with split-stick arcade controls m_drive.SetDefaultCommand(m_drive.ArcadeDriveCommand( - [this] { return m_driverController.GetLeftY(); }, - [this] { return m_driverController.GetRightX(); })); + [this] { return -m_driverController.GetLeftY(); }, + [this] { return -m_driverController.GetRightX(); })); // Deploy the intake with the X button m_driverController.X().OnTrue(m_intake.IntakeCommand()); diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/RobotContainer.cpp index d09162cb2a..f6e1fa4b0e 100644 --- a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/RobotContainer.cpp +++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/RobotContainer.cpp @@ -19,7 +19,7 @@ void RobotContainer::ConfigureButtonBindings() { // Also set default commands here m_drive.SetDefaultCommand(TeleopArcadeDrive( &m_drive, [this] { return -m_controller.GetRawAxis(1); }, - [this] { return m_controller.GetRawAxis(2); })); + [this] { return -m_controller.GetRawAxis(2); })); // Example of how to use the onboard IO m_onboardButtonA.OnTrue(frc2::cmd::Print("Button A Pressed")) diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp index c757373fcc..fec6de3f60 100644 --- a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp +++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp @@ -34,7 +34,7 @@ RobotContainer::RobotContainer() { m_drive.SetDefaultCommand(frc2::RunCommand( [this] { m_drive.ArcadeDrive(-m_driverController.GetLeftY(), - m_driverController.GetRightX()); + -m_driverController.GetLeftX()); }, {&m_drive})); } diff --git a/wpilibcExamples/src/main/cpp/examples/TankDrive/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/TankDrive/cpp/Robot.cpp index c00376271c..4e48d47584 100644 --- a/wpilibcExamples/src/main/cpp/examples/TankDrive/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/TankDrive/cpp/Robot.cpp @@ -28,7 +28,7 @@ class Robot : public frc::TimedRobot { void TeleopPeriodic() override { // Drive with tank style - m_robotDrive.TankDrive(m_leftStick.GetY(), m_rightStick.GetY()); + m_robotDrive.TankDrive(-m_leftStick.GetY(), -m_rightStick.GetY()); } }; diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java index 5eef7e869b..45333a5e3c 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java @@ -32,6 +32,6 @@ public class Robot extends TimedRobot { // Drive with arcade drive. // That means that the Y axis drives forward // and backward, and the X turns left and right. - m_robotDrive.arcadeDrive(-m_stick.getY(), m_stick.getX()); + m_robotDrive.arcadeDrive(-m_stick.getY(), -m_stick.getX()); } } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java index 656165a64b..aa0f9a20ea 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java @@ -32,6 +32,6 @@ public class Robot extends TimedRobot { // Drive with split arcade drive. // That means that the Y axis of the left stick moves forward // and backward, and the X of the right stick turns left and right. - m_robotDrive.arcadeDrive(-m_driverController.getLeftY(), m_driverController.getRightX()); + m_robotDrive.arcadeDrive(-m_driverController.getLeftY(), -m_driverController.getRightX()); } } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.java index 08c1c4aa7c..1875d64dd1 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.java @@ -41,7 +41,7 @@ public class RobotContainer { Commands.run( () -> m_robotDrive.arcadeDrive( - -m_driverController.getLeftY(), m_driverController.getRightX()), + -m_driverController.getLeftY(), -m_driverController.getRightX()), m_robotDrive)); } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/RobotContainer.java index 67be2227f5..03f775c9b0 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/RobotContainer.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/RobotContainer.java @@ -39,7 +39,7 @@ public class RobotContainer { // A split-stick arcade command, with forward/backward controlled by the left // hand, and turning controlled by the right. m_robotDrive.arcadeDriveCommand( - () -> -m_driverController.getLeftY(), () -> m_driverController.getRightX())); + () -> -m_driverController.getLeftY(), () -> -m_driverController.getRightX())); } /** diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java index 4e21ff591b..6bc4b13c1f 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java @@ -46,7 +46,7 @@ public class RobotContainer { Commands.run( () -> m_robotDrive.arcadeDrive( - -m_driverController.getLeftY(), m_driverController.getRightX()), + -m_driverController.getLeftY(), -m_driverController.getRightX()), m_robotDrive)); } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/RobotContainer.java index d3db131480..8e052bbd52 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/RobotContainer.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/RobotContainer.java @@ -65,7 +65,7 @@ public class RobotContainer { Commands.run( () -> m_robotDrive.arcadeDrive( - -m_driverController.getLeftY(), m_driverController.getRightX()), + -m_driverController.getLeftY(), -m_driverController.getRightX()), m_robotDrive)); } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/RobotContainer.java index f898181a67..47710f930f 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/RobotContainer.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/RobotContainer.java @@ -58,7 +58,7 @@ public class RobotContainer { // Assign default commands m_drivetrain.setDefaultCommand( - new TankDrive(m_joystick::getLeftY, m_joystick::getRightY, m_drivetrain)); + new TankDrive(() -> -m_joystick.getLeftY(), () -> -m_joystick.getRightY(), m_drivetrain)); // Show what command your subsystem is running on the SmartDashboard SmartDashboard.putData(m_drivetrain); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java index 687180091e..45094fae24 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java @@ -61,7 +61,7 @@ public class Robot extends TimedRobot { /** This function is called periodically during teleoperated mode. */ @Override public void teleopPeriodic() { - m_robotDrive.arcadeDrive(-m_controller.getLeftY(), m_controller.getRightX()); + m_robotDrive.arcadeDrive(-m_controller.getLeftY(), -m_controller.getRightX()); } /** This function is called once each time the robot enters test mode. */ diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java index b0c6641ff2..1f9e41df52 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java @@ -50,8 +50,6 @@ public class Robot extends TimedRobot { @Override public void teleopPeriodic() { double turningValue = (kAngleSetpoint - m_gyro.getAngle()) * kP; - // Invert the direction of the turn if we are going backwards - turningValue = Math.copySign(turningValue, m_joystick.getY()); - m_myRobot.arcadeDrive(-m_joystick.getY(), turningValue); + m_myRobot.arcadeDrive(-m_joystick.getY(), -turningValue); } } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java index a06cd76f18..5caf497170 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java @@ -45,7 +45,7 @@ public class RobotContainer { new RunCommand( () -> m_robotDrive.arcadeDrive( - -m_driverController.getLeftY(), m_driverController.getRightX()), + -m_driverController.getLeftY(), -m_driverController.getRightX()), m_robotDrive)); } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java index 042eda9bcf..b86277b8a8 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java @@ -51,6 +51,6 @@ public class Robot extends TimedRobot { @Override public void teleopPeriodic() { m_robotDrive.driveCartesian( - -m_joystick.getY(), m_joystick.getX(), m_joystick.getZ(), m_gyro.getRotation2d()); + -m_joystick.getY(), -m_joystick.getX(), -m_joystick.getZ(), m_gyro.getRotation2d()); } } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java index 8018a5d5a8..ce7ba797ce 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java @@ -54,7 +54,7 @@ public class RobotContainer { Commands.run( () -> m_robotDrive.arcadeDrive( - -m_driverController.getLeftY(), m_driverController.getRightX()), + -m_driverController.getLeftY(), -m_driverController.getRightX()), m_robotDrive)); // Add commands to the autonomous command chooser diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java index f8e3362286..19fc2c76f9 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java @@ -60,7 +60,9 @@ public class RobotContainer { // A split-stick arcade command, with forward/backward controlled by the left // hand, and turning controlled by the right. new DefaultDrive( - m_robotDrive, m_driverController::getLeftY, m_driverController::getRightX)); + m_robotDrive, + () -> -m_driverController.getLeftY(), + () -> -m_driverController.getRightX())); // Add commands to the autonomous command chooser m_chooser.setDefaultOption("Simple Auto", m_simpleAuto); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java index 29a311ea16..bab80b6747 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java @@ -51,9 +51,9 @@ public class RobotContainer { new RunCommand( () -> m_robotDrive.drive( - m_driverController.getLeftY(), - m_driverController.getRightX(), - m_driverController.getLeftX(), + -m_driverController.getLeftY(), + -m_driverController.getRightX(), + -m_driverController.getLeftX(), false), m_robotDrive)); } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java index a19cc81e2a..c681a86e48 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java @@ -42,6 +42,6 @@ public class Robot extends TimedRobot { public void teleopPeriodic() { // Use the joystick X axis for forward movement, Y axis for lateral // movement, and Z axis for rotation. - m_robotDrive.driveCartesian(-m_stick.getY(), m_stick.getX(), m_stick.getZ()); + m_robotDrive.driveCartesian(-m_stick.getY(), -m_stick.getX(), -m_stick.getZ()); } } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java index 3192bb162d..9f0980a0e9 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java @@ -54,7 +54,7 @@ public class RobotContainer { new RunCommand( () -> m_robotDrive.arcadeDrive( - -m_driverController.getLeftY(), m_driverController.getRightX()), + -m_driverController.getLeftY(), -m_driverController.getRightX()), m_robotDrive)); } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/RapidReactCommandBot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/RapidReactCommandBot.java index 6c5ff1fe2e..b5dca8c510 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/RapidReactCommandBot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/RapidReactCommandBot.java @@ -52,7 +52,8 @@ public class RapidReactCommandBot { // Control the drive with split-stick arcade controls m_drive.setDefaultCommand( - m_drive.arcadeDriveCommand(m_driverController::getLeftY, m_driverController::getRightX)); + m_drive.arcadeDriveCommand( + () -> -m_driverController.getLeftY(), () -> -m_driverController.getRightX())); // Deploy the intake with the X button m_driverController.x().onTrue(m_intake.intakeCommand()); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/RobotContainer.java index bc07ebb676..a9dcacd426 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/RobotContainer.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/RobotContainer.java @@ -92,6 +92,6 @@ public class RobotContainer { */ public Command getArcadeDriveCommand() { return new ArcadeDrive( - m_drivetrain, () -> -m_controller.getRawAxis(1), () -> m_controller.getRawAxis(2)); + m_drivetrain, () -> -m_controller.getRawAxis(1), () -> -m_controller.getRawAxis(2)); } } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java index 33adbf9a99..6cb6e0238e 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java @@ -54,7 +54,7 @@ public class RobotContainer { new RunCommand( () -> m_robotDrive.arcadeDrive( - -m_driverController.getLeftY(), m_driverController.getRightX()), + -m_driverController.getLeftY(), -m_driverController.getRightX()), m_robotDrive)); } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Robot.java index c91767ae1a..3883d14586 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Robot.java @@ -36,6 +36,6 @@ public class Robot extends TimedRobot { @Override public void teleopPeriodic() { - m_myRobot.tankDrive(m_leftStick.getY(), m_rightStick.getY()); + m_myRobot.tankDrive(-m_leftStick.getY(), -m_rightStick.getY()); } }