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[examples] Use left/rightGroup.Get() for simulator inputs to fix inversions (#3908)

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modelmat
2022-01-15 07:54:20 +00:00
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parent 64426502ea
commit 49455199e5
2 changed files with 4 additions and 4 deletions
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4
wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
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@@ -41,9 +41,9 @@ void Drivetrain::SimulationPeriodic() {
// simulation, and write the simulated positions and velocities to our
// simulated encoder and gyro. We negate the right side so that positive
// voltages make the right side move forward.
m_drivetrainSimulator.SetInputs(units::volt_t{m_leftLeader.Get()} *
m_drivetrainSimulator.SetInputs(units::volt_t{m_leftGroup.Get()} *
frc::RobotController::GetInputVoltage(),
units::volt_t{m_rightLeader.Get()} *
units::volt_t{m_rightGroup.Get()} *
frc::RobotController::GetInputVoltage());
m_drivetrainSimulator.Update(20_ms);