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Invert right side motors in MecanumDrive sendable (#933)

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This aligns with the current behavior of DifferentialDrive
Fixes shuffleboard#404
This commit is contained in:
Sam Carlberg
2018-02-09 11:30:12 -05:00
committed by Peter Johnson
parent 67f9c9a5b3
commit 77d6c11743
2 changed files with 9 additions and 9 deletions
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10
wpilibc/src/main/native/cpp/Drive/MecanumDrive.cpp
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@@ -134,12 +134,12 @@ void MecanumDrive::InitSendable(SendableBuilder& builder) {
[=]() { return m_frontLeftMotor.Get(); },
[=](double value) { m_frontLeftMotor.Set(value); });
builder.AddDoubleProperty(
"Front Right Motor Speed", [=]() { return m_frontRightMotor.Get(); },
[=](double value) { m_frontRightMotor.Set(value); });
"Front Right Motor Speed", [=]() { return -m_frontRightMotor.Get(); },
[=](double value) { m_frontRightMotor.Set(-value); });
builder.AddDoubleProperty("Rear Left Motor Speed",
[=]() { return m_rearLeftMotor.Get(); },
[=](double value) { m_rearLeftMotor.Set(value); });
builder.AddDoubleProperty("Rear Right Motor Speed",
[=]() { return m_rearRightMotor.Get(); },
[=](double value) { m_rearRightMotor.Set(value); });
builder.AddDoubleProperty(
"Rear Right Motor Speed", [=]() { return -m_rearRightMotor.Get(); },
[=](double value) { m_rearRightMotor.Set(-value); });
}

8
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
View File

@@ -189,11 +189,11 @@ public class MecanumDrive extends RobotDriveBase {
builder.setSmartDashboardType("MecanumDrive");
builder.addDoubleProperty("Front Left Motor Speed", m_frontLeftMotor::get,
m_frontLeftMotor::set);
builder.addDoubleProperty("Front Right Motor Speed", m_frontRightMotor::get,
m_frontRightMotor::set);
builder.addDoubleProperty("Front Right Motor Speed", () -> -m_frontRightMotor.get(),
value -> m_frontRightMotor.set(-value));
builder.addDoubleProperty("Rear Left Motor Speed", m_rearLeftMotor::get,
m_rearLeftMotor::set);
builder.addDoubleProperty("Rear Right Motor Speed", m_rearRightMotor::get,
m_rearRightMotor::set);
builder.addDoubleProperty("Rear Right Motor Speed", () -> -m_rearRightMotor.get(),
value -> m_rearRightMotor.set(-value));
}
}