Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[examples] Invert right side of drive subsystems (#3437)

Browse Source 
The right motors of a DifferentialDrive are no longer automatically
inverted (#3340) so it needs to be done explicitly.
This commit is contained in:
Prateek Machiraju
2021-06-13 18:43:16 -04:00
committed by GitHub
parent 186dadf14d
commit b422665a3c
30 changed files with 168 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
View File

@@ -24,6 +24,11 @@
class Drivetrain {
public:
Drivetrain() {
// 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_rightGroup.SetInverted(true);
m_gyro.Reset();
// Set the distance per pulse for the drive encoders. We can simply use the
// distance traveled for one rotation of the wheel divided by the encoder

5
wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
View File

@@ -24,6 +24,11 @@
class Drivetrain {
public:
Drivetrain() {
// 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_rightGroup.SetInverted(true);
m_gyro.Reset();
// Set the distance per pulse for the drive encoders. We can simply use the
// distance traveled for one rotation of the wheel divided by the encoder

10
wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/subsystems/DriveSubsystem.cpp
View File

@@ -12,6 +12,16 @@ DriveSubsystem::DriveSubsystem()
m_rightLeader{kRightMotor1Port},
m_rightFollower{kRightMotor2Port},
m_feedforward{ks, kv, ka} {
// 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_rightLeader.SetInverted(true);
// You might need to not do this depending on the specific motor controller
// that you are using -- contact the respective vendor's documentation for
// more details.
m_rightFollower.SetInverted(true);
m_leftFollower.Follow(m_leftLeader);
m_rightFollower.Follow(m_rightLeader);

5
wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/subsystems/DriveSubsystem.cpp
View File

@@ -13,6 +13,11 @@ DriveSubsystem::DriveSubsystem()
m_right2{kRightMotor2Port},
m_leftEncoder{kLeftEncoderPorts[0], kLeftEncoderPorts[1]},
m_rightEncoder{kRightEncoderPorts[0], kRightEncoderPorts[1]} {
// 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_leftMotors.SetInverted(true);
// Set the distance per pulse for the encoders
m_leftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
m_rightEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);

5
wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/DriveTrain.cpp
View File

@@ -10,6 +10,11 @@
#include <wpi/numbers>
DriveTrain::DriveTrain() {
// 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);
// Encoders may measure differently in the real world and in
// simulation. In this example the robot moves 0.042 barleycorns
// per tick in the real world, but the simulated encoders

5
wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/subsystems/DriveSubsystem.cpp
View File

@@ -13,6 +13,11 @@ DriveSubsystem::DriveSubsystem()
m_right2{kRightMotor2Port},
m_leftEncoder{kLeftEncoderPorts[0], kLeftEncoderPorts[1]},
m_rightEncoder{kRightEncoderPorts[0], kRightEncoderPorts[1]} {
// 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_rightMotors.SetInverted(true);
// Set the distance per pulse for the encoders
m_leftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
m_rightEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);

5
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/DriveSubsystem.cpp
View File

@@ -13,6 +13,11 @@ DriveSubsystem::DriveSubsystem()
m_right2{kRightMotor2Port},
m_leftEncoder{kLeftEncoderPorts[0], kLeftEncoderPorts[1]},
m_rightEncoder{kRightEncoderPorts[0], kRightEncoderPorts[1]} {
// 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_rightMotors.SetInverted(true);
// Set the distance per pulse for the encoders
m_leftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
m_rightEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);

5
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/DriveSubsystem.cpp
View File

@@ -13,6 +13,11 @@ DriveSubsystem::DriveSubsystem()
m_right2{kRightMotor2Port},
m_leftEncoder{kLeftEncoderPorts[0], kLeftEncoderPorts[1]},
m_rightEncoder{kRightEncoderPorts[0], kRightEncoderPorts[1]} {
// 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_rightMotors.SetInverted(true);
// Set the distance per pulse for the encoders
m_leftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
m_rightEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);

5
wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
View File

@@ -17,6 +17,11 @@ DriveSubsystem::DriveSubsystem()
m_leftEncoder{kLeftEncoderPorts[0], kLeftEncoderPorts[1]},
m_rightEncoder{kRightEncoderPorts[0], kRightEncoderPorts[1]},
m_odometry{m_gyro.GetRotation2d()} {
// 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_rightMotors.SetInverted(true);
// Set the distance per pulse for the encoders
m_leftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
m_rightEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);

6
wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h
View File

@@ -23,6 +23,12 @@ class Drivetrain {
public:
Drivetrain() {
m_gyro.Reset();
// 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_rightGroup.SetInverted(true);
// Set the distance per pulse for the drive encoders. We can simply use the
// distance traveled for one rotation of the wheel divided by the encoder
// resolution.

5
wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/Drivetrain.cpp
View File

@@ -15,6 +15,11 @@ using namespace DriveConstants;
// The Romi has onboard encoders that are hardcoded
// to use DIO pins 4/5 and 6/7 for the left and right
Drivetrain::Drivetrain() {
// 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_rightMotor.SetInverted(true);
m_leftEncoder.SetDistancePerPulse(
wpi::numbers::pi * kWheelDiameter.to<double>() / kCountsPerRevolution);
m_rightEncoder.SetDistancePerPulse(

6
wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h
View File

@@ -31,6 +31,12 @@ class Drivetrain {
public:
Drivetrain() {
m_gyro.Reset();
// 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_rightGroup.SetInverted(true);
// Set the distance per pulse for the drive encoders. We can simply use the
// distance traveled for one rotation of the wheel divided by the encoder
// resolution.

5
wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp
View File

@@ -14,6 +14,11 @@
using namespace DriveConstants;
DriveSubsystem::DriveSubsystem() {
// 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_rightMotors.SetInverted(true);
// Set the distance per pulse for the encoders
m_leftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
m_rightEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);

7
wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp
View File

@@ -19,6 +19,13 @@ class Robot : public frc::TimedRobot {
frc::XboxController m_driverController{0};
public:
void RobotInit() override {
// 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_rightMotor.SetInverted(true);
}
void TeleopPeriodic() override {
// Drive with tank style
m_robotDrive.TankDrive(