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

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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
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5
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/DriveSubsystem.cpp
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@@ -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);