Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +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
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java
View File

@@ -58,6 +58,11 @@ public 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
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
View File

@@ -70,6 +70,11 @@ public 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.

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java
View File

@@ -36,6 +36,16 @@ public class DriveSubsystem extends SubsystemBase {
/** Creates a new DriveSubsystem. */
public 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_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
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/DriveSubsystem.java
View File

@@ -43,6 +43,11 @@ public class DriveSubsystem extends SubsystemBase {
/** Creates a new DriveSubsystem. */
public 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);
// Sets the distance per pulse for the encoders
m_leftEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
m_rightEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);

5
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java
View File

@@ -37,6 +37,11 @@ public class DriveTrain extends SubsystemBase {
public DriveTrain() {
super();
// 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);
// 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
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/subsystems/DriveSubsystem.java
View File

@@ -48,6 +48,11 @@ public class DriveSubsystem extends SubsystemBase {
/** Creates a new DriveSubsystem. */
public 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);
// Sets the distance per pulse for the encoders
m_leftEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
m_rightEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);

5
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/DriveSubsystem.java
View File

@@ -43,6 +43,11 @@ public class DriveSubsystem extends SubsystemBase {
/** Creates a new DriveSubsystem. */
public 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);
// Sets the distance per pulse for the encoders
m_leftEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
m_rightEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);

5
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/DriveSubsystem.java
View File

@@ -43,6 +43,11 @@ public class DriveSubsystem extends SubsystemBase {
/** Creates a new DriveSubsystem. */
public 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);
// Sets the distance per pulse for the encoders
m_leftEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
m_rightEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);

1
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/DriveTrain.java
View File

@@ -46,6 +46,7 @@ public class DriveTrain extends Subsystem {
// Configure the DifferentialDrive to reflect the fact that all motors
// are wired backwards (right is inverted in DifferentialDrive).
m_leftCIMs.setInverted(true);
m_rightCIMs.setInverted(true);
m_drive = new DifferentialDrive(m_leftCIMs, m_rightCIMs);
m_drive.setSafetyEnabled(true);
m_drive.setExpiration(0.1);

5
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
View File

@@ -54,6 +54,11 @@ public class DriveSubsystem extends SubsystemBase {
/** Creates a new DriveSubsystem. */
public 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);
// Sets the distance per pulse for the encoders
m_leftEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
m_rightEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);

5
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Drivetrain.java
View File

@@ -59,6 +59,11 @@ public 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
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/subsystems/Drivetrain.java
View File

@@ -36,6 +36,11 @@ public class Drivetrain extends SubsystemBase {
/** Creates a new 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_rightMotor.setInverted(true);
// Use inches as unit for encoder distances
m_leftEncoder.setDistancePerPulse((Math.PI * kWheelDiameterInch) / kCountsPerRevolution);
m_rightEncoder.setDistancePerPulse((Math.PI * kWheelDiameterInch) / kCountsPerRevolution);

5
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
View File

@@ -76,6 +76,11 @@ public class Drivetrain {
/** Subsystem constructor. */
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);
// 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
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
View File

@@ -70,6 +70,11 @@ public class DriveSubsystem extends SubsystemBase {
/** Creates a new DriveSubsystem. */
public 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);
// Sets the distance per pulse for the encoders
m_leftEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
m_rightEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);

11
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Robot.java
View File

@@ -7,6 +7,7 @@ package edu.wpi.first.wpilibj.examples.tankdrive;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
/**
@@ -18,9 +19,17 @@ public class Robot extends TimedRobot {
private Joystick m_leftStick;
private Joystick m_rightStick;
private final MotorController m_leftMotor = new PWMSparkMax(0);
private final MotorController m_rightMotor = new PWMSparkMax(1);
@Override
public void robotInit() {
m_myRobot = new DifferentialDrive(new PWMSparkMax(0), new PWMSparkMax(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_rightMotor.setInverted(true);
m_myRobot = new DifferentialDrive(m_leftMotor, m_rightMotor);
m_leftStick = new Joystick(0);
m_rightStick = new Joystick(1);
}

8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrivexboxcontroller/Robot.java
View File

@@ -20,6 +20,14 @@ public class Robot extends TimedRobot {
private final DifferentialDrive m_robotDrive = new DifferentialDrive(m_leftMotor, m_rightMotor);
private final XboxController m_driverController = new XboxController(0);
@Override
public void robotInit() {
// 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);
}
@Override
public void teleopPeriodic() {
// Drive with tank drive.