From c0da9d2d3593409f7521bafe4acee23c820d0c24 Mon Sep 17 00:00:00 2001 From: Dalton Smith Date: Sun, 26 Dec 2021 18:42:53 -0500 Subject: [PATCH] [examples] Invert Right Motor in Romi Java examples (#3828) --- .../templates/romicommandbased/subsystems/RomiDrivetrain.java | 3 +++ .../wpi/first/wpilibj/templates/romitimed/RomiDrivetrain.java | 3 +++ 2 files changed, 6 insertions(+) diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/subsystems/RomiDrivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/subsystems/RomiDrivetrain.java index 80543c6f3c..276e5cee7d 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/subsystems/RomiDrivetrain.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/subsystems/RomiDrivetrain.java @@ -32,6 +32,9 @@ public class RomiDrivetrain extends SubsystemBase { m_leftEncoder.setDistancePerPulse((Math.PI * kWheelDiameterInch) / kCountsPerRevolution); m_rightEncoder.setDistancePerPulse((Math.PI * kWheelDiameterInch) / kCountsPerRevolution); resetEncoders(); + + // Invert right side since motor is flipped + m_rightMotor.setInverted(true); } public void arcadeDrive(double xaxisSpeed, double zaxisRotate) { diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/RomiDrivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/RomiDrivetrain.java index 96c81b1bb0..e4f85599ce 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/RomiDrivetrain.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/RomiDrivetrain.java @@ -31,6 +31,9 @@ public class RomiDrivetrain { m_leftEncoder.setDistancePerPulse((Math.PI * kWheelDiameterInch) / kCountsPerRevolution); m_rightEncoder.setDistancePerPulse((Math.PI * kWheelDiameterInch) / kCountsPerRevolution); resetEncoders(); + + // Invert right side since motor is flipped + m_rightMotor.setInverted(true); } public void arcadeDrive(double xaxisSpeed, double zaxisRotate) {