[examples] Ensure right side motors are inverted (#3836)

Fixes #3827
Adds MotorController inversion for right side, removes inversion in
setVoltage methods.

Also fixes various XboxController negations (was inconsistent throughout examples).

wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp

@@ -18,6 +18,13 @@ class Robot : public frc::TimedRobot {
   frc::Joystick m_stick{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 arcade style
     m_robotDrive.ArcadeDrive(m_stick.GetY(), m_stick.GetX());

wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp

@@ -18,12 +18,19 @@ 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 split arcade style
     // That means that the Y axis of the left stick moves forward
     // and backward, and the X of the right stick turns left and right.
-    m_robotDrive.ArcadeDrive(m_driverController.GetLeftY(),
-                             m_driverController.GetRightX());
+    m_robotDrive.ArcadeDrive(-m_driverController.GetLeftY(),
+                             -m_driverController.GetRightX());
   }
 };
 

wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp

@@ -17,8 +17,8 @@ RobotContainer::RobotContainer() {
   // Set up default drive command
   m_drive.SetDefaultCommand(frc2::RunCommand(
       [this] {
-        m_drive.ArcadeDrive(m_driverController.GetLeftY(),
-                            m_driverController.GetRightX());
+        m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
+                            -m_driverController.GetRightX());
       },
       {&m_drive}));
 }

wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/subsystems/DriveSubsystem.cpp

@@ -16,6 +16,10 @@ DriveSubsystem::DriveSubsystem()
   // Set the distance per pulse for the encoders
   m_leftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
   m_rightEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
+  // 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);
 }
 
 void DriveSubsystem::Periodic() {

wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp

@@ -17,8 +17,8 @@ RobotContainer::RobotContainer() {
   // Set up default drive command
   m_drive.SetDefaultCommand(frc2::RunCommand(
       [this] {
-        m_drive.ArcadeDrive(m_driverController.GetLeftY(),
-                            m_driverController.GetRightX());
+        m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
+                            -m_driverController.GetRightX());
       },
       {&m_drive}));
 }

wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/DriveSubsystem.cpp

@@ -16,6 +16,10 @@ DriveSubsystem::DriveSubsystem()
   // Set the distance per pulse for the encoders
   m_leftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
   m_rightEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
+  // 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);
 }
 
 void DriveSubsystem::Periodic() {

wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp

@@ -18,8 +18,8 @@ RobotContainer::RobotContainer() {
   // Set up default drive command
   m_drive.SetDefaultCommand(frc2::RunCommand(
       [this] {
-        m_drive.ArcadeDrive(m_driverController.GetLeftY(),
-                            m_driverController.GetRightX());
+        m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
+                            -m_driverController.GetRightX());
       },
       {&m_drive}));
 }

wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp

@@ -16,8 +16,8 @@ RobotContainer::RobotContainer() {
   // Set up default drive command
   m_drive.SetDefaultCommand(frc2::RunCommand(
       [this] {
-        m_drive.ArcadeDrive(m_driverController.GetLeftY(),
-                            m_driverController.GetRightX());
+        m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
+                            -m_driverController.GetRightX());
       },
       {&m_drive}));
 }

wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp

@@ -11,7 +11,11 @@
 class Robot : public frc::TimedRobot {
  public:
   Robot() {
+    m_right.SetInverted(true);
     m_robotDrive.SetExpiration(100_ms);
+    // 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_timer.Start();
   }
 

wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp

@@ -17,7 +17,13 @@
  */
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override { m_gyro.SetSensitivity(kVoltsPerDegreePerSecond); }
+  void RobotInit() override {
+    m_gyro.SetSensitivity(kVoltsPerDegreePerSecond);
+    // 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);
+  }
 
   /**
    * The motor speed is set from the joystick while the DifferentialDrive

wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp

@@ -16,10 +16,10 @@
 class Robot : public frc::TimedRobot {
  public:
   void RobotInit() override {
-    // Invert the left side motors. You may need to change or remove this to
+    // Invert the right side motors. You may need to change or remove this to
     // match your robot.
-    m_frontLeft.SetInverted(true);
-    m_rearLeft.SetInverted(true);
+    m_frontRight.SetInverted(true);
+    m_rearRight.SetInverted(true);
 
     m_gyro.SetSensitivity(kVoltsPerDegreePerSecond);
   }

wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp

@@ -27,8 +27,8 @@ RobotContainer::RobotContainer() {
 
   // Set up default drive command
   m_drive.SetDefaultCommand(DefaultDrive(
-      &m_drive, [this] { return m_driverController.GetLeftY(); },
-      [this] { return m_driverController.GetRightX(); }));
+      &m_drive, [this] { return -m_driverController.GetLeftY(); },
+      [this] { return -m_driverController.GetRightX(); }));
 }
 
 void RobotContainer::ConfigureButtonBindings() {

wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h

@@ -20,7 +20,14 @@
  */
 class Drivetrain {
  public:
-  Drivetrain() { m_gyro.Reset(); }
+  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_frontRightMotor.SetInverted(true);
+    m_backRightMotor.SetInverted(true);
+  }
 
   frc::MecanumDriveWheelSpeeds GetCurrentState() const;
   void SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds);

wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp

@@ -34,6 +34,11 @@ DriveSubsystem::DriveSubsystem()
   m_rearLeftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
   m_frontRightEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
   m_rearRightEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
+  // 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_frontRight.SetInverted(true);
+  m_rearRight.SetInverted(true);
 }
 
 void DriveSubsystem::Periodic() {

wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp

@@ -14,10 +14,10 @@
 class Robot : public frc::TimedRobot {
  public:
   void RobotInit() override {
-    // Invert the left side motors. You may need to change or remove this to
+    // Invert the right side motors. You may need to change or remove this to
     // match your robot.
-    m_frontLeft.SetInverted(true);
-    m_rearLeft.SetInverted(true);
+    m_frontRight.SetInverted(true);
+    m_rearRight.SetInverted(true);
   }
 
   void TeleopPeriodic() override {

wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h

@@ -21,7 +21,14 @@
  */
 class Drivetrain {
  public:
-  Drivetrain() { m_gyro.Reset(); }
+  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_frontRightMotor.SetInverted(true);
+    m_backRightMotor.SetInverted(true);
+  }
 
   frc::MecanumDriveWheelSpeeds GetCurrentState() const;
   void SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds);

wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp

@@ -42,7 +42,7 @@ void DriveSubsystem::ArcadeDrive(double fwd, double rot) {
 
 void DriveSubsystem::TankDriveVolts(units::volt_t left, units::volt_t right) {
   m_leftMotors.SetVoltage(left);
-  m_rightMotors.SetVoltage(-right);
+  m_rightMotors.SetVoltage(right);
   m_drive.Feed();
 }
 

wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp

@@ -43,7 +43,7 @@ void Drivetrain::SimulationPeriodic() {
   // voltages make the right side move forward.
   m_drivetrainSimulator.SetInputs(units::volt_t{m_leftLeader.Get()} *
                                       frc::RobotController::GetInputVoltage(),
-                                  units::volt_t{-m_rightLeader.Get()} *
+                                  units::volt_t{m_rightLeader.Get()} *
                                       frc::RobotController::GetInputVoltage());
   m_drivetrainSimulator.Update(20_ms);
 

wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp

@@ -28,8 +28,8 @@ RobotContainer::RobotContainer() {
   // Set up default drive command
   m_drive.SetDefaultCommand(frc2::RunCommand(
       [this] {
-        m_drive.ArcadeDrive(m_driverController.GetLeftY(),
-                            m_driverController.GetRightX());
+        m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
+                            -m_driverController.GetRightX());
       },
       {&m_drive}));
 }

wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp

@@ -42,7 +42,7 @@ void DriveSubsystem::SimulationPeriodic() {
   // voltages make the right side move forward.
   m_drivetrainSimulator.SetInputs(units::volt_t{m_leftMotors.Get()} *
                                       frc::RobotController::GetInputVoltage(),
-                                  units::volt_t{-m_rightMotors.Get()} *
+                                  units::volt_t{m_rightMotors.Get()} *
                                       frc::RobotController::GetInputVoltage());
   m_drivetrainSimulator.Update(20_ms);
 
@@ -64,7 +64,7 @@ void DriveSubsystem::ArcadeDrive(double fwd, double rot) {
 
 void DriveSubsystem::TankDriveVolts(units::volt_t left, units::volt_t right) {
   m_leftMotors.SetVoltage(left);
-  m_rightMotors.SetVoltage(-right);
+  m_rightMotors.SetVoltage(right);
   m_drive.Feed();
 }
 

wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp

@@ -27,8 +27,8 @@ class Robot : public frc::TimedRobot {
 
   void TeleopPeriodic() override {
     // Drive with tank style
-    m_robotDrive.TankDrive(m_driverController.GetLeftY(),
-                           m_driverController.GetRightY());
+    m_robotDrive.TankDrive(-m_driverController.GetLeftY(),
+                           -m_driverController.GetRightY());
   }
 };
 

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java

@@ -19,6 +19,14 @@ public class Robot extends TimedRobot {
   private final DifferentialDrive m_robotDrive = new DifferentialDrive(m_leftMotor, m_rightMotor);
   private final Joystick m_stick = new Joystick(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 arcade drive.

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java

@@ -19,11 +19,19 @@ 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 split arcade drive.
     // That means that the Y axis of the left stick moves forward
     // and backward, and the X of the right stick turns left and right.
-    m_robotDrive.arcadeDrive(m_driverController.getLeftY(), m_driverController.getRightX());
+    m_robotDrive.arcadeDrive(-m_driverController.getLeftY(), -m_driverController.getRightX());
   }
 }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.java

@@ -42,7 +42,7 @@ public class RobotContainer {
         new RunCommand(
             () ->
                 m_robotDrive.arcadeDrive(
-                    m_driverController.getLeftY(), m_driverController.getRightX()),
+                    -m_driverController.getLeftY(), -m_driverController.getRightX()),
             m_robotDrive));
   }
 

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/DriveSubsystem.java

@@ -46,6 +46,11 @@ public class DriveSubsystem extends SubsystemBase {
     // Sets the distance per pulse for the encoders
     m_leftEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
     m_rightEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
+
+    // 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);
   }
 
   /**

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/RobotContainer.java

@@ -42,7 +42,7 @@ public class RobotContainer {
         new RunCommand(
             () ->
                 m_robotDrive.arcadeDrive(
-                    m_driverController.getLeftY(), m_driverController.getRightX()),
+                    -m_driverController.getLeftY(), -m_driverController.getRightX()),
             m_robotDrive));
   }
 

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/DriveSubsystem.java

@@ -46,6 +46,11 @@ public class DriveSubsystem extends SubsystemBase {
     // Sets the distance per pulse for the encoders
     m_leftEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
     m_rightEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
+
+    // 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);
   }
 
   /**

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java

@@ -44,7 +44,7 @@ public class RobotContainer {
         new RunCommand(
             () ->
                 m_robotDrive.arcadeDrive(
-                    m_driverController.getLeftY(), m_driverController.getRightX()),
+                    -m_driverController.getLeftY(), -m_driverController.getRightX()),
             m_robotDrive));
   }
 

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/RobotContainer.java

@@ -67,7 +67,7 @@ public class RobotContainer {
         new RunCommand(
             () ->
                 m_robotDrive.arcadeDrive(
-                    m_driverController.getLeftY(), m_driverController.getRightX()),
+                    -m_driverController.getLeftY(), -m_driverController.getRightX()),
             m_robotDrive));
   }
 

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java

@@ -17,8 +17,9 @@ import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
  * directory.
  */
 public class Robot extends TimedRobot {
-  private final DifferentialDrive m_robotDrive =
-      new DifferentialDrive(new PWMSparkMax(0), new PWMSparkMax(1));
+  private final PWMSparkMax m_leftDrive = new PWMSparkMax(0);
+  private final PWMSparkMax m_rightDrive = new PWMSparkMax(1);
+  private final DifferentialDrive m_robotDrive = new DifferentialDrive(m_leftDrive, m_rightDrive);
   private final Joystick m_stick = new Joystick(0);
   private final Timer m_timer = new Timer();
 
@@ -27,7 +28,12 @@ public class Robot extends TimedRobot {
    * initialization code.
    */
   @Override
-  public void robotInit() {}
+  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_rightDrive.setInverted(true);
+  }
 
   /** This function is run once each time the robot enters autonomous mode. */
   @Override

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java

@@ -28,14 +28,19 @@ public class Robot extends TimedRobot {
   private static final int kGyroPort = 0;
   private static final int kJoystickPort = 0;
 
-  private final DifferentialDrive m_myRobot =
-      new DifferentialDrive(new PWMSparkMax(kLeftMotorPort), new PWMSparkMax(kRightMotorPort));
+  private final PWMSparkMax m_leftDrive = new PWMSparkMax(kLeftMotorPort);
+  private final PWMSparkMax m_rightDrive = new PWMSparkMax(kRightMotorPort);
+  private final DifferentialDrive m_myRobot = new DifferentialDrive(m_leftDrive, m_rightDrive);
   private final AnalogGyro m_gyro = new AnalogGyro(kGyroPort);
   private final Joystick m_joystick = new Joystick(kJoystickPort);
 
   @Override
   public void robotInit() {
     m_gyro.setSensitivity(kVoltsPerDegreePerSecond);
+    // 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_rightDrive.setInverted(true);
   }
 
   /**

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java

@@ -37,10 +37,10 @@ public class Robot extends TimedRobot {
     PWMSparkMax frontRight = new PWMSparkMax(kFrontRightChannel);
     PWMSparkMax rearRight = new PWMSparkMax(kRearRightChannel);
 
-    // Invert the left side motors.
+    // Invert the right side motors.
     // You may need to change or remove this to match your robot.
-    frontLeft.setInverted(true);
-    rearLeft.setInverted(true);
+    frontRight.setInverted(true);
+    rearRight.setInverted(true);
 
     m_robotDrive = new MecanumDrive(frontLeft, rearLeft, frontRight, rearRight);
 

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java

@@ -56,6 +56,11 @@ public class Drivetrain {
   /** Constructs a MecanumDrive and resets the gyro. */
   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_frontRightMotor.setInverted(true);
+    m_backRightMotor.setInverted(true);
   }
 
   /**

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java

@@ -67,6 +67,11 @@ public class DriveSubsystem extends SubsystemBase {
     m_rearLeftEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
     m_frontRightEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
     m_rearRightEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
+    // 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_frontRight.setInverted(true);
+    m_rearRight.setInverted(true);
   }
 
   @Override

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java

@@ -28,10 +28,10 @@ public class Robot extends TimedRobot {
     PWMSparkMax frontRight = new PWMSparkMax(kFrontRightChannel);
     PWMSparkMax rearRight = new PWMSparkMax(kRearRightChannel);
 
-    // Invert the left side motors.
+    // Invert the right side motors.
     // You may need to change or remove this to match your robot.
-    frontLeft.setInverted(true);
-    rearLeft.setInverted(true);
+    frontRight.setInverted(true);
+    rearRight.setInverted(true);
 
     m_robotDrive = new MecanumDrive(frontLeft, rearLeft, frontRight, rearRight);
 

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java

@@ -68,6 +68,11 @@ public class Drivetrain {
   /** Constructs a MecanumDrive and resets the gyro. */
   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_frontRightMotor.setInverted(true);
+    m_backRightMotor.setInverted(true);
   }
 
   /**

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java

@@ -53,7 +53,7 @@ public class RobotContainer {
         new RunCommand(
             () ->
                 m_robotDrive.arcadeDrive(
-                    m_driverController.getLeftY(), m_driverController.getRightX()),
+                    -m_driverController.getLeftY(), -m_driverController.getRightX()),
             m_robotDrive));
   }
 

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

@@ -120,7 +120,7 @@ public class DriveSubsystem extends SubsystemBase {
    */
   public void tankDriveVolts(double leftVolts, double rightVolts) {
     m_leftMotors.setVoltage(leftVolts);
-    m_rightMotors.setVoltage(-rightVolts);
+    m_rightMotors.setVoltage(rightVolts);
     m_drive.feed();
   }
 

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

@@ -145,7 +145,7 @@ public class Drivetrain {
     // voltages make the right side move forward.
     m_drivetrainSimulator.setInputs(
         m_leftLeader.get() * RobotController.getInputVoltage(),
-        -m_rightLeader.get() * RobotController.getInputVoltage());
+        m_rightLeader.get() * RobotController.getInputVoltage());
     m_drivetrainSimulator.update(0.02);
 
     m_leftEncoderSim.setDistance(m_drivetrainSimulator.getLeftPositionMeters());

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java

@@ -50,7 +50,7 @@ public class RobotContainer {
         new RunCommand(
             () ->
                 m_robotDrive.arcadeDrive(
-                    -m_driverController.getLeftY(), m_driverController.getRightX()),
+                    -m_driverController.getLeftY(), -m_driverController.getRightX()),
             m_robotDrive));
   }
 

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java

@@ -122,7 +122,7 @@ public class DriveSubsystem extends SubsystemBase {
     // move forward.
     m_drivetrainSimulator.setInputs(
         m_leftMotors.get() * RobotController.getBatteryVoltage(),
-        -m_rightMotors.get() * RobotController.getBatteryVoltage());
+        m_rightMotors.get() * RobotController.getBatteryVoltage());
     m_drivetrainSimulator.update(0.020);
 
     m_leftEncoderSim.setDistance(m_drivetrainSimulator.getLeftPositionMeters());
@@ -194,7 +194,7 @@ public class DriveSubsystem extends SubsystemBase {
       rightVolts *= batteryVoltage / 12.0;
     }
     m_leftMotors.setVoltage(leftVolts);
-    m_rightMotors.setVoltage(-rightVolts);
+    m_rightMotors.setVoltage(rightVolts);
     m_drive.feed();
   }
 

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

@@ -33,6 +33,6 @@ public class Robot extends TimedRobot {
     // That means that the Y axis of the left stick moves the left side
     // of the robot forward and backward, and the Y axis of the right stick
     // moves the right side of the robot forward and backward.
-    m_robotDrive.tankDrive(m_driverController.getLeftY(), m_driverController.getRightY());
+    m_robotDrive.tankDrive(-m_driverController.getLeftY(), -m_driverController.getRightY());
   }
 }