[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());
   }
 };