Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

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

Also fixes various XboxController negations (was inconsistent throughout examples).
This commit is contained in:
sciencewhiz
2021-12-26 19:25:26 -08:00
committed by GitHub
parent baacbc8e24
commit dceb5364f4
42 changed files with 155 additions and 52 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h
View File

@@ -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);