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

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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
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5
wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp
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@@ -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() {