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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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2
wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
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@@ -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);