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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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8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java
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@@ -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.

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java
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@@ -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());
}
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.java
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@@ -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));
}

5
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/DriveSubsystem.java
View File

@@ -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);
}
/**

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/RobotContainer.java
View File

@@ -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));
}

5
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/DriveSubsystem.java
View File

@@ -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);
}
/**

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java
View File

@@ -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));
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/RobotContainer.java
View File

@@ -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));
}

12
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
View File

@@ -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

9
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java
View File

@@ -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);
}
/**

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java
View File

@@ -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);

5
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
View File

@@ -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);
}
/**

5
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java
View File

@@ -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

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java
View File

@@ -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);

5
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java
View File

@@ -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);
}
/**

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
View File

@@ -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));
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
View File

@@ -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();
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
View File

@@ -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());

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java
View File

@@ -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));
}

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
View File

@@ -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();
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrivexboxcontroller/Robot.java
View File

@@ -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());
}
}