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invert right motors #10

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Merged
mustangzr1 merged 2 commits into from
Feb 2, 2019
Merged

invert right motors #10

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5ec1b17
add correct port numbers for motor controllers
kevinzwang Feb 2, 2019
bc7163b
invert right motors
kevinzwang Feb 2, 2019
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16 changes: 8 additions & 8 deletions Robot2019/src/main/java/frc/robot/RobotMap.java
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Original file line number Diff line number Diff line change
Expand Up @@ -31,17 +31,17 @@ public class RobotMap {

static {
// Initialize motors on the left side of the drivetrain.
leftMaster = createConfiguredTalon(0); // TODO: set ports to correct values
leftSlave1 = createConfiguredVictor(1); // TODO: set ports to correct values
leftSlave2 = createConfiguredVictor(2); // TODO: set ports to correct values
leftMaster = createConfiguredTalon(8);
leftSlave1 = createConfiguredVictor(9);
leftSlave2 = createConfiguredVictor(10);

// Initialize motors on the right side of the drivetrain.
rightMaster = createConfiguredTalon(3); // TODO: set ports to correct values
rightSlave1 = createConfiguredVictor(4); // TODO: set ports to correct values
rightSlave2 = createConfiguredVictor(5); // TODO: set ports to correct values
rightMaster = createConfiguredTalon(5);
rightSlave1 = createConfiguredVictor(6);
rightSlave2 = createConfiguredVictor(7);

leftEnc = new Encoder(new DigitalInput(0), new DigitalInput(1)); // TODO: set ports to correct values
rightEnc = new Encoder(new DigitalInput(2), new DigitalInput(3)); // TODO: set ports to correct values
leftEnc = new Encoder(new DigitalInput(0), new DigitalInput(1));
rightEnc = new Encoder(new DigitalInput(2), new DigitalInput(3));

gyro = new AHRS(SPI.Port.kMXP);
}
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4 changes: 4 additions & 0 deletions Robot2019/src/main/java/frc/robot/subsystems/Drivetrain.java
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Expand Up @@ -37,6 +37,10 @@ public Drivetrain(WPI_TalonSRX leftMaster, WPI_VictorSPX leftSlave1, WPI_VictorS
rightSlave2.follow(rightMaster);
this.rightMotor = rightMaster;

rightMaster.setInverted(true);
rightSlave1.setInverted(true);
rightSlave2.setInverted(true);

this.leftJoy = leftJoy;
this.rightJoy = rightJoy;

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