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Invert Right side so PID Loops work

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- Invert Right Motor
- Invert Right side on differential drive to allow for driving normally without subsequent motor inverts
This commit is contained in:
Keenan D. Buckley
2020-01-30 21:36:11 -07:00
parent e96ccc527a
commit ae5fc4cb00
1 changed files with 4 additions and 3 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+4 -3
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@@ -130,7 +130,8 @@ public class Drive extends SubsystemBase {
/* flip input so forward becomes back, etc */
m_leftFrontMotor.setInverted(false);
m_rightFrontMotor.setInverted(false);
m_rightFrontMotor.setInverted(true);
m_driveTrain.setRightSideInverted(true);
m_leftBackMotor.setInverted(InvertType.FollowMaster);
m_rightBackMotor.setInverted(InvertType.FollowMaster);
@@ -306,7 +307,7 @@ public class Drive extends SubsystemBase {
* Add your docs here.
*/
public void driveWithInput(double move, double steer){
m_rightFrontMotor.setInverted(false);
//m_rightFrontMotor.setInverted(false);
m_driveTrain.arcadeDrive(move, steer);
}
@@ -318,7 +319,7 @@ public class Drive extends SubsystemBase {
public void runVelocityPID(double targetVel, double targetGyro) {
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
m_rightFrontMotor.setInverted(false);
//m_rightFrontMotor.setInverted(false);
m_rightFrontMotor.set(TalonFXControlMode.PercentOutput, targetVel, DemandType.AuxPID, targetGyro);
m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
}