Fix robot wheels moving in opposite direction (#17)

WTMCRobotics · Feb 19, 2024 · 12ce167 · 12ce167
1 parent 8e31961
commit 12ce167
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Showing 4 changed files with 11 additions and 8 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -4,8 +4,8 @@ public class Constants {
 
     /*DRIVE TRAIN MOTOR IDs*/
     public static final int DRIVE_LEFT_PARENT_ID = 4;
-    public static final int DRIVE_LEFT_CHILD_ID = 5;
-    public static final int DRIVE_RIGHT_PARENT_ID = 2;
+    public static final int DRIVE_LEFT_CHILD_ID = 8;
+    public static final int DRIVE_RIGHT_PARENT_ID = 11;
     public static final int DRIVE_RIGHT_CHILD_ID = 3;
 
     /*CONTROLLER PORT IDs*/

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -51,10 +51,12 @@ public static AHRS getGyroscope() {
     public void robotInit() {
         aprilTagHighlighter = new AprilTagHighlighter();
         autonRouteChooser.addOption("move forward", "move forward");
+        autonRouteChooser.addOption("move backwards", "move backwards");
+        SmartDashboard.putData(autonRouteChooser);
 
-        // driveRightChild.setInverted(true);
+        driveLeftParent.setInverted(true);
+        driveRightParent.setInverted(false);
 
-        driveRightParent.setInverted(true);
         driveLeftChild.follow(driveLeftParent);
         driveRightChild.follow(driveRightParent);
 
@@ -175,11 +177,12 @@ public void teleopPeriodic() {
         double leftY = driverController.getLeftY();
         double rightY = driverController.getRightY();
         // TODO the left wheels were moving despite the controller output being 0, why?
+        QuickActions.stopAll();
         if (Math.abs(leftY) > .03) {
             driveLeftParent.set(-leftY);
         }
         if (Math.abs(rightY) > .03) {
-            driveRightParent.set(-rightY);
+            driveRightParent.set(rightY);
         }
         driverController.setRumble(RumbleType.kBothRumble, 0.1);
 

diff --git a/src/main/java/frc/robot/RobotMotors.java b/src/main/java/frc/robot/RobotMotors.java
@@ -5,7 +5,7 @@
 public class RobotMotors {
 
     public static void setupMotors(MotorController leftMotor, MotorController rightMotor) {
-        leftMotor.setInverted(true);
-        rightMotor.setInverted(false);
+        // leftMotor.setInverted(true);
+        // rightMotor.setInverted(false);
     }
 }
diff --git a/src/main/java/frc/robot/motor/SparkMotorController.java b/src/main/java/frc/robot/motor/SparkMotorController.java
@@ -18,7 +18,7 @@ public class SparkMotorController implements MotorController {
 
     SparkMotorController(int canID) {
         controller = new CANSparkMax(canID, MotorType.kBrushless);
-        encoder = controller.getEncoder(SparkRelativeEncoder.Type.kQuadrature, 42);
+        encoder = controller.getEncoder(SparkRelativeEncoder.Type.kHallSensor, 42);
 
         // number
         // of ticks