Drivetrain and arcadedrive now work

frc6506 · Mar 10, 2022 · fddeb6b · fddeb6b
1 parent e0e07e4
commit fddeb6b
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Showing 2 changed files with 11 additions and 8 deletions.
diff --git a/src/main/java/frc/robot/commands/ArcadeDrive.java b/src/main/java/frc/robot/commands/ArcadeDrive.java
@@ -32,15 +32,15 @@ public ArcadeDrive(Drivetrain dt) {
   @Override
   public void initialize() {}
 
-  //
-
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
     //double speed = Robot.m_oi.getAxis(RobotMap.JOYSTICK_DRIVE_FORWARDS_ID) * -1;
     //double rotation = Robot.m_oi.getAxis(RobotMap.JOYSTICK_DRIVE_ROTATION_ID)
-    double speed = RobotContainer.controller.getRawAxis(1);
-    double rotation = RobotContainer.controller.getRawAxis(0);
+    double speed = RobotContainer.controller.getRawAxis(0);
+    double rotation = RobotContainer.controller.getRawAxis(1)*-1;
+    //double speed = RobotContainer.controller.getLeftX();
+    //double rotation = RobotContainer.controller.getLeftY();
     driveTrain.aDrive(speed, rotation);
   }
 

diff --git a/src/main/java/frc/robot/subsystems/DriveTrain.java b/src/main/java/frc/robot/subsystems/DriveTrain.java
@@ -20,12 +20,15 @@ public class Drivetrain extends SubsystemBase {
   CANSparkMax rightMotor1 = new CANSparkMax(Constants.MOTOR_RIGHT_FRONT_ID, MotorType.kBrushless);
   CANSparkMax rightMotor2 = new CANSparkMax(Constants.MOTOR_RIGHT_BACK_ID, MotorType.kBrushless);
 
+  // Invert Right side (Correct backwardness.)
+  //rightMotor1.setInverted(true);
+
   // Motor Controller Group Objects
   MotorControllerGroup leftMotors = new  MotorControllerGroup(leftMotor1, leftMotor2);
   MotorControllerGroup rightMotors = new  MotorControllerGroup(rightMotor1, rightMotor2);
 
-  // Invert Right side (Correct backwardsness.)
-  rightMotors.setInverted(true);
+  // Invert Right side (Correct backwardness.)
+  //rightMotors.setInverted(true);
 
   DifferentialDrive dualDrive = new DifferentialDrive(leftMotors, rightMotors); 
 
@@ -38,13 +41,13 @@ public Drivetrain() {
    * @param rotation
    */
   public void aDrive(double speed, double rotation){
-    dualDrive.arcadeDrive(speed,rotation);
+    dualDrive.arcadeDrive(speed, rotation);
   }
 
   /**
    * 
    * @param leftSPeed
-   * @param righSpeed
+   * @param rightSpeed
    */
   public void dDrive(double leftSpeed, double rightSpeed) {
     dualDrive.tankDrive(leftSpeed, rightSpeed);