[rbmj]

Use the RobotDrive::SetInvertedMotor(RobotDrive::MotorType , bool) function.

Something like:

//joystick - fill in usb port number
Joystick joy;
//declare jags - fill in ports in constructors
Jaguar left_front, left_rear, right_front, right_rear;
//declare RobotDrive object
RobotDrive drive(left_front, left_rear, right_front, right_rear);
//set motor inversion
drive.SetInvertedMotor(RobotDrive::kFrontLeftMotor, false);
drive.SetInvertedMotor(RobotDrive::kFrontRightMotor, true);
drive.SetInvertedMotor(RobotDrive::kRearLeftMotor, false);
drive.SetInvertedMotor(RobotDrive::kRearRightMotor, true);
//drive
while (true) {
   drive.ArcadeDrive(joy);
}