Quote:
Originally Posted by frdrake
Yea, I'm referring to an individual basis. Right now we're just doing Motor->Set(-MotorCommand) for the ones that are backwards. Just seems like there should be a more elegant solution.
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Yes unfortunately, the myRobot.SetInvertedMotor(myRobot.kRearLeftMotor, true) function only handles all the motors for the RobotDrive class. If you have an individual motor for an arm or shooter, for example, I can't find an equivalent "Inverse" function in the WPI library. In our code, we have encapsulated individual motors into a PIDMotor class and provided our own "Inverse" function. There are many quick and dirty ways to do this. One of them is:
When calling the SetSpeed(speed) of a motor, you can do SetSpeed(speed*ARM_MOTOR_INVERSE) where ARM_MOTOR_INVERSE is defined as either -1.0 or 1.0.