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Re: void RobotDrive::SetLeftRightMotorSpeeds?
but it is correct:
(change the 1 to -1 to invert the middle motors)
Code:
void RobotDrive::SetLeftRightMotorSpeeds(float leftSpeed, float rightSpeed)
{
wpi_assert(m_rearLeftMotor != NULL && m_rearRightMotor != NULL);
leftSpeed = Limit(leftSpeed);
rightSpeed = Limit(rightSpeed);
if (m_frontLeftMotor != NULL)
m_frontLeftMotor->Set(Limit(leftSpeed) * m_invertedMotors[kFrontLeftMotor]);
m_rearLeftMotor->Set(Limit(leftSpeed) * m_invertedMotors[kRearLeftMotor]);
if (m_frontRightMotor != NULL)
m_frontRightMotor->Set(-Limit(rightSpeed) * m_invertedMotors[kFrontRightMotor]);
m_rearRightMotor->Set(-Limit(rightSpeed) * m_invertedMotors[kRearRightMotor]);
if (m_middleRightMotor != NULL)
m_middleRightMotor ->Set(-Limit(rightSpeed) * 1);
if (m_middleLeftMotor != NULL)
m_middleLeftMotor ->Set(Limit(leftSpeed) * 1);
}
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Previously FRC 451 (The Cat Attack)
Now part of the class of 2016 at WPI & helping on WPILib
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