Quote:
Originally Posted by Al3+
Also the drivers once went into a match with the joysticks backward. He mentioned to me afterward the confusion this caused, and I almost went to fix the direction until he clarified that it wasn't the drive that was reversed.
|
As I recall, when I first joined 619, their programmer showed me a feedback loop from a while back that involved a total of seven reversals: the joystick inputs were reversed in the getters and at the point of use, the motor outputs were reversed in the setters and at the point of use, the feedback was reversed in the getter and at the point of use, and an intermediate calculation was multiplied by -1.
Since then we've made sure to define conventions - gyro spinning clockwise should be positive, motor going forward should be positive - and ensure step-by-step that all of the hardware code follows them.