TalonSRX invert?

[FRC2501]

We program in C++ and I was wondering if there is a way to invert TalonSRXs in programming because out Omni drive needs both right motors to be inverted or it acts weird

[Ty Tremblay]

I wouldn't recommend inverting the speed controllers. Just make sure your math takes into account the the fact that your right motors need to rotate in the opposite direction and invert the signal you're sending it.

LeftMotor.set(1)

RightMotor.set(-1)

[Alan Anderson]

Originally Posted by FRC2501

We program in C++ and I was wondering if there is a way to invert TalonSRXs in programming because out Omni drive needs both right motors to be inverted or it acts weird

I think you're looking for the setInvertedMotor() function. It works with any Robot Drive object regardless of what kind of speed controller you have on your drivebase.

[FRC2501]

Originally Posted by Alan Anderson

I think you're looking for the setInvertedMotor() function. It works with any Robot Drive object regardless of what kind of speed controller you have on your drivebase.

The SetInvertedMotor() function seems to be broken to me, it doesn't like either

driveSystem.SetInvertedMotor(kFrontRightMotor, true);

or

driveSystem.SetInvertedMotor(rightFrontDriveTalon, true);

[Ether]

Originally Posted by FRC2501

The SetInvertedMotor() function seems to be broken to me, it doesn't like either

driveSystem.SetInvertedMotor(kFrontRightMotor, true);

or

driveSystem.SetInvertedMotor(rightFrontDriveTalon, true);

Lowercase "s"? setInvertedMotor

[FRC2501]

Originally Posted by Ether

Lowercase "s"? setInvertedMotor

I looked in the RobotDrive.h and it is a capital S, the error I get is that it isn't a Motor Type

[baumgartensam]

Originally Posted by FRC2501

I looked in the RobotDrive.h and it is a capital S, the error I get is that it isn't a Motor Type

A number of the method names are capitalized. It drives me crazy (pun intended) as the Java naming convention is a lowercased first letter and then the rest of the word is camel cased. The CANTalonSRX class has a few of these incorrectly named methods as well but it's a fairly minor issue in the scheme of things.

[RyanCahoon]

Originally Posted by FRC2501

The SetInvertedMotor() function seems to be broken to me, it doesn't like either

driveSystem.SetInvertedMotor(kFrontRightMotor, true);

or

driveSystem.SetInvertedMotor(rightFrontDriveTalon, true);

Unless you have using statements, I believe you need to qualify the constant names:

driveSystem.SetInvertedMotor(RobotDrive::kFrontRightMotor, true);

[FRC2501]

Originally Posted by RyanCahoon

Unless you have using statements, I believe you need to qualify the constant names:

driveSystem.SetInvertedMotor(RobotDrive::kFrontRightMotor, true);

Thanks! It now works