Forward and Reverse is normal yet Left and Right turning is inverted

[Lesafian]

Hi,

our team is having issues with our drive having inverted turning.

We're using 4 drive motors, all with VictorSP's. We've also confirmed that they're in ordered ports. the 2 motors on the left are in ports 0, and 1, and the two motors on the right are in ports 2, and 2.

Here's our code.

package org.usfirst.frc.team6077.robot;

import edu.wpi.first.wpilibj.SampleRobot;
//import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj.TalonSRX;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.VictorSP;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

public class Robot extends SampleRobot {

    // Declarations
	RobotDrive drive;
	
	CameraServer camserver;
	
	Compressor compressor;
	
	DoubleSolenoid ds;
	//Solenoid s;

	Joystick xboxController;

	TalonSRX slideMotor;
	
	Victor armMotor;
	
	VictorSP drivemotor1;
	VictorSP drivemotor2;
	VictorSP drivemotor3;
	VictorSP drivemotor4;
	

	// Autonomous Names
	final String defaultAuto = "Default";
	final String customAuto = "Autonomous Choice 1";
	final String customAuto2 = "Autonomous Choice 2";
	final String customAuto3 = "Autonomous Choice 3";
	final String customAuto4 = "Autonomous Choice 4";
	final String customAuto5 = "Autonomous Choice 5";

	// Chooser
	SendableChooser chooser;

	public Robot() {
		
		//Change values later
		drivemotor1 = new VictorSP(0);
		drivemotor2 = new VictorSP(1);
		drivemotor3 = new VictorSP(2);
		drivemotor4 = new VictorSP(3);
		
		compressor = new Compressor(0);
		
		drive = new RobotDrive(drivemotor1, drivemotor2, drivemotor3, drivemotor4);
		drive.setExpiration(0.1);
		
		xboxController = new Joystick(0);
		
		armMotor = new Victor(5);
		slideMotor = new TalonSRX(4);

		ds = new DoubleSolenoid(0, 1);
		//s = new Solenoid(2);

		chooser = new SendableChooser();
		
		camserver = CameraServer.getInstance();
		camserver.setQuality(50);
		camserver.startAutomaticCapture("cam0");

	}

	public void robotInit() {
		compressor.setClosedLoopControl(true);
		chooser.addDefault("Default Autonomous", defaultAuto);
		chooser.addObject("Autonomous Choice 1", customAuto);
		chooser.addObject("Autonomous Choice 2", customAuto2);
		chooser.addObject("Autonomous Choice 3", customAuto3);
		chooser.addObject("Autonomous Choice 4", customAuto4);
		chooser.addObject("Autonomous Choice 5", customAuto5);
		SmartDashboard.putData("Autonomous Chooser", chooser);
	}

	public void autonomous() {
		drive.setSafetyEnabled(false);
		String autoSelected = (String) chooser.getSelected();
		System.out.println("Autonomous Mode selected: " + autoSelected);

		switch (autoSelected) {

		case customAuto5:
			 /*Only use if have to
			 * Goal: Go through the portcullis & pick up a ball
			 * Note: Values might change as testing is done
			 */
			
			//Drive forwards while lowering arms to default
			drive.drive(1, 0);
			armMotor.set(-0.5);
			Timer.delay(1);
			
			armMotor.set(1);
			Timer.delay(1);
			drive.drive(1, 0);
			Timer.delay(2);
			
			drive.drive(0.5, 1);
			ds.set(DoubleSolenoid.Value.kForward);
			Timer.delay(1);
			ds.set(DoubleSolenoid.Value.kOff);			
		
			break;
		case customAuto4:
			/*Hallway autonomous test
			 * Goal: Drive forwards, turn around, come back
			 */
			drive.drive(-0.25, 0);
			Timer.delay(3);
			drive.drive(0.50, 1);
			Timer.delay(1.75);
			drive.drive(-0.1, 0);
			
			break;
		case customAuto3:
			break;
		case customAuto2:
			break;
		case customAuto:
			break;
		case defaultAuto:
		default:
			/*Preferred w/ preferred spawn point
			Goal: Go through the low bar and pick up a ball. */
			
			//Drive forwards
			drive.drive(1, 0);
			Timer.delay(1);
			
			//Turn to low bar
			drive.drive(0, 0.5);
			Timer.delay(1);
			
			//Drive through low bar and approach ball in center
			drive.drive(1, 0.25);
			Timer.delay(2);
			
			//Pick up the ball
			ds.set(DoubleSolenoid.Value.kForward);
			Timer.delay(1);
			ds.set(DoubleSolenoid.Value.kOff);
			break;
		}
		Scheduler.getInstance().run();
	}

	public void operatorControl() {
		drive.setSafetyEnabled(true);
		while (isOperatorControl() && isEnabled()) {
			
			compressor.start();
			// Move robot using left and right joystick
			//drive.tankDrive(xboxController.getRawAxis(1), xboxController.getRawAxis(5));
			drive.arcadeDrive(xboxController);

			// Lift and lower the arms using the right and left bumper.
			
			if (xboxController.getRawButton(5)) {
				
				armMotor.set(1);

			} else if (xboxController.getRawButton(4)) {
				
				armMotor.set(-1);
				
			} else {
				
				armMotor.set(0);
			}
			
			//Wait for motor update times
			Timer.delay(0.005);
			
			// Move sliding mechanism forwards and backwardss
			
			if (Math.abs(xboxController.getRawAxis(5)) > .1) {
     
				slideMotor.set(xboxController.getRawAxis(5));
				
			} else {
				
				slideMotor.set(0);
            }
			
			//Wait for motor update times
			Timer.delay(0.005);

			// Open and close the claw
			if (xboxController.getRawButton(2)) {
				
				ds.set(DoubleSolenoid.Value.kForward);
				
			} else if (xboxController.getRawButton(1)) {
				
				ds.set(DoubleSolenoid.Value.kReverse);
			}
			
			//Wait for motor update times.
			Timer.delay(0.005);
		}
	}

	public void test() {
	}
}

Thanks!

[eedoga]

plug your left motor ESCs pwm into your right motor spot and your right motor ESCs pwm into your left motor spot. Basically switch the sides that the motors are on and everything should be better...

Best of luck!

Edoga

[nickbrickmaster]

You could either switch your PWM sides either in code or electronically, or you can negate all the turn values in your code. Either way.

[GeeTwo]

Both.
If you just invert all the motor speeds, left and right will still be inverted, but forward and reverse will become inverted.

If you just swap left and right, left and right will remain inverted, and forward and reverse will become inverted.

Do both - invert all the motors from their current direction, and swap the left and right sides to fix it all at the same time.

Edit: I'm surprised that you have forward and reverse being forward and reverse, not spinning, without any inverted motors. Did you invert the motors on one side in wiring?

[Arhowk]

Seems easier to just change

drive.arcadeDrive(xboxController);

to

drive.arcadeDrive(xboxController.getRawAxis(1), -xboxController.getRawAxis(0));

[Ether]

Originally Posted by Lesafian

...and the two motors on the right are in ports 2, and 2.

There's your problem right there