Reverse polarity of a victor at declaration?

Technical C/C++
1

So I searched but couldn’t find this question answered anywhere else.

Is there a way to inverse the victor commands at declaration of the motor? By which I mean as the motors go on there’s a possibility that a motor command of 1 makes it go backward when it comes to driving the robot. Am I stuck modifying the motorcommand during processing or is there an overloaded way during declaration to tell the robot that motor is backwards?

2

If your using the robotDrive yes theres a method for reversing the motors:

myRobot.SetInvertedMotor(myRobot.kRearLeftMotor, true);

If you want to do the same to a single jaguar/victor, there is no way I know of to do it (outside of logic in your own code to switch the direction)

3

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.

4

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.