Changes between Version 9 and Version 10 of ControlSystems/SoftwareTeam/Training/GettingStarted/RobotFSM1

Timestamp:

Nov 13, 2019, 9:47:08 AM (5 years ago)

Author:

David Albert

Comment:

--

ControlSystems/SoftwareTeam/Training/GettingStarted/RobotFSM1

@@ -42 +42 @@
     // opposite directions to turn the wheels in the same direction.
     l_motor.set(0.20);
-    r_motor.set(-0.20);
+    r_motor.set(0.20);
     // reset wheel encoders so we can tell how far we've driven
     l_encoder.reset();
@@ -52 +52 @@
     // the same direction to turn wheels in opposite directions (rotate robot)
     l_motor.set(0.20);
-    r_motor.set(0.20);
+    r_motor.set(-0.20);
     // reset wheel encoders so we can tell how far we've turned
     l_encoder.reset();
@@ -72 +72 @@
     l_motor = new Talon(0);
     r_motor = new Talon(1);
+    r_motor.setInverted(true); // right motor turns opposite direction
     // Quadrature encoders connected to DIO ports 0,1 and 2,3
     l_encoder = new Encoder(0,1);
-    r_encoder = new Encoder(2,3);
+    r_encoder = new Encoder(2,3, true); // right wheel turns opposite direction
     // 7.5" wheels with 360-pulse-per-rotation encoders
     l_encoder.setDistancePerPulse((7.5 * 3.141592) / 360);