fixed the flipping issue for auton

frc3512 · Feb 10, 2024 · 47886c9 · 47886c9
1 parent 47c5db7
commit 47886c9
Show file tree

Hide file tree

Showing 6 changed files with 8 additions and 8 deletions.
diff --git a/src/main/deploy/swerve/comp/modules/backleft.json b/src/main/deploy/swerve/comp/modules/backleft.json
@@ -15,7 +15,7 @@
     "canbus": null
   },
   "inverted": {
-    "drive": true,
+    "drive": false,
     "angle": false
   },
   "absoluteEncoderOffset": 169.89,

diff --git a/src/main/deploy/swerve/comp/modules/backright.json b/src/main/deploy/swerve/comp/modules/backright.json
@@ -15,7 +15,7 @@
     "canbus": null
   },
   "inverted": {
-    "drive": true,
+    "drive": false,
     "angle": false
   },
   "absoluteEncoderOffset": 350.8, 

diff --git a/src/main/deploy/swerve/comp/modules/frontleft.json b/src/main/deploy/swerve/comp/modules/frontleft.json
@@ -15,7 +15,7 @@
     "canbus": null
   },
   "inverted": {
-    "drive": true,
+    "drive": false,
     "angle": false
   },
   "absoluteEncoderOffset": 186.8,

diff --git a/src/main/deploy/swerve/comp/modules/frontright.json b/src/main/deploy/swerve/comp/modules/frontright.json
@@ -15,7 +15,7 @@
     "canbus": null
   },
   "inverted": {
-    "drive": true,
+    "drive": false,
     "angle": false
   },
   "absoluteEncoderOffset": 341.0,

diff --git a/src/main/deploy/swerve/comp/swervedrive.json b/src/main/deploy/swerve/comp/swervedrive.json
@@ -4,7 +4,7 @@
     "id": 0,
     "canbus": null
   },
-  "invertedIMU": false,
+  "invertedIMU": true,
   "modules": [
     "frontleft.json",
     "frontright.json",

diff --git a/src/main/java/frc3512/robot/subsystems/Superstructure.java b/src/main/java/frc3512/robot/subsystems/Superstructure.java
@@ -39,14 +39,14 @@ public void configureAxisActions() {
         swerve.driveCommand(
             () ->
                 MathUtil.applyDeadband(
-                    -driverXbox.getRawAxis(translationAxis),
+                    driverXbox.getRawAxis(translationAxis),
                     Constants.SwerveConstants.swerveDeadband),
             () ->
                 MathUtil.applyDeadband(
-                    -driverXbox.getRawAxis(strafeAxis), Constants.SwerveConstants.swerveDeadband),
+                    driverXbox.getRawAxis(strafeAxis), Constants.SwerveConstants.swerveDeadband),
             () ->
                 MathUtil.applyDeadband(
-                    -driverXbox.getRawAxis(rotationAxis),
+                    driverXbox.getRawAxis(rotationAxis),
                     Constants.SwerveConstants.swerveDeadband)));
   }