commit 1a5bd6b4fd38186c27d9c0d59524c6c5e63d3ca8
author Austin Schuh <austin@peloton-tech.com> Tue Feb 18 21:14:21 2014 -0800
committer Austin Schuh <austin@peloton-tech.com> Tue Feb 18 21:14:21 2014 -0800
tree 506957744299f8ede3c0459007dd19fd729cca13
parent d36c369a0a0f429e8e35955045378130d44f1dd0

Fixed motor directions

frc971/output/motor_writer.cc

diff --git a/frc971/output/motor_writer.cc b/frc971/output/motor_writer.cc
index 44525cb..22a120e 100644
--- a/frc971/output/motor_writer.cc
+++ b/frc971/output/motor_writer.cc
@@ -70,10 +70,10 @@
         LOG_STRUCT(DEBUG, "will output", *claw.get());
         SetPWMOutput(6, claw->intake_voltage / 12.0, kTalonBounds);
         SetPWMOutput(7, claw->intake_voltage / 12.0, kTalonBounds);
-        SetPWMOutput(1, claw->bottom_claw_voltage / 12.0, kTalonBounds);
+        SetPWMOutput(1, -claw->bottom_claw_voltage / 12.0, kTalonBounds);
         SetPWMOutput(2, claw->top_claw_voltage / 12.0, kTalonBounds);
         SetPWMOutput(5, claw->tusk_voltage / 12.0, kTalonBounds);  // left
-        SetPWMOutput(4, claw->tusk_voltage / 12.0, kTalonBounds);  // right
+        SetPWMOutput(4, -claw->tusk_voltage / 12.0, kTalonBounds);  // right
       } else {
         DisablePWMOutput(6);
         DisablePWMOutput(7);