commit 4f1a5506c74c04e3d6504045f380e660abe52320
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Jun 22 16:04:36 2024 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Aug 10 11:46:58 2024 -0700
tree c1b549674c540cdb9a5b543e936e85a625617670
parent f40b6779ce083d9db1112b4c10c66bb1e5ecfe5d

Correct motor inversion on y2024_swerve

Change-Id: Ia74c46d22be0a1d576b6f0fd1f8dc102225f1c93
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2024_swerve/wpilib_interface.cc

diff --git a/y2024_swerve/wpilib_interface.cc b/y2024_swerve/wpilib_interface.cc
index f3c78eb..e6280e4 100644
--- a/y2024_swerve/wpilib_interface.cc
+++ b/y2024_swerve/wpilib_interface.cc
@@ -163,25 +163,25 @@
     // TODO(max): Change the CanBus names with TalonFX software.
     frc971::wpilib::swerve::SwerveModules modules{
         .front_left = std::make_shared<SwerveModule>(
-            frc971::wpilib::TalonFXParams{6, false},
+            frc971::wpilib::TalonFXParams{6, true},
             frc971::wpilib::TalonFXParams{5, false}, "Drivetrain Bus",
             &signals_registry,
             constants::Values::kDrivetrainStatorCurrentLimit(),
             constants::Values::kDrivetrainSupplyCurrentLimit()),
         .front_right = std::make_shared<SwerveModule>(
-            frc971::wpilib::TalonFXParams{3, false},
+            frc971::wpilib::TalonFXParams{3, true},
             frc971::wpilib::TalonFXParams{4, false}, "Drivetrain Bus",
             &signals_registry,
             constants::Values::kDrivetrainStatorCurrentLimit(),
             constants::Values::kDrivetrainSupplyCurrentLimit()),
         .back_left = std::make_shared<SwerveModule>(
-            frc971::wpilib::TalonFXParams{8, false},
-            frc971::wpilib::TalonFXParams{7, false}, "Drivetrain Bus",
+            frc971::wpilib::TalonFXParams{7, true},
+            frc971::wpilib::TalonFXParams{8, false}, "Drivetrain Bus",
             &signals_registry,
             constants::Values::kDrivetrainStatorCurrentLimit(),
             constants::Values::kDrivetrainSupplyCurrentLimit()),
         .back_right = std::make_shared<SwerveModule>(
-            frc971::wpilib::TalonFXParams{2, false},
+            frc971::wpilib::TalonFXParams{2, true},
             frc971::wpilib::TalonFXParams{1, false}, "Drivetrain Bus",
             &signals_registry,
             constants::Values::kDrivetrainStatorCurrentLimit(),