Fix negation of joysticks

BroncBotz3481 · Feb 18, 2024 · bda0a65 · bda0a65
1 parent 3fdd1fa
commit bda0a65
Showing 1 changed file with 13 additions and 13 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -43,11 +43,11 @@ public RobotContainer()
     configureBindings();
 
     AbsoluteDriveAdv closedAbsoluteDriveAdv = new AbsoluteDriveAdv(drivebase,
-                                                                   () -> MathUtil.applyDeadband(driverXbox.getLeftY(),
+                                                                   () -> -MathUtil.applyDeadband(driverXbox.getLeftY(),
                                                                                                 OperatorConstants.LEFT_Y_DEADBAND),
-                                                                   () -> MathUtil.applyDeadband(driverXbox.getLeftX(),
+                                                                   () -> -MathUtil.applyDeadband(driverXbox.getLeftX(),
                                                                                                 OperatorConstants.LEFT_X_DEADBAND),
-                                                                   () -> MathUtil.applyDeadband(driverXbox.getRightX(),
+                                                                   () -> -MathUtil.applyDeadband(driverXbox.getRightX(),
                                                                                                 OperatorConstants.RIGHT_X_DEADBAND),
                                                                    driverXbox.getHID()::getYButtonPressed,
                                                                    driverXbox.getHID()::getAButtonPressed,
@@ -60,25 +60,25 @@ public RobotContainer()
     // left stick controls translation
     // right stick controls the desired angle NOT angular rotation
     Command driveFieldOrientedDirectAngle = drivebase.driveCommand(
-        () -> MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND),
-        () -> MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
-        () -> driverXbox.getRightX(),
-        () -> driverXbox.getRightY());
+        () -> -MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND),
+        () -> -MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
+        () -> -driverXbox.getRightX(),
+        () -> -driverXbox.getRightY());
 
     // Applies deadbands and inverts controls because joysticks
     // are back-right positive while robot
     // controls are front-left positive
     // left stick controls translation
     // right stick controls the angular velocity of the robot
     Command driveFieldOrientedAnglularVelocity = drivebase.driveCommand(
-        () -> MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND),
-        () -> MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
-        () -> driverXbox.getRawAxis(2));
+        () -> -MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND),
+        () -> -MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
+        () -> -driverXbox.getRightX());
 
     Command driveFieldOrientedDirectAngleSim = drivebase.simDriveCommand(
-        () -> MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND),
-        () -> MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
-        () -> driverXbox.getRawAxis(2));
+        () -> -MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND),
+        () -> -MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
+        () -> -driverXbox.getRawAxis(2));
 
     drivebase.setDefaultCommand(
         !RobotBase.isSimulation() ? driveFieldOrientedDirectAngle : driveFieldOrientedDirectAngleSim);