Revert of mecanum changes.

They were resulting in poor motor movement.
RoboticsTeam4904 · Sep 29, 2015 · ba7f0dd · ba7f0dd
1 parent 9f8bd9e
commit ba7f0dd
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/subsystems/chassis/MecanumChassis.java b/subsystems/chassis/MecanumChassis.java
@@ -62,9 +62,9 @@ public static double[] calculateWheels(double speed, double angle, double turnSp
 			angle += Math.PI / 4.0; // Shift axes to work with mecanum
 			angle = angle % (Math.PI * 2); // make sure angle makes sense
 			double frontLeft = speed * Math.sin(angle) + turnSpeed;
-			double frontRight = speed * Math.cos(angle) - turnSpeed;
-			double backLeft = speed * Math.cos(angle) - turnSpeed;
-			double backRight = speed * Math.sin(angle) + turnSpeed;
+			double frontRight = -1 * speed * Math.cos(angle) + turnSpeed;
+			double backLeft = speed * Math.cos(angle) + turnSpeed;
+			double backRight = -1 * speed * Math.sin(angle) + turnSpeed;
 			double scaleFactor = Math.max(Math.max(Math.max(Math.abs(frontLeft), Math.abs(frontRight)), Math.abs(backLeft)), Math.abs(backRight));
 			if (scaleFactor < 1) {
 				scaleFactor = 1;