Other misc. offseason robot configurations to ensure smooth use

Includes motor inversions, joystick input inversions, etc.

Author: DriverStationComputer

Robot2018/src/org/usfirst/frc/team199/Robot2018/Robot.java

@@ -65,9 +65,9 @@ public void robotInit() {
 		intakeEject = new IntakeEject();
 		lift = new Lift();
 		dt = new Drivetrain();
-		rmap.initPIDControllers();
 		ld = new LeftDrive();
 		rd = new RightDrive();
+		rmap.initPIDControllers();
 		oi = new OI();
 		listen = new Listener();
 		// chooser.addObject("My Auto", new MyAutoCommand());

Robot2018/src/org/usfirst/frc/team199/Robot2018/RobotMap.java

@@ -87,18 +87,26 @@ private void configSPX(WPI_VictorSPX mc) {
 	}
 
 	public RobotMap() {
-
+		
+		ahrs = new AHRS(SerialPort.Port.kMXP);
+		dtGyro = new AnalogGyro(getPort("Gyro", 0));
+		//dtGear = new DoubleSolenoid(getPort("1dtGearSolenoid", 0), getPort("2dtGearSolenoid", 1));
+		
 		leftEnc = new Encoder(getPort("1LeftEnc", 0), getPort("2LeftEnc", 1));
-		dtLeftDrive = new WPI_TalonSRX(getPort("LeftTalonSRXDrive", 0));
+		dtLeftDrive = new WPI_TalonSRX(2);
+				//getPort("LeftTalonSRXDrive", 2));
 		configSRX(dtLeftDrive);
-		dtLeftSlave = new WPI_VictorSPX(getPort("LeftTalonSPXSlave", 1));
+		dtLeftSlave = new WPI_VictorSPX(0);
+				//getPort("LeftTalonSPXSlave", 0));
 		configSPX(dtLeftSlave);
 		dtLeft = new SpeedControllerGroup(dtLeftDrive, dtLeftSlave);
 
 		rightEnc = new Encoder(getPort("1RightEnc", 2), getPort("2RightEnc", 3));
-		dtRightDrive = new WPI_TalonSRX(getPort("RightTalonSRXDrive", 2));
+		dtRightDrive = new WPI_TalonSRX(1);
+				//getPort("RightTalonSRXDrive", 1));
 		configSRX(dtRightDrive);
-		dtRightSlave = new WPI_VictorSPX(getPort("RightTalonSPXSlave", 3));
+		dtRightSlave = new WPI_VictorSPX(3);
+				//getPort("RightTalonSPXSlave", 3));
 		configSPX(dtRightSlave);
 		dtRight = new SpeedControllerGroup(dtRightDrive, dtRightSlave);
 
@@ -112,14 +120,10 @@ public RobotMap() {
 		// moveController.setOutputRange(-1.0, 1.0);
 		// moveController.setContinuous(false);
 		// moveController.setAbsoluteTolerance(Robot.getConst("MoveTolerance", 2));
-		
-
-		ahrs = new AHRS(SerialPort.Port.kMXP);
-		dtGyro = new AnalogGyro(getPort("Gyro", 0));
-		dtGear = new DoubleSolenoid(getPort("1dtGearSolenoid", 0), getPort("2dtGearSolenoid", 1));
 
 	}
 
+	/** Initializes pid controllers seperately from robotMap because the required parameters have not been initialized yet.*/
 	public void initPIDControllers() {
 		turnController = new PIDController(Robot.getConst("TurnkP", 1), Robot.getConst("TurnkI", 0),
 				Robot.getConst("TurnkD", 0), ahrs, Robot.dt);

Robot2018/src/org/usfirst/frc/team199/Robot2018/subsystems/Drivetrain.java

@@ -153,12 +153,12 @@ public void resetEnc() {
 	public void teleopDrive() {
 		if (Robot.getBool("Arcade Drive", true)) {
 			if (Robot.getBool("Arcade Drive Default Setup", true)) {
-				Robot.dt.arcadeDrive(Robot.oi.leftJoy.getY(), Robot.oi.rightJoy.getX());
+				Robot.dt.arcadeDrive(-Robot.oi.leftJoy.getY(), Robot.oi.rightJoy.getX());
 			} else {
-				Robot.dt.arcadeDrive(Robot.oi.rightJoy.getY(), Robot.oi.leftJoy.getX());
+				Robot.dt.arcadeDrive(-Robot.oi.rightJoy.getY(), Robot.oi.leftJoy.getX());
 			}
 		} else {
-			Robot.dt.tankDrive(Robot.oi.leftJoy.getY(), Robot.oi.rightJoy.getY());
+			Robot.dt.tankDrive(-Robot.oi.leftJoy.getY(), Robot.oi.rightJoy.getY());
 		}
 	}