From 5ec1b176fd29893f7bc3f3fb10d2b3d319706cf1 Mon Sep 17 00:00:00 2001
From: Kevin Wamg <20215378+kevinzwang@users.noreply.github.com>
Date: Sat, 2 Feb 2019 10:25:10 -0800
Subject: [PATCH 1/2] add correct port numbers for motor controllers

---
 Robot2019/src/main/java/frc/robot/RobotMap.java | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/Robot2019/src/main/java/frc/robot/RobotMap.java b/Robot2019/src/main/java/frc/robot/RobotMap.java
index 239115d..bef6c9f 100644
--- a/Robot2019/src/main/java/frc/robot/RobotMap.java
+++ b/Robot2019/src/main/java/frc/robot/RobotMap.java
@@ -31,17 +31,17 @@ public class RobotMap {
 
   static {
     // Initialize motors on the left side of the drivetrain.
-    leftMaster = createConfiguredTalon(0); // TODO: set ports to correct values
-    leftSlave1 = createConfiguredVictor(1); // TODO: set ports to correct values
-    leftSlave2 = createConfiguredVictor(2); // TODO: set ports to correct values
+    leftMaster = createConfiguredTalon(8);
+    leftSlave1 = createConfiguredVictor(9);
+    leftSlave2 = createConfiguredVictor(10);
 
     // Initialize motors on the right side of the drivetrain.
-    rightMaster = createConfiguredTalon(3); // TODO: set ports to correct values
-    rightSlave1 = createConfiguredVictor(4); // TODO: set ports to correct values
-    rightSlave2 = createConfiguredVictor(5); // TODO: set ports to correct values
+    rightMaster = createConfiguredTalon(5);
+    rightSlave1 = createConfiguredVictor(6);
+    rightSlave2 = createConfiguredVictor(7);
 
-    leftEnc = new Encoder(new DigitalInput(0), new DigitalInput(1)); // TODO: set ports to correct values
-    rightEnc = new Encoder(new DigitalInput(2), new DigitalInput(3)); // TODO: set ports to correct values
+    leftEnc = new Encoder(new DigitalInput(0), new DigitalInput(1));
+    rightEnc = new Encoder(new DigitalInput(2), new DigitalInput(3));
 
     gyro = new AHRS(SPI.Port.kMXP);
   }

From bc7163b4c95de68767bcfaa3d1174f98cc6813a9 Mon Sep 17 00:00:00 2001
From: Kevin Wamg <20215378+kevinzwang@users.noreply.github.com>
Date: Sat, 2 Feb 2019 15:04:18 -0800
Subject: [PATCH 2/2] invert right motors

drivetrain motors run the opposite direction on each side, the right
motors run the incorrect direction
---
 Robot2019/src/main/java/frc/robot/subsystems/Drivetrain.java | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/Robot2019/src/main/java/frc/robot/subsystems/Drivetrain.java b/Robot2019/src/main/java/frc/robot/subsystems/Drivetrain.java
index ec42e68..366fce2 100644
--- a/Robot2019/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/Robot2019/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -37,6 +37,10 @@ public Drivetrain(WPI_TalonSRX leftMaster, WPI_VictorSPX leftSlave1, WPI_VictorS
     rightSlave2.follow(rightMaster);
     this.rightMotor = rightMaster;
 
+    rightMaster.setInverted(true);
+    rightSlave1.setInverted(true);
+    rightSlave2.setInverted(true);
+
     this.leftJoy = leftJoy;
     this.rightJoy = rightJoy;