reversable DT implementation

Author: lhmcgann

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

@@ -52,12 +52,19 @@ public class Drivetrain extends Subsystem implements DrivetrainInterface {
 	private SmartDashboardInterface sd;
 
 	private boolean highGear;
+	private boolean isInverted;
 	private int inverted;
 
+	/**
+	 * Sets up velocity PID controllers. Initializes to not in high gear and to not
+	 * inverted.
+	 */
 	public Drivetrain(SmartDashboardInterface sd) {
 		this.sd = sd;
 
 		highGear = false;
+
+		isInverted = false;
 		inverted = 1;
 
 		// all 0s for controller construction because they all get set to right values
@@ -87,8 +94,17 @@ public Drivetrain(SmartDashboardInterface sd) {
 		}
 	}
 
+	/**
+	 * Inverts the drivetrain (forward is backward, left is right) by toggling a
+	 * motor output multiplier (between 1 and -1) and the distance encoders (between
+	 * inverted or not). The motor output multiplier is used in arcadeDrive and
+	 * tankDrive for final speed/turn and left/right outputs.
+	 */
 	public void reverseDT() {
 		inverted *= -1;
+		isInverted = !isInverted;
+		leftEncDist.setReverseDirection(isInverted);
+		rightEncDist.setReverseDirection(isInverted);
 	}
 
 	@Override
@@ -268,7 +284,7 @@ public void arcadeDrive(double speed, double turn) {
 				turn *= Robot.getConst("Turn Slow Ratio", 0.5);
 			}
 		}
-		robotDrive.arcadeDrive(speed, turn, Robot.getBool("Square Drive Values", false));
+		robotDrive.arcadeDrive(inverted * speed, inverted * turn, Robot.getBool("Square Drive Values", false));
 	}
 
 	/**
@@ -285,7 +301,7 @@ public void tankDrive(double leftSpeed, double rightSpeed) {
 			leftSpeed *= Robot.getConst("Speed Slow Ratio", 0.5);
 			rightSpeed *= Robot.getConst("Speed Slow Ratio", 0.5);
 		}
-		robotDrive.tankDrive(leftSpeed, rightSpeed, Robot.getBool("Square Drive Values", false));
+		robotDrive.tankDrive(inverted * leftSpeed, inverted * rightSpeed, Robot.getBool("Square Drive Values", false));
 	}
 
 	/**