forgot the command and associated button :)

Author: lhmcgann

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

@@ -10,6 +10,7 @@
 import org.usfirst.frc.team199.Robot2018.commands.AutoLift;
 import org.usfirst.frc.team199.Robot2018.commands.FindTurnTimeConstant;
 import org.usfirst.frc.team199.Robot2018.commands.IntakeCube;
+import org.usfirst.frc.team199.Robot2018.commands.InvertDrivetrain;
 import org.usfirst.frc.team199.Robot2018.commands.MoveLift;
 import org.usfirst.frc.team199.Robot2018.commands.MoveLiftWithPID;
 import org.usfirst.frc.team199.Robot2018.commands.OuttakeCube;
@@ -55,6 +56,7 @@ public class OI {
 	private JoystickButton findTurnTimeConstantButton;
 	private JoystickButton updatePIDConstantsButton;
 	private JoystickButton updateEncoderDPPButton;
+	private JoystickButton invertDTButton;
 
 	public Joystick manipulator;
 	private JoystickButton closeIntakeButton;
@@ -83,6 +85,9 @@ public OI(Robot robot) {
 		shiftDriveTypeButton = new JoystickButton(leftJoy, getButton("Shift Drive Type", 2));
 		shiftDriveTypeButton.whenPressed(new ShiftDriveType());
 
+		invertDTButton = new JoystickButton(leftJoy, getButton("Invert Drivetrain", 3));
+		invertDTButton.whenPressed(new InvertDrivetrain());
+
 		pIDMoveButton = new JoystickButton(leftJoy, getButton("PID Move", 7));
 		pIDMoveButton
 				.whenPressed(new PIDMove(Robot.sd.getConst("Move Targ", 24), Robot.dt, Robot.sd, RobotMap.distEncAvg));

Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/InvertDrivetrain.java

@@ -0,0 +1,23 @@
+package org.usfirst.frc.team199.Robot2018.commands;
+
+import org.usfirst.frc.team199.Robot2018.Robot;
+
+import edu.wpi.first.wpilibj.command.InstantCommand;
+
+/**
+ *
+ */
+public class InvertDrivetrain extends InstantCommand {
+
+	public InvertDrivetrain() {
+		// Use requires() here to declare subsystem dependencies
+		// eg. requires(chassis);
+		super();
+	}
+
+	// Called just before this Command runs the first time
+	@Override
+	protected void initialize() {
+		Robot.dt.reverseDT();
+	}
+}