Fixed backward / forward direction.

This is because the robot is now operated backwards by default.

Author: dhebbeker

robot-control-src/Drives.cpp

@@ -61,8 +61,8 @@ static Amplitude calcRightSpeed(const Amplitude leftSpeed)
 void rotateCounter(const Counter steps, const Amplitude amplitude, bool const clockwise)
 {
 	lastAction = clockwise ? Action::TURN_RIGHT : Action::TURN_LEFT;
-  LeftDrive::drive(steps, amplitude, !clockwise);
-  RightDrive::drive(steps, calcRightSpeed(amplitude), clockwise);
+  LeftDrive::drive(steps, amplitude, clockwise);
+  RightDrive::drive(steps, calcRightSpeed(amplitude), !clockwise);
 }
 
 void driveCounter(const Counter steps, const Amplitude amplitude, const bool backwards)

robot-control-src/Drives.hpp

@@ -63,7 +63,7 @@ class Drive
 		counter = 0;
 		target = distance;
 		isIdle = false;
-		digitalWrite(directionPin, backwards ? LOW : HIGH);
+		digitalWrite(directionPin, !backwards ? LOW : HIGH);
 		analogWrite(motorControlpin, std::min(maxAmplitude, amplitude));
 	}
 };