Both hatchbot examples updated and added invert

Author: LED-esma

HatchbotInlined/subsystems/drivesubsystem.py

@@ -20,10 +20,18 @@ def __init__(self) -> None:
         self.right1 = wpilib.PWMVictorSPX(constants.kRightMotor1Port)
         self.right2 = wpilib.PWMVictorSPX(constants.kRightMotor2Port)
 
+        self.left1.addFollower(self.left2)
+        self.right1.addFollower(self.right2)
+
+        # We need to invert one side of the drivetrain so that positive speeds
+        # result in both sides moving forward. Depending on how your robot's
+        # drivetrain is constructed, you might have to invert the left side instead.
+        self.right1.setInverted(True)
+
         # The robot's drive
         self.drive = wpilib.drive.DifferentialDrive(
-            wpilib.MotorControllerGroup(self.left1, self.left2),
-            wpilib.MotorControllerGroup(self.right1, self.right2),
+            self.left1,
+            self.right1
         )
 
         # The left-side drive encoder

HatchbotTraditional/subsystems/drivesubsystem.py

@@ -20,13 +20,15 @@ def __init__(self) -> None:
         self.right1 = wpilib.PWMVictorSPX(constants.kRightMotor1Port)
         self.right2 = wpilib.PWMVictorSPX(constants.kRightMotor2Port)
 
-        self.left1.addFollower(self.left2)
-        self.right1.addFollower(self.right2)
+        # We need to invert one side of the drivetrain so that positive speeds
+        # result in both sides moving forward. Depending on how your robot's
+        # drivetrain is constructed, you might have to invert the left side instead.
+        self.right1.setInverted(True)
 
         # The robot's drive
         self.drive = wpilib.drive.DifferentialDrive(
             self.left1,
-            self.right1,
+            self.right1
         )
 
         # The left-side drive encoder