Merge remote-tracking branch 'origin/main'

Author: zachwaffle4

src/guide/opmodes/teleop.md

@@ -108,7 +108,7 @@ override fun onStartButtonPressed() {
         frontRightMotor,
         backLeftMotor,
         backRightMotor,
-        Gamepads.gamepad1.leftStickY,
+        -Gamepads.gamepad1.leftStickY,
         Gamepads.gamepad1.leftStickX,
         Gamepads.gamepad1.rightStickX
     )
@@ -132,7 +132,7 @@ public void onStartButtonPressed() {
         frontRightMotor,
         backLeftMotor,
         backRightMotor,
-        Gamepads.gamepad1().leftStickY(),
+        Gamepads.gamepad1().leftStickY().negate(),
         Gamepads.gamepad1().leftStickX(),
         Gamepads.gamepad1().rightStickX()
     );
@@ -306,7 +306,7 @@ class TeleOpProgram : NextFTCOpMode() {
             frontRightMotor,
             backLeftMotor,
             backRightMotor,
-            Gamepads.gamepad1.leftStickY,
+            -Gamepads.gamepad1.leftStickY,
             Gamepads.gamepad1.leftStickX,
             Gamepads.gamepad1.rightStickX
         )
@@ -350,7 +350,7 @@ public class TeleOpProgram extends NextFTCOpMode {
                 frontRightMotor,
                 backLeftMotor,
                 backRightMotor,
-                Gamepads.gamepad1().leftStickY(),
+                Gamepads.gamepad1().leftStickY().negate(),
                 Gamepads.gamepad1().leftStickX(),
                 Gamepads.gamepad1().rightStickX()
         );

src/nextftc/hardware/drivetrain-commands/holonomic.md

@@ -79,7 +79,7 @@ driverControlled = MecanumDriverControlled(
     frontRightMotor,
     backLeftMotor,
     backRightMotor,
-    Gamepads.gamepad1.leftStickY,
+    -Gamepads.gamepad1.leftStickY,
     Gamepads.gamepad1.leftStickX,
     Gamepads.gamepad1.rightStickX
 )
@@ -94,7 +94,7 @@ driverControlled = new MecanumDriverControlled(
     frontRightMotor,
     backLeftMotor,
     backRightMotor,
-    Gamepads.gamepad1().leftStickY(),
+    Gamepads.gamepad1().leftStickY().negate(),
     Gamepads.gamepad1().leftStickX(),
     Gamepads.gamepad1().rightStickX()
 );
@@ -114,7 +114,7 @@ driverControlled = MecanumDriverControlled(
     frontRightMotor,
     backLeftMotor,
     backRightMotor,
-    Gamepads.gamepad1.leftStickY,
+    -Gamepads.gamepad1.leftStickY,
     Gamepads.gamepad1.leftStickX,
     Gamepads.gamepad1.rightStickX,
     HolonomicMode.FieldCentric(imu)
@@ -130,15 +130,22 @@ driverControlled = new MecanumDriverControlled(
     frontRightMotor,
     backLeftMotor,
     backRightMotor,
-    Gamepads.gamepad1().leftStickY(),
+    Gamepads.gamepad1().leftStickY().negate(),
     Gamepads.gamepad1().leftStickX(),
     Gamepads.gamepad1().rightStickX(),
     new HolonomicMode.FieldCentric(imu)
 );
 driverControlled.schedule();
 ```
 
+> [!NOTE]
+> In both robot-centric and field-centric modes we negate `leftStickY`. This is
+> a common FTC convention because gamepads report a negative Y when the stick is
+> pushed forward and a positive Y when it’s pulled back. Use the `.negate()`
+> helper (for example `Gamepads.gamepad1.leftStickY.negate()`) to apply this
+> adjustment.
+
 :::
 
 That's it! Now you are able to control your holonomic drivetrain using a
-gamepad.
+gamepad.