Add drive direction isInverted property to Wheel

Author: jhh

build.gradle

@@ -12,7 +12,7 @@ buildscript {
 
 configure(subprojects) {
     group = 'org.strykeforce.thirdcoast'
-    version = '19.1.0'
+    version = '19.1.1'
 
     apply plugin: 'java-library'
     apply plugin: 'idea'

swerve/src/main/java/org/strykeforce/thirdcoast/swerve/Wheel.java

@@ -35,6 +35,7 @@ public class Wheel {
   private final TalonSRX driveTalon;
   private final TalonSRX azimuthTalon;
   protected DoubleConsumer driver;
+  private boolean isInverted = false;
 
   /**
    * This constructs a wheel with supplied azimuth and drive talons.
@@ -81,6 +82,7 @@ public void set(double azimuth, double drive) {
 
     // minimize azimuth rotation, reversing drive if necessary
     if (Math.abs(azimuthError) > 0.25 * TICKS) {
+      isInverted = true;
       azimuthError -= Math.copySign(0.5 * TICKS, azimuthError);
       drive = -drive;
     }
@@ -190,6 +192,10 @@ public double getDriveSetpointMax() {
     return driveSetpointMax;
   }
 
+  public boolean isInverted() {
+    return isInverted;
+  }
+
   @Override
   public String toString() {
     return "Wheel{"