SimpleDrivetrain/tests/drivetrain_test.xml at master · StevenPeterson7/SimpleDrivetrain · GitHub

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<SimpleDrivetrain>
    <orientation pitch="0" roll="0" yaw="0" />
    <motor name="front_right" inverted="True">
        <position x="1" y="1" z="0" />
        <direction x="-1" y="1" z="0" />
        <pwm_bounds reverse="1100" stop="1500" forward="1900" />
    </motor>
    <motor name="front_left" inverted="False" >
        <position x="-1" y="1" z="0" />
        <direction x="1" y="1" z="0" />
        <pwm_bounds reverse="1100" stop="1500" forward="1900" />
    </motor>
    <motor name="back_left">
        <position x="-1" y="-1" z="0" />
        <direction x="1" y="-1" z="0" />
        <pwm_bounds reverse="1100" stop="1500" forward="1900" />
    </motor>
    <motor name="back_right">
        <position x="1" y="-1" z="0" />
        <direction x="-1" y="-1" z="0" />
        <pwm_bounds reverse="1100" stop="1500" forward="1900" />
    </motor>
    <motor name="front_ascent">
        <position x="0" y="0.5" z="0" />
        <direction x="0" y="0" z="1" />
        <pwm_bounds reverse="1100" stop="1500" forward="1900" />
    </motor>
    <motor name="back_ascent">
        <position x="0" y="-0.5" z="0" />
        <direction x="0" y="0" z="1" />
        <pwm_bounds reverse="1100" stop="1500" forward="1900" />
    </motor>
</SimpleDrivetrain>