commit 001c7c3c43291725fed867e069bb1c95bde8fb77
author Comran Morshed <comranmorsh@gmail.com> Mon Feb 15 21:04:55 2016 +0000
committer Comran Morshed <comranmorsh@gmail.com> Tue Feb 16 19:34:02 2016 +0000
tree 82063bc085eb284b59046abdbbb6f2c4d28301ce
parent d8c70b48bb10220578072312ad9d8e9953b75b8b

Fix some wrong drivetrain constants.

Change-Id: I40989297b4bf20de68562c99ac7988b6c0034086

y2016/constants.h

diff --git a/y2016/constants.h b/y2016/constants.h
index 87b56cf..3b84c44 100644
--- a/y2016/constants.h
+++ b/y2016/constants.h
@@ -28,12 +28,14 @@
 
   // The ratio from the encoder shaft to the drivetrain wheels.
   static constexpr double kDrivetrainEncoderRatio =
-      (18.0 / 36.0) /*output reduction*/ * (44.0 / 30.0);
+      (18.0 / 36.0) /*output reduction*/ * (30.0 / 44.0) /*encoder gears*/;
 
   // The gear ratios from motor shafts to the drivetrain wheels for high and low
   // gear.
-  static constexpr double kLowGearRatio = 18.0 / 60.0 * 18.0 / 36.0;
-  static constexpr double kHighGearRatio = 28.0 / 50.0 * 18.0 / 36.0;
+  static constexpr double kLowGearRatio =
+      14.0 / 48.0 * 18.0 / 60.0 * 18.0 / 36.0;
+  static constexpr double kHighGearRatio =
+      14.0 / 48.0 * 28.0 / 50.0 * 18.0 / 36.0;
 
   static constexpr double kTurnWidth = 0.601;  // Robot width.