commit 051b46220af7a182ec6debaf15c6d2eb3666ec0f
author Campbell Crowley <mail@campbellcrowley.com> Sat Nov 05 15:07:54 2016 -0700
committer Campbell Crowley <mail@campbellcrowley.com> Sat Nov 05 15:07:54 2016 -0700
tree f72186263f01416b7d68d3a258dda9a6333a8f0b
parent 483d62784bda3db2011d045de29bbe162cfba892

Tuned drive

Change-Id: I6e174df4a55195bde9605b49b8ed42cb4b62eb99

y2016_bot3/wpilib/wpilib_interface.cc

diff --git a/y2016_bot3/wpilib/wpilib_interface.cc b/y2016_bot3/wpilib/wpilib_interface.cc
index b870e00..3d7d8ce 100644
--- a/y2016_bot3/wpilib/wpilib_interface.cc
+++ b/y2016_bot3/wpilib/wpilib_interface.cc
@@ -84,13 +84,13 @@
 // with proper units.
 
 double drivetrain_translate(int32_t in) {
-  return -static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*4x*/) *
+  return -static_cast<double>(in) / (512.0 /*cpr*/ * 4.0 /*4x*/) *
          ::y2016_bot3::constants::kDrivetrainEncoderRatio *
          control_loops::drivetrain::kWheelRadius * 2.0 * M_PI;
 }
 
 double drivetrain_velocity_translate(double in) {
-  return (1.0 / in) / 256.0 /*cpr*/ *
+  return (1.0 / in) / 512.0 /*cpr*/ *
          ::y2016_bot3::constants::kDrivetrainEncoderRatio *
          control_loops::drivetrain::kWheelRadius * 2.0 * M_PI;
 }