got auto-shifting working (!!)
diff --git a/frc971/constants.h b/frc971/constants.h
index 3bd4c51..8bf1367 100644
--- a/frc971/constants.h
+++ b/frc971/constants.h
@@ -63,11 +63,18 @@
// Deadband voltage.
double angle_adjust_deadband;
- // The number of teeth on the pinion that drives the drivetrain wheels.
- int drivetrain_gearbox_pinion;
+ // The ratio from the encoder shaft to the drivetrain wheels.
+ double drivetrain_encoder_ratio;
+
+ // The gear ratios from motor shafts to the drivetrain wheels for high and low
+ // gear.
+ double low_gear_ratio;
+ double high_gear_ratio;
ShifterHallEffect left_drive, right_drive;
+ bool clutch_transmission;
+
// How many pixels off center the vertical line
// on the camera view is.
int camera_center;