Add motor gear ratios to y2024_swerve wpilib
Change-Id: I2e0e54dd2cb5d131c70d26e2189553244ed6fb1a
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024_swerve/constants.h b/y2024_swerve/constants.h
index cf6c183..b5a89dd 100644
--- a/y2024_swerve/constants.h
+++ b/y2024_swerve/constants.h
@@ -24,12 +24,12 @@
static constexpr double kDrivetrainStatorCurrentLimit() { return 35.0; }
static constexpr double kDrivetrainSupplyCurrentLimit() { return 60.0; }
- // TODO (maxwell): Make this the real value
- static constexpr double kFollowerWheelCountsPerRevolution() { return 512.0; }
- static constexpr double kFollowerWheelEncoderRatio() { return 1.0; }
- static constexpr double kFollowerWheelRadius() { return 3.25 / 2 * 0.0254; }
- static constexpr double kDrivetrainEncoderCountsPerRevolution() {
- return 2048.0;
+ static constexpr double kRotationModuleRatio() {
+ return 9.0 / 24.0 * 14.0 / 72.0;
+ }
+
+ static constexpr double kTranslationModuleRatio() {
+ return 1.0 / 6.75 * 2.0 * .0254;
}
static constexpr double kMaxDrivetrainEncoderPulsesPerSecond() {