commit 6f27af230a9db3e0732de59df4bf7b8846e0b9d6
author Griffin Bui <griffinbui+gerrit@gmail.com> Sun Jan 30 13:47:28 2022 -0800
committer Griffin Bui <griffinbui+gerrit@gmail.com> Sat Feb 05 14:14:43 2022 -0800
tree 3d41d236a009ecb957bf68394d9dcb7a7bf9a6b3
parent 69082a0b177fa316ba06253a4f0c9fbafe7b9cad

Set Drivetrain Encoder Ratio

Signed-off-by: Griffin Bui <griffinbui+gerrit@gmail.com>
Change-Id: I25a5d49786129279fa8136a8ca720ac8a4ecff01
Signed-off-by: Griffin Bui <griffinbui+gerrit@gmail.com>

y2022/constants.h

diff --git a/y2022/constants.h b/y2022/constants.h
index 418645b..0170f50 100644
--- a/y2022/constants.h
+++ b/y2022/constants.h
@@ -20,7 +20,9 @@
   static constexpr double kDrivetrainEncoderCountsPerRevolution() {
     return kDrivetrainCyclesPerRevolution() * 4;
   }
-  static constexpr double kDrivetrainEncoderRatio() { return (24.0 / 52.0); }
+  static constexpr double kDrivetrainEncoderRatio() {
+    return (14.0 / 54.0) * (22.0 / 56.0);
+  }
   static constexpr double kMaxDrivetrainEncoderPulsesPerSecond() {
     return control_loops::drivetrain::kFreeSpeed / (2.0 * M_PI) *
            control_loops::drivetrain::kHighOutputRatio /