commit 9f77fd2fa3d522f050daedcc5217475872d11d4c
author Austin Schuh <austin.linux@gmail.com> Sun Feb 21 02:53:58 2016 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Feb 21 17:14:15 2016 -0800
tree 35e42f33e5e5fa2a60c53d9e67c3da37634b26d3
parent ccf32807adff080fc7518271cbfc02a642542801

Calibrated superstructure sensors.

Change-Id: I423537e51e13b5836d31cfe6f859c9d98afe2d91

y2016/constants.h

diff --git a/y2016/constants.h b/y2016/constants.h
index 6e7c1a9..615b607 100644
--- a/y2016/constants.h
+++ b/y2016/constants.h
@@ -28,7 +28,7 @@
 
   // The ratio from the encoder shaft to the drivetrain wheels.
   static constexpr double kDrivetrainEncoderRatio =
-      (18.0 / 36.0) /*output reduction*/ * (30.0 / 44.0) /*encoder gears*/;
+      (18.0 / 36.0) /*output reduction*/ * (44.0 / 30.0) /*encoder gears*/;
 
   // Ratios for our subsystems.
   static constexpr double kShooterEncoderRatio = 1.0;
@@ -39,7 +39,7 @@
   static constexpr double kWristEncoderRatio =
       16.0 / 48.0 * 18.0 / 64.0 * 14.0 / 54.0;
 
-  static constexpr double kIntakePotRatio = 16.0 / 48.0;
+  static constexpr double kIntakePotRatio = 16.0 / 48.0 * 18.0 / 72.0;
   static constexpr double kShoulderPotRatio = 16.0 / 58.0;
   static constexpr double kWristPotRatio = 16.0 / 48.0;