Fix some of the constants in drivetrain.
This includes the shifter hall effect constants, for which
I guessed whether we were using the drivebase from the old comp
or practice bot, and guessed wrong. They also include the
drivetrain python code, for which some of the constants weren't
correct.
(This was formerly a part of I3d012fb8a9652c0b85ed27f5d23fe7d63bb977ce.)
Change-Id: I5869b7e57a039131018150c690287f81670a3483
diff --git a/bot3/control_loops/drivetrain/drivetrain_constants.h b/bot3/control_loops/drivetrain/drivetrain_constants.h
index 4716928..8563cbef 100644
--- a/bot3/control_loops/drivetrain/drivetrain_constants.h
+++ b/bot3/control_loops/drivetrain/drivetrain_constants.h
@@ -6,17 +6,16 @@
namespace bot3 {
namespace control_loops {
-// TODO(danielp): Figure out the real values for these constants.
constexpr constants::ShifterHallEffect kBot3LeftDriveShifter =
- {170, 475, 1.2, 1.0};
+ {426, 171, 0.6, 0.47};
constexpr constants::ShifterHallEffect kBot3RightDriveShifter =
- {177, 486, 1.2, 1.0};
+ {424, 172, 0.62, 0.55};
constexpr double kBot3TurnWidth = 0.5;
constexpr double kBot3DrivetrainDoneDistance = 0.02;
-constexpr double kBot3HighGearRatio = 18.0 / 60.0 * 18.0 / 50.0;
-constexpr double kBot3LowGearRatio = 28.0 / 50.0 * 18.0 / 50.0;
+constexpr double kBot3LowGearRatio = 14.0 / 60.0 * 17.0 / 50.0;
+constexpr double kBot3HighGearRatio = 30.0 / 44.0 * 17.0 / 50.0;
} // control_loops
} // bot3