commit c2b2a8089bbc0a3fd4dbb55fed283372dd002baa
author James Kuszmaul <jabukuszmaul@gmail.com> Fri Feb 25 21:59:31 2022 -0800
committer Austin Schuh <austin.linux@gmail.com> Fri Feb 25 22:10:03 2022 -0800
tree 17b95d8a895959cbf9741234eda48a9afc4b7a0a
parent f23a05aff08c547c97073c03b310882c386cf05d

Fix y2022 drivetrain encoder ratio

The encoder is direct-drive off the wheels, not the Falcons.

Change-Id: I0833849e292ba544b43831094d1ccd9825b7bedf
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>

y2022/constants.h

diff --git a/y2022/constants.h b/y2022/constants.h
index c0c49e7..160da1e 100644
--- a/y2022/constants.h
+++ b/y2022/constants.h
@@ -23,9 +23,7 @@
   static constexpr double kDrivetrainEncoderCountsPerRevolution() {
     return kDrivetrainCyclesPerRevolution() * 4;
   }
-  static constexpr double kDrivetrainEncoderRatio() {
-    return (14.0 / 54.0) * (22.0 / 56.0);
-  }
+  static constexpr double kDrivetrainEncoderRatio() { return 1.0; }
   static constexpr double kMaxDrivetrainEncoderPulsesPerSecond() {
     return control_loops::drivetrain::kFreeSpeed / (2.0 * M_PI) *
            control_loops::drivetrain::kHighOutputRatio /