Make the distal sprocket 1 tooth bigger.
Change-Id: Ie6c8ecd95f3ef1e1c622b28346ec7f4403becb90
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2023/constants.h b/y2023/constants.h
index d2caca6..072ae17 100644
--- a/y2023/constants.h
+++ b/y2023/constants.h
@@ -73,14 +73,14 @@
}
static constexpr double kDistalEncoderCountsPerRevolution() { return 4096.0; }
- static constexpr double kDistalEncoderRatio() { return (15.0 / 95.0); }
+ static constexpr double kDistalEncoderRatio() { return (15.0 / 96.0); }
static constexpr double kMaxDistalEncoderPulsesPerSecond() {
return control_loops::superstructure::arm::kArmConstants.free_speed /
(2.0 * M_PI) / control_loops::superstructure::arm::kArmConstants.g1 /
kDistalEncoderRatio() * kProximalEncoderCountsPerRevolution();
}
static constexpr double kDistalPotRatio() {
- return (36.0 / 24.0) * (15.0 / 95.0);
+ return (36.0 / 24.0) * (15.0 / 96.0);
}
static constexpr double kDistalPotRadiansPerVolt() {