Tune steering ratio for 2019 drivebase
Change-Id: I3a976d15d711914d9f4811dc19d0e9e1fd1def7a
diff --git a/y2019/control_loops/drivetrain/drivetrain_base.cc b/y2019/control_loops/drivetrain/drivetrain_base.cc
index 26ca861..02bd805 100644
--- a/y2019/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2019/control_loops/drivetrain/drivetrain_base.cc
@@ -40,8 +40,8 @@
drivetrain::kMass, kThreeStateDriveShifter, kThreeStateDriveShifter,
true /* default_high_gear */, 0 /* down_offset if using constants use
constants::GetValues().down_error */,
- 0.8 /* wheel_non_linearity */, 1.2 /* quickturn_wheel_multiplier */,
- 1.5 /* wheel_multiplier */,
+ 0.7 /* wheel_non_linearity */, 1.2 /* quickturn_wheel_multiplier */,
+ 1.2 /* wheel_multiplier */,
};
return kDrivetrainConfig;