Fix converting CAN position to meters
HighOutputRatio already multiplies by the wheel_radius when it generates
the code, so we don't need to multiply it again.
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: Ibe6ff56b2d91caf94787aaaf5078fac1a79bcfdb
diff --git a/y2023/constants.h b/y2023/constants.h
index 84d6499..d90bbc9 100644
--- a/y2023/constants.h
+++ b/y2023/constants.h
@@ -54,8 +54,7 @@
static double DrivetrainCANEncoderToMeters(double rotations) {
return (rotations * (2.0 * M_PI)) *
- control_loops::drivetrain::kHighOutputRatio *
- control_loops::drivetrain::kWheelRadius;
+ control_loops::drivetrain::kHighOutputRatio;
}
static constexpr double kProximalEncoderCountsPerRevolution() {
return 4096.0;