Updated elevator and drivetrain ratios.
Change-Id: Ie6b7fef4d060d06b6182b2cbbe059180dd6f4a13
diff --git a/bot3/control_loops/drivetrain/drivetrain.h b/bot3/control_loops/drivetrain/drivetrain.h
index 551349d..586962f 100644
--- a/bot3/control_loops/drivetrain/drivetrain.h
+++ b/bot3/control_loops/drivetrain/drivetrain.h
@@ -16,11 +16,11 @@
// Constants
// TODO(comran): Get actual constants.
-constexpr double kDrivetrainTurnWidth = 0.5;
+constexpr double kDrivetrainTurnWidth = 0.63;
constexpr double kDrivetrainDoneDistance = 0.02;
-constexpr double kDrivetrainEncoderRatio = 20.0 / 50.0;
+constexpr double kDrivetrainEncoderRatio = 18.0 / 44.0;
constexpr double kDrivetrainHighGearRatio =
- kDrivetrainEncoderRatio * 20.0 / 50.0;
+ kDrivetrainEncoderRatio * 18.0 / 60.0;
constexpr double kDrivetrainLowGearRatio = kDrivetrainHighGearRatio;
const bool kDrivetrainClutchTransmission = false;
const ::frc971::constants::ShifterHallEffect kDrivetrainRightShifter{
diff --git a/bot3/control_loops/elevator/elevator.h b/bot3/control_loops/elevator/elevator.h
index 3acd1c8..3185187 100644
--- a/bot3/control_loops/elevator/elevator.h
+++ b/bot3/control_loops/elevator/elevator.h
@@ -31,9 +31,10 @@
// TODO(comran): Get actual constants for the ones below.
// Gearing
-constexpr double kElevEncoderRatio = 14.0 / 84.0;
-const int kElevGearboxOutputPulleyTeeth = 32; // 32 teeth
-constexpr double kElevGearboxOutputPitch = 0.005; // 5 mm/tooth
+constexpr double kElevEncoderRatio = 18.0 / 48.0;
+const int kElevGearboxOutputPulleyTeeth = 22;
+// 25 pitch chain.
+constexpr double kElevGearboxOutputPitch = 0.25 * 0.0254;
constexpr double kElevGearboxOutputRadianDistance =
kElevGearboxOutputPulleyTeeth * kElevGearboxOutputPitch / (2.0 * M_PI);