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{