update pulses per radian

SoonerRobotics · Mar 27, 2024 · 001bb40 · 001bb40
1 parent 4aee29b
commit 001bb40
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/firmware/motor_control/differential_drive.h b/firmware/motor_control/differential_drive.h
@@ -44,7 +44,7 @@ class DifferentialDrive {
     MotorWithEncoder right_motor_;
 
     float update_period_ = 0.025f;
-    float pulses_per_radian_ = 600.0f * 20.0f / 16.8f;
+    float pulses_per_radian_ = 600.0f;
     float wheel_radius_ = 0.19f;
     float wheelbase_length_ = 0.575f;
     float left_encoder_factor_ = 1.00f;