From 450927883174a855dbb4e68f555e57c1ce88b1af Mon Sep 17 00:00:00 2001 From: Mihir Patankar Date: Sun, 28 Jan 2024 10:45:48 -0500 Subject: [PATCH] Cite and fix gear ratio --- src/main/java/frc/robot/drivetrain/Module.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/drivetrain/Module.java b/src/main/java/frc/robot/drivetrain/Module.java index 4b005a9..4051e1f 100644 --- a/src/main/java/frc/robot/drivetrain/Module.java +++ b/src/main/java/frc/robot/drivetrain/Module.java @@ -8,7 +8,8 @@ public class Module { - public static final double kDriveRatio = 6.25; + // https://www.swervedrivespecialties.com/products/mk4i-swerve-module + public static final double kDriveRatio = 6.75; public static final double kSteerRatio = 150.0 / 7.0; public final double kWheelDiameterMeters = Units.inchesToMeters(4.0); public final double kWheelRadiusMeters = kWheelDiameterMeters / 2.0;