add new drive ratio for black mamba

src/main/java/frc/robot/drivetrain/Module.java

@@ -4,17 +4,20 @@
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.math.util.Units;
+import frc.robot.Constants;
 import org.littletonrobotics.junction.Logger;
 
 public class Module {
 
   // https://www.swervedrivespecialties.com/products/mk4i-swerve-module
   // However, our first stage is 50:13 instead of 50:14 because we have a different gear.
-  public static final double kDriveRatio = (50.0 / 13.0) * (16.0 / 28.0) * (45.0 / 15.0);
+  private static final double kDriveRatioFirstStage =
+      Constants.kIsViper ? (50.0 / 13.0) : (50.0 / 14.0);
+  public static final double kDriveRatio = kDriveRatioFirstStage * (16.0 / 28.0) * (45.0 / 15.0);
   public static final double kSteerRatio = 150.0 / 7.0;
   private final double kWheelDiameterMeters = Units.inchesToMeters(1.87 * 2);
   private final double kWheelRadiusMeters = kWheelDiameterMeters / 2.0;
-  private final double kCouplingGearRatio = 50.0 / 13.0;
+  private final double kCouplingRatio = kDriveRatioFirstStage;
 
   private final ModuleIO m_io;
   private final ModuleIOInputsAutoLogged m_inputs = new ModuleIOInputsAutoLogged();
@@ -39,7 +42,7 @@ public void periodic() {
     for (int i = 0; i < sampleCount; i++) {
       double driveRotations = Units.radiansToRotations(m_inputs.odometryDrivePositionsRad[i]);
       Rotation2d steerAngle = m_inputs.odometryTurnPositions[i];
-      driveRotations -= steerAngle.getRotations() * kCouplingGearRatio;
+      driveRotations -= steerAngle.getRotations() * kCouplingRatio;
       double driveRadians = Units.rotationsToRadians(driveRotations);
       double positionMeters = driveRadians * kWheelRadiusMeters;
       m_odometryPositions[i] = new SwerveModulePosition(positionMeters, steerAngle);
@@ -58,7 +61,7 @@ public SwerveModuleState setSetpoint(SwerveModuleState state) {
 
     if (optimizedState.speedMetersPerSecond != 0.0) {
       double azimuthVelocityRPS = Units.radiansToRotations(m_inputs.steerVelocityRadPerSec);
-      double driveRateBackOut = azimuthVelocityRPS *= kCouplingGearRatio;
+      double driveRateBackOut = azimuthVelocityRPS *= kCouplingRatio;
       setpointVelocityRPS += driveRateBackOut;
     }