swapped to kraken 16t ratio

TitaniumTitans · Feb 29, 2024 · 7fd96d8 · 7fd96d8
1 parent c2b6497
commit 7fd96d8
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -119,7 +119,7 @@ private DriveConstants() {
             TURN_FB_GAINS,
             Units.rotationsToDegrees(0.472168), // offset 0.457764
             true, // inversion
-            ModuleConstants.GearRatios.L3
+            ModuleConstants.GearRatios.L3_KRAKEN
     );
 
     public static final ModuleConstants FR_MOD_CONSTANTS = new ModuleConstants(
@@ -130,7 +130,7 @@ private DriveConstants() {
             TURN_FB_GAINS,
             Units.rotationsToDegrees(0.046143),
             true,
-            ModuleConstants.GearRatios.L3
+            ModuleConstants.GearRatios.L3_KRAKEN
     );
 
     public static final ModuleConstants BL_MOD_CONSTANTS = new ModuleConstants(
@@ -141,7 +141,7 @@ private DriveConstants() {
             TURN_FB_GAINS,
             Units.rotationsToDegrees(-0.073730),
             true,
-            ModuleConstants.GearRatios.L3
+            ModuleConstants.GearRatios.L3_KRAKEN
     );
 
     public static final ModuleConstants BR_MOD_CONSTANTS = new ModuleConstants(
@@ -152,7 +152,7 @@ private DriveConstants() {
             TURN_FB_GAINS,
             Units.rotationsToDegrees(0.404297),
             true,
-            ModuleConstants.GearRatios.L3
+            ModuleConstants.GearRatios.L3_KRAKEN
     );
   }