refactor(swerve): Add constants for gear ratios.

Gongoliers · Feb 20, 2024 · 41f27b6 · 41f27b6
1 parent f02095f
commit 41f27b6
Showing 1 changed file with 13 additions and 1 deletion.
diff --git a/src/main/java/frc/robot/swerve/SwerveConstants.java b/src/main/java/frc/robot/swerve/SwerveConstants.java
@@ -18,8 +18,20 @@ public static class MK4iConstants {
     /** Moment of inertia of the wheel when steering in joules kilograms meters squared. */
     public static final double STEER_MOI = 0.004; // TODO
 
+    /** Gearing between the drive motor and the wheel for the L1 gear ratio. */
+    public static final double L1 = 8.14;
+
+    /** Gearing between the drive motor and the wheel for the L2 gear ratio. */
+    public static final double L2 = 6.75;
+
+    /** Gearing between the drive motor and the wheel for the L3 gear ratio. */
+    public static final double L3 = 6.12;
+
+    /** Gearing between the drive motor and the wheel for the L4 gear ratio. */
+    public static final double L4 = 5.14;
+
     /** Gearing between the drive motor and the wheel. */
-    public static final double DRIVE_GEARING = 6.75;
+    public static final double DRIVE_GEARING = L2;
 
     /** Diameter of the MK4i's wheels in meters. */
     public static final double WHEEL_DIAMETER = Units.inchesToMeters(4.0);