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This repository was archived by the owner on Feb 3, 2023. It is now read-only.
Describe the bug
When differentOdomScales is true, buildCCPID() should use odomScales instead of driveScales.
Steps To Reproduce
Create a chassis with an externally geared drive ratio and "vanilla" tracking wheels. Observe that when moving, the movement will be incorrect.
Expected behavior
Movements should be correct regardless of whether the drivetrain and odometry have different gearing ratios
Describe the bug
When differentOdomScales is true, buildCCPID() should use odomScales instead of driveScales.
Steps To Reproduce
Create a chassis with an externally geared drive ratio and "vanilla" tracking wheels. Observe that when moving, the movement will be incorrect.
Expected behavior
Movements should be correct regardless of whether the drivetrain and odometry have different gearing ratios
Versions
4.1.0
Additional Information
N/A