public final static double INCHES_PER_PULSE = (((Math.PI)
* OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
/ WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
-
// Drivetrain specific constants that relate to the PID controllers
private final static double Kp = 1.0, Ki = 0.0,
Kd = 0.0 * (OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)