// 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)
- / (WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
+ / (WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
public AnalogInput channel;
leftLidar = new Lidar(I2C.Port.kOnboard);
rightLidar = new Lidar(I2C.Port.kOnboard); // TODO: find port for second
- // lidar
+ // lidar
leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X);
rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,