From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Sat, 21 Feb 2026 20:39:23 +0000 (-0800)
Subject: Update DriveConstants.java
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=f3da9e3e7fadac5234587747a8fcb345a9087cbb;p=FRC2026.git

Update DriveConstants.java
---

diff --git a/src/main/java/frc/robot/constants/swerve/DriveConstants.java b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
index bf778de..b6f326a 100644
--- a/src/main/java/frc/robot/constants/swerve/DriveConstants.java
+++ b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
@@ -213,7 +213,8 @@ public class DriveConstants {
                 INVERT_STEER_MOTOR = InvertedValue.CounterClockwise_Positive;
 
                 // Gear ratios 
-                DRIVE_GEAR_RATIO = (54.0 / 14.0) * (25.0 / 32.0) * (30.0 / 15.0);
+                DRIVE_GEAR_RATIO = (54.0 / 14.0) * (25.0 / 32.0) * (30.0 / 15.0); //R2 Ratio
+                // DRIVE_GEAR_RATIO = (54.0 / 14.0) * (25.0 / 32.0) * (30.0 / 15.0); //R1 Ratio
                 STEER_GEAR_RATIO = 287.0 / 11.0;
 
                 // Gyro is mounted under the robot