Hopefully fix track width regression

wheelerrobotics · Dec 7, 2022 · 7c9fd6c · 7c9fd6c
1 parent b44d5e0
commit 7c9fd6c
Showing 1 changed file with 3 additions and 4 deletions.
diff --git a/TeamCode/src/main/assets/tuning/drive-encoder-angular-ramp.html b/TeamCode/src/main/assets/tuning/drive-encoder-angular-ramp.html
@@ -94,10 +94,9 @@ <h1>RR Drive Encoder Angular Ramp Regression</h1>
     document.getElementById('trackWidthChart'),
     angVels,
     angVels.map((_, i) => 
-      (leftEncVels.reduce((acc, vs) => acc - vs[i], 0)
-        + rightEncVels.reduce((acc, vs) => acc + vs[i], 0))
-        / (data.leftEncVels.length + data.rightEncVels.length)
-        * (data.type === 'mecanum' ? 1 : 2)
+      (leftEncVels.reduce((acc, vs) => acc - vs[i], 0) / data.leftEncVels.length
+        + rightEncVels.reduce((acc, vs) => acc + vs[i], 0) / data.rightEncVels.length)
+        * (data.type === 'mecanum' ? 0.5 : 1)
     ),
     {title: 'Track Width Regression', slope: 'track width'}
   );