The gear ratio for robot's motor transmission used to be totally wrong. It was 5 instead of 3.57, this had for effect that all speed command send by the AI was 5/3.57 => 1.4 times faster. Since we had a robot that go way too fast, a lot of hack have been added over the years to compensate that bug.
This PR try to fix those hacks, the robot moves faster and has a better control.
The gear ratio for robot's motor transmission used to be totally wrong. It was 5 instead of 3.57, this had for effect that all speed command send by the AI was
5/3.57 => 1.4times faster. Since we had a robot that go way too fast, a lot of hack have been added over the years to compensate that bug. This PR try to fix those hacks, the robot moves faster and has a better control.