Hardware Configuration

Set ports, wheel sizes, and sensor options.

Drivetrain

constexpr int kLeftFrontPort = 1;
constexpr int kLeftBackPort = 2;
constexpr int kRightFrontPort = 9;
constexpr int kRightBackPort = 10;

constexpr double kWheelDiameterIn = 3.25;
constexpr double kTrackWidthIn = 12.5;

constexpr bool kUseImu = true;
constexpr bool kUseTrackingWheels = true;