From 511d5fc28158feb07d01dbe64f68dbc9d88f64c3 Mon Sep 17 00:00:00 2001
From: Andy Killorin <37423245+Speedy6451@users.noreply.github.com>
Date: Wed, 4 Feb 2026 13:59:49 -0500
Subject: [PATCH] switch units

rad to deg

cm per s to cm per loop
---
 lib/Chassis/src/chassis.cpp | 2 --
 src/robot-nav.cpp           | 2 +-
 2 files changed, 1 insertion(+), 3 deletions(-)

diff --git a/lib/Chassis/src/chassis.cpp b/lib/Chassis/src/chassis.cpp
index 762fb42..86af03e 100644
--- a/lib/Chassis/src/chassis.cpp
+++ b/lib/Chassis/src/chassis.cpp
@@ -142,10 +142,8 @@ Pose Chassis::CalcOdomFromWheelMotion(void)
     Pose delta;
 
     float leftDelta = (float) leftMotor.speed 
-        * (float) CONTROL_LOOP_PERIOD_MS / 1000.0 
         / LEFT_TICKS_PER_CM;
     float rightDelta = (float) rightMotor.speed 
-        * (float) CONTROL_LOOP_PERIOD_MS / 1000.0
         / RIGHT_TICKS_PER_CM;
 
     float distance = (leftDelta + rightDelta) / 2.0;
diff --git a/src/robot-nav.cpp b/src/robot-nav.cpp
index 878b78b..51405ba 100644
--- a/src/robot-nav.cpp
+++ b/src/robot-nav.cpp
@@ -20,7 +20,7 @@ void Robot::UpdatePose(const Pose& delta)
 #ifdef __NAV_DEBUG__
     TeleplotPrint("x", currPose.x);
     TeleplotPrint("y", currPose.y);
-    TeleplotPrint("theta", currPose.theta);
+    TeleplotPrint("theta", currPose.theta * 180.0 / PI);
 #endif
 }