From 6066594f6a695dff8420fe3fb5ef2895261add87 Mon Sep 17 00:00:00 2001
From: Andy Killorin <37423245+Speedy6451@users.noreply.github.com>
Date: Wed, 23 Oct 2024 14:05:48 -0400
Subject: [PATCH] converted rotational speed to specified units

---
 lib/Chassis/src/chassis.cpp | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/lib/Chassis/src/chassis.cpp b/lib/Chassis/src/chassis.cpp
index a9fcbe8..ba1d62f 100644
--- a/lib/Chassis/src/chassis.cpp
+++ b/lib/Chassis/src/chassis.cpp
@@ -116,11 +116,8 @@ void Chassis::UpdateMotors(void)
  */
 void Chassis::SetWheelSpeeds(float leftSpeedCMperSec, float rightSpeedCMperSec)
 {
-    /** 
-     * TODO: Add code to convert cm/sec -> encoder ticks/control interval
-     */
-    leftMotor.SetTargetSpeed(leftSpeedCMperSec);
-    rightMotor.SetTargetSpeed(rightSpeedCMperSec);
+    leftMotor.SetTargetSpeed(leftSpeedCMperSec * LEFT_TICKS_PER_CM);
+    rightMotor.SetTargetSpeed(rightSpeedCMperSec * RIGHT_TICKS_PER_CM);
 }
 
 /**