From be7060bc16d626c7b273b7888a7318df02f5a06b Mon Sep 17 00:00:00 2001
From: Andy Killorin <37423245+Speedy6451@users.noreply.github.com>
Date: Wed, 23 Oct 2024 20:11:01 -0400
Subject: [PATCH] time conversion

---
 lib/Chassis/src/chassis.cpp | 4 ++--
 lib/Chassis/src/chassis.h   | 1 +
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/lib/Chassis/src/chassis.cpp b/lib/Chassis/src/chassis.cpp
index fb0200b..6f57fc4 100644
--- a/lib/Chassis/src/chassis.cpp
+++ b/lib/Chassis/src/chassis.cpp
@@ -117,8 +117,8 @@ void Chassis::UpdateMotors(void)
  */
 void Chassis::SetWheelSpeeds(float leftSpeedCMperSec, float rightSpeedCMperSec)
 {
-    leftMotor.SetTargetSpeed(leftSpeedCMperSec * LEFT_TICKS_PER_CM);
-    rightMotor.SetTargetSpeed(rightSpeedCMperSec * RIGHT_TICKS_PER_CM);
+    leftMotor.SetTargetSpeed(leftSpeedCMperSec * LEFT_TICKS_PER_CM * CONTROL_LOOP_PERIOD_S);
+    rightMotor.SetTargetSpeed(rightSpeedCMperSec * RIGHT_TICKS_PER_CM * CONTROL_LOOP_PERIOD_S);
 }
 
 /**
diff --git a/lib/Chassis/src/chassis.h b/lib/Chassis/src/chassis.h
index ddb109e..4f00c2f 100644
--- a/lib/Chassis/src/chassis.h
+++ b/lib/Chassis/src/chassis.h
@@ -19,6 +19,7 @@ protected:
      * avoid rounding errors.
      */
     const uint16_t CONTROL_LOOP_PERIOD_MS = 20;
+    const float CONTROL_LOOP_PERIOD_S = CONTROL_LOOP_PERIOD_MS / 1000.;
 
 protected:
     /**