Abstract drive gear ratio selection#11
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…stages Add chassisStages parameter to explicitly separate chassis-frame gear reduction stages (whose product is the couple ratio) from azimuth-frame stages. Add Javadoc to constructor, getDriveMotorReduction, and getCoupleRatio. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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Closes #10
Summary
DRIVE_MOTOR_REDUCTIONandCOUPLE_RATIOconstants with aDriveGearRatioenum whose variants (R1, R2, R3) each encode the per-stage reductions for the SDS MK5i gearboxSELECTED_RATIO, so changing the gear ratio only requires updating the oneSELECTED_RATIOfielddouble[]via varargs, keeping the constructor concise and accommodating gearboxes with a different number of stages🤖 Generated with Claude Code