Drive module target & velocity value use very different scales

[jamesdooley4]

Looking at the logs, the reported 'actual velocity' values are from -223 to 216, but the 'target' values are between exactly -4.420 and 4.420. To make them easily comparable when tuning PIDF, they should report with the same scale

ChargedUp2023/src/main/java/frc/team2412/robot/subsystems/DrivebaseSubsystem.java

Lines 308 to 309 in ba92c94

	frontLeftActualVelocityPublisher.set(
	moduleDriveMotors[0].getVelocity() / DRIVE_VELOCITY_COEFFICIENT);

ChargedUp2023/src/main/java/frc/team2412/robot/subsystems/DrivebaseSubsystem.java

Line 317 in ba92c94

frontLeftTargetVelocityPublisher.set(states[0].speedMetersPerSecond);

[jamesdooley4]

FYI that the REV docs say "Get the velocity of the motor. This returns the native units of 'RPM' by default, and can be changed by a scale factor using setVelocityConversionFactor()."

[TAKBS2412]

That makes sense, since I remember seeing "actual velocity" values of ~250-260, which is around 60 times as much as 4.420.

Interestingly, we have a conversion from rps to rpm for setting the velocity, but not getting it from the Spark MAX:

ChargedUp2023/src/main/java/frc/team2412/robot/util/motorcontroller/BrushlessSparkMaxController.java

Line 56 in f2492b6

setpoint = setpoint * 60; // rps to rpm

ChargedUp2023/src/main/java/frc/team2412/robot/util/motorcontroller/BrushlessSparkMaxController.java

Line 109 in f2492b6

return motor.getEncoder().getVelocity();