From 5a807673a7d45ede85d4d74e74d3245c7463d764 Mon Sep 17 00:00:00 2001
From: umroverPerception <umroverPerception@gmail.com>
Date: Wed, 24 Apr 2024 22:26:01 -0400
Subject: [PATCH] Bruh

---
 src/esw/drive_bridge/main.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/esw/drive_bridge/main.cpp b/src/esw/drive_bridge/main.cpp
index 18391baf8..44f44ad7c 100644
--- a/src/esw/drive_bridge/main.cpp
+++ b/src/esw/drive_bridge/main.cpp
@@ -60,7 +60,7 @@ void moveDrive(geometry_msgs::Twist::ConstPtr const& msg) {
     RadiansPerSecond left_outer = (forward - delta_outer) * WHEEL_LINEAR_TO_ANGULAR;
     RadiansPerSecond right_outer = (forward + delta_outer) * WHEEL_LINEAR_TO_ANGULAR;
 
-    constexpr auto MAX_SPEED = RevolutionsPerSecond{15};
+    constexpr auto MAX_SPEED = RadiansPerSecond{15 * 2 * M_PI};
     RadiansPerSecond maximal = std::max(abs(left_outer), abs(right_outer));
     if (maximal > MAX_SPEED) {
         Dimensionless changeRatio = MAX_SPEED / maximal;