Remove magic numbers, fix precision loss

Author: NoahAndrews

src/main/java/frc/robot/Constants.java

@@ -72,10 +72,11 @@ public static final class ModuleConstants {
     public static final boolean kTurningEncoderInverted = true;
 
     // Calculations required for driving motor conversion factors and feed forward
-    public static final double kDrivingMotorFreeSpeedRps = 5676 / 60;
-    public static final double kDrivingMotorReduction = 990 / (kMotorPinionTeeth * 15);
+    public static final double kDrivingMotorFreeSpeedRps = NeoMotorConstants.kFreeSpeedRpm / 60;
     public static final double kWheelDiameterMeters = 0.0762;
     public static final double kWheelCircumferenceMeters = kWheelDiameterMeters * Math.PI;
+    // 45 teeth on the wheel's bevel gear, 22 teeth on the first-stage spur gear, 15 teeth on the bevel pinion
+    public static final double kDrivingMotorReduction = (45.0 * 22) / (kMotorPinionTeeth * 15);
     public static final double kDriveWheelFreeSpeedRps = (kDrivingMotorFreeSpeedRps * kWheelCircumferenceMeters)
         / kDrivingMotorReduction;
 
@@ -129,4 +130,8 @@ public static final class AutoConstants {
     public static final TrapezoidProfile.Constraints kThetaControllerConstraints = new TrapezoidProfile.Constraints(
         kMaxAngularSpeedRadiansPerSecond, kMaxAngularSpeedRadiansPerSecondSquared);
   }
+
+  public static final class NeoMotorConstants {
+    public static final double kFreeSpeedRpm = 5676;
+  }
 }