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Originally Posted by KenWittlief
Scaling the numbers in your SW to actual units (g's, volts, degrees...) is only necessary if a human needs to look at those numbers.
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You are correct, it is not
necessary. However... working in a standard unit is good practice for larger systems. Always conforming to a physical unit is nice, and actually... m/s^2 would be a better unit than g's.
If I were choosing not to work in physical units, I'd just leave everything in volts (- bias) to minimize the calculations (as you did with encoder counts).