We are in the process of tuning our Kraken X60/Falcon 500 swerve drive and are looking for approximate kV and kA values to use. We have WCP Swerve X swerve with the following setup:
Drive gear ratio: 4.59 : 1
Wheel circumference: 4 pi
Drive motor: Kraken X60
We’ve calculated them to be about 0.55 for kV and 0.9 for kA but were wondering if they should be some other value
.55 and .9 whats? Feedforward numbers without units are meaningless. kV should be very close to to 1 over the motor KV which would be equal to .01909 volt-rad/s before dealing with unit conversions due to the mechanism.
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Do you understand what these values mean? How did you calculate them?