How to set conversion factor from rotor angular position/velocity to wheel tangential linear position/velocity for TalonFX

Technical Programming
1

I would like to have a conversion factor that I can use with the TalonFX such that I can convert the Angle/AngularVelocity objects into Distance/LinearVelocity objects to use for odometry. I’m not sure how to do this using the Units library.

2

Id look at The Java Units Library — FIRST Robotics Competition documentation. all u need to do is multiply by the circumference and u get ur units in m/s

3

Yes, but it’s not clear how to do that via the units library. The documentation isn’t really clear on that.

4

If u look at the section above what I posted, it shows how to do calculations, conversions…

5

I stand corrected, I see what u mean now as we just went through this. we tried to use the library to multiple angular velocity in Rotations per second by wheel circumference in meters to get meters per second. It didn’t like that so we just converted them to doubles and then multiplied.

1 Like