I’m trying to get the RPM from the falcon 500 for our shooting mechanism but whenever i do get velocity I’m getting 17000. I see that it says raw sensor units so do I need to do some math/converting it to RPM?

Those are the encoder ticks. I haven’t worked with the falcons but I would assume that is ticks per second. There are 2048 ticks per rotation so your motor is spinning at ~500 RPM.

Edit: See maccopacco’s comment. I was wrong.

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The velocity unit is ticks/100ms, which would make the RPM ~5000.

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Thank you for the clarification!

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Ok I got it now. Thank yall.