Can someone help me understand how to render the mk4i turn motor gear ratio as a decimal?
The gear ratio for the angle motor is listed as 150/7:1. How is that made into a decimal? Would it be 1/(150/7) or .04667? Or does it just mean 150/7 which is 21.4286?
The 150/7:1 is indicating that for every 150 spins of the motor shaft, the swerve module will spin 7 times. So, both decimal values are correct, just the units are different. 0.04667 swerve rotation / motor rotations or 21.4286 motor rotations / swerve rotation.
Which one you use would be context dependent.
It depends which way you’re trying to go.
If you’re converting from output shaft (azimuth) rotations to motor rotations, then multiply by 150/7. If you’re converting from motor rotations to azimuth rotations, then multiply by 7/150.
Thank you. I’m still not sure how to implement it.
I’m trying to calculate the conversion factor for the YAGSL swerve library. Here is the formula:
360 / (angleGearRatio * pulsePerRotation)
Given that the cancoder’s pulsePerRotation = 1, I’m guessing this would end up as:
360 / (.04667 * 1)
Or did I get it backward? If it’s not obvious, I’ll ask the author.