I need help figuring out what all the ratios on our swerve modules are for programming purposes.
We are using these modules: [Thrifty Swerve](https://Thrifty Swerve)
and we have full kraken swerve, I need help figuring out the drive ratio and steer ratio
also similar question does the wheel radius include the tread or not?
Yes, the wheel radius includes the tread.
Keep in mind both the tread and the carpet compress - that potential ~0.2" delta is hard to predict fully.
The best way to do get that level of accuracy will be to align the wheels, carefully drive the robot a measured distance across the carpet (in multiple directions), measure the number of wheel rotations to travel that distance. Then run the circle math to calculate the “effective rolling radius”
I’m not the type of guy that builds the modules, I did help my mechanical friend do it but we kind of just put it together, how do we know what pinion size we’re using?
I haven’t used ttb swerve, but it might say on the pinion.
As a note on this, wheel tread wears down throughout the season and can cause odometry errors if this is not adjusted in your code when it’s significant enough. If you’re constantly 1-2in off in auto i would check this first.
