So I am working on programming the swerve and steer with the pg71 motors with their encoders connected to spark max breakout boards. The only issue is I am having issues finding out the counts per revolution (CPR). I have seen multiple different answer to this from it being 497 CPR to 28 CPR. Does anyone know the actual CPR because I have had trouble figuring it out? I am also question if I have the correct gear ratio, from the information I gathered I got a 71:1 gear ratio.
The motor has an exact gear ratio of 226233 / 3179 : 1 according to AndyMark, and the encoder is 7 pulses per revolution. So it’s about 498.15 CPR.
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