We talked to to fab about Gear Ratios:
wheel diameter - 6 inches
(Side note: circumference and diameter changes as wheels get worn, there can be a range)
SIMbox gear ratio - falcon to shaft is 1 to 4.67 (4.67 is falcon)
Sprockets ratio (sprockets/simbox to drive train) - 12 (output of box) to wheels is 30
These are calculation notes for future reference.
Counts per rev on motor = 2048
1 / 4.67 times 12/30 = 0.85
0.8565 times
1 falcon rotation is 1.614 inches of the robot
inches of the robot /2048 = 0.000788 inches per tick
so our final formula to use is
inches traveled / counts per rev = inches per tick
We talked to to fab about Gear Ratios: wheel diameter - 6 inches (Side note: circumference and diameter changes as wheels get worn, there can be a range) SIMbox gear ratio - falcon to shaft is 1 to 4.67 (4.67 is falcon) Sprockets ratio (sprockets/simbox to drive train) - 12 (output of box) to wheels is 30
These are calculation notes for future reference. Counts per rev on motor = 2048 1 / 4.67 times 12/30 = 0.85 0.8565 times 1 falcon rotation is 1.614 inches of the robot inches of the robot /2048 = 0.000788 inches per tick
so our final formula to use is inches traveled / counts per rev = inches per tick
UPDATE: What we did in the code![image](https://user-images.githubusercontent.com/95264080/154813847-d5756200-0ef6-442f-b9e4-51becbf3a10a.png)
1 falcon rotation is 1.614 inches of the robot