Standard Conversion Factors

This page serves a standard set of conversion factors for a few typical modules.

IF you are using absolute encoders attached to your SparkMAX data port (on the top of the SparkMAX) the angle conversion factor should be set to 360!

For example an MK4i L1 with an absolute encoder attached to the SparkMAX (like a CanandMag) should be set with these conversion factors.

"conversionFactors": {
	"angle": {"gearRatio": 46.42, "factor": 360},
	"drive": {"gearRatio": 8.14, "diameter": 4}
}

How I found these?

    // Angle conversion factor is 360 / (GEAR RATIO)
    //  In this case the gear ratio is 12.8 motor revolutions per wheel rotation.
    //  The encoder resolution per motor revolution is 1 per motor revolution.
    double angleConversionFactor = SwerveMath.calculateDegreesPerSteeringRotation(12.8);
    // Motor conversion factor is (PI * WHEEL DIAMETER IN METERS) / (GEAR RATIO).
    //  In this case the wheel diameter is 4 inches, which must be converted to meters to get meters/second.
    //  The gear ratio is 6.75 motor revolutions per wheel rotation.
    //  The encoder resolution per motor revolution is 1 per motor revolution.
    double driveConversionFactor = SwerveMath.calculateMetersPerRotation(Units.inchesToMeters(4), 6.75);
    System.out.println("\"conversionFactors\": {");
    System.out.println("\t\"angle\": {\"factor\": " + angleConversionFactor + "},");
    System.out.println("\t\"drive\": {\"factor\": " + driveConversionFactor + "}");
    System.out.println("}");

MAX Swerve

"conversionFactors": {
    "angle": {"gearRatio": 46.42},
    "drive": {"gearRatio": 5.50, "diameter": 3}
}

Swerve Drive Specialties (SDS)

"conversionFactors": {
	"angle": {"gearRatio": 21.4285714286},
	"drive": {"gearRatio": 8.14, "diameter": 4}
}
"conversionFactors": {
	"angle": {"gearRatio": 12.8},
	"drive": {"gearRatio": 8.14, "diameter": 4}
}
"conversionFactors": {
	"angle": {"gearRatio": 18.75},
	"drive": {"gearRatio": 7.13, "diameter": 4}
}

Thrifty Swerve

The following example is for 18T Output Gear, and 12T pinion gear with a 3in wheel controlled by NEOs. Please refer to the chart above for your configuration.

The steering motor gear ratio is 25:1

"conversionFactors": {
	"angle": {"gearRatio": 25},
	"drive": {"gearRatio": 15, "diameter": 3}
}

Plummer Industries

"conversionFactors": {
	"angle": {"gearRatio": 28},
	"drive": {"gearRatio": 4, "diameter": 2.5}
}
"conversionFactors": {
	"angle": {"gearRatio": 28},
	"drive": {"gearRatio": 4, "diameter": 2.5}
}

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