Standard Conversion Factors
This page serves a standard set of conversion factors for a few typical modules.
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}
}
"conversionFactors": {
"angle": {"gearRatio": 46.42},
"drive": {"gearRatio": 5.08, "diameter": 3}
}
"conversionFactors": {
"angle": {"gearRatio": 46.42},
"drive": {"gearRatio": 4.71, "diameter": 3}
}
Swerve Drive Specialties (SDS)
"conversionFactors": {
"angle": {"gearRatio": 21.4285714286},
"drive": {"gearRatio": 8.14, "diameter": 4}
}
"conversionFactors": {
"angle": {"gearRatio": 21.4285714286},
"drive": {"gearRatio": 6.75, "diameter": 4}
}
"conversionFactors": {
"angle": {"gearRatio": 21.4285714286},
"drive": {"gearRatio": 6.12, "diameter": 4}
}
"conversionFactors": {
"angle": {"gearRatio": 12.8},
"drive": {"gearRatio": 8.14, "diameter": 4}
}
"conversionFactors": {
"angle": {"gearRatio": 12.8},
"drive": {"gearRatio": 6.75, "diameter": 4}
}
"conversionFactors": {
"angle": {"gearRatio": 12.8},
"drive": {"gearRatio": 6.12, "diameter": 4}
}
"conversionFactors": {
"angle": {"gearRatio": 12.8},
"drive": {"gearRatio": 5.14, "diameter": 4}
}
"conversionFactors": {
"angle": {"gearRatio": 18.75},
"drive": {"gearRatio": 7.13, "diameter": 4}
}
"conversionFactors": {
"angle": {"gearRatio": 18.75},
"drive": {"gearRatio": 5.9, "diameter": 4}
}
"conversionFactors": {
"angle": {"gearRatio": 18.75},
"drive": {"gearRatio": 5.36, "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}
}
The following example is for 16T 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": 16.9, "diameter": 3}
}
Plummer Industries
"conversionFactors": {
"angle": {"gearRatio": 28},
"drive": {"gearRatio": 4, "diameter": 2.5}
}
"conversionFactors": {
"angle": {"gearRatio": 28},
"drive": {"gearRatio": 3.25, "diameter": 2.5}
}
"conversionFactors": {
"angle": {"gearRatio": 28},
"drive": {"gearRatio": 4, "diameter": 2.5}
}
"conversionFactors": {
"angle": {"gearRatio": 28},
"drive": {"gearRatio": 3.25, "diameter": 2.5}
}
Last updated
Was this helpful?