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standard-conversion-factors.md

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Standard Conversion Factors

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

{% hint style="warning" %} 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}
}

{% endhint %}

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

{% tabs %} {% tab title="12T" %}

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

{% endtab %}

{% tab title="13T" %}

"conversionFactors": {
    "angle": {"gearRatio": 46.42},
    "drive": {"gearRatio": 5.08, "diameter": 3}
}

{% endtab %}

{% tab title="14T" %}

"conversionFactors": {
    "angle": {"gearRatio": 46.42},
    "drive": {"gearRatio": 4.71, "diameter": 3}
}

{% endtab %} {% endtabs %}

Swerve Drive Specialties (SDS)

{% tabs %} {% tab title="MK4i L1 " %}

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

{% endtab %}

{% tab title="MK4i L2" %}

"conversionFactors": {
	"angle": {"gearRatio": 21.4285714286},
	"drive": {"gearRatio": 6.75, "diameter": 4}
}

{% endtab %}

{% tab title="MK4i L3" %}

"conversionFactors": {
	"angle": {"gearRatio": 21.4285714286},
	"drive": {"gearRatio": 6.12, "diameter": 4}
}

{% endtab %} {% endtabs %}

{% tabs %} {% tab title="MK4 L1" %}

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

{% endtab %}

{% tab title="MK4 L2" %}

"conversionFactors": {
	"angle": {"gearRatio": 12.8},
	"drive": {"gearRatio": 6.75, "diameter": 4}
}

{% endtab %}

{% tab title="MK4 L3" %}

"conversionFactors": {
	"angle": {"gearRatio": 12.8},
	"drive": {"gearRatio": 6.12, "diameter": 4}
}

{% endtab %}

{% tab title="MK4 L4" %}

"conversionFactors": {
	"angle": {"gearRatio": 12.8},
	"drive": {"gearRatio": 5.14, "diameter": 4}
}

{% endtab %} {% endtabs %}

{% tabs %} {% tab title="MK4n L1" %}

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

{% endtab %}

{% tab title="MK4n L2" %}

"conversionFactors": {
	"angle": {"gearRatio": 18.75},
	"drive": {"gearRatio": 5.9, "diameter": 4}
}

{% endtab %}

{% tab title="MK4n L3" %}

"conversionFactors": {
	"angle": {"gearRatio": 18.75},
	"drive": {"gearRatio": 5.36, "diameter": 4}
}

{% endtab %} {% endtabs %}

Thrifty Swerve

{% tabs %} {% tab title="18T" %}

Thrifty Swerve Gear Ratio Table

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}
}

{% endtab %}

{% tab title="16T" %}

Thrifty Swerve Gear Ratio Table

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}
}

{% endtab %} {% endtabs %}

Plummer Industries

{% tabs %} {% tab title="Corner Mid Ratio" %}

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

{% endtab %}

{% tab title="Corner High Ratio" %}

"conversionFactors": {
	"angle": {"gearRatio": 28},
	"drive": {"gearRatio": 3.25, "diameter": 2.5}
}

{% endtab %} {% endtabs %}

{% tabs %} {% tab title="Corner Mid Ratio - Linear" %}

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

{% endtab %}

{% tab title="Corner High Ratio - Linear" %}

"conversionFactors": {
	"angle": {"gearRatio": 28},
	"drive": {"gearRatio": 3.25, "diameter": 2.5}
}

{% endtab %} {% endtabs %}