Mechanism Tooth Count

How Mechanical Gives You Tooth Count

Mechanical will give you the tooth counts for each stage. For example:

"1st Stage is a 12 tooth driver gear spinning a 60 tooth follower gear. 2nd Stage is a 26 tooth driver gear spinning a 52 tooth follower gear."

Writing the Tooth Count in Code

Single Stage

// 1st Stage: 12 tooth driver, 60 tooth follower
MOTOR_CONFIG.Feedback.SensorToMechanismRatio = 1.0 / (12.0 / 60.0);

Multiple Stages

// 1st Stage: 12 tooth driver, 60 tooth follower
// 2nd Stage: 26 tooth driver, 52 tooth follower
MOTOR_CONFIG.Feedback.SensorToMechanismRatio = 1.0 / ((12.0 / 60.0) * (26.0 / 52.0));

Always use decimal numbers

Use 12.0 instead of 12 to avoid integer division giving incorrect results.

Rotational to Linear Conversion

"1st Stage is a 10 tooth driver gear spining a 50 tooth. The sprocket pitch diameter is 1.751 inches."

For mechanisms that move linearly (elevator), multiply the sprocket or wheel diameter by π to get the distance traveled per rotation (circumfrence):

// Sprocket diameter: 2 inches
// 1st Stage: 10 tooth driver, 50 tooth follower
MOTOR_CONFIG.Feedback.SensorToMechanismRatio = 1.0 / ((10.0 / 50.0) * (2.0 * Math.PI));