My drive base uses blue motors and a 5:3 reduction. It moves exactly how far I want it to when I tell the chassis to move, but when I use my AsyncMotionProfileController to move, it undershoots by a lot. Is there any way to make the AsyncMotionProfileController factor in gear ratios as well as the cartridge type?
Multiply your wheel diameter by your gear ratio
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In the chassis controller builder, there is a parameter in the scales for the encoder TPR. This is the value you should scale.
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Yeah that did nothing. What did help was passing the ChassisModel and typing in the ChassisScales and the GearRatioPair.
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