Configuring AsyncMotionProfileController to factor in my gear ratio

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.


Yeah that did nothing. What did help was passing the ChassisModel and typing in the ChassisScales and the GearRatioPair.

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