I'm trying to understand this piece of code from EBiCS_firmware / EBiCS_motor_FOC projects.
Where do the constants come from?
int8_t tics_to_speed(uint32_t tics) {
return WHEEL_CIRCUMFERENCE * 5 * 3600 / (6 * GEAR_RATIO * tics * 10);
}
Correct me if I'm wrong, the 'tics' are from TIM2, and...