RL-Sim-Framework/assets/motor/hardware.yaml

# Motor-only hardware config
# Encoder and motor constants for the motor-only sysid capture.

encoder:
  ppr: 11              # pulses per revolution (before quadrature)
  gear_ratio: 30.0     # gearbox ratio
  # counts_per_rev = ppr × gear_ratio × 4 (quadrature) = 1320

motor:
  max_pwm: 255         # maximum PWM command accepted by firmware