Accounting for Motor Sprocket Induced Error When Calculating Chain Lengths

The ‘rotationDiskRadius’ you see refers to the distance from the end of the chain to the center of the bit on the sled, a value that can be set in GrouncControl either by hand or by the auto-calibration process. The value referred to as ‘ChainLength’, shown in red on the diagram, seems to be the value you’re referring to I think.

The calculation you mention hasn’t been integrated into the triangular kinematics code yet, see a post from Bar on the subject. I’ve poked around with the calculation, but haven’t taken time to do any meaningful testing on a live system.

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