TUM-Aries-Lab / motor-module / 35235685078
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NGierden 
Give the ERPM velocity limits their missing gear ratio

max_velocity_electrical_rpm was computed as max_output_speed_rpm * pole_pairs
while _rad_s_to_erpm() converts with pole_pairs * gear_ratio, so the two sides
of the same unit conversion disagreed by the gear ratio. The old comments state
the wrong formula outright: "800 RPM * 21 pole pairs" and "560 RPM * 14 pole
pairs".

The conversion is the correct side. Measured on an AK60-6 V3, whose status
frame reports electrical RPM independently of what was commanded, the scale
came out at 812.3 and 779.1 ERPM per rad/s across two runs, against 802.1
predicted with the gear ratio and 133.7 without.

The effect was a velocity ceiling roughly six times too low: the AK60-6 V1.1
clamped at 9.77 rad/s. For comparison, LocomotionMode's motor_control.py drives
that same motor today and saturates at 41.87 rad/s, expressed directly in rad/s
with no ERPM conversion anywhere in its limit path.

Corrected, the MIT encoding range becomes the binding constraint in every case
(60, 76 and 45 rad/s), which is CubeMars' own stated velocity range per motor.
That is the intended arrangement: this field is the motor's mechanical ceiling,
and the protocol range caps just below it. An operational limit tighter than
the hardware belongs in the controller, as motor_control.py does it.

The AK60-6 V3's previous 12000 matched neither the geared nor the un-geared
formula and its origin is unknown, so that one is a consistency correction
rather than a measured value, and its comment says so.

Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>

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