How to find your mechanism circumference?

Mechanism circumference is used to convert mechanism rotations to measurements. This is primarily useful for Elevators or Linear Slides where the primary unit of control is in Distance (usually meters).

Your Mechanism Circumference is the circumference of your final sprocket/gear which translates directly to Distance.

For elevators this is the drum circumference $c = 2*\pi * r$ OR if driven by a sprocket $c = pitch*teeth$

Remember that you measurement ≠ actual height of the mechanism UNLESS you set the elevator starting height to be relative to the floor AND adjust your limits accordingly

Set the circumference in YAMS

SmartMotorControllerConfig smcConfig = new SmartMotorControllerConfig(this)
  .withControlMode(ControlMode.CLOSED_LOOP)
  // Mechanism Circumference is the distance traveled by each mechanism rotation converting rotations to meters.
  .withMechanismCircumference(Meters.of(Inches.of(0.25).times(22).in(Meters)))
  .withMechanismCircumference(Inches.of(4).times(Math.PI)) // 4in * PI
  .withWheelDiameter(Inches.of(4)) // Same as above
  .withWheelRadius(Inches.of(2)) // Same as above
  .withStartingPosition(Meters.of(0));