<note warning> This plugin cannot be used together with the SMRD-Serial plugin, because they use the same variables between the RHD and MRC. There are no other know compatability issues with other plugins. </note>

The gearing for the Armadillo is calculated based on the beltmodules. The gearing is calculated directly in the plugin so it is easy to make changes to the gearing. It can be considered to set the gearing via RHD-config file, bu the gearing should not change that often, so that may be a bad idea.

$$\alpha=r*\Theta*R*m_{RPM} → m_{RPM}=\frac{\alpha}{r*\Theta*R}$$

$$\frac{\pi}{30}\frac{rad}{s}=\Theta$$

$$v_p = r*\omega$$

$$\omega=R*m_{RPM}$$ R=Gear Ratio

$$controlvalue=\frac{m_{rpm}}{max_{rpm}}*1000$ $max_{RPM}=8000$$

$$1 RPM = 1\frac{rev}{min}*2\pi\frac{rad}{min}*\frac{1}{60}\frac{min}{s}=\frac{\pi}{30}\frac{rad}{s}$$