[WHEEL MODE] Goal speed units?

[Gregwar]

Hello,

First, I don't understand what the speed units are supposed to be. Looking the code it look like it is should be °/s, but for instance:

In: import pypot.dynamixel.conversion as conv
In: conv.speed_to_dxl(360, 'MX-28')
Out: 526

From the MX-28 Manual, 526 is 526*0.229RPM = 120 RPM which is 2 turns per second.

Moreover, the conversion result is the same for the MX-12W which has a 0.916rpm speed ratio per unit:

In : conv.speed_to_dxl(10, 'MX-12')
Out: 15

[Gregwar]

Update: The ratio that we can see in the code is 0.114 rpm per unit, which is correct for MX-106 for instance but not for the other MX (28, 64, 12)