VESC 6 mk2, 11 pole pair motor, sin/cos encoder on motor shaft.
9.6:1 reduction gearbox between motor and output.
Problem:
After FOC setup, rotating output shaft once (motor spins 9.6 times) shows ~9.6 rotations in rotor position display. VESC ignores gear ratio.
Tried:
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Set Motor Poles = 22
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Changed "Encoder Ratio" (0, 9999) → no effect
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Re-ran sensor detection
Need software fix (can't move encoder). Where do I enter gear ratio 9.6? Is it in encoder_steps_per_rev (set to 2048*9.6=19661?) or another parameter?