I got a high torque hoverboard style hub motor and configured it according to the hoverboard guide. The motor has 30 magnets, a 6:1 gear ratio and the standard hall sensor wires. Therefore I set the cpr to 90.
Having configured everything following the guide, it seems to work correctly. When I turn the robot one revolution using my hand or vel_setpoint and check the position using axis.encoder.pos_estimate after spinning once I get 455. I understand this is counts? Should this value not be 90 after one revolution? or does my motor have a higher CPR?