code: def count_per_rot(self):
          
          (self._count_per_rot, value) = self.get_cached_attr_int(self._count_per_rot, 'count_per_rot')
          return value
docs: Returns the number of tacho counts in one rotation of the motor. Tacho counts
          are used by the position and speed attributes, so you can use this value
          to convert rotations or degrees to tacho counts. (rotation motors only)