From 7fa1e05e6e5e0fed75a239ed3e91e5260d6887c4 Mon Sep 17 00:00:00 2001
From: Abhi <90010729+Abhishrek05@users.noreply.github.com>
Date: Sat, 14 Jan 2023 15:35:21 -0700
Subject: [PATCH] conversions

---
 src/main/java/frc4388/robot/Constants.java       | 16 ++++++++++++++++
 .../java/frc4388/robot/commands/AutoBalance.java |  4 ++--
 2 files changed, 18 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 4b1f668..3b29a1c 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -46,6 +46,22 @@ public final class Constants {
     public static final class Conversions {
       public static final int CANCODER_TICKS_PER_ROTATION = 4096;
       public static final double JOYSTICK_TO_METERS_PER_SECOND = 5.0;
+
+      public static final double MOTOR_REV_PER_WHEEL_REV = -1; // TODO: find actual ID
+      public static final double TICKS_PER_MOTOR_REV = 2048;
+      public static final double WHEEL_DIAMETER_INCHES = 4.0; // TODO: find actual ID
+      public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
+
+      public static final double WHEEL_REV_PER_MOTOR_REV = 1 / MOTOR_REV_PER_WHEEL_REV;
+      public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_REV_PER_WHEEL_REV;
+      public static final double TICKS_PER_INCH = TICKS_PER_WHEEL_REV / INCHES_PER_WHEEL_REV;
+      public static final double INCHES_PER_TICK = 1 / TICKS_PER_INCH;
+
+      public static final double TICK_TIME_TO_SECONDS = 10;
+      public static final double SECONDS_TO_TICK_TIME = 1 / TICK_TIME_TO_SECONDS;
+      
+      // public static final double 
+
     }
 
     public static final class Configurations {
diff --git a/src/main/java/frc4388/robot/commands/AutoBalance.java b/src/main/java/frc4388/robot/commands/AutoBalance.java
index d06631c..62c3160 100644
--- a/src/main/java/frc4388/robot/commands/AutoBalance.java
+++ b/src/main/java/frc4388/robot/commands/AutoBalance.java
@@ -10,11 +10,11 @@ import frc4388.robot.Robot;
 // NOTE:	Consider using this command inline, rather than writing a subclass.	For more
 // information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
-public class AutoBalanceTF2 extends PelvicInflamitoryDisease {
+public class AutoBalance extends PelvicInflamitoryDisease {
 	Robot.MicroBot bot;
 
 	/** Creates a new AutoBalanceTF2. */
-	public AutoBalanceTF2(Robot.MicroBot bot) {
+	public AutoBalance(Robot.MicroBot bot) {
 		super(.7, .1, 15, 0);
 		addRequirements(bot);
 		this.bot = bot;