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standard WPILIB conversions

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Abhi
2023-02-17 20:36:50 -07:00
parent 84ed4c0e40
commit 94dd106c24
1 changed files with 32 additions and 5 deletions
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src/main/java/frc4388/utility/RobotUnits.java
+32 -5
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@@ -4,16 +4,39 @@
package frc4388.utility;
/** Aarav's good units class (better than WPILib)
* @author Aarav Shah */
public class RobotUnits {
public final class RobotUnits {
// constants
private static final double INCHES_PER_FOOT = 12.0;
private static final double METERS_PER_INCH = 0.0254;
private static final double SECONDS_PER_MINUTE = 60;
private static final double MILLISECONDS_PER_SECONDS = 1000;
// angle conversions
public static double degreesToRadians(final double degrees) {return degrees * Math.PI / 180;}
public static double degreesToRadians(final double degrees) {return Math.toRadians(degrees);}
public static double radiansToDegrees(final double radians) {return radians / Math.PI * 180;}
public static double radiansToDegrees(final double radians) {return Math.toDegrees(radians);}
public static double radiansToRotations(final double radians) {return radians / (Math.PI * 2);}
public static double degreesToRotations(final double degrees) {return degrees / 360;}
public static double rotationsToRadians(final double rotations) {return rotations * (Math.PI * 2);}
public static double rotationsToDegrees(final double rotations) {return rotations * 360;}
// angular velocity conversions
public static double rotationsPerMinuteToRadiansPerSecond(final double rotationsPerMinute) {return rotationsPerMinute * Math.PI / (SECONDS_PER_MINUTE / 2);}
public static double radiansPerSecondToRotationsPerMinute(final double radiansPerSecond) {return radiansPerSecond * (SECONDS_PER_MINUTE / 2) / Math.PI;}
// time conversions
public static double millisecondsToSeconds(final double milliseconds) {return milliseconds / MILLISECONDS_PER_SECONDS;}
public static double secondsToMilliseconds(final double seconds) {return seconds * MILLISECONDS_PER_SECONDS;}
// falcon conversions
public static double falconTicksToRotations(final double ticks) {return ticks / 2048;}
@@ -21,7 +44,11 @@ public class RobotUnits {
public static double falconRotationsToTicks(final double rotations) {return rotations * 2048;}
// distance conversions
public static double metersToFeet(final double meters) {return meters * 3.28084;}
public static double metersToInches(final double meters) {return meters / METERS_PER_INCH;}
public static double feetToMeters(final double feet) {return feet / 3.28084;}
public static double inchesToMeters(final double inches) {return inches * METERS_PER_INCH;}
public static double metersToFeet(final double meters) {return metersToInches(meters) / INCHES_PER_FOOT;}
public static double feetToMeters(final double feet) {return inchesToMeters(feet * INCHES_PER_FOOT);}
}