From 94dd106c24657a6dc9d6526d3c0fbe676370401d Mon Sep 17 00:00:00 2001
From: Abhi <90010729+Abhishrek05@users.noreply.github.com>
Date: Fri, 17 Feb 2023 20:36:50 -0700
Subject: [PATCH] standard WPILIB conversions

---
 src/main/java/frc4388/utility/RobotUnits.java | 37 ++++++++++++++++---
 1 file changed, 32 insertions(+), 5 deletions(-)

diff --git a/src/main/java/frc4388/utility/RobotUnits.java b/src/main/java/frc4388/utility/RobotUnits.java
index 9e07312..34ac6b8 100644
--- a/src/main/java/frc4388/utility/RobotUnits.java
+++ b/src/main/java/frc4388/utility/RobotUnits.java
@@ -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);}
 }
\ No newline at end of file