From 37004be0ee93862b649606f6777aeeff2e1be817 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Tue, 1 Nov 2022 17:32:01 -0600 Subject: [PATCH] Create RobotUnits.java --- src/main/java/frc4388/utility/RobotUnits.java | 27 +++++++++++++++++++ 1 file changed, 27 insertions(+) create mode 100644 src/main/java/frc4388/utility/RobotUnits.java diff --git a/src/main/java/frc4388/utility/RobotUnits.java b/src/main/java/frc4388/utility/RobotUnits.java new file mode 100644 index 0000000..9e07312 --- /dev/null +++ b/src/main/java/frc4388/utility/RobotUnits.java @@ -0,0 +1,27 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc4388.utility; + +/** Aarav's good units class (better than WPILib) + * @author Aarav Shah */ + +public class RobotUnits { + // constants + + // angle conversions + public static double degreesToRadians(final double degrees) {return degrees * Math.PI / 180;} + + public static double radiansToDegrees(final double radians) {return radians / Math.PI * 180;} + + // falcon conversions + public static double falconTicksToRotations(final double ticks) {return ticks / 2048;} + + 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 feetToMeters(final double feet) {return feet / 3.28084;} +} \ No newline at end of file