Merge branch 'master' into deintigrate-the-drive-systems

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;}
+}