Package frc.lib.math

Class Conversions

java.lang.Object

frc.lib.math.Conversions

public class Conversions
extends Object

Mathematical conversions for swerve calculations

Constructor Summary

Constructors

Constructor	Description
Conversions()

Method Summary

Modifier and Type	Method	Description
static double	degreesToFalcon(double degrees, double gearRatio)
static double	falconToDegrees(double counts, double gearRatio)
static double	falconToMeters(double counts, double gearRatio, double circumference)
static double	falconToMPS(double velocitycounts, double circumference, double gearRatio)
static double	falconToRPM(double velocityCounts, double gearRatio)
static double	mpsToFalcon(double velocity, double circumference, double gearRatio)
static double	reduceTo0_360(double goal)	Normalize angle to between 0 to 360
static double	rpmToFalcon(double rpm, double gearRatio)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

Conversions

public Conversions()

Method Details

falconToDegrees

public static double falconToDegrees(double counts,
 double gearRatio)

Parameters:

counts - Falcon Counts

gearRatio - Gear Ratio between Falcon and Mechanism

Returns:

Degrees of Rotation of Mechanism falconToDegrees

degreesToFalcon

public static double degreesToFalcon(double degrees,
 double gearRatio)

Parameters:

degrees - Degrees of rotation of Mechanism

gearRatio - Gear Ratio between Falcon and Mechanism

Returns:

Falcon Counts degreesToFalcon

falconToRPM

public static double falconToRPM(double velocityCounts,
 double gearRatio)

Parameters:

velocityCounts - Falcon Velocity Counts

gearRatio - Gear Ratio between Falcon and Mechanism (set to 1 for Falcon RPM)

Returns:

RPM of Mechanism

rpmToFalcon

public static double rpmToFalcon(double rpm,
 double gearRatio)

Parameters:

rpm - RPM of mechanism

gearRatio - Gear Ratio between Falcon and Mechanism (set to 1 for Falcon RPM)

Returns:

RPM of Mechanism

falconToMeters

public static double falconToMeters(double counts,
 double gearRatio,
 double circumference)

Parameters:

counts - Falcon Counts

gearRatio - Gear Ratio between Falcon and Mechanism

circumference - Circumference of Wheel

Returns:

Degrees of Rotation of Mechanism falconToDegrees

falconToMPS

public static double falconToMPS(double velocitycounts,
 double circumference,
 double gearRatio)

Parameters:

velocitycounts - Falcon Velocity Counts

circumference - Circumference of Wheel

gearRatio - Gear Ratio between Falcon and Mechanism (set to 1 for Falcon RPM)

Returns:

Falcon Velocity Counts

mpsToFalcon

public static double mpsToFalcon(double velocity,
 double circumference,
 double gearRatio)

Parameters:

velocity - Velocity MPS

circumference - Circumference of Wheel

gearRatio - Gear Ratio between Falcon and Mechanism (set to 1 for Falcon RPM)

Returns:

Falcon Velocity Counts

reduceTo0_360

public static double reduceTo0_360(double goal)

Normalize angle to between 0 to 360

Parameters:

goal - initial angle

Returns:

normalized angle