org.team5419.fault.util

Class Utils

org.team5419.fault.util.Utils

public class Utils

Field Summary

Fields

Modifier and Type	Field and Description
static Utils	INSTANCE

Method Summary

Modifier and Type	Method and Description
int	degreesToTalonAngle(int gyroTicksPerRotation, double degrees)
double	encoderTicksPer100MsToInchesPerSecond(int encoderTicksPerRotation, double circumference, int encoderTicksPer100ms, double reduction)
double	encoderTicksToInches(int encoderTicksPerRotation, double circumference, int ticks, double reduction)
double	inchesPerSecondToEncoderTicksPer100Ms(int encoderTicksPerRotation, double circumference, double inchesPerSecond, double reduction)
int	inchesToEncoderTicks(int encoderTicksPerRotation, double circumference, double inches, double reduction)
double	interpolate(double a, double b, double x) method to interpolate between 2 doubles
double	limit(double value, double limit) method that limits input to a certain range.
double	limit(double value, double min, double max) method that limits input to a certain range.
double	talonAngleToDegrees(int gyroTicksPerRotation, int ticks)

Field Detail

INSTANCE

public static Utils INSTANCE

Method Detail

limit

public double limit(double value,
                    double limit)

method that limits input to a certain range.

Parameters:

value - value to be limited

limit - upper and lower bound of the value

Returns:

bounded value

limit

public double limit(double value,
                    double min,
                    double max)

method that limits input to a certain range.

Parameters:

value - value to be limited

min - lower bound of the value

max - upper bound of the value

Returns:

bounded value

interpolate

public double interpolate(double a,
                          double b,
                          double x)

method to interpolate between 2 doubles

Parameters:

a - first value

b - second value

x - value between the 2 values

Returns:

interpolated value

inchesPerSecondToEncoderTicksPer100Ms

public double inchesPerSecondToEncoderTicksPer100Ms(int encoderTicksPerRotation,
                                                    double circumference,
                                                    double inchesPerSecond,
                                                    double reduction)

Parameters:

encoderTicksPerRotation - encoder ticks per 360 degrees of rotation of the encoder shaft

circumference - circumference of the object being rotated

inchesPerSecond - velocity to be converted

reduction - reduction from the encoder shaft to the output shaft

Returns:

velocity in ticks per 100ms

encoderTicksPer100MsToInchesPerSecond

public double encoderTicksPer100MsToInchesPerSecond(int encoderTicksPerRotation,
                                                    double circumference,
                                                    int encoderTicksPer100ms,
                                                    double reduction)

Parameters:

encoderTicksPerRotation - encoder ticks per 360 degrees of rotation of the encoder shaft

circumference - circumference of the object being rotated

encoderTicksPer100ms - velocity to be converted

reduction - reduction from the encoder shaft to the output shaft

inchesToEncoderTicks

public int inchesToEncoderTicks(int encoderTicksPerRotation,
                                double circumference,
                                double inches,
                                double reduction)

Parameters:

encoderTicksPerRotation - encoder ticks per 360 degrees of rotation of the encoder shaft

circumference - circumference of the object being rotated

inches - inches of travel to be converted to ticks of travel

reduction - reduction from the encoder shaft to the output shaft

encoderTicksToInches

public double encoderTicksToInches(int encoderTicksPerRotation,
                                   double circumference,
                                   int ticks,
                                   double reduction)

Parameters:

encoderTicksPerRotation - encoder ticks per 360 degrees of rotation of the encoder shaft

circumference - circumference of the object being rotated

ticks - ticks of travel to be converted to inches of travel

reduction - reduction from the encoder shaft to the output shaft

talonAngleToDegrees

public double talonAngleToDegrees(int gyroTicksPerRotation,
                                  int ticks)

degreesToTalonAngle

public int degreesToTalonAngle(int gyroTicksPerRotation,
                               double degrees)