Package com.thethriftybot.util

Class Conversion

java.lang.Object

com.thethriftybot.util.Conversion

public final class Conversion
extends Object

Utility class for converting between different units.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	Conversion.PositionUnit	Units for position conversion.
static enum	Conversion.VelocityUnit	Units for velocity conversion.

Constructor Summary

Constructors

Constructor	Description
Conversion(Conversion.PositionUnit units, ThriftyNova.EncoderType encoder)	Creates a conversion object for position units.
Conversion(Conversion.VelocityUnit units, ThriftyNova.EncoderType encoder)	Creates a conversion object for velocity units.

Method Summary

Modifier and Type	Method	Description
double	fromMotor(double rotations)	Takes in a number of rotations and returns the value of units given in the constructor.
double	toMotor(double value)	Takes in a value of units given in the constructor and returns rotations.

Methods inherited from class java.lang.Object

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

Constructor Details

Conversion

public Conversion(Conversion.PositionUnit units,
 ThriftyNova.EncoderType encoder)

Creates a conversion object for position units.

Parameters:

units - Desired units

encoder - Type of encoder being used.

Conversion

public Conversion(Conversion.VelocityUnit units,
 ThriftyNova.EncoderType encoder)

Creates a conversion object for velocity units.

Parameters:

units - Desired units

encoder - Type of encoder being used.

Method Details

toMotor

public double toMotor(double value)

Takes in a value of units given in the constructor and returns rotations.

Parameters:

value - Value of units given in the constructor

Returns:

Number of motor rotations

fromMotor

public double fromMotor(double rotations)

Takes in a number of rotations and returns the value of units given in the constructor.

Parameters:

rotations - Number of motor rotations

Returns:

Value of units given in the constructor