Merge pull request #5 from Team6593/UtilImprovements

Merge branch "UtilImprovements" into master

Author: devmanso

src/main/java/frc/robot/Utils/UnitConverter.java

@@ -0,0 +1,74 @@
+// 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 frc.robot.Utils;
+
+/** Add your docs here. */
+public class UnitConverter {
+
+    /**
+     * An ideal use-case for this is when you are programming sensors/encoders/autonomoue
+     * Converts degrees into radians
+     * @param degrees
+     * @return radians
+     */
+    public double deg2rad(double degrees) {
+        double radians = Math.toRadians(degrees);
+        return radians;
+    }
+
+    /**
+     * An ideal use-case for this is when you are programming sensors/encoders/autonomoue
+     * Converts radians into degrees
+     * @param radians
+     * @return degrees
+     */
+    public double rad2deg(double radians) {
+        double degrees = Math.toDegrees(radians);
+        return degrees;
+    }
+
+    /**
+     * An ideal use-case for this is when you are programming sensors/encoders/autonomoue
+     * @param units
+     * @return units per revolution/full rotation (360 degrees)
+     */
+    public double unitsPerFullRevolution(double units) {
+        double unitsPerRev = units / 360;
+        return unitsPerRev;
+    }
+    
+    /**
+     * An ideal use-case for this is when you are programming sensors/encoders/autonomoue
+     * @param units
+     * @return units per half-revolution/half of a full rotation (180 degrees)
+     */
+    public double unitsPerHalfRevolution(double units) {
+        double unitsPerHalfRev = units / 180;
+        return unitsPerHalfRev;
+    }
+
+    /**
+     * An ideal use-case for this is when you are programming sensors/encoders/autonomoue
+     * @param units
+     * @param degrees
+     * @return units per-degree (units/degree)
+     */
+    public double unitsPerDegree(double units, double degrees) {
+        double unitsPerDegr = units / degrees;
+        return unitsPerDegr;
+    }
+
+    /**
+     * An ideal use-case for this is when you are programming sensors/encoders/autonomoue
+     * @param degree
+     * @param units
+     * @return degree(s) per unit (degree/units)
+     */
+    public double degreePerUnits(double degree, double units) {
+        double degPerUnit = degree / units;
+        return degPerUnit;
+    }
+    
+}