From 02640aedad26d9fa03476cd56a074e1bb0419e28 Mon Sep 17 00:00:00 2001 From: Cyberarm Date: Sun, 22 Jan 2023 10:11:04 -0600 Subject: [PATCH] Patch up some maths --- .../java/org/timecrafters/minibots/cyberarm/chiron/Robot.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/Robot.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/Robot.java index dc21850..48219ec 100644 --- a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/Robot.java +++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/Robot.java @@ -319,7 +319,7 @@ public class Robot { public int unitToTicks(DistanceUnit unit, double distance) { double inches = unit.toInches(unit.fromUnit(unit, distance)); // NOTE: UNTESTED - double ticks = wheelRadius * 2 * Math.PI * gearRatio * inches * ticksPerRevolution; + double ticks = (wheelRadius * 2 * Math.PI) / inches * (gearRatio * ticksPerRevolution); return (int)ticks; // NOTE: UNTESTED } @@ -327,7 +327,7 @@ public class Robot { // For: Drive Wheels public double ticksToUnit(DistanceUnit unit, int ticks) { // Convert to inches, then to unit. - double inches = wheelRadius * 2 * Math.PI * gearRatio * ticks / ticksPerRevolution; + double inches = wheelRadius * 2 * Math.PI * ticks / (gearRatio * ticksPerRevolution); return unit.fromUnit(DistanceUnit.INCH, inches); // NOTE: UNTESTED }