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Patch up some maths

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Cyberarm
2023-01-22 10:11:04 -06:00
parent 7448deb2fc
commit 02640aedad
1 changed files with 2 additions and 2 deletions
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TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/Robot.java
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@@ -319,7 +319,7 @@ public class Robot {
public int unitToTicks(DistanceUnit unit, double distance) { public int unitToTicks(DistanceUnit unit, double distance) {
double inches = unit.toInches(unit.fromUnit(unit, distance)); // NOTE: UNTESTED 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 return (int)ticks; // NOTE: UNTESTED
} }
@@ -327,7 +327,7 @@ public class Robot {
// For: Drive Wheels // For: Drive Wheels
public double ticksToUnit(DistanceUnit unit, int ticks) { public double ticksToUnit(DistanceUnit unit, int ticks) {
// Convert to inches, then to unit. // 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 return unit.fromUnit(DistanceUnit.INCH, inches); // NOTE: UNTESTED
} }