001// Copyright (c) FIRST and other WPILib contributors.
002// Open Source Software; you can modify and/or share it under the terms of
003// the WPILib BSD license file in the root directory of this project.
004
005package edu.wpi.first.math.util;
006
007/** Utility class that converts between commonly used units in FRC. */
008public final class Units {
009  private static final double kInchesPerFoot = 12.0;
010  private static final double kMetersPerInch = 0.0254;
011  private static final double kSecondsPerMinute = 60;
012  private static final double kMillisecondsPerSecond = 1000;
013  private static final double kKilogramsPerLb = 0.453592;
014
015  /** Utility class, so constructor is private. */
016  private Units() {
017    throw new UnsupportedOperationException("This is a utility class!");
018  }
019
020  /**
021   * Converts given meters to feet.
022   *
023   * @param meters The meters to convert to feet.
024   * @return Feet converted from meters.
025   */
026  public static double metersToFeet(double meters) {
027    return metersToInches(meters) / kInchesPerFoot;
028  }
029
030  /**
031   * Converts given feet to meters.
032   *
033   * @param feet The feet to convert to meters.
034   * @return Meters converted from feet.
035   */
036  public static double feetToMeters(double feet) {
037    return inchesToMeters(feet * kInchesPerFoot);
038  }
039
040  /**
041   * Converts given meters to inches.
042   *
043   * @param meters The meters to convert to inches.
044   * @return Inches converted from meters.
045   */
046  public static double metersToInches(double meters) {
047    return meters / kMetersPerInch;
048  }
049
050  /**
051   * Converts given inches to meters.
052   *
053   * @param inches The inches to convert to meters.
054   * @return Meters converted from inches.
055   */
056  public static double inchesToMeters(double inches) {
057    return inches * kMetersPerInch;
058  }
059
060  /**
061   * Converts given degrees to radians.
062   *
063   * @param degrees The degrees to convert to radians.
064   * @return Radians converted from degrees.
065   */
066  public static double degreesToRadians(double degrees) {
067    return Math.toRadians(degrees);
068  }
069
070  /**
071   * Converts given radians to degrees.
072   *
073   * @param radians The radians to convert to degrees.
074   * @return Degrees converted from radians.
075   */
076  public static double radiansToDegrees(double radians) {
077    return Math.toDegrees(radians);
078  }
079
080  /**
081   * Converts given radians to rotations.
082   *
083   * @param radians The radians to convert.
084   * @return rotations Converted from radians.
085   */
086  public static double radiansToRotations(double radians) {
087    return radians / (Math.PI * 2);
088  }
089
090  /**
091   * Converts given degrees to rotations.
092   *
093   * @param degrees The degrees to convert.
094   * @return rotations Converted from radians.
095   */
096  public static double degreesToRotations(double degrees) {
097    return degrees / 360;
098  }
099
100  /**
101   * Converts given rotations to degrees.
102   *
103   * @param rotations The rotations to convert.
104   * @return degrees Converted from rotations.
105   */
106  public static double rotationsToDegrees(double rotations) {
107    return rotations * 360;
108  }
109
110  /**
111   * Converts given rotations to radians.
112   *
113   * @param rotations The rotations to convert.
114   * @return radians Converted from rotations.
115   */
116  public static double rotationsToRadians(double rotations) {
117    return rotations * 2 * Math.PI;
118  }
119
120  /**
121   * Converts rotations per minute to radians per second.
122   *
123   * @param rpm The rotations per minute to convert to radians per second.
124   * @return Radians per second converted from rotations per minute.
125   */
126  public static double rotationsPerMinuteToRadiansPerSecond(double rpm) {
127    return rpm * Math.PI / (kSecondsPerMinute / 2);
128  }
129
130  /**
131   * Converts radians per second to rotations per minute.
132   *
133   * @param radiansPerSecond The radians per second to convert to from rotations per minute.
134   * @return Rotations per minute converted from radians per second.
135   */
136  public static double radiansPerSecondToRotationsPerMinute(double radiansPerSecond) {
137    return radiansPerSecond * (kSecondsPerMinute / 2) / Math.PI;
138  }
139
140  /**
141   * Converts given milliseconds to seconds.
142   *
143   * @param milliseconds The milliseconds to convert to seconds.
144   * @return Seconds converted from milliseconds.
145   */
146  public static double millisecondsToSeconds(double milliseconds) {
147    return milliseconds / kMillisecondsPerSecond;
148  }
149
150  /**
151   * Converts given seconds to milliseconds.
152   *
153   * @param seconds The seconds to convert to milliseconds.
154   * @return Milliseconds converted from seconds.
155   */
156  public static double secondsToMilliseconds(double seconds) {
157    return seconds * kMillisecondsPerSecond;
158  }
159
160  /**
161   * Converts kilograms into lbs (pound-mass).
162   *
163   * @param kilograms The kilograms to convert to lbs (pound-mass).
164   * @return Lbs (pound-mass) converted from kilograms.
165   */
166  public static double kilogramsToLbs(double kilograms) {
167    return kilograms / kKilogramsPerLb;
168  }
169
170  /**
171   * Converts lbs (pound-mass) into kilograms.
172   *
173   * @param lbs The lbs (pound-mass) to convert to kilograms.
174   * @return Kilograms converted from lbs (pound-mass).
175   */
176  public static double lbsToKilograms(double lbs) {
177    return lbs * kKilogramsPerLb;
178  }
179}