Package org.chsrobotics.lib.util

Class GearRatioHelper

java.lang.Object
org.chsrobotics.lib.util.GearRatioHelper
public class GearRatioHelper extends Object
Simple utility representing a gear ratio.

  • Constructor Summary

    Constructors
    Constructor
    Description
    GearRatioHelper(double ratioInputToOutput)
    Creates a gear ratio helper from a double ratio of input to output.
    GearRatioHelper(double inputRatio, double outputRatio)
    Constructs a GearRatioHelper.

  • Method Summary

    Modifier and Type
    Method
    Description
    double
    inputFromOutput(double outputSide)
    Returns how far the "input" side of the mechanism will have travelled if the "output" has travelled the indicated angular distance.
    double
    outputFromInput(double inputSide)
    Returns how far the "output" side of the mechanism will have travelled if the "input" has travelled the indicated angular distance.
    double
    toDoubleRatioInputToOutput()
    Returns the gear ratio as input/output.
    double
    toDoubleRatioOutputToInput()
    Returns the gear ratio as output/input.

    Methods inherited from class java.lang.Object

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

  • Constructor Details

    • GearRatioHelper

      public GearRatioHelper(double inputRatio, double outputRatio) throws InvalidParameterException
      Constructs a GearRatioHelper.

      The parameters indicate the "input" and "output" sides of the mechanism. The input is typically where the motor is.

      The measurements of the parameters can be of many types that relate the motion of one side to the other, as long as they're consistent. For example, radius, circumference, number of gear teeth, angular distance per angular distance of the other, and more, are all valid parameters.

      A higher output ratio than input ratio is a reduction (lower speed, higher torque).

      A higher input ratio than output ratio is a step-up (higher speed, lower torque).

      Parameters:
      inputRatio - The measurement of the "input" side (usually where the motor is)
      outputRatio - The measurement of the "output" side (usually on the other side of a gearbox or series of pulleys from the motor)
      Throws:
      InvalidParameterException - If the input or output ratio(s) are less than zero.

    • GearRatioHelper

      public GearRatioHelper(double ratioInputToOutput)
      Creates a gear ratio helper from a double ratio of input to output.
      Parameters:
      ratioInputToOutput - The ratio as input/output.

  • Method Details

    • toDoubleRatioInputToOutput

      public double toDoubleRatioInputToOutput()
      Returns the gear ratio as input/output.
      Returns:
      The double ratio as input/output.

    • toDoubleRatioOutputToInput

      public double toDoubleRatioOutputToInput()
      Returns the gear ratio as output/input.
      Returns:
      The double ratio as output/input.

    • outputFromInput

      public double outputFromInput(double inputSide)
      Returns how far the "output" side of the mechanism will have travelled if the "input" has travelled the indicated angular distance.
      Parameters:
      inputSide - The angular distance travelled by the *input* side.
      Returns:
      The angular distance travelled by the *output* side.

    • inputFromOutput

      public double inputFromOutput(double outputSide)
      Returns how far the "input" side of the mechanism will have travelled if the "output" has travelled the indicated angular distance.
      Parameters:
      outputSide - The angular distance travelled by the *output* side.
      Returns:
      The angular distance travelled by the *output* side.