Angle Adjustment

OffSeasonBot2019/src/main/java/com/team2813/lib/angleAdjustment/AngleAdjustment.java

@@ -0,0 +1,40 @@
+package com.team2813.lib.angleAdjustment;
+
+public class AngleAdjustment {
+    private double initialRight;
+    private double finalRight;
+    private double initialLeft;
+    private double finalLeft;
+    private double angleChange;
+    private final double GEAR_RATIO;
+    private final double WHEEL_DIAMETER;
+    private final double WHEEL_CIRCUMFERENCE;
+    private final int PULSES_PER_REVOLUTION;
+    //TODO add a parameter, either WHEEL_DIAMETER
+    public AngleAdjustment(double initialRight, double initialLeft, double angleChange,  int pulsesPerRevolution, double wheelDiameter, double gearRatio){
+        this.initialRight = initialRight;
+        this.initialLeft = initialLeft;
+        this.angleChange = angleChange;
+        PULSES_PER_REVOLUTION = pulsesPerRevolution;
+        WHEEL_DIAMETER = wheelDiameter;
+        WHEEL_CIRCUMFERENCE = WHEEL_DIAMETER * Math.PI;
+        GEAR_RATIO = gearRatio;
+        calculate();
+        //TODO convert degrees to encoder values which the left and right must travel
+    }
+
+    public double getFinalRight() {
+        return finalRight;
+    }
+
+    public double getFinalLeft() {
+        return finalLeft;
+    }
+
+    private void calculate() {
+        double counts = angleChange / 360 * 42;
+        double wheelDegree = counts * GEAR_RATIO;
+        this.finalRight = initialRight + wheelDegree;
+        this.finalLeft = initialLeft + wheelDegree;
+    }
+}