FTC Programming with ElectronVolts

Angle | Distance | Time | Velocity | AngularVelocity

Units: radians, degrees, rotations

The Angle class stores an angle. It can be created from any of the units above, and you can get the value from it in any of the units above. Once the Angle is created, the value cannot be changed.

Angle has a few math functions: abs (absolute value), signum (returns the sign), add, subtract, multiply, and divide.

ftc/electronvolts/util/units/Angle.java

package ftc.electronvolts.util.units;


/**
 * This file was made by the electronVolts, FTC team 7393
 * Date Created: 2/2/16
 */
public class Angle {
    /*
     * Constants to relate various units to radians
     * The reciprocal of each constant is calculated once to be used multiple
     * times later
     */
    private static double RAD_PER_DEG = Math.PI / 180;
    private static double RAD_PER_ROT = 2 * Math.PI;

    private static double DEG_PER_RAD = 1 / RAD_PER_DEG;
    private static double ROT_PER_RAD = 1 / RAD_PER_ROT;
    
    private static Angle zero = new Angle(0);

    // holds the angle's value in radians
    private final double radians;

    /**
     * private constructor to make an Angle object from a value in radians
     *
     * @param radians the angle's value in radians
     */
    private Angle(double radians) {
        this.radians = radians;
    }

    /**
     * 
     * @return the absolute value of the angle
     */
    public Angle abs() {
        return new Angle(Math.abs(radians));
    }

    /**
     * 
     * @return the sign of the angle
     */
    public double signum() {
        return Math.signum(radians);
    }

    /**
     * Adds two Angles together
     *
     * @param angle1 one Angle
     * @param angle2 another Angle
     * @return the resulting Angle
     */
    public static Angle add(Angle angle1, Angle angle2) {
        return new Angle(angle1.radians + angle2.radians);
    }

    /**
     * Subtracts angle2 from angle1
     * 
     * @param angle1 one Angle
     * @param angle2 another Angle
     * @return the resulting Angle
     */
    public static Angle subtract(Angle angle1, Angle angle2) {
        return new Angle(angle1.radians - angle2.radians);
    }

    /**
     * Multiplies an Angle by a number
     * 
     * @param angle the Angle to be multiplied
     * @param number the number to multiply by
     * @return the resulting Angle
     */
    public static Angle multiply(Angle angle, double number) {
        return new Angle(angle.radians * number);
    }

    /**
     * Divides an Angle by a number
     * 
     * @param angle the Angle to be multiplied
     * @param number the number to divided by
     * @return the resulting Angle
     */
    public static Angle divide(Angle angle, double number) {
        return new Angle(angle.radians / number);
    }

    /**
     * Creates an Angle that has a value of 0 (in all units)
     * 
     * @return the created Angle
     */
    public static Angle zero() {
        return zero;
    }

    @Override
    public int hashCode() {
        final int prime = 31;
        int result = 1;
        long temp;
        temp = Double.doubleToLongBits(radians);
        result = prime * result + (int) (temp ^ (temp >>> 32));
        return result;
    }

    @Override
    public boolean equals(Object obj) {
        if (this == obj) return true;
        if (obj == null) return false;
        if (getClass() != obj.getClass()) return false;
        Angle other = (Angle) obj;
        if (Double.doubleToLongBits(radians) != Double.doubleToLongBits(other.radians)) return false;
        return true;
    }

    /**
     * Creates an Angle class from a value in radians
     *
     * @param v the value in radians
     * @return the Angle class
     */
    public static Angle fromRadians(double v) {
        return new Angle(v);
    }

    /**
     * Creates an Angle class from a value in degrees
     *
     * @param v the value in degrees
     * @return the Angle class
     */
    public static Angle fromDegrees(double v) {
        return new Angle(v * RAD_PER_DEG);
    }

    /**
     * Creates an Angle class from a value in rotations
     *
     * @param v the value in rotations
     * @return the Angle class
     */
    public static Angle fromRotations(double v) {
        return new Angle(v * RAD_PER_ROT);
    }

    /**
     * 
     * @return the value of the Angle in radians
     */
    public double radians() {
        return radians;
    }

    /**
     * 
     * @return the value of the Angle in degrees
     */
    public double degrees() {
        return radians * DEG_PER_RAD;
    }

    /**
     * 
     * @return the value of the Angle in rotations
     */
    public double rotations() {
        return radians * ROT_PER_RAD;
    }
}