finished just need to be tested

src/main/java/frc/lib/math/Conversions.java

@@ -3,93 +3,39 @@
 import edu.wpi.first.math.MathUtil;
 
 /**
- * Mathematical conversions for swerve calculations
+ * Static Conversion functions
  */
 public class Conversions {
 
     /**
-     * @param counts Falcon Counts
-     * @param gearRatio Gear Ratio between Falcon and Mechanism
-     * @return Degrees of Rotation of Mechanism falconToDegrees
+     * @param wheelRPS Wheel Velocity: (in Rotations per Second)
+     * @param circumference Wheel Circumference: (in Meters)
+     * @return Wheel Velocity: (in Meters per Second)
      */
-    public static double falconToDegrees(double counts, double gearRatio) {
-        return counts * (360.0 / (gearRatio * 2048.0));
-    }
-
-    /**
-     * @param degrees Degrees of rotation of Mechanism
-     * @param gearRatio Gear Ratio between Falcon and Mechanism
-     * @return Falcon Counts degreesToFalcon
-     */
-    public static double degreesToFalcon(double degrees, double gearRatio) {
-        double ticks = degrees / (360.0 / (gearRatio * 2048.0));
-        return ticks;
-    }
-
-    /**
-     * @param velocityCounts Falcon Velocity Counts
-     * @param gearRatio Gear Ratio between Falcon and Mechanism (set to 1 for Falcon RPM)
-     * @return RPM of Mechanism
-     */
-    public static double falconToRPM(double velocityCounts, double gearRatio) {
-        double motorRPM = velocityCounts * (600.0 / 2048.0);
-        double mechRPM = motorRPM / gearRatio;
-        return mechRPM;
-    }
-
-    /**
-     * @param rpm RPM of mechanism
-     * @param gearRatio Gear Ratio between Falcon and Mechanism (set to 1 for Falcon RPM)
-     * @return RPM of Mechanism
-     */
-    public static double rpmToFalcon(double rpm, double gearRatio) {
-        double motorRPM = rpm * gearRatio;
-        double sensorCounts = motorRPM * (2048.0 / 600.0);
-        return sensorCounts;
-    }
-
-    /**
-     * @param counts Falcon Counts
-     * @param gearRatio Gear Ratio between Falcon and Mechanism
-     * @return Degrees of Rotation of Mechanism falconToDegrees
-     */
-    public static double falconToMeters(double counts, double gearRatio, double circumference) {
-        return counts * circumference / (gearRatio * 2048.0);
-    }
-
-    /**
-     * @param velocitycounts Falcon Velocity Counts
-     * @param circumference Circumference of Wheel
-     * @param gearRatio Gear Ratio between Falcon and Mechanism (set to 1 for Falcon RPM)
-     * @return Falcon Velocity Counts
-     */
-    public static double falconToMPS(double velocitycounts, double circumference,
-        double gearRatio) {
-        double wheelRPM = falconToRPM(velocitycounts, gearRatio);
-        double wheelMPS = (wheelRPM * circumference) / 60;
+    public static double RPSToMPS(double wheelRPS, double circumference) {
+        double wheelMPS = wheelRPS * circumference;
         return wheelMPS;
     }
 
     /**
-     * @param velocity Velocity MPS
-     * @param circumference Circumference of Wheel
-     * @param gearRatio Gear Ratio between Falcon and Mechanism (set to 1 for Falcon RPM)
-     * @return Falcon Velocity Counts
+     * @param wheelMPS Wheel Velocity: (in Meters per Second)
+     * @param circumference Wheel Circumference: (in Meters)
+     * @return Wheel Velocity: (in Rotations per Second)
      */
-    public static double mpsToFalcon(double velocity, double circumference, double gearRatio) {
-        double wheelRPM = ((velocity * 60) / circumference);
-        double wheelVelocity = rpmToFalcon(wheelRPM, gearRatio);
-        return wheelVelocity;
+    public static double MPSToRPS(double wheelMPS, double circumference) {
+        double wheelRPS = wheelMPS / circumference;
+        return wheelRPS;
     }
 
     /**
-     * Normalize angle to between 0 to 360
-     *
-     * @param goal initial angle
-     * @return normalized angle
+     * @param wheelRotations Wheel Position: (in Rotations)
+     * @param circumference Wheel Circumference: (in Meters)
+     * @return Wheel Distance: (in Meters)
+     * 
      */
-    public static double reduceTo0_360(double goal) {
-        return goal % 360;
+    public static double rotationsToMeters(double wheelRotations, double circumference) {
+        double wheelMeters = wheelRotations * circumference;
+        return wheelMeters;
     }
 
     /**
@@ -116,6 +62,16 @@ public static double applySwerveCurve(double input, double deadband) {
 
     }
 
+    /**
+     * @param wheelMeters Wheel Distance: (in Meters)
+     * @param circumference Wheel Circumference: (in Meters)
+     * @return Wheel Position: (in Rotations)
+     */
+    public static double metersToRotations(double wheelMeters, double circumference) {
+        double wheelRotations = wheelMeters / circumference;
+        return wheelRotations;
+    }
+
     /**
      * Generate a random number between and upper and lower bound
      *