preparing for driving the wheel

Larry/conversions.py

@@ -1,4 +1,23 @@
 import math
+def convertDegreesToTalonFXUnits(num: float) -> float:
+    conversionFactor = 2048/360
+    num *= conversionFactor
+    return num
+
+def sign(num) -> int:
+    if num > 0:
+        # positive
+        return 1
+    elif num < 0:
+        # negative
+        return -1
+    else:
+        # zero
+        return 0
+
+def convertJoystickInputToDegrees(x: float, y: float):
+    return float(math.degrees(math.atan2(y, x)))
+
 def deadband(value: float, band: float):
     if math.fabs(value) <= band:
         return 0

Larry/subsystems/swerve_wheel.py

@@ -2,6 +2,9 @@
 import ctre
 from constants import *
 import wpilib
+from conversions import *
+
+from conversions import convertDegreesToTalonFXUnits
 class SwerveWheel(commands2.SubsystemBase):
     def __init__(self) -> None:
         super().__init__()
@@ -49,6 +52,15 @@ def turn(self, set_point: float):
         self.directionMotor.set(ctre.TalonFXControlMode.MotionMagic, int(set_point))
         wpilib.SmartDashboard.putNumber("Sensor - ", current_pos)
 
+    def translate(self, direction: float, speed: float):
+        # Before putting joystick input, make sure that the joystick is actually in use and not at rest.
+        # check for the closest angle (effeciency)
+             #ex) want to go -270, and +90 degrees is faster, so we would go to 90 degrees and make the wheel spin in the opposite direction
+            # convert angle to talon fx units
+            # go to closest angle
+            # check if the direction of the wheel needs to change
+        print()
+
     def move(self, joystick_input: float):
         self.speedMotor.set(ctre.TalonFXControlMode.PercentOutput, 0.1*joystick_input)