Class SmartMath

java.lang.Object
yams.core.math.SmartMath
public class SmartMath extends Object
SmartMath class to handle math operations.

Provides static utility methods for common FRC drivetrain and gearing calculations:

  • sensorToMechanismRatio multiplies a chain of gear-stage ratios to produce the overall sensor-to-mechanism ratio used by motor controller configuration.
  • gearBox multiplies a chain of gear-stage ratios to produce the rotor-to-mechanism gear ratio (MECHANISM_ROTATIONS / ROTOR_ROTATIONS).

Example

// Single-stage 10:1 reduction sensor on motor shaft
double sensorRatio = SmartMath.sensorToMechanismRatio(10.0);

// Two-stage gearbox: 5:1 first stage, 4:1 second stage → overall 20:1
double gearRatio = SmartMath.gearBox(5.0, 4.0);

// Three-stage gearbox: 3:1, 4:1, 5:1 → overall 60:1
double complexGearRatio = SmartMath.gearBox(3.0, 4.0, 5.0);

  • Method Details

    • sensorToMechanismRatio

      public static double sensorToMechanismRatio(double... stages)
      Create the sensor to mechanism ratio.
      Parameters:
      stages - stages between the motor and output shaft.
      Returns:
      sensor to mechanism ratio.
      Throws:
      NoStagesGivenException - if stages is empty.

    • gearBox

      public static double gearBox(double... stages)
      Create the gear ratio based off of the stages in the gear box.
      Parameters:
      stages - stages between the motor and output shaft.
      Returns:
      rotor rotations to mechanism ratio in the form of MECHANISM_ROTATIONS/ROTOR_ROTATIONS or ROTOR_ROTATIONS:MECHANISM_ROTATIONS
      Throws:
      NoStagesGivenException - if stages is empty.