conversions.py

import math
from math import floor


class PySimplexConverter:

    def __init__(self, gear_multiplier, **kwargs):
        assert isinstance(gear_multiplier, int)
        self.gear_multiplier = gear_multiplier
        if len(kwargs.items()) > 0:
            self.wheel_size = kwargs.get("wheel_size", 1)

    def convert_smunits_to_degrees(self, steps):
        percentage_of_steps = steps / 4096 / self.gear_multiplier
        degrees = percentage_of_steps * 360
        return int(floor(degrees))

    def convert_degrees_to_smunits(self, degrees):
        percentage_of_movement = degrees / 360
        steps = percentage_of_movement * 4096 * self.gear_multiplier
        return int(floor(steps))

    def convert_speed_to_smunits(self, speed):
        steps_per_second = speed / 60 * 256 * self.gear_multiplier
        return int(floor(steps_per_second))

    def convert_smunits_to_speed(self, steps):
        rpm = 60 * steps / 256 / self.gear_multiplier
        return int(floor(rpm))

    def convert_acceleration_to_smunits(self, acceleration):
        steps_per_second_squared = acceleration / 3.75 * self.gear_multiplier
        return int(floor(steps_per_second_squared))

    def convert_smunits_to_acceleration(self, steps):
        rpm_per_second = steps * 3.75 / self.gear_multiplier
        return int(floor(rpm_per_second))

    def convert_meters_to_steps(self, meters):
        distance_per_rotation_of_wheel = self.wheel_size * math.pi * 2
        meters_as_rotation_multiplier = meters / distance_per_rotation_of_wheel
        steps = meters_as_rotation_multiplier * 4096 * self.gear_multiplier
        return int(floor(steps))

    def convert_steps_to_meters(self, steps):
        steps_as_multiplier = steps / 4096 / self.gear_multiplier
        distance = 2 * math.pi * self.wheel_size * steps_as_multiplier
        return int(floor(distance))