long function ( double arg0 ) { return ( long ) ( ( 1 / driveGearMultiplier ) * ticksPerRevolution * ( arg0 / ( PI * wheelDiameter ) ) ) ; }
converts a distance in inches to a distance in encoder ticks . we calculate this by taking the number of wheel rotations inches / piwheeldiameter multiplied by the inverse of the gear ratio , to get the number of motor rotations . multiply one more time by the number of motor encoder ticks per one motor revolution . concode_field_sep RobotAuto robot concode_elem_sep OpMode mode concode_elem_sep double driveGearMultiplier concode_elem_sep double ticksPerRevolution concode_elem_sep double wheelDiameter concode_field_sep void goTicks concode_elem_sep void turnDegrees concode_elem_sep void turnDegreesLeft concode_elem_sep double ticksToInches concode_elem_sep void turnDegreesRight concode_elem_sep void wallAlign