#include "stdafx.h"
#include "Converter.h"

using namespace DIOS::Dev::Detail::MachineryECOM;

float Converter::ConvertEncoder(int encoder, float physicsinonecircle, float encoderinonecircle, float physicsAtOrigin)
{
	return physicsAtOrigin + (physicsinonecircle / encoderinonecircle) * (encoder);
}

int Converter::ConvertPhysicsToEncoder(float physics, float physicsinonecircle, float encoderinonecircle, float physicsAtOrigin)
{
	return (int)((physics - physicsAtOrigin) / (physicsinonecircle / encoderinonecircle));
}

DWORD Converter::ConvertMotorPulse(float physicsoffset, float physicsinonecircle, DWORD pulseinonecircle)
{
	return (DWORD)(pulseinonecircle * (abs(physicsoffset) / physicsinonecircle));
}

DWORD Converter::ConvertSpeed(float speed, float physicsinonecircle, DWORD pulseinonecircle)
{
	return (DWORD)(1000000 / ((speed / physicsinonecircle) * pulseinonecircle));
}