/// <summary>
/// Initializes a new instance of the <see cref="AngularPotentiometerMechanism"/> class.
/// </summary>
/// <param name="input">The motor driving the system</param>
/// <param name="output">The Analog Input giving feedback to the system..</param>
/// <param name="model">The motor model.</param>
/// <param name="startPercentage">The starting percentage of the potentiometer from 0.</param>
/// <param name="potentiometerRotations">The number of rotations the potentiometer has.</param>
/// <param name="invertInput">if set to <c>true</c> [invert input].</param>
public AngularPotentiometerMechanism(ISimSpeedController input, SimAnalogInput output, DCMotor model,
double startPercentage, double potentiometerRotations, bool invertInput)
{
m_input = input;
m_output = output;
m_model = model;
m_maxRadians = potentiometerRotations * (Math.PI * 2);
m_minRadians = 0;
CurrentRadians = (m_maxRadians - m_minRadians) * startPercentage;
m_invert = invertInput;
m_scaler = 5 / (m_maxRadians - m_minRadians);
}
//String travel and Spool Radius in meters
/// <summary>
/// Initializes a new instance of the <see cref="LinearPotentiometerMechanism"/> class.
/// </summary>
/// <param name="input">The motor driving the system.</param>
/// <param name="output">The potentiometer giving feedback to the system.</param>
/// <param name="model">The motor model with transmission to use.</param>
/// <param name="startPercentage">The starting percentages of the potentiometer from 0.</param>
/// <param name="stringTravel">The potentiometer travel scaled to be linear (in meters).</param>
/// <param name="spoolRadius">The radius of your spool in Meters. (Use the radius of the up spool if using a cascade elevator).</param>
/// <param name="invertInput">if set to <c>true</c> [invert input].</param>
public LinearPotentiometerMechanism(ISimSpeedController input, SimAnalogInput output, DCMotor model,
double startPercentage, double stringTravel, double spoolRadius, bool invertInput)
{
m_input = input;
m_output = output;
m_model = model;
double metersPerRotation = Math.PI * (spoolRadius * 2);
double totalRotations = stringTravel / metersPerRotation;
double totalRadians = totalRotations * Math.PI * 2;
RadiansPerMeter = totalRadians / stringTravel;
m_maxRadians = totalRadians;
m_minRadians = 0;
CurrentRadians = (m_maxRadians - m_minRadians) * startPercentage;
CurrentMeters = CurrentRadians / RadiansPerMeter;
m_invert = invertInput;
m_scaler = 5 / (m_maxRadians - m_minRadians);
}