Forget charts, formulae etc. etc. YankeeJim's advice is as good as you can get. That's exactly what I do, and it works very well.
Except of course when you catch a flier. Stuff happens.
Only exceptions are from close in with wedges. A punched wedge will usually get you there from 30-40 with not much distance loss.
YankeeJim:
I'm sure somebody will be along with spreadsheets and charts and slide rule functions to answer your question but what has worked for me over the years is simple-30-40, add a club; 40-50, add 2; 50-60 or worse, punch out to the closest part of the fairway. :-)