Units.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
package org.wpilib.units;
 
import java.util.Locale;

public final class Units {
  private Units() {
    // Prevent instantiation
  }
 
  // Pseudo-classes describing the more common units of measure.
 
  // Unitless
  public static final DimensionlessUnit Value = BaseUnits.Value;

  public static final DimensionlessUnit Percent =
      derive(Value).splitInto(100).named("Percent").symbol("%").make();
 
  // DistanceUnit
  public static final DistanceUnit Meters = BaseUnits.DistanceUnit;

  public static final DistanceUnit Meter = Meters; // alias

  public static final DistanceUnit Millimeters = Milli(Meters, "Millimeter", "mm");

  public static final DistanceUnit Millimeter = Millimeters; // alias

  public static final DistanceUnit Centimeters =
      derive(Meters).splitInto(100).named("Centimeter").symbol("cm").make();

  public static final DistanceUnit Centimeter = Centimeters; // alias

  public static final DistanceUnit Inches =
      derive(Millimeters).aggregate(25.4).named("Inch").symbol("in").make();

  public static final DistanceUnit Inch = Inches; // alias

  public static final DistanceUnit Feet =
      derive(Inches).aggregate(12).named("Foot").symbol("ft").make();

  public static final DistanceUnit Foot = Feet; // alias
 
  // TimeUnit
  public static final TimeUnit Seconds = BaseUnits.TimeUnit;

  public static final TimeUnit Second = Seconds; // singularized alias

  public static final TimeUnit Milliseconds = Milli(Seconds);

  public static final TimeUnit Millisecond = Milliseconds; // singularized alias

  public static final TimeUnit Microseconds = Micro(Seconds);

  public static final TimeUnit Microsecond = Microseconds; // singularized alias

  public static final TimeUnit Nanoseconds =
      derive(Seconds).splitInto(1_000_000_000).named("Nanosecond").symbol("ns").make();

  public static final TimeUnit Nanosecond = Nanoseconds; // singularized alias

  public static final TimeUnit Minutes =
      derive(Seconds).aggregate(60).named("Minute").symbol("min").make();

  public static final TimeUnit Minute = Minutes; // singularized alias
 
  // AngleUnit
  public static final AngleUnit Radians = BaseUnits.AngleUnit;

  public static final AngleUnit Radian = Radians; // alias

  public static final AngleUnit Revolutions =
      derive(Radians).aggregate(2 * Math.PI).named("Revolution").symbol("R").make();

  public static final AngleUnit Revolution = Revolutions; // alias

  public static final AngleUnit Rotations =
      derive(Revolutions).named("Rotation").symbol("R").make();

  public static final AngleUnit Rotation = Rotations; // alias

  public static final AngleUnit Degrees =
      derive(Revolutions).splitInto(360).named("Degree").symbol("°").make();

  public static final AngleUnit Degree = Degrees; // alias
 
  // VelocityUnit
  public static final LinearVelocityUnit MetersPerSecond = Meters.per(Second);

  public static final LinearVelocityUnit FeetPerSecond = Feet.per(Second);

  public static final LinearVelocityUnit InchesPerSecond = Inches.per(Second);

  public static final AngularVelocityUnit RevolutionsPerSecond = Revolutions.per(Second);

  public static final AngularVelocityUnit RotationsPerSecond = Rotations.per(Second);

  public static final AngularVelocityUnit RotationsPerMinute = Rotations.per(Minute);

  public static final AngularVelocityUnit RPM = RotationsPerMinute; // alias

  public static final AngularVelocityUnit RadiansPerSecond = Radians.per(Second);

  public static final AngularVelocityUnit DegreesPerSecond = Degrees.per(Second);

  public static final FrequencyUnit Hertz =
      derive(Value.per(Second)).named("Hertz").symbol("hz").make();

  public static final FrequencyUnit Millihertz = Milli(Hertz);
 
  // Acceleration
  public static final LinearAccelerationUnit MetersPerSecondPerSecond = MetersPerSecond.per(Second);

  public static final LinearAccelerationUnit FeetPerSecondPerSecond = FeetPerSecond.per(Second);

  public static final LinearAccelerationUnit InchesPerSecondPerSecond = InchesPerSecond.per(Second);

  public static final AngularAccelerationUnit RotationsPerSecondPerSecond =
      RotationsPerSecond.per(Second);

  public static final AngularAccelerationUnit RadiansPerSecondPerSecond =
      RadiansPerSecond.per(Second);

  public static final AngularAccelerationUnit DegreesPerSecondPerSecond =
      DegreesPerSecond.per(Second);

  public static final LinearAccelerationUnit Gs =
      derive(MetersPerSecondPerSecond).aggregate(9.80665).named("G").symbol("G").make();
 
  // MassUnit
  public static final MassUnit Kilograms = BaseUnits.MassUnit;

  public static final MassUnit Kilogram = Kilograms; // alias

  public static final MassUnit Grams = Milli(Kilograms, "Gram", "g");

  public static final MassUnit Gram = Grams; // alias

  public static final MassUnit Pounds =
      derive(Grams).aggregate(453.592).named("Pound").symbol("lb.").make();

  public static final MassUnit Pound = Pounds; // alias

  public static final MassUnit Ounces =
      derive(Pounds).splitInto(16).named("Ounce").symbol("oz.").make();

  public static final MassUnit Ounce = Ounces; // alias
 
  // Force

  public static final ForceUnit Newtons =
      derive(Kilograms.mult(MetersPerSecondPerSecond)).named("Newton").symbol("N").make();

  public static final ForceUnit Newton = Newtons;

  public static final ForceUnit PoundsForce =
      derive(Pounds.mult(Gs)).named("Pound-force").symbol("lbsf.").make();

  public static final ForceUnit PoundForce = PoundsForce;

  public static final ForceUnit OuncesForce =
      derive(Ounces.mult(Gs)).named("Ounce-force").symbol("ozf").make();

  public static final ForceUnit OunceForce = OuncesForce;
 
  // Torque

  public static final TorqueUnit NewtonMeters = Meters.multAsTorque(Newtons);

  public static final TorqueUnit NewtonMeter = NewtonMeters;

  public static final TorqueUnit PoundFeet = Feet.multAsTorque(PoundsForce);

  public static final TorqueUnit PoundFoot = PoundFeet;

  public static final TorqueUnit PoundInches = Inches.multAsTorque(PoundsForce);

  public static final TorqueUnit PoundInch = PoundInches;

  public static final TorqueUnit OunceInches = Inches.multAsTorque(OuncesForce);

  public static final TorqueUnit OunceInch = OunceInches;
 
  // Linear momentum

  public static final LinearMomentumUnit KilogramMetersPerSecond = Kilograms.mult(MetersPerSecond);

  public static final LinearMomentumUnit PoundInchesPerSecond = Pounds.mult(InchesPerSecond);
 
  // Angular momentum

  public static final AngularMomentumUnit KilogramMetersSquaredPerSecond =
      KilogramMetersPerSecond.mult(Meters);

  public static final AngularMomentumUnit PoundInchesSquaredPerSecond =
      PoundInchesPerSecond.mult(Inches);
 
  // Moment of Inertia

  public static final MomentOfInertiaUnit KilogramSquareMeters =
      KilogramMetersSquaredPerSecond.per(RadiansPerSecond);

  public static final MomentOfInertiaUnit PoundSquareInches =
      PoundInchesSquaredPerSecond.per(RadiansPerSecond);
 
  // VoltageUnit
  public static final VoltageUnit Volts = BaseUnits.VoltageUnit;

  public static final VoltageUnit Volt = Volts; // alias

  public static final VoltageUnit Millivolts = Milli(Volts);

  public static final VoltageUnit Millivolt = Millivolts; // alias
 
  // CurrentUnit
  public static final CurrentUnit Amps = BaseUnits.CurrentUnit;

  public static final CurrentUnit Amp = Amps; // alias

  public static final CurrentUnit Milliamps = Milli(Amps);

  public static final CurrentUnit Milliamp = Milliamps; // alias
 
  // ResistanceUnit
  public static final ResistanceUnit Ohms = derive(Volts.per(Amp)).named("Ohm").symbol("Ω").make();

  public static final ResistanceUnit Ohm = Ohms; // alias

  public static final ResistanceUnit KiloOhms = Kilo(Ohms);

  public static final ResistanceUnit KiloOhm = KiloOhms; // alias

  public static final ResistanceUnit MilliOhms = Milli(Ohms);

  public static final ResistanceUnit MilliOhm = MilliOhms; // alias
 
  // EnergyUnit
  public static final EnergyUnit Joules = BaseUnits.EnergyUnit;

  public static final EnergyUnit Joule = Joules; // alias

  public static final EnergyUnit Millijoules = Milli(Joules);

  public static final EnergyUnit Millijoule = Millijoules; // alias

  public static final EnergyUnit Kilojoules = Kilo(Joules);

  public static final EnergyUnit Kilojoule = Kilojoules; // alias
 
  // PowerUnit
  public static final PowerUnit Watts = derive(Joules.per(Second)).named("Watt").symbol("W").make();

  public static final PowerUnit Watt = Watts; // alias

  public static final PowerUnit Milliwatts = Milli(Watts);

  public static final PowerUnit Milliwatt = Milliwatts; // alias

  public static final PowerUnit Horsepower =
      derive(Watts).aggregate(745.7).named("Horsepower").symbol("HP").make();
 
  // TemperatureUnit
  public static final TemperatureUnit Kelvin = BaseUnits.TemperatureUnit;

  public static final TemperatureUnit Celsius =
      derive(Kelvin).offset(+273.15).named("Celsius").symbol("°C").make();

  public static final TemperatureUnit Fahrenheit =
      derive(Celsius)
          .mappingInputRange(0, 100)
          .toOutputRange(32, 212)
          .named("Fahrenheit")
          .symbol("°F")
          .make();
 
  // Standard feedforward units for kV and kA.
  // kS and kG are just volts, which is already defined earlier
  public static final PerUnit<VoltageUnit, LinearVelocityUnit> VoltsPerMeterPerSecond =
      Volts.per(MetersPerSecond);

  public static final PerUnit<VoltageUnit, LinearAccelerationUnit> VoltsPerMeterPerSecondSquared =
      Volts.per(MetersPerSecondPerSecond);

  public static final PerUnit<VoltageUnit, AngularVelocityUnit> VoltsPerRadianPerSecond =
      Volts.per(RadiansPerSecond);

  public static final PerUnit<VoltageUnit, AngularAccelerationUnit> VoltsPerRadianPerSecondSquared =
      Volts.per(RadiansPerSecond.per(Second));

  @SuppressWarnings("checkstyle:methodname")
  public static <U extends Unit> U Milli(U baseUnit, String name, String symbol) {
    return derive(baseUnit).splitInto(1000).named(name).symbol(symbol).make();
  }

  @SuppressWarnings("checkstyle:methodname")
  public static <U extends Unit> U Milli(U baseUnit) {
    return Milli(
        baseUnit, "Milli" + baseUnit.name().toLowerCase(Locale.ROOT), "m" + baseUnit.symbol());
  }

  @SuppressWarnings("checkstyle:methodname")
  public static <U extends Unit> U Micro(U baseUnit, String name, String symbol) {
    return derive(baseUnit).splitInto(1_000_000).named(name).symbol(symbol).make();
  }

  @SuppressWarnings("checkstyle:methodname")
  public static <U extends Unit> U Micro(U baseUnit) {
    return Micro(
        baseUnit, "Micro" + baseUnit.name().toLowerCase(Locale.ROOT), "u" + baseUnit.symbol());
  }

  @SuppressWarnings("checkstyle:methodname")
  public static <U extends Unit> U Kilo(U baseUnit, String name, String symbol) {
    return derive(baseUnit).aggregate(1000).named(name).symbol(symbol).make();
  }

  @SuppressWarnings("checkstyle:methodname")
  public static <U extends Unit> U Kilo(U baseUnit) {
    return Kilo(
        baseUnit, "Kilo" + baseUnit.name().toLowerCase(Locale.ROOT), "K" + baseUnit.symbol());
  }

  public static <U extends Unit> UnitBuilder<U> derive(U unit) {
    return new UnitBuilder<>(unit);
  }
}