edu.wpi.first.units.Units

public final class Units
extends Object

Contains a set of predefined units.

Field Summary

Fields
Modifier and Type	Field	Description
`static Current`	`Amp`	The base unit of electrical current.
`static Current`	`Amps`	The base unit of electrical current.
`static Unit`	`AnonymousBaseUnit`	Used as an internal placeholder value when a specific unit type cannot be determined.
`static Temperature`	`Celsius`	The base SI unit of temperature, where a value of 0 roughly corresponds to the freezing point of water and a value of 100 corresponds to the boiling point.
`static Distance`	`Centimeter`	1/100 of a `Meter`.
`static Distance`	`Centimeters`	1/100 of a `Meter`.
`static Angle`	`Degree`	1/360 of a turn around a circle, or 1/57.3 `Radians`.
`static Angle`	`Degrees`	1/360 of a turn around a circle, or 1/57.3 `Radians`.
`static Velocity<Angle>`	`DegreesPerSecond`	A unit of angular velocity equivalent to spinning at a rate of one `Degree` per `Second`.
`static Temperature`	`Fahrenheit`	The base imperial (American) unit of temperature, where a value of 32 roughly corresponds to the freezing point of water and a value of 212 corresponds to the boiling point.
`static Distance`	`Feet`	304.8/1000 of a `Meter`, or 12 `Inches`.
`static Velocity<Distance>`	`FeetPerSecond`	A unit of linear velocity equivalent to travelling at a rate one `Foot` per `Second`.
`static Distance`	`Foot`	304.8/1000 of a `Meter`, or 12 `Inches`.
`static Mass`	`Gram`	1/1000 of a `Kilogram`.
`static Mass`	`Grams`	1/1000 of a `Kilogram`.
`static Velocity<Velocity<Distance>>`	`Gs`	A unit of acceleration equivalent to the pull of gravity on an object at sea level on Earth.
`static Power`	`Horsepower`	A unit equal to 745.7 `Watts`.
`static Distance`	`Inch`	25.4/1000 of a `Meter` and 1/12 of a `Foot`.
`static Distance`	`Inches`	25.4/1000 of a `Meter` and 1/12 of a `Foot`.
`static Velocity<Distance>`	`InchesPerSecond`	A unit of linear velocity equivalent to travelling at a rate of one `Inch` per `Second`.
`static Energy`	`Joule`	The base unit of energy.
`static Energy`	`Joules`	The base unit of energy.
`static Temperature`	`Kelvin`	The base unit of temperature, where a value of 0 corresponds with absolutely zero energy in the measured system.
`static Mass`	`Kilogram`	The base SI unit of mass.
`static Mass`	`Kilograms`	The base SI unit of mass.
`static Energy`	`Kilojoule`	A unit equal to 1,000 `Joules`.
`static Energy`	`Kilojoules`	A unit equal to 1,000 `Joules`.
`static Distance`	`Meter`	The base unit of distance.
`static Distance`	`Meters`	The base unit of distance.
`static Velocity<Distance>`	`MetersPerSecond`	The standard SI unit of linear velocity, equivalent to travelling at a rate of one `Meter` per `Second`.
`static Velocity<Velocity<Distance>>`	`MetersPerSecondPerSecond`	The standard SI unit of linear acceleration, equivalent to accelerating at a rate of one `Meter` per `Second` every second.
`static Time`	`Microsecond`	Alias for `Microseconds` to make combined unit definitions read more smoothly.
`static Time`	`Microseconds`	1/1,000,000 of a `Second`.
`static Current`	`Milliamp`	A unit equal to 1/1000 of an `Amp`.
`static Current`	`Milliamps`	A unit equal to 1/1000 of an `Amp`.
`static Energy`	`Millijoule`	A unit equal to 1/1000 of a `Joule`.
`static Energy`	`Millijoules`	A unit equal to 1/1000 of a `Joule`.
`static Distance`	`Millimeter`	1/1000 of a `Meter`.
`static Distance`	`Millimeters`	1/1000 of a `Meter`.
`static Time`	`Millisecond`	Alias for `Milliseconds` to make combined unit definitions read more smoothly.
`static Time`	`Milliseconds`	1/1000 of a `Second`.
`static Voltage`	`Millivolt`	1/1000 of a `Volt`.
`static Voltage`	`Millivolts`	1/1000 of a `Volt`.
`static Power`	`Milliwatt`	A unit equal to 1/1000 of a `Watt`.
`static Power`	`Milliwatts`	A unit equal to 1/1000 of a `Watt`.
`static Time`	`Minute`	Alias for `Minutes` to make combined unit definitions read more smoothly.
`static Time`	`Minutes`	60 `Seconds`.
`static Mass`	`Ounce`	1/16 of a `Pound`.
`static Mass`	`Ounces`	1/16 of a `Pound`.
`static Dimensionless`	`Percent`	A dimensionless unit equal to to 1/100th of a `Value`.
`static Mass`	`Pound`	A unit of mass equivalent to approximately 453 `Grams`.
`static Mass`	`Pounds`	A unit of mass equivalent to approximately 453 `Grams`.
`static Angle`	`Radian`	The base SI unit of angle, represented by the distance that the radius of a unit circle can wrap around its circumference.
`static Angle`	`Radians`	The base SI unit of angle, represented by the distance that the radius of a unit circle can wrap around its circumference.
`static Velocity<Angle>`	`RadiansPerSecond`	The standard SI unit of angular velocity, equivalent to spinning at a rate of one `Radian` per `Second`.
`static Angle`	`Revolution`	A single turn of an object around an external axis.
`static Angle`	`Revolutions`	A single turn of an object around an external axis.
`static Velocity<Angle>`	`RevolutionsPerSecond`	A unit of angular velocity equivalent to spinning at a rate of one `Revolution` per `Second`.
`static Angle`	`Rotation`	A single turn of an object around an internal axis.
`static Angle`	`Rotations`	A single turn of an object around an internal axis.
`static Velocity<Angle>`	`RotationsPerSecond`	A unit of angular velocity equivalent to spinning at a rate of one `Rotation` per `Second`.
`static Velocity<Angle>`	`RPM`	A unit of angular velocity equivalent to spinning at a rate of one `Rotation` per `Minute`.
`static Time`	`Second`	Alias for `Seconds` to make combined unit definitions read more smoothly.
`static Time`	`Seconds`	The base unit of time.
`static Dimensionless`	`Value`	A dimensionless unit that performs no scaling whatsoever.
`static Voltage`	`Volt`	The base unit of electric potential.
`static Voltage`	`Volts`	The base unit of electric potential.
`static Per<Voltage,Velocity<Distance>>`	`VoltsPerMeterPerSecond`	A standard unit for measuring linear mechanisms' feedforward voltages based on a model of the system and a desired commanded linear velocity.
`static Per<Voltage,Velocity<Velocity<Distance>>>`	`VoltsPerMeterPerSecondSquared`	A standard unit for measuring linear mechanisms' feedforward voltages based on a model of the system and a desired commanded linear acceleration.
`static Per<Voltage,Velocity<Angle>>`	`VoltsPerRadianPerSecond`	A standard unit for measuring angular mechanisms' feedforward voltages based on a model of the system and a desired commanded angular velocity.
`static Per<Voltage,Velocity<Velocity<Angle>>>`	`VoltsPerRadianPerSecondSquared`	A standard unit for measuring angular mechanisms' feedforward voltages based on a model of the system and a desired commanded angular acceleration.
`static Power`	`Watt`	The base unit of power.
`static Power`	`Watts`	The base unit of power.

Method Summary

Modifier and Type	Method	Description
`static <U extends Unit<U>> U`	`anonymous()`	Returns an anonymous unit for use when a specific unit type is not known.
`static <U extends Unit<U>> UnitBuilder<U>`	`derive(Unit<U> unit)`	Creates a new unit builder object based on a given input unit.
`static <U extends Unit<U>> U`	`Kilo(Unit<U> baseUnit)`	Creates a unit equal to a thousand of the base unit, eg Kilograms = Kilo(Units.Grams).
`static <U extends Unit<U>> U`	`Kilo(Unit<U> baseUnit, String name, String symbol)`	Creates a unit equal to a thousand of the base unit, eg Kilograms = Kilo(Units.Grams).
`static <U extends Unit<U>> U`	`Micro(Unit<U> baseUnit)`	Creates a unit equal to a millionth of the base unit, eg Microseconds = Micro(Units.Seconds).
`static <U extends Unit<U>> U`	`Micro(Unit<U> baseUnit, String name, String symbol)`	Creates a unit equal to a millionth of the base unit, eg `Microseconds = Micro(Units.Seconds, "Microseconds", 'us")`.
`static <U extends Unit<U>> U`	`Milli(Unit<U> baseUnit)`	Creates a unit equal to a thousandth of the base unit, eg Milliseconds = Milli(Units.Seconds).
`static <U extends Unit<U>> U`	`Milli(Unit<U> baseUnit, String name, String symbol)`	Creates a unit equal to a thousandth of the base unit, eg Milliseconds = Milli(Units.Seconds).

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details
- AnonymousBaseUnit
 
 public static final Unit AnonymousBaseUnit
 
 Used as an internal placeholder value when a specific unit type cannot be determined. Do not use this directly.
- Meters
 
 public static final Distance Meters
 
 The base unit of distance.
- Meter
 
 public static final Distance Meter
 
 The base unit of distance.
- Millimeters
 
 public static final Distance Millimeters
 
 1/1000 of a Meter.
- Millimeter
 
 public static final Distance Millimeter
 
 1/1000 of a Meter.
- Centimeters
 
 public static final Distance Centimeters
 
 1/100 of a Meter.
- Centimeter
 
 public static final Distance Centimeter
 
 1/100 of a Meter.
- Inches
 
 public static final Distance Inches
 
 25.4/1000 of a Meter and 1/12 of a Foot.
- Inch
 
 public static final Distance Inch
 
 25.4/1000 of a Meter and 1/12 of a Foot.
- Feet
 
 public static final Distance Feet
 
 304.8/1000 of a Meter, or 12 Inches.
- Foot
 
 public static final Distance Foot
 
 304.8/1000 of a Meter, or 12 Inches.
- Seconds
 
 public static final Time Seconds
 
 The base unit of time.
- Second
 
 public static final Time Second
 
 Alias for Seconds to make combined unit definitions read more smoothly.
- Milliseconds
 
 public static final Time Milliseconds
 
 1/1000 of a Second.
- Millisecond
 
 public static final Time Millisecond
 
 Alias for Milliseconds to make combined unit definitions read more smoothly.
- Microseconds
 
 public static final Time Microseconds
 
 1/1,000,000 of a Second.
- Microsecond
 
 public static final Time Microsecond
 
 Alias for Microseconds to make combined unit definitions read more smoothly.
- Minutes
 
 public static final Time Minutes
 
 60 Seconds.
- Minute
 
 public static final Time Minute
 
 Alias for Minutes to make combined unit definitions read more smoothly.
- Radians
 
 public static final Angle Radians
 
 The base SI unit of angle, represented by the distance that the radius of a unit circle can wrap around its circumference.
- Radian
 
 public static final Angle Radian
 
 The base SI unit of angle, represented by the distance that the radius of a unit circle can wrap around its circumference.
- Revolutions
 
 public static final Angle Revolutions
 
 A single turn of an object around an external axis. Numerically equivalent to Rotations, but may be semantically more expressive in certain scenarios.
- Revolution
 
 public static final Angle Revolution
 
 A single turn of an object around an external axis. Numerically equivalent to a Rotation, but may be semantically more expressive in certain scenarios.
- Rotations
 
 public static final Angle Rotations
 
 A single turn of an object around an internal axis. Numerically equivalent to Revolutions, but may be semantically more expressive in certain scenarios.
- Rotation
 
 public static final Angle Rotation
 
 A single turn of an object around an internal axis. Numerically equivalent to a Revolution, but may be semantically more expressive in certain scenarios.
- Degrees
 
 public static final Angle Degrees
 
 1/360 of a turn around a circle, or 1/57.3 Radians.
- Degree
 
 public static final Angle Degree
 
 1/360 of a turn around a circle, or 1/57.3 Radians.
- MetersPerSecond
 
 public static final Velocity<Distance> MetersPerSecond
 
 The standard SI unit of linear velocity, equivalent to travelling at a rate of one Meter per Second.
- FeetPerSecond
 
 public static final Velocity<Distance> FeetPerSecond
 
 A unit of linear velocity equivalent to travelling at a rate one Foot per Second.
- InchesPerSecond
 
 public static final Velocity<Distance> InchesPerSecond
 
 A unit of linear velocity equivalent to travelling at a rate of one Inch per Second.
- RevolutionsPerSecond
 
 public static final Velocity<Angle> RevolutionsPerSecond
 
 A unit of angular velocity equivalent to spinning at a rate of one Revolution per Second.
- RotationsPerSecond
 
 public static final Velocity<Angle> RotationsPerSecond
 
 A unit of angular velocity equivalent to spinning at a rate of one Rotation per Second.
- RPM
 
 public static final Velocity<Angle> RPM
 
 A unit of angular velocity equivalent to spinning at a rate of one Rotation per Minute. Motor spec sheets often list maximum speeds in terms of RPM.
- RadiansPerSecond
 
 public static final Velocity<Angle> RadiansPerSecond
 
 The standard SI unit of angular velocity, equivalent to spinning at a rate of one Radian per Second.
- DegreesPerSecond
 
 public static final Velocity<Angle> DegreesPerSecond
 
 A unit of angular velocity equivalent to spinning at a rate of one Degree per Second.
- MetersPerSecondPerSecond
 
 public static final Velocity<Velocity<Distance>> MetersPerSecondPerSecond
 
 The standard SI unit of linear acceleration, equivalent to accelerating at a rate of one Meter per Second every second.
- Gs
 
 public static final Velocity<Velocity<Distance>> Gs
 
 A unit of acceleration equivalent to the pull of gravity on an object at sea level on Earth.
- Kilograms
 
 public static final Mass Kilograms
 
 The base SI unit of mass.
- Kilogram
 
 public static final Mass Kilogram
 
 The base SI unit of mass.
- Grams
 
 public static final Mass Grams
 
 1/1000 of a Kilogram.
- Gram
 
 public static final Mass Gram
 
 1/1000 of a Kilogram.
- Pounds
 
 public static final Mass Pounds
 
 A unit of mass equivalent to approximately 453 Grams. This is not equivalent to pounds-force, which is the amount of force required to accelerate an object with one pound of mass at a rate of one G.
- Pound
 
 public static final Mass Pound
 
 A unit of mass equivalent to approximately 453 Grams. This is not equivalent to pounds-force, which is the amount of force required to accelerate an object with one pound of mass at a rate of one G.
- Ounces
 
 public static final Mass Ounces
 
 1/16 of a Pound.
- Ounce
 
 public static final Mass Ounce
 
 1/16 of a Pound.
- Value
 
 public static final Dimensionless Value
 
 A dimensionless unit that performs no scaling whatsoever.
- Percent
 
 public static final Dimensionless Percent
 
 A dimensionless unit equal to to 1/100th of a Value. A measurement of Percent.of(42) would be equivalent to Value.of(0.42).
- Volts
 
 public static final Voltage Volts
 
 The base unit of electric potential.
- Volt
 
 public static final Voltage Volt
 
 The base unit of electric potential.
- Millivolts
 
 public static final Voltage Millivolts
 
 1/1000 of a Volt. Useful when dealing with low-voltage applications like LED drivers or low-power circuits.
- Millivolt
 
 public static final Voltage Millivolt
 
 1/1000 of a Volt. Useful when dealing with low-voltage applications like LED drivers or low-power circuits.
- Amps
 
 public static final Current Amps
 
 The base unit of electrical current.
- Amp
 
 public static final Current Amp
 
 The base unit of electrical current.
- Milliamps
 
 public static final Current Milliamps
 
 A unit equal to 1/1000 of an Amp. Useful when dealing with low-current applications like LED drivers or low-power circuits.
- Milliamp
 
 public static final Current Milliamp
 
 A unit equal to 1/1000 of an Amp. Useful when dealing with low-current applications like LED drivers or low-power circuits.
- Joules
 
 public static final Energy Joules
 
 The base unit of energy.
- Joule
 
 public static final Energy Joule
 
 The base unit of energy.
- Millijoules
 
 public static final Energy Millijoules
 
 A unit equal to 1/1000 of a Joule. Useful when dealing with lower-power applications.
- Millijoule
 
 public static final Energy Millijoule
 
 A unit equal to 1/1000 of a Joule. Useful when dealing with lower-power applications.
- Kilojoules
 
 public static final Energy Kilojoules
 
 A unit equal to 1,000 Joules. Useful when dealing with higher-level robot energy usage.
- Kilojoule
 
 public static final Energy Kilojoule
 
 A unit equal to 1,000 Joules. Useful when dealing with higher-level robot energy usage.
- Watts
 
 public static final Power Watts
 
 The base unit of power. Equivalent to one Joule per Second.
- Watt
 
 public static final Power Watt
 
 The base unit of power. Equivalent to one Joule per Second.
- Milliwatts
 
 public static final Power Milliwatts
 
 A unit equal to 1/1000 of a Watt. Useful when dealing with lower-power applications.
- Milliwatt
 
 public static final Power Milliwatt
 
 A unit equal to 1/1000 of a Watt. Useful when dealing with lower-power applications.
- Horsepower
 
 public static final Power Horsepower
 
 A unit equal to 745.7 Watts. May be useful when dealing with high-power gearboxes and motors.
- Kelvin
 
 public static final Temperature Kelvin
 
 The base unit of temperature, where a value of 0 corresponds with absolutely zero energy in the measured system. Not particularly useful for robots unless you're cooling motors with liquid helium.
- Celsius
 
 public static final Temperature Celsius
 
 The base SI unit of temperature, where a value of 0 roughly corresponds to the freezing point of water and a value of 100 corresponds to the boiling point. Electronics tend to exhibit degraded performance or damage above 90 degrees Celsius.
- Fahrenheit
 
 public static final Temperature Fahrenheit
 
 The base imperial (American) unit of temperature, where a value of 32 roughly corresponds to the freezing point of water and a value of 212 corresponds to the boiling point.
- VoltsPerMeterPerSecond
 
 public static final Per<Voltage,Velocity<Distance>> VoltsPerMeterPerSecond
 
 A standard unit for measuring linear mechanisms' feedforward voltages based on a model of the system and a desired commanded linear velocity.
- VoltsPerMeterPerSecondSquared
 
 public static final Per<Voltage,Velocity<Velocity<Distance>>> VoltsPerMeterPerSecondSquared
 
 A standard unit for measuring linear mechanisms' feedforward voltages based on a model of the system and a desired commanded linear acceleration.
- VoltsPerRadianPerSecond
 
 public static final Per<Voltage,Velocity<Angle>> VoltsPerRadianPerSecond
 
 A standard unit for measuring angular mechanisms' feedforward voltages based on a model of the system and a desired commanded angular velocity.
- VoltsPerRadianPerSecondSquared
 
 public static final Per<Voltage,Velocity<Velocity<Angle>>> VoltsPerRadianPerSecondSquared
 
 A standard unit for measuring angular mechanisms' feedforward voltages based on a model of the system and a desired commanded angular acceleration.
Method Details
- Milli
 
 public static > U Milli(Unit baseUnit, String name, String symbol)
 
 Creates a unit equal to a thousandth of the base unit, eg Milliseconds = Milli(Units.Seconds).
 
 Type Parameters:
 
 U - the type of the unit
 
 Parameters:
 
 baseUnit - the unit being derived from. This does not have to be the base unit of measure
 
 name - the name of the new derived unit
 
 symbol - the symbol of the new derived unit
 
 Returns:
 
 the milli-unit
- Milli
 
 public static > U Milli(Unit baseUnit)
 
 Creates a unit equal to a thousandth of the base unit, eg Milliseconds = Milli(Units.Seconds).
 
 Type Parameters:
 
 U - the type of the unit
 
 Parameters:
 
 baseUnit - the unit being derived from. This does not have to be the base unit of measure
 
 Returns:
 
 the milli-unit
- Micro
 
 public static > U Micro(Unit baseUnit, String name, String symbol)
 
 Creates a unit equal to a millionth of the base unit, eg Microseconds = Micro(Units.Seconds, "Microseconds", 'us").
 
 Type Parameters:
 
 U - the type of the unit
 
 Parameters:
 
 baseUnit - the unit being derived from. This does not have to be the base unit of measure
 
 name - the name of the new derived unit
 
 symbol - the symbol of the new derived unit
 
 Returns:
 
 the micro-unit
- Micro
 
 public static > U Micro(Unit baseUnit)
 
 Creates a unit equal to a millionth of the base unit, eg Microseconds = Micro(Units.Seconds).
 
 Type Parameters:
 
 U - the type of the unit
 
 Parameters:
 
 baseUnit - the unit being derived from. This does not have to be the base unit of measure
 
 Returns:
 
 the micro-unit
- Kilo
 
 public static > U Kilo(Unit baseUnit, String name, String symbol)
 
 Creates a unit equal to a thousand of the base unit, eg Kilograms = Kilo(Units.Grams).
 
 Type Parameters:
 
 U - the type of the unit
 
 Parameters:
 
 baseUnit - the unit being derived from. This does not have to be the base unit of measure
 
 name - the name of the new derived unit
 
 symbol - the symbol of the new derived unit
 
 Returns:
 
 the kilo-unit
- Kilo
 
 public static > U Kilo(Unit baseUnit)
 
 Creates a unit equal to a thousand of the base unit, eg Kilograms = Kilo(Units.Grams).
 
 Type Parameters:
 
 U - the type of the unit
 
 Parameters:
 
 baseUnit - the unit being derived from. This does not have to be the base unit of measure
 
 Returns:
 
 the kilo-unit
- derive
 
 public static > UnitBuilder derive(Unit unit)
 
 Creates a new unit builder object based on a given input unit. The builder can be used to fluently describe a new unit in terms of its relation to the base unit.
 
 Type Parameters:
 
 U - the dimension of the unit to derive
 
 Parameters:
 
 unit - the base unit from which to derive a new unit
 
 Returns:
 
 a builder object
- anonymous
 
 public static > U anonymous()
 
 Returns an anonymous unit for use when a specific unit type is not known. Do not use this directly.
 
 Type Parameters:
 
 U - the dimension of the desired anonymous unit
 
 Returns:
 
 the anonymous unit

Class Units

Field Summary

Method Summary

Methods inherited from class java.lang.Object

Field Details

Method Details