Package edu.wpi.first.units

Class Units

java.lang.Object

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 final CurrentUnit	Amp	The base unit of electrical current.
static final CurrentUnit	Amps	The base unit of electrical current.
static final TemperatureUnit	Celsius	The standard 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 final DistanceUnit	Centimeter	1/100 of a Meter.
static final DistanceUnit	Centimeters	1/100 of a Meter.
static final AngleUnit	Degree	1/360 of a turn around a circle, or 1/57.3 Radians.
static final AngleUnit	Degrees	1/360 of a turn around a circle, or 1/57.3 Radians.
static final AngularVelocityUnit	DegreesPerSecond	A unit of angular velocity equivalent to spinning at a rate of one Degree per Second.
static final AngularAccelerationUnit	DegreesPerSecondPerSecond	A unit of angular acceleration equivalent to accelerating at a rate of one Degree per Second every second.
static final TemperatureUnit	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 final DistanceUnit	Feet	304.8/1000 of a Meter, or 12 Inches.
static final LinearVelocityUnit	FeetPerSecond	A unit of linear velocity equivalent to travelling at a rate one Foot per Second.
static final LinearAccelerationUnit	FeetPerSecondPerSecond	A unit of linear acceleration equivalent to accelerating at a rate of one Foot per Second every second.
static final DistanceUnit	Foot	304.8/1000 of a Meter, or 12 Inches.
static final MassUnit	Gram	1/1000 of a Kilogram.
static final MassUnit	Grams	1/1000 of a Kilogram.
static final LinearAccelerationUnit	Gs	A unit of acceleration equivalent to the pull of gravity on an object at sea level on Earth.
static final FrequencyUnit	Hertz	The standard SI unit of frequency, equivalent to a periodic signal repeating once every Second.
static final PowerUnit	Horsepower	A unit equal to 745.7 Watts.
static final DistanceUnit	Inch	25.4/1000 of a Meter and 1/12 of a Foot.
static final DistanceUnit	Inches	25.4/1000 of a Meter and 1/12 of a Foot.
static final LinearVelocityUnit	InchesPerSecond	A unit of linear velocity equivalent to travelling at a rate of one Inch per Second.
static final EnergyUnit	Joule	The base unit of energy.
static final EnergyUnit	Joules	The base unit of energy.
static final TemperatureUnit	Kelvin	The base unit of temperature, where a value of 0 corresponds with absolutely zero energy in the measured system.
static final MassUnit	Kilogram	The standard SI unit of mass.
static final LinearMomentumUnit	KilogramMetersPerSecond	The standard SI unit for linear momentum, equivalent to a one Kilogram mass moving at one MetersPerSecond.
static final AngularMomentumUnit	KilogramMetersSquaredPerSecond	The standard SI unit for angular momentum.
static final MassUnit	Kilograms	The standard SI unit of mass.
static final MomentOfInertiaUnit	KilogramSquareMeters	The standard SI unit for moment of inertia.
static final EnergyUnit	Kilojoule	A unit equal to 1,000 Joules.
static final EnergyUnit	Kilojoules	A unit equal to 1,000 Joules.
static final ResistanceUnit	KiloOhm	A unit equal to 1,000 Ohms.
static final ResistanceUnit	KiloOhms	A unit equal to 1,000 Ohms.
static final DistanceUnit	Meter	The base unit of distance.
static final DistanceUnit	Meters	The base unit of distance.
static final LinearVelocityUnit	MetersPerSecond	The standard SI unit of linear velocity, equivalent to travelling at a rate of one Meter per Second.
static final LinearAccelerationUnit	MetersPerSecondPerSecond	The standard SI unit of linear acceleration, equivalent to accelerating at a rate of one Meter per Second every second.
static final TimeUnit	Microsecond	Alias for Microseconds to make combined unit definitions read more smoothly.
static final TimeUnit	Microseconds	1/1,000,000 of a Second.
static final CurrentUnit	Milliamp	A unit equal to 1/1000 of an Amp.
static final CurrentUnit	Milliamps	A unit equal to 1/1000 of an Amp.
static final FrequencyUnit	Millihertz	1/1000th of a Hertz.
static final EnergyUnit	Millijoule	A unit equal to 1/1000 of a Joule.
static final EnergyUnit	Millijoules	A unit equal to 1/1000 of a Joule.
static final DistanceUnit	Millimeter	1/1000 of a Meter.
static final DistanceUnit	Millimeters	1/1000 of a Meter.
static final ResistanceUnit	MilliOhm	A unit equal to 1/1000 of a Ohm.
static final ResistanceUnit	MilliOhms	A unit equal to 1/1000 of a Ohm.
static final TimeUnit	Millisecond	Alias for Milliseconds to make combined unit definitions read more smoothly.
static final TimeUnit	Milliseconds	1/1000 of a Second.
static final VoltageUnit	Millivolt	1/1000 of a Volt.
static final VoltageUnit	Millivolts	1/1000 of a Volt.
static final PowerUnit	Milliwatt	A unit equal to 1/1000 of a Watt.
static final PowerUnit	Milliwatts	A unit equal to 1/1000 of a Watt.
static final TimeUnit	Minute	Alias for Minutes to make combined unit definitions read more smoothly.
static final TimeUnit	Minutes	60 Seconds.
static final ForceUnit	Newton	The standard unit of force, equivalent to the standard force of gravity applied to a one Kilogram mass.
static final TorqueUnit	NewtonMeter	The standard SI unit for torque.
static final TorqueUnit	NewtonMeters	The standard SI unit for torque.
static final ForceUnit	Newtons	The standard unit of force, equivalent to accelerating a mass of one Kilogram at a rate of one meter per second per second.
static final ResistanceUnit	Ohm	The base unit of resistance.
static final ResistanceUnit	Ohms	The base unit of resistance.
static final MassUnit	Ounce	1/16 of a Pound.
static final ForceUnit	OunceForce	1/16th of PoundsForce, equivalent to the standard force of gravity applied to a one Ounce mass.
static final TorqueUnit	OunceInch	The equivalent of one ounce of force applied to an object one Inch away from its center of rotation.
static final TorqueUnit	OunceInches	The equivalent of one ounce of force applied to an object one Inch away from its center of rotation.
static final MassUnit	Ounces	1/16 of a Pound.
static final ForceUnit	OuncesForce	1/16th of PoundsForce, equivalent to the standard force of gravity applied to a one Ounce mass.
static final DimensionlessUnit	Percent	A dimensionless unit equal to to 1/100th of a Value.
static final MassUnit	Pound	A unit of mass equivalent to approximately 453 Grams.
static final TorqueUnit	PoundFeet	The equivalent of one pound of force applied to an object one Foot away from its center of rotation.
static final TorqueUnit	PoundFoot	The equivalent of one pound of force applied to an object one Foot away from its center of rotation.
static final ForceUnit	PoundForce	The standard Imperial unit of force, equivalent to the standard force of gravity applied to a one Pound mass.
static final TorqueUnit	PoundInch	The equivalent of one pound of force applied to an object one Inch away from its center of rotation.
static final TorqueUnit	PoundInches	The equivalent of one pound of force applied to an object one Inch away from its center of rotation.
static final MassUnit	Pounds	A unit of mass equivalent to approximately 453 Grams.
static final ForceUnit	PoundsForce	The standard Imperial unit of force, equivalent to the standard force of gravity applied to a one Pound mass.
static final AngleUnit	Radian	The standard SI unit of angle, represented by the distance that the radius of a unit circle can wrap around its circumference.
static final AngleUnit	Radians	The standard SI unit of angle, represented by the distance that the radius of a unit circle can wrap around its circumference.
static final AngularVelocityUnit	RadiansPerSecond	The standard SI unit of angular velocity, equivalent to spinning at a rate of one Radian per Second.
static final AngularAccelerationUnit	RadiansPerSecondPerSecond	The standard SI unit of angular acceleration, equivalent to accelerating at a rate of one Radian per Second every second.
static final AngleUnit	Revolution	A single turn of an object around an external axis.
static final AngleUnit	Revolutions	A single turn of an object around an external axis.
static final AngularVelocityUnit	RevolutionsPerSecond	A unit of angular velocity equivalent to spinning at a rate of one Revolution per Second.
static final AngleUnit	Rotation	A single turn of an object around an internal axis.
static final AngleUnit	Rotations	A single turn of an object around an internal axis.
static final AngularVelocityUnit	RotationsPerSecond	A unit of angular velocity equivalent to spinning at a rate of one Rotation per Second.
static final AngularAccelerationUnit	RotationsPerSecondPerSecond	A unit of angular acceleration equivalent to accelerating at a rate of one Rotation per Second every second.
static final AngularVelocityUnit	RPM	A unit of angular velocity equivalent to spinning at a rate of one Rotation per Minute.
static final TimeUnit	Second	Alias for Seconds to make combined unit definitions read more smoothly.
static final TimeUnit	Seconds	The base unit of time.
static final DimensionlessUnit	Value	A dimensionless unit that performs no scaling whatsoever.
static final VoltageUnit	Volt	The base unit of electric potential.
static final VoltageUnit	Volts	The base unit of electric potential.
static final PerUnit<VoltageUnit,LinearVelocityUnit>	VoltsPerMeterPerSecond	A standard unit for measuring linear mechanisms' feedforward voltages based on a model of the system and a desired commanded linear velocity.
static final PerUnit<VoltageUnit,LinearAccelerationUnit>	VoltsPerMeterPerSecondSquared	A standard unit for measuring linear mechanisms' feedforward voltages based on a model of the system and a desired commanded linear acceleration.
static final PerUnit<VoltageUnit,AngularVelocityUnit>	VoltsPerRadianPerSecond	A standard unit for measuring angular mechanisms' feedforward voltages based on a model of the system and a desired commanded angular velocity.
static final PerUnit<VoltageUnit,AngularAccelerationUnit>	VoltsPerRadianPerSecondSquared	A standard unit for measuring angular mechanisms' feedforward voltages based on a model of the system and a desired commanded angular acceleration.
static final PowerUnit	Watt	The base unit of power.
static final PowerUnit	Watts	The base unit of power.

Method Summary

Modifier and Type	Method	Description
static <U extends Unit> UnitBuilder<U>	derive(U unit)	Creates a new unit builder object based on a given input unit.
static <U extends Unit> U	Kilo(U baseUnit)	Creates a unit equal to a thousand of the base unit, eg Kilograms = Kilo(Units.Grams).
static <U extends Unit> U	Kilo(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	Micro(U baseUnit)	Creates a unit equal to a millionth of the base unit, eg Microseconds = Micro(Units.Seconds).
static <U extends Unit> U	Micro(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	Milli(U baseUnit)	Creates a unit equal to a thousandth of the base unit, eg Milliseconds = Milli(Units.Seconds).
static <U extends Unit> U	Milli(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

Value

public static final DimensionlessUnit Value

A dimensionless unit that performs no scaling whatsoever.

Percent

public static final DimensionlessUnit 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).

Meters

public static final DistanceUnit Meters

The base unit of distance.

Meter

public static final DistanceUnit Meter

The base unit of distance.

Millimeters

public static final DistanceUnit Millimeters

1/1000 of a Meter.

Millimeter

public static final DistanceUnit Millimeter

1/1000 of a Meter.

Centimeters

public static final DistanceUnit Centimeters

1/100 of a Meter.

Centimeter

public static final DistanceUnit Centimeter

1/100 of a Meter.

Inches

public static final DistanceUnit Inches

25.4/1000 of a Meter and 1/12 of a Foot.

Inch

public static final DistanceUnit Inch

25.4/1000 of a Meter and 1/12 of a Foot.

Feet

public static final DistanceUnit Feet

304.8/1000 of a Meter, or 12 Inches.

Foot

public static final DistanceUnit Foot

304.8/1000 of a Meter, or 12 Inches.

Seconds

public static final TimeUnit Seconds

The base unit of time.

Second

public static final TimeUnit Second

Alias for Seconds to make combined unit definitions read more smoothly.

Milliseconds

public static final TimeUnit Milliseconds

1/1000 of a Second.

Millisecond

public static final TimeUnit Millisecond

Alias for Milliseconds to make combined unit definitions read more smoothly.

Microseconds

public static final TimeUnit Microseconds

1/1,000,000 of a Second.

Microsecond

public static final TimeUnit Microsecond

Alias for Microseconds to make combined unit definitions read more smoothly.

Minutes

public static final TimeUnit Minutes

60 Seconds.

Minute

public static final TimeUnit Minute

Alias for Minutes to make combined unit definitions read more smoothly.

Radians

public static final AngleUnit Radians

The standard SI unit of angle, represented by the distance that the radius of a unit circle can wrap around its circumference.

Radian

public static final AngleUnit Radian

The standard SI unit of angle, represented by the distance that the radius of a unit circle can wrap around its circumference.

Revolutions

public static final AngleUnit 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 AngleUnit 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 AngleUnit 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 AngleUnit 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 AngleUnit Degrees

1/360 of a turn around a circle, or 1/57.3 Radians.

Degree

public static final AngleUnit Degree

1/360 of a turn around a circle, or 1/57.3 Radians.

MetersPerSecond

public static final LinearVelocityUnit MetersPerSecond

The standard SI unit of linear velocity, equivalent to travelling at a rate of one Meter per Second.

FeetPerSecond

public static final LinearVelocityUnit FeetPerSecond

A unit of linear velocity equivalent to travelling at a rate one Foot per Second.

InchesPerSecond

public static final LinearVelocityUnit InchesPerSecond

A unit of linear velocity equivalent to travelling at a rate of one Inch per Second.

RevolutionsPerSecond

public static final AngularVelocityUnit RevolutionsPerSecond

A unit of angular velocity equivalent to spinning at a rate of one Revolution per Second.

RotationsPerSecond

public static final AngularVelocityUnit RotationsPerSecond

A unit of angular velocity equivalent to spinning at a rate of one Rotation per Second.

RPM

public static final AngularVelocityUnit 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 AngularVelocityUnit RadiansPerSecond

The standard SI unit of angular velocity, equivalent to spinning at a rate of one Radian per Second.

DegreesPerSecond

public static final AngularVelocityUnit DegreesPerSecond

A unit of angular velocity equivalent to spinning at a rate of one Degree per Second.

Hertz

public static final FrequencyUnit Hertz

The standard SI unit of frequency, equivalent to a periodic signal repeating once every Second.

Millihertz

public static final FrequencyUnit Millihertz

1/1000th of a Hertz.

MetersPerSecondPerSecond

public static final LinearAccelerationUnit MetersPerSecondPerSecond

The standard SI unit of linear acceleration, equivalent to accelerating at a rate of one Meter per Second every second.

FeetPerSecondPerSecond

public static final LinearAccelerationUnit FeetPerSecondPerSecond

A unit of linear acceleration equivalent to accelerating at a rate of one Foot per Second every second.

RotationsPerSecondPerSecond

public static final AngularAccelerationUnit RotationsPerSecondPerSecond

A unit of angular acceleration equivalent to accelerating at a rate of one Rotation per Second every second.

RadiansPerSecondPerSecond

public static final AngularAccelerationUnit RadiansPerSecondPerSecond

The standard SI unit of angular acceleration, equivalent to accelerating at a rate of one Radian per Second every second.

DegreesPerSecondPerSecond

public static final AngularAccelerationUnit DegreesPerSecondPerSecond

A unit of angular acceleration equivalent to accelerating at a rate of one Degree per Second every second.

Gs

public static final LinearAccelerationUnit Gs

A unit of acceleration equivalent to the pull of gravity on an object at sea level on Earth.

Kilograms

public static final MassUnit Kilograms

The standard SI unit of mass.

Kilogram

public static final MassUnit Kilogram

The standard SI unit of mass.

Grams

public static final MassUnit Grams

1/1000 of a Kilogram.

Gram

public static final MassUnit Gram

1/1000 of a Kilogram.

Pounds

public static final MassUnit 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.

See Also:

• PoundsForce

Pound

public static final MassUnit 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.

See Also:

• PoundForce

Ounces

public static final MassUnit Ounces

1/16 of a Pound.

Ounce

public static final MassUnit Ounce

1/16 of a Pound.

Newtons

public static final ForceUnit Newtons

The standard unit of force, equivalent to accelerating a mass of one Kilogram at a rate of one meter per second per second.

Newton

public static final ForceUnit Newton

The standard unit of force, equivalent to the standard force of gravity applied to a one Kilogram mass.

PoundsForce

public static final ForceUnit PoundsForce

The standard Imperial unit of force, equivalent to the standard force of gravity applied to a one Pound mass.

PoundForce

public static final ForceUnit PoundForce

The standard Imperial unit of force, equivalent to the standard force of gravity applied to a one Pound mass.

OuncesForce

public static final ForceUnit OuncesForce

1/16th of PoundsForce, equivalent to the standard force of gravity applied to a one Ounce mass.

OunceForce

public static final ForceUnit OunceForce

1/16th of PoundsForce, equivalent to the standard force of gravity applied to a one Ounce mass.

NewtonMeters

public static final TorqueUnit NewtonMeters

The standard SI unit for torque.

NewtonMeter

public static final TorqueUnit NewtonMeter

The standard SI unit for torque.

PoundFeet

public static final TorqueUnit PoundFeet

The equivalent of one pound of force applied to an object one Foot away from its center of rotation.

PoundFoot

public static final TorqueUnit PoundFoot

The equivalent of one pound of force applied to an object one Foot away from its center of rotation.

PoundInches

public static final TorqueUnit PoundInches

The equivalent of one pound of force applied to an object one Inch away from its center of rotation.

PoundInch

public static final TorqueUnit PoundInch

The equivalent of one pound of force applied to an object one Inch away from its center of rotation.

OunceInches

public static final TorqueUnit OunceInches

The equivalent of one ounce of force applied to an object one Inch away from its center of rotation.

OunceInch

public static final TorqueUnit OunceInch

The equivalent of one ounce of force applied to an object one Inch away from its center of rotation.

KilogramMetersPerSecond

public static final LinearMomentumUnit KilogramMetersPerSecond

The standard SI unit for linear momentum, equivalent to a one Kilogram mass moving at one MetersPerSecond.

KilogramMetersSquaredPerSecond

public static final AngularMomentumUnit KilogramMetersSquaredPerSecond

The standard SI unit for angular momentum.

KilogramSquareMeters

public static final MomentOfInertiaUnit KilogramSquareMeters

The standard SI unit for moment of inertia.

Volts

public static final VoltageUnit Volts

The base unit of electric potential.

Volt

public static final VoltageUnit Volt

The base unit of electric potential.

Millivolts

public static final VoltageUnit Millivolts

1/1000 of a Volt. Useful when dealing with low-voltage applications like LED drivers or low-power circuits.

Millivolt

public static final VoltageUnit Millivolt

1/1000 of a Volt. Useful when dealing with low-voltage applications like LED drivers or low-power circuits.

Amps

public static final CurrentUnit Amps

The base unit of electrical current.

Amp

public static final CurrentUnit Amp

The base unit of electrical current.

Milliamps

public static final CurrentUnit 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 CurrentUnit Milliamp

A unit equal to 1/1000 of an Amp. Useful when dealing with low-current applications like LED drivers or low-power circuits.

Ohms

public static final ResistanceUnit Ohms

The base unit of resistance. Equivalent to one Volt per Amp.

Ohm

public static final ResistanceUnit Ohm

The base unit of resistance. Equivalent to one Volt per Amp.

KiloOhms

public static final ResistanceUnit KiloOhms

A unit equal to 1,000 Ohms.

KiloOhm

public static final ResistanceUnit KiloOhm

A unit equal to 1,000 Ohms.

MilliOhms

public static final ResistanceUnit MilliOhms

A unit equal to 1/1000 of a Ohm.

MilliOhm

public static final ResistanceUnit MilliOhm

A unit equal to 1/1000 of a Ohm.

Joules

public static final EnergyUnit Joules

The base unit of energy.

Joule

public static final EnergyUnit Joule

The base unit of energy.

Millijoules

public static final EnergyUnit Millijoules

A unit equal to 1/1000 of a Joule. Useful when dealing with lower-power applications.

Millijoule

public static final EnergyUnit Millijoule

A unit equal to 1/1000 of a Joule. Useful when dealing with lower-power applications.

Kilojoules

public static final EnergyUnit Kilojoules

A unit equal to 1,000 Joules. Useful when dealing with higher-level robot energy usage.

Kilojoule

public static final EnergyUnit Kilojoule

A unit equal to 1,000 Joules. Useful when dealing with higher-level robot energy usage.

Watts

public static final PowerUnit Watts

The base unit of power. Equivalent to one Joule per Second.

Watt

public static final PowerUnit Watt

The base unit of power. Equivalent to one Joule per Second.

Milliwatts

public static final PowerUnit Milliwatts

A unit equal to 1/1000 of a Watt. Useful when dealing with lower-power applications.

Milliwatt

public static final PowerUnit Milliwatt

A unit equal to 1/1000 of a Watt. Useful when dealing with lower-power applications.

Horsepower

public static final PowerUnit Horsepower

A unit equal to 745.7 Watts. May be useful when dealing with high-power gearboxes and motors.

Kelvin

public static final TemperatureUnit 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 TemperatureUnit Celsius

The standard 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 TemperatureUnit 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 PerUnit<VoltageUnit,LinearVelocityUnit> 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 PerUnit<VoltageUnit,LinearAccelerationUnit> 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 PerUnit<VoltageUnit,AngularVelocityUnit> 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 PerUnit<VoltageUnit,AngularAccelerationUnit> 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 extends Unit> U Milli(U 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 extends Unit> U Milli(U 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 extends Unit> U Micro(U 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 extends Unit> U Micro(U 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 extends Unit> U Kilo(U 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 extends Unit> U Kilo(U 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 <U extends Unit> UnitBuilder<U> derive(U 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