edu.wpi.first.units.Units Class Reference

Static Public Member Functions
static< U extends Unit< U > U	Milli (Unit< U > baseUnit, String name, String symbol)
static< U extends Unit< U > U	Milli (Unit< U > baseUnit)

Static Public Attributes
static final Unit	AnonymousBaseUnit = new Dimensionless(1, "<?>", "<?>")
static final Distance	Meters = BaseUnits.Distance
static final Distance	Meter = Meters
static final Distance	Millimeters = Milli(Meters, "Millimeter", "mm")
static final Distance	Millimeter = Millimeters
static final Distance	Centimeters
static final Distance	Centimeter = Centimeters
static final Distance	Inches
static final Distance	Inch = Inches
static final Distance	Feet
static final Distance	Foot = Feet
static final Time	Seconds = BaseUnits.Time
static final Time	Second = Seconds
static final Time	Milliseconds = Milli(Seconds)
static final Time	Millisecond = Milliseconds
static final Time	Microseconds = Micro(Seconds)
static final Time	Microsecond = Microseconds
static final Time	Minutes
static final Time	Minute = Minutes
static final Angle	Radians = BaseUnits.Angle
static final Angle	Radian = Radians
static final Angle	Revolutions = new Angle(2 * Math.PI, "Revolution", "R")
static final Angle	Revolution = Revolutions
static final Angle	Rotations = new Angle(2 * Math.PI, "Rotation", "R")
static final Angle	Rotation = Rotations
static final Angle	Degrees
static final Angle	Degree = Degrees
static final Velocity< Distance >	MetersPerSecond = Meters.per(Second)
static final Velocity< Distance >	FeetPerSecond = Feet.per(Second)
static final Velocity< Distance >	InchesPerSecond = Inches.per(Second)
static final Velocity< Angle >	RevolutionsPerSecond = Revolutions.per(Second)
static final Velocity< Angle >	RotationsPerSecond = Rotations.per(Second)
static final Velocity< Angle >	RPM = Rotations.per(Minute)
static final Velocity< Angle >	RadiansPerSecond = Radians.per(Second)
static final Velocity< Angle >	DegreesPerSecond = Degrees.per(Second)
static final Velocity< Velocity< Distance > >	MetersPerSecondPerSecond
static final Velocity< Velocity< Distance > >	Gs
static final Mass	Kilograms = BaseUnits.Mass
static final Mass	Kilogram = Kilograms
static final Mass	Grams = Milli(Kilograms, "Gram", "g")
static final Mass	Gram = Grams
static final Mass	Pounds
static final Mass	Pound = Pounds
static final Mass	Ounces
static final Mass	Ounce = Ounces
static final Dimensionless	Value = BaseUnits.Value
static final Dimensionless	Percent
static final Voltage	Volts = BaseUnits.Voltage
static final Voltage	Volt = Volts
static final Voltage	Millivolts = Milli(Volts)
static final Voltage	Millivolt = Millivolts
static final Current	Amps = BaseUnits.Current
static final Current	Amp = Amps
static final Current	Milliamps = Milli(Amps)
static final Current	Milliamp = Milliamps
static final Energy	Joules = BaseUnits.Energy
static final Energy	Joule = Joules
static final Energy	Millijoules = Milli(Joules)
static final Energy	Millijoule = Millijoules
static final Energy	Kilojoules = Kilo(Joules)
static final Energy	Kilojoule = Kilojoules
static final Power	Watts = BaseUnits.Power
static final Power	Watt = Watts
static final Power	Milliwatts = Milli(Watts)
static final Power	Milliwatt = Milliwatts
static final Power	Horsepower
static final Temperature	Kelvin = BaseUnits.Temperature
static final Temperature	Celsius
static final Temperature	Fahrenheit
static final Per< Voltage, Velocity< Distance > >	VoltsPerMeterPerSecond
static final Per< Voltage, Velocity< Velocity< Distance > > >	VoltsPerMeterPerSecondSquared
static final Per< Voltage, Velocity< Angle > >	VoltsPerRadianPerSecond
static final Per< Voltage, Velocity< Velocity< Angle > > >	VoltsPerRadianPerSecondSquared

Detailed Description

Contains a set of predefined units.

Member Function Documentation

Milli() [1/2]

static< U extends Unit< U > U edu.wpi.first.units.Units.Milli ( Unit< U > baseUnit )

static

Creates a unit equal to a thousandth of the base unit, eg Milliseconds = Milli(Units.Seconds).

Parameters

<U>	the type of the unit
baseUnit	the unit being derived from. This does not have to be the base unit of measure

Returns

the milli-unit

Milli() [2/2]

static< U extends Unit< U > U edu.wpi.first.units.Units.Milli ( Unit< U > baseUnit, String name, String symbol )

static

Creates a unit equal to a thousandth of the base unit, eg Milliseconds = Milli(Units.Seconds).

Parameters

<U>	the type of the unit
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

Member Data Documentation

Amp

final Current edu.wpi.first.units.Units.Amp = Amps

static

The base unit of electrical current.

Amps

final Current edu.wpi.first.units.Units.Amps = BaseUnits.Current

static

The base unit of electrical current.

AnonymousBaseUnit

final Unit edu.wpi.first.units.Units.AnonymousBaseUnit = new Dimensionless(1, "<?>", "<?>")

static

Used as an internal placeholder value when a specific unit type cannot be determined. Do not use this directly.

Celsius

final Temperature edu.wpi.first.units.Units.Celsius

static

Initial value:

=
      derive(Kelvin).offset(+273.15).named("Celsius").symbol("°C").make()

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.

Centimeter

final Distance edu.wpi.first.units.Units.Centimeter = Centimeters

static

1/100 of a Meter.

Centimeters

final Distance edu.wpi.first.units.Units.Centimeters

static

Initial value:

=
      derive(Meters).splitInto(100).named("Centimeter").symbol("cm").make()

1/100 of a Meter.

Degree

final Angle edu.wpi.first.units.Units.Degree = Degrees

static

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

Degrees

final Angle edu.wpi.first.units.Units.Degrees

static

Initial value:

=
      derive(Revolutions).splitInto(360).named("Degree").symbol("°").make()

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

DegreesPerSecond

final Velocity<Angle> edu.wpi.first.units.Units.DegreesPerSecond = Degrees.per(Second)

static

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

Fahrenheit

final Temperature edu.wpi.first.units.Units.Fahrenheit

static

Initial value:

=
      derive(Celsius)
          .mappingInputRange(0, 100)
          .toOutputRange(32, 212)
          .named("Fahrenheit")
          .symbol("°F")
          .make()

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.

Feet

final Distance edu.wpi.first.units.Units.Feet

static

Initial value:

=
      derive(Inches).aggregate(12).named("Foot").symbol("ft").make()

304.8/1000 of a Meter, or 12 Inches.

FeetPerSecond

final Velocity<Distance> edu.wpi.first.units.Units.FeetPerSecond = Feet.per(Second)

static

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

Foot

final Distance edu.wpi.first.units.Units.Foot = Feet

static

304.8/1000 of a Meter, or 12 Inches.

Gram

final Mass edu.wpi.first.units.Units.Gram = Grams

static

1/1000 of a Kilogram.

Grams

final Mass edu.wpi.first.units.Units.Grams = Milli(Kilograms, "Gram", "g")

static

1/1000 of a Kilogram.

Gs

final Velocity<Velocity<Distance> > edu.wpi.first.units.Units.Gs

static

Initial value:

=
      derive(MetersPerSecondPerSecond).aggregate(9.80665).named("G").symbol("G").make()

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

Horsepower

final Power edu.wpi.first.units.Units.Horsepower

static

Initial value:

=
      derive(Watts).aggregate(745.7).named("Horsepower").symbol("HP").make()

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

Inch

final Distance edu.wpi.first.units.Units.Inch = Inches

static

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

Inches

final Distance edu.wpi.first.units.Units.Inches

static

Initial value:

=
      derive(Millimeters).aggregate(25.4).named("Inch").symbol("in").make()

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

InchesPerSecond

final Velocity<Distance> edu.wpi.first.units.Units.InchesPerSecond = Inches.per(Second)

static

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

Joule

final Energy edu.wpi.first.units.Units.Joule = Joules

static

The base unit of energy.

Joules

final Energy edu.wpi.first.units.Units.Joules = BaseUnits.Energy

static

The base unit of energy.

Kelvin

final Temperature edu.wpi.first.units.Units.Kelvin = BaseUnits.Temperature

static

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.

Kilogram

final Mass edu.wpi.first.units.Units.Kilogram = Kilograms

static

The base SI unit of mass.

Kilograms

final Mass edu.wpi.first.units.Units.Kilograms = BaseUnits.Mass

static

The base SI unit of mass.

Kilojoule

final Energy edu.wpi.first.units.Units.Kilojoule = Kilojoules

static

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

Kilojoules

final Energy edu.wpi.first.units.Units.Kilojoules = Kilo(Joules)

static

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

Meter

final Distance edu.wpi.first.units.Units.Meter = Meters

static

The base unit of distance.

Meters

final Distance edu.wpi.first.units.Units.Meters = BaseUnits.Distance

static

The base unit of distance.

MetersPerSecond

final Velocity<Distance> edu.wpi.first.units.Units.MetersPerSecond = Meters.per(Second)

static

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

MetersPerSecondPerSecond

final Velocity<Velocity<Distance> > edu.wpi.first.units.Units.MetersPerSecondPerSecond

static

Initial value:

=
      MetersPerSecond.per(Second)

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

Microsecond

final Time edu.wpi.first.units.Units.Microsecond = Microseconds

static

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

Microseconds

final Time edu.wpi.first.units.Units.Microseconds = Micro(Seconds)

static

1/1,000,000 of a Second.

Milliamp

final Current edu.wpi.first.units.Units.Milliamp = Milliamps

static

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

Milliamps

final Current edu.wpi.first.units.Units.Milliamps = Milli(Amps)

static

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

Millijoule

final Energy edu.wpi.first.units.Units.Millijoule = Millijoules

static

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

Millijoules

final Energy edu.wpi.first.units.Units.Millijoules = Milli(Joules)

static

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

Millimeter

final Distance edu.wpi.first.units.Units.Millimeter = Millimeters

static

1/1000 of a Meter.

Millimeters

final Distance edu.wpi.first.units.Units.Millimeters = Milli(Meters, "Millimeter", "mm")

static

1/1000 of a Meter.

Millisecond

final Time edu.wpi.first.units.Units.Millisecond = Milliseconds

static

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

Milliseconds

final Time edu.wpi.first.units.Units.Milliseconds = Milli(Seconds)

static

1/1000 of a Second.

Millivolt

final Voltage edu.wpi.first.units.Units.Millivolt = Millivolts

static

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

Millivolts

final Voltage edu.wpi.first.units.Units.Millivolts = Milli(Volts)

static

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

Milliwatt

final Power edu.wpi.first.units.Units.Milliwatt = Milliwatts

static

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

Milliwatts

final Power edu.wpi.first.units.Units.Milliwatts = Milli(Watts)

static

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

Minute

final Time edu.wpi.first.units.Units.Minute = Minutes

static

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

Minutes

final Time edu.wpi.first.units.Units.Minutes

static

Initial value:

=
      derive(Seconds).aggregate(60).named("Minute").symbol("min").make()

60 Seconds.

Ounce

final Mass edu.wpi.first.units.Units.Ounce = Ounces

static

1/16 of a Pound.

Ounces

final Mass edu.wpi.first.units.Units.Ounces

static

Initial value:

=
      derive(Pounds).splitInto(16).named("Ounce").symbol("oz.").make()

1/16 of a Pound.

Percent

final Dimensionless edu.wpi.first.units.Units.Percent

static

Initial value:

=
      derive(Value).splitInto(100).named("Percent").symbol("%").make()

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).

Pound

final Mass edu.wpi.first.units.Units.Pound = Pounds

static

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.

Pounds

final Mass edu.wpi.first.units.Units.Pounds

static

Initial value:

=
      derive(Grams).aggregate(453.592).named("Pound").symbol("lb.").make()

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.

Radian

final Angle edu.wpi.first.units.Units.Radian = Radians

static

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

Radians

final Angle edu.wpi.first.units.Units.Radians = BaseUnits.Angle

static

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

RadiansPerSecond

final Velocity<Angle> edu.wpi.first.units.Units.RadiansPerSecond = Radians.per(Second)

static

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

Revolution

final Angle edu.wpi.first.units.Units.Revolution = Revolutions

static

A single turn of an object around an external axis. Numerically equivalent to a Rotation, but may be semantically more expressive in certain scenarios.

Revolutions

final Angle edu.wpi.first.units.Units.Revolutions = new Angle(2 * Math.PI, "Revolution", "R")

static

A single turn of an object around an external axis. Numerically equivalent to Rotations, but may be semantically more expressive in certain scenarios.

RevolutionsPerSecond

final Velocity<Angle> edu.wpi.first.units.Units.RevolutionsPerSecond = Revolutions.per(Second)

static

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

Rotation

final Angle edu.wpi.first.units.Units.Rotation = Rotations

static

A single turn of an object around an internal axis. Numerically equivalent to a Revolution, but may be semantically more expressive in certain scenarios.

Rotations

final Angle edu.wpi.first.units.Units.Rotations = new Angle(2 * Math.PI, "Rotation", "R")

static

A single turn of an object around an internal axis. Numerically equivalent to Revolutions, but may be semantically more expressive in certain scenarios.

RotationsPerSecond

final Velocity<Angle> edu.wpi.first.units.Units.RotationsPerSecond = Rotations.per(Second)

static

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

RPM

final Velocity<Angle> edu.wpi.first.units.Units.RPM = Rotations.per(Minute)

static

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.

Second

final Time edu.wpi.first.units.Units.Second = Seconds

static

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

Seconds

final Time edu.wpi.first.units.Units.Seconds = BaseUnits.Time

static

The base unit of time.

Value

final Dimensionless edu.wpi.first.units.Units.Value = BaseUnits.Value

static

A dimensionless unit that performs no scaling whatsoever.

Volt

final Voltage edu.wpi.first.units.Units.Volt = Volts

static

The base unit of electric potential.

Volts

final Voltage edu.wpi.first.units.Units.Volts = BaseUnits.Voltage

static

The base unit of electric potential.

VoltsPerMeterPerSecond

final Per<Voltage, Velocity<Distance> > edu.wpi.first.units.Units.VoltsPerMeterPerSecond

static

Initial value:

=
      Volts.per(MetersPerSecond)

A standard unit for measuring linear mechanisms' feedforward voltages based on a model of the system and a desired commanded linear velocity.

VoltsPerMeterPerSecondSquared

final Per<Voltage, Velocity<Velocity<Distance> > > edu.wpi.first.units.Units.VoltsPerMeterPerSecondSquared

static

Initial value:

=
      Volts.per(MetersPerSecondPerSecond)

A standard unit for measuring linear mechanisms' feedforward voltages based on a model of the system and a desired commanded linear acceleration.

VoltsPerRadianPerSecond

final Per<Voltage, Velocity<Angle> > edu.wpi.first.units.Units.VoltsPerRadianPerSecond

static

Initial value:

=
      Volts.per(RadiansPerSecond)

A standard unit for measuring angular mechanisms' feedforward voltages based on a model of the system and a desired commanded angular velocity.

VoltsPerRadianPerSecondSquared

final Per<Voltage, Velocity<Velocity<Angle> > > edu.wpi.first.units.Units.VoltsPerRadianPerSecondSquared

static

Initial value:

=
      Volts.per(RadiansPerSecond.per(Second))

A standard unit for measuring angular mechanisms' feedforward voltages based on a model of the system and a desired commanded angular acceleration.

Watt

final Power edu.wpi.first.units.Units.Watt = Watts

static

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

Watts

final Power edu.wpi.first.units.Units.Watts = BaseUnits.Power

static

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

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The documentation for this class was generated from the following file:

• D:/SDASVN/2024/RaspberryPi/VSCode/Source/edu/wpi/first/units/Units.java