From 3e6c0d0b718a3609c9c1edd0b1f2859b037405bf Mon Sep 17 00:00:00 2001
From: Nicholas Armstrong <narmstro@warren.k12.in.us>
Date: Mon, 22 Apr 2024 21:09:18 -0500
Subject: [PATCH] [wpiunits] Add Acceleration and MOI Units (#6495)

---
 .../main/java/edu/wpi/first/units/Units.java  | 26 +++++++++++++++++++
 1 file changed, 26 insertions(+)

diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Units.java b/wpiunits/src/main/java/edu/wpi/first/units/Units.java
index 4652763273..825acf4b5b 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Units.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Units.java
@@ -182,6 +182,27 @@ public final class Units {
   public static final Velocity<Velocity<Distance>> MetersPerSecondPerSecond =
       MetersPerSecond.per(Second);
 
+  /**
+   * A unit of angular acceleration equivalent to accelerating at a rate of one {@link #Rotations
+   * Rotation} per {@link #Second} every second.
+   */
+  public static final Velocity<Velocity<Angle>> RotationsPerSecondPerSecond =
+      RotationsPerSecond.per(Second);
+
+  /**
+   * The standard SI unit of angular acceleration, equivalent to accelerating at a rate of one
+   * {@link #Radians Radian} per {@link #Second} every second.
+   */
+  public static final Velocity<Velocity<Angle>> RadiansPerSecondPerSecond =
+      RadiansPerSecond.per(Second);
+
+  /**
+   * A unit of angular acceleration equivalent to accelerating at a rate of one {@link #Degrees
+   * Degree} per {@link #Second} every second.
+   */
+  public static final Velocity<Velocity<Angle>> DegreesPerSecondPerSecond =
+      DegreesPerSecond.per(Second);
+
   /**
    * A unit of acceleration equivalent to the pull of gravity on an object at sea level on Earth.
    */
@@ -223,6 +244,11 @@ public final class Units {
   /** 1/16 of a {@link #Pound}. */
   public static final Mass Ounce = Ounces; // alias
 
+  // Moment of Inertia
+  /** The base SI unit for moment of inertia. */
+  public static final Mult<Mult<Mass, Distance>, Distance> KilogramSquareMeters =
+      Kilograms.mult(Meters).mult(Meters);
+
   // Unitless
   /** A dimensionless unit that performs no scaling whatsoever. */
   public static final Dimensionless Value = BaseUnits.Value;