[wpiunits] Add resistance units (#7168)

wpiunits/generate_units.py

@@ -51,6 +51,7 @@ MATH_OPERATION_UNITS = [
     "Mult<?, ?>",
     "Per<?, ?>",
     "Power",
+    "Resistance",
     "Temperature",
     "Time",
     "Torque",
@@ -91,7 +92,11 @@ UNIT_CONFIGURATIONS = {
         """
         ),
     },
-    "Current": {"base_unit": "Amps", "multiply": {"Voltage": "Power"}, "divide": {}},
+    "Current": {
+        "base_unit": "Amps",
+        "multiply": {"Voltage": "Power", "Resistance": "Voltage"},
+        "divide": {},
+    },
     "Dimensionless": {
         "base_unit": "Value",
         "multiply": {
@@ -111,6 +116,7 @@ UNIT_CONFIGURATIONS = {
             "Mass": "Mass",
             "MomentOfInertia": "MomentOfInertia",
             "Power": "Power",
+            "Resistance": "Resistance",
             "Temperature": "Temperature",
             "Time": "Time",
             "Torque": "Torque",
@@ -225,6 +231,13 @@ UNIT_CONFIGURATIONS = {
         },
         "divide": {"Voltage": "Current", "Current": "Voltage", "Energy": "Frequency"},
     },
+    "Resistance": {
+        "base_unit": "Ohms",
+        "multiply": {
+            "Current": "Voltage",
+        },
+        "divide": {},
+    },
     "Temperature": {"base_unit": "Kelvin", "multiply": {}, "divide": {}},
     "Time": {
         "base_unit": "Seconds",
@@ -272,7 +285,16 @@ UNIT_CONFIGURATIONS = {
         },
         "divide": {},
     },
-    "Voltage": {"base_unit": "Volts", "multiply": {"Current": "Power"}, "divide": {}},
+    "Voltage": {
+        "base_unit": "Volts",
+        "multiply": {
+            "Current": "Power",
+        },
+        "divide": {
+            "Resistance": "Current",
+            "Current": "Resistance",
+        },
+    },
 }
 
 
@@ -331,7 +353,6 @@ def indent(multiline_string, indentation):
 
 
 def main():
-
     dirname, _ = os.path.split(os.path.abspath(__file__))
 
     env = Environment(

wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Acceleration.java

@@ -277,6 +277,17 @@ public interface Acceleration<D extends Unit> extends Measure<AccelerationUnit<D
   }
 
 
+  @Override
+  default Mult<AccelerationUnit<D>, ResistanceUnit> times(Resistance multiplier) {
+    return (Mult<AccelerationUnit<D>, ResistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AccelerationUnit<D>, ResistanceUnit> divide(Resistance divisor) {
+    return (Per<AccelerationUnit<D>, ResistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
   @Override
   default Mult<AccelerationUnit<D>, TemperatureUnit> times(Temperature multiplier) {
     return (Mult<AccelerationUnit<D>, TemperatureUnit>) Measure.super.times(multiplier);

wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Angle.java

@@ -277,6 +277,17 @@ public interface Angle extends Measure<AngleUnit> {
   }
 
 
+  @Override
+  default Mult<AngleUnit, ResistanceUnit> times(Resistance multiplier) {
+    return (Mult<AngleUnit, ResistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngleUnit, ResistanceUnit> divide(Resistance divisor) {
+    return (Per<AngleUnit, ResistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
   @Override
   default Mult<AngleUnit, TemperatureUnit> times(Temperature multiplier) {
     return (Mult<AngleUnit, TemperatureUnit>) Measure.super.times(multiplier);

wpiunits/src/generated/main/java/edu/wpi/first/units/measure/AngularAcceleration.java

@@ -277,6 +277,17 @@ public interface AngularAcceleration extends Measure<AngularAccelerationUnit> {
   }
 
 
+  @Override
+  default Mult<AngularAccelerationUnit, ResistanceUnit> times(Resistance multiplier) {
+    return (Mult<AngularAccelerationUnit, ResistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularAccelerationUnit, ResistanceUnit> divide(Resistance divisor) {
+    return (Per<AngularAccelerationUnit, ResistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
   @Override
   default Mult<AngularAccelerationUnit, TemperatureUnit> times(Temperature multiplier) {
     return (Mult<AngularAccelerationUnit, TemperatureUnit>) Measure.super.times(multiplier);

wpiunits/src/generated/main/java/edu/wpi/first/units/measure/AngularMomentum.java

@@ -277,6 +277,17 @@ public interface AngularMomentum extends Measure<AngularMomentumUnit> {
   }
 
 
+  @Override
+  default Mult<AngularMomentumUnit, ResistanceUnit> times(Resistance multiplier) {
+    return (Mult<AngularMomentumUnit, ResistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularMomentumUnit, ResistanceUnit> divide(Resistance divisor) {
+    return (Per<AngularMomentumUnit, ResistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
   @Override
   default Mult<AngularMomentumUnit, TemperatureUnit> times(Temperature multiplier) {
     return (Mult<AngularMomentumUnit, TemperatureUnit>) Measure.super.times(multiplier);

wpiunits/src/generated/main/java/edu/wpi/first/units/measure/AngularVelocity.java

@@ -277,6 +277,17 @@ public interface AngularVelocity extends Measure<AngularVelocityUnit> {
   }
 
 
+  @Override
+  default Mult<AngularVelocityUnit, ResistanceUnit> times(Resistance multiplier) {
+    return (Mult<AngularVelocityUnit, ResistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularVelocityUnit, ResistanceUnit> divide(Resistance divisor) {
+    return (Per<AngularVelocityUnit, ResistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
   @Override
   default Mult<AngularVelocityUnit, TemperatureUnit> times(Temperature multiplier) {
     return (Mult<AngularVelocityUnit, TemperatureUnit>) Measure.super.times(multiplier);

wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Current.java

@@ -277,6 +277,17 @@ public interface Current extends Measure<CurrentUnit> {
   }
 
 
+  @Override
+  default Voltage times(Resistance multiplier) {
+    return Volts.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<CurrentUnit, ResistanceUnit> divide(Resistance divisor) {
+    return (Per<CurrentUnit, ResistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
   @Override
   default Mult<CurrentUnit, TemperatureUnit> times(Temperature multiplier) {
     return (Mult<CurrentUnit, TemperatureUnit>) Measure.super.times(multiplier);

wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Dimensionless.java

@@ -277,6 +277,17 @@ public interface Dimensionless extends Measure<DimensionlessUnit> {
   }
 
 
+  @Override
+  default Resistance times(Resistance multiplier) {
+    return Ohms.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<DimensionlessUnit, ResistanceUnit> divide(Resistance divisor) {
+    return (Per<DimensionlessUnit, ResistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
   @Override
   default Temperature times(Temperature multiplier) {
     return Kelvin.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());

wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Distance.java

@@ -277,6 +277,17 @@ public interface Distance extends Measure<DistanceUnit> {
   }
 
 
+  @Override
+  default Mult<DistanceUnit, ResistanceUnit> times(Resistance multiplier) {
+    return (Mult<DistanceUnit, ResistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<DistanceUnit, ResistanceUnit> divide(Resistance divisor) {
+    return (Per<DistanceUnit, ResistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
   @Override
   default Mult<DistanceUnit, TemperatureUnit> times(Temperature multiplier) {
     return (Mult<DistanceUnit, TemperatureUnit>) Measure.super.times(multiplier);

wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Energy.java

@@ -277,6 +277,17 @@ public interface Energy extends Measure<EnergyUnit> {
   }
 
 
+  @Override
+  default Mult<EnergyUnit, ResistanceUnit> times(Resistance multiplier) {
+    return (Mult<EnergyUnit, ResistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<EnergyUnit, ResistanceUnit> divide(Resistance divisor) {
+    return (Per<EnergyUnit, ResistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
   @Override
   default Mult<EnergyUnit, TemperatureUnit> times(Temperature multiplier) {
     return (Mult<EnergyUnit, TemperatureUnit>) Measure.super.times(multiplier);

wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Force.java

@@ -277,6 +277,17 @@ public interface Force extends Measure<ForceUnit> {
   }
 
 
+  @Override
+  default Mult<ForceUnit, ResistanceUnit> times(Resistance multiplier) {
+    return (Mult<ForceUnit, ResistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ForceUnit, ResistanceUnit> divide(Resistance divisor) {
+    return (Per<ForceUnit, ResistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
   @Override
   default Mult<ForceUnit, TemperatureUnit> times(Temperature multiplier) {
     return (Mult<ForceUnit, TemperatureUnit>) Measure.super.times(multiplier);

wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Frequency.java

@@ -277,6 +277,17 @@ public interface Frequency extends Measure<FrequencyUnit> {
   }
 
 
+  @Override
+  default Mult<FrequencyUnit, ResistanceUnit> times(Resistance multiplier) {
+    return (Mult<FrequencyUnit, ResistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<FrequencyUnit, ResistanceUnit> divide(Resistance divisor) {
+    return (Per<FrequencyUnit, ResistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
   @Override
   default Mult<FrequencyUnit, TemperatureUnit> times(Temperature multiplier) {
     return (Mult<FrequencyUnit, TemperatureUnit>) Measure.super.times(multiplier);

wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableResistance.java

@@ -0,0 +1,28 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public record ImmutableResistance(double magnitude, double baseUnitMagnitude, ResistanceUnit unit) implements Resistance {
+  @Override
+  public Resistance copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    return o instanceof Measure<?> m && isEquivalent(m);
+  }
+}

wpiunits/src/generated/main/java/edu/wpi/first/units/measure/LinearAcceleration.java

@@ -277,6 +277,17 @@ public interface LinearAcceleration extends Measure<LinearAccelerationUnit> {
   }
 
 
+  @Override
+  default Mult<LinearAccelerationUnit, ResistanceUnit> times(Resistance multiplier) {
+    return (Mult<LinearAccelerationUnit, ResistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearAccelerationUnit, ResistanceUnit> divide(Resistance divisor) {
+    return (Per<LinearAccelerationUnit, ResistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
   @Override
   default Mult<LinearAccelerationUnit, TemperatureUnit> times(Temperature multiplier) {
     return (Mult<LinearAccelerationUnit, TemperatureUnit>) Measure.super.times(multiplier);

wpiunits/src/generated/main/java/edu/wpi/first/units/measure/LinearMomentum.java

@@ -277,6 +277,17 @@ public interface LinearMomentum extends Measure<LinearMomentumUnit> {
   }
 
 
+  @Override
+  default Mult<LinearMomentumUnit, ResistanceUnit> times(Resistance multiplier) {
+    return (Mult<LinearMomentumUnit, ResistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearMomentumUnit, ResistanceUnit> divide(Resistance divisor) {
+    return (Per<LinearMomentumUnit, ResistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
   @Override
   default Mult<LinearMomentumUnit, TemperatureUnit> times(Temperature multiplier) {
     return (Mult<LinearMomentumUnit, TemperatureUnit>) Measure.super.times(multiplier);

wpiunits/src/generated/main/java/edu/wpi/first/units/measure/LinearVelocity.java

@@ -277,6 +277,17 @@ public interface LinearVelocity extends Measure<LinearVelocityUnit> {
   }
 
 
+  @Override
+  default Mult<LinearVelocityUnit, ResistanceUnit> times(Resistance multiplier) {
+    return (Mult<LinearVelocityUnit, ResistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearVelocityUnit, ResistanceUnit> divide(Resistance divisor) {
+    return (Per<LinearVelocityUnit, ResistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
   @Override
   default Mult<LinearVelocityUnit, TemperatureUnit> times(Temperature multiplier) {
     return (Mult<LinearVelocityUnit, TemperatureUnit>) Measure.super.times(multiplier);

wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Mass.java

@@ -277,6 +277,17 @@ public interface Mass extends Measure<MassUnit> {
   }
 
 
+  @Override
+  default Mult<MassUnit, ResistanceUnit> times(Resistance multiplier) {
+    return (Mult<MassUnit, ResistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MassUnit, ResistanceUnit> divide(Resistance divisor) {
+    return (Per<MassUnit, ResistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
   @Override
   default Mult<MassUnit, TemperatureUnit> times(Temperature multiplier) {
     return (Mult<MassUnit, TemperatureUnit>) Measure.super.times(multiplier);

wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MomentOfInertia.java

@@ -277,6 +277,17 @@ public interface MomentOfInertia extends Measure<MomentOfInertiaUnit> {
   }
 
 
+  @Override
+  default Mult<MomentOfInertiaUnit, ResistanceUnit> times(Resistance multiplier) {
+    return (Mult<MomentOfInertiaUnit, ResistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MomentOfInertiaUnit, ResistanceUnit> divide(Resistance divisor) {
+    return (Per<MomentOfInertiaUnit, ResistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
   @Override
   default Mult<MomentOfInertiaUnit, TemperatureUnit> times(Temperature multiplier) {
     return (Mult<MomentOfInertiaUnit, TemperatureUnit>) Measure.super.times(multiplier);

wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Mult.java

@@ -277,6 +277,17 @@ public interface Mult<A extends Unit, B extends Unit> extends Measure<MultUnit<A
   }
 
 
+  @Override
+  default Mult<MultUnit<A, B>, ResistanceUnit> times(Resistance multiplier) {
+    return (Mult<MultUnit<A, B>, ResistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MultUnit<A, B>, ResistanceUnit> divide(Resistance divisor) {
+    return (Per<MultUnit<A, B>, ResistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
   @Override
   default Mult<MultUnit<A, B>, TemperatureUnit> times(Temperature multiplier) {
     return (Mult<MultUnit<A, B>, TemperatureUnit>) Measure.super.times(multiplier);

wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutResistance.java

@@ -0,0 +1,25 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+import edu.wpi.first.units.mutable.MutableMeasureBase;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public final class MutResistance
+  extends MutableMeasureBase<ResistanceUnit, Resistance, MutResistance>
+  implements Resistance {
+  public MutResistance(double magnitude, double baseUnitMagnitude, ResistanceUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public Resistance copy() {
+    return new ImmutableResistance(magnitude(), baseUnitMagnitude(), unit());
+  }
+}

wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Per.java

@@ -277,6 +277,17 @@ public interface Per<Dividend extends Unit, Divisor extends Unit> extends Measur
   }
 
 
+  @Override
+  default Mult<PerUnit<Dividend, Divisor>, ResistanceUnit> times(Resistance multiplier) {
+    return (Mult<PerUnit<Dividend, Divisor>, ResistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PerUnit<Dividend, Divisor>, ResistanceUnit> divide(Resistance divisor) {
+    return (Per<PerUnit<Dividend, Divisor>, ResistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
   @Override
   default Mult<PerUnit<Dividend, Divisor>, TemperatureUnit> times(Temperature multiplier) {
     return (Mult<PerUnit<Dividend, Divisor>, TemperatureUnit>) Measure.super.times(multiplier);

wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Power.java

@@ -277,6 +277,17 @@ public interface Power extends Measure<PowerUnit> {
   }
 
 
+  @Override
+  default Mult<PowerUnit, ResistanceUnit> times(Resistance multiplier) {
+    return (Mult<PowerUnit, ResistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PowerUnit, ResistanceUnit> divide(Resistance divisor) {
+    return (Per<PowerUnit, ResistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
   @Override
   default Mult<PowerUnit, TemperatureUnit> times(Temperature multiplier) {
     return (Mult<PowerUnit, TemperatureUnit>) Measure.super.times(multiplier);

wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Resistance.java

@@ -0,0 +1,345 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public interface Resistance extends Measure<ResistanceUnit> {
+  static  Resistance ofRelativeUnits(double magnitude, ResistanceUnit unit) {
+    return new ImmutableResistance(magnitude, unit.toBaseUnits(magnitude), unit);
+  }
+
+  static  Resistance ofBaseUnits(double baseUnitMagnitude, ResistanceUnit unit) {
+    return new ImmutableResistance(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
+  }
+
+  @Override
+  Resistance copy();
+
+  @Override
+  default MutResistance mutableCopy() {
+    return new MutResistance(magnitude(), baseUnitMagnitude(), unit());
+  }
+
+  @Override
+  ResistanceUnit unit();
+
+  @Override
+  default ResistanceUnit baseUnit() { return (ResistanceUnit) unit().getBaseUnit(); }
+
+  @Override
+  default double in(ResistanceUnit unit) {
+    return unit.fromBaseUnits(baseUnitMagnitude());
+  }
+
+  @Override
+  default Resistance unaryMinus() {
+    return (Resistance) unit().ofBaseUnits(0 - baseUnitMagnitude());
+  }
+
+  @Override
+  default Resistance plus(Measure<? extends ResistanceUnit> other) {
+    return (Resistance) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Resistance minus(Measure<? extends ResistanceUnit> other) {
+    return (Resistance) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Resistance times(double multiplier) {
+    return (Resistance) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
+  }
+
+  @Override
+  default Resistance divide(double divisor) {
+    return (Resistance) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
+  }
+
+  @Override
+  default Velocity<ResistanceUnit> per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+
+
+  @Override
+  default Mult<ResistanceUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
+    return (Mult<ResistanceUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ResistanceUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
+    return (Per<ResistanceUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ResistanceUnit, AngleUnit> times(Angle multiplier) {
+    return (Mult<ResistanceUnit, AngleUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ResistanceUnit, AngleUnit> divide(Angle divisor) {
+    return (Per<ResistanceUnit, AngleUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ResistanceUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
+    return (Mult<ResistanceUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ResistanceUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
+    return (Per<ResistanceUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ResistanceUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
+    return (Mult<ResistanceUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ResistanceUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
+    return (Per<ResistanceUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ResistanceUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
+    return (Mult<ResistanceUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ResistanceUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
+    return (Per<ResistanceUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Voltage times(Current multiplier) {
+    return Volts.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<ResistanceUnit, CurrentUnit> divide(Current divisor) {
+    return (Per<ResistanceUnit, CurrentUnit>) Measure.super.divide(divisor);
+  }
+
+  @Override
+  default Resistance divide(Dimensionless divisor) {
+    return (Resistance) Ohms.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  @Override
+  default Resistance times(Dimensionless multiplier) {
+    return (Resistance) Ohms.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<ResistanceUnit, DistanceUnit> times(Distance multiplier) {
+    return (Mult<ResistanceUnit, DistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ResistanceUnit, DistanceUnit> divide(Distance divisor) {
+    return (Per<ResistanceUnit, DistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ResistanceUnit, EnergyUnit> times(Energy multiplier) {
+    return (Mult<ResistanceUnit, EnergyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ResistanceUnit, EnergyUnit> divide(Energy divisor) {
+    return (Per<ResistanceUnit, EnergyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ResistanceUnit, ForceUnit> times(Force multiplier) {
+    return (Mult<ResistanceUnit, ForceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ResistanceUnit, ForceUnit> divide(Force divisor) {
+    return (Per<ResistanceUnit, ForceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ResistanceUnit, FrequencyUnit> times(Frequency multiplier) {
+    return (Mult<ResistanceUnit, FrequencyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ResistanceUnit, FrequencyUnit> divide(Frequency divisor) {
+    return (Per<ResistanceUnit, FrequencyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ResistanceUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
+    return (Mult<ResistanceUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ResistanceUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
+    return (Per<ResistanceUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ResistanceUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
+    return (Mult<ResistanceUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ResistanceUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
+    return (Per<ResistanceUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ResistanceUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
+    return (Mult<ResistanceUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ResistanceUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
+    return (Per<ResistanceUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ResistanceUnit, MassUnit> times(Mass multiplier) {
+    return (Mult<ResistanceUnit, MassUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ResistanceUnit, MassUnit> divide(Mass divisor) {
+    return (Per<ResistanceUnit, MassUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ResistanceUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
+    return (Mult<ResistanceUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ResistanceUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
+    return (Per<ResistanceUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ResistanceUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
+    return (Mult<ResistanceUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ResistanceUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
+    return (Per<ResistanceUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ResistanceUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
+    return (Mult<ResistanceUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ResistanceUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
+    return (Per<ResistanceUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ResistanceUnit, PowerUnit> times(Power multiplier) {
+    return (Mult<ResistanceUnit, PowerUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ResistanceUnit, PowerUnit> divide(Power divisor) {
+    return (Per<ResistanceUnit, PowerUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ResistanceUnit, ResistanceUnit> times(Resistance multiplier) {
+    return (Mult<ResistanceUnit, ResistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Dimensionless divide(Resistance divisor) {
+    return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<ResistanceUnit, TemperatureUnit> times(Temperature multiplier) {
+    return (Mult<ResistanceUnit, TemperatureUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ResistanceUnit, TemperatureUnit> divide(Temperature divisor) {
+    return (Per<ResistanceUnit, TemperatureUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ResistanceUnit, TimeUnit> times(Time multiplier) {
+    return (Mult<ResistanceUnit, TimeUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Velocity<ResistanceUnit> divide(Time divisor) {
+    return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<ResistanceUnit, TorqueUnit> times(Torque multiplier) {
+    return (Mult<ResistanceUnit, TorqueUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ResistanceUnit, TorqueUnit> divide(Torque divisor) {
+    return (Per<ResistanceUnit, TorqueUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ResistanceUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
+    return (Mult<ResistanceUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ResistanceUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
+    return (Per<ResistanceUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ResistanceUnit, VoltageUnit> times(Voltage multiplier) {
+    return (Mult<ResistanceUnit, VoltageUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ResistanceUnit, VoltageUnit> divide(Voltage divisor) {
+    return (Per<ResistanceUnit, VoltageUnit>) Measure.super.divide(divisor);
+  }
+
+}

wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Temperature.java

@@ -277,6 +277,17 @@ public interface Temperature extends Measure<TemperatureUnit> {
   }
 
 
+  @Override
+  default Mult<TemperatureUnit, ResistanceUnit> times(Resistance multiplier) {
+    return (Mult<TemperatureUnit, ResistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TemperatureUnit, ResistanceUnit> divide(Resistance divisor) {
+    return (Per<TemperatureUnit, ResistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
   @Override
   default Mult<TemperatureUnit, TemperatureUnit> times(Temperature multiplier) {
     return (Mult<TemperatureUnit, TemperatureUnit>) Measure.super.times(multiplier);

wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Time.java

@@ -277,6 +277,17 @@ public interface Time extends Measure<TimeUnit> {
   }
 
 
+  @Override
+  default Mult<TimeUnit, ResistanceUnit> times(Resistance multiplier) {
+    return (Mult<TimeUnit, ResistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TimeUnit, ResistanceUnit> divide(Resistance divisor) {
+    return (Per<TimeUnit, ResistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
   @Override
   default Mult<TimeUnit, TemperatureUnit> times(Temperature multiplier) {
     return (Mult<TimeUnit, TemperatureUnit>) Measure.super.times(multiplier);

wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Torque.java

@@ -277,6 +277,17 @@ public interface Torque extends Measure<TorqueUnit> {
   }
 
 
+  @Override
+  default Mult<TorqueUnit, ResistanceUnit> times(Resistance multiplier) {
+    return (Mult<TorqueUnit, ResistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TorqueUnit, ResistanceUnit> divide(Resistance divisor) {
+    return (Per<TorqueUnit, ResistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
   @Override
   default Mult<TorqueUnit, TemperatureUnit> times(Temperature multiplier) {
     return (Mult<TorqueUnit, TemperatureUnit>) Measure.super.times(multiplier);

wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Velocity.java

@@ -277,6 +277,17 @@ public interface Velocity<D extends Unit> extends Measure<VelocityUnit<D>> {
   }
 
 
+  @Override
+  default Mult<VelocityUnit<D>, ResistanceUnit> times(Resistance multiplier) {
+    return (Mult<VelocityUnit<D>, ResistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VelocityUnit<D>, ResistanceUnit> divide(Resistance divisor) {
+    return (Per<VelocityUnit<D>, ResistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
   @Override
   default Mult<VelocityUnit<D>, TemperatureUnit> times(Temperature multiplier) {
     return (Mult<VelocityUnit<D>, TemperatureUnit>) Measure.super.times(multiplier);

wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Voltage.java

@@ -130,8 +130,8 @@ public interface Voltage extends Measure<VoltageUnit> {
   }
 
   @Override
-  default Per<VoltageUnit, CurrentUnit> divide(Current divisor) {
-    return (Per<VoltageUnit, CurrentUnit>) Measure.super.divide(divisor);
+  default Resistance divide(Current divisor) {
+    return Ohms.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
   }
 
   @Override
@@ -277,6 +277,17 @@ public interface Voltage extends Measure<VoltageUnit> {
   }
 
 
+  @Override
+  default Mult<VoltageUnit, ResistanceUnit> times(Resistance multiplier) {
+    return (Mult<VoltageUnit, ResistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Current divide(Resistance divisor) {
+    return Amps.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
   @Override
   default Mult<VoltageUnit, TemperatureUnit> times(Temperature multiplier) {
     return (Mult<VoltageUnit, TemperatureUnit>) Measure.super.times(multiplier);

wpiunits/src/main/java/edu/wpi/first/units/Measure.java

@@ -25,6 +25,7 @@ import edu.wpi.first.units.measure.MomentOfInertia;
 import edu.wpi.first.units.measure.Mult;
 import edu.wpi.first.units.measure.Per;
 import edu.wpi.first.units.measure.Power;
+import edu.wpi.first.units.measure.Resistance;
 import edu.wpi.first.units.measure.Temperature;
 import edu.wpi.first.units.measure.Time;
 import edu.wpi.first.units.measure.Torque;
@@ -246,6 +247,8 @@ public interface Measure<U extends Unit> extends Comparable<Measure<U>> {
       return times(velocity);
     } else if (multiplier instanceof Voltage voltage) {
       return times(voltage);
+    } else if (multiplier instanceof Resistance resistance) {
+      return times(resistance);
     } else {
       // Dimensional analysis fallthrough or a generic input measure type
       // Do a basic unit multiplication
@@ -530,6 +533,18 @@ public interface Measure<U extends Unit> extends Comparable<Measure<U>> {
         .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
   }
 
+  /**
+   * Multiplies this measure by a resistance and returns the resulting measure in the most
+   * appropriate unit.
+   *
+   * @param multiplier the measurement to multiply by.
+   * @return the multiplication result
+   */
+  default Measure<?> times(Resistance multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
   /**
    * Multiplies this measure by a conversion factor, returning the converted measurement. Unlike
    * {@link #times(Per)}, this allows for basic unit cancellation to return measurements of a known
@@ -687,6 +702,8 @@ public interface Measure<U extends Unit> extends Comparable<Measure<U>> {
       return divide(velocity);
     } else if (divisor instanceof Voltage voltage) {
       return divide(voltage);
+    } else if (divisor instanceof Resistance resistance) {
+      return divide(resistance);
     } else {
       // Dimensional analysis fallthrough or a generic input measure type
       // Do a basic unit multiplication
@@ -957,6 +974,17 @@ public interface Measure<U extends Unit> extends Comparable<Measure<U>> {
         .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
   }
 
+  /**
+   * Divides this measure by a resistance and returns the result in the most appropriate unit.
+   *
+   * @param divisor the measurement to divide by.
+   * @return the division result
+   */
+  default Measure<?> divide(Resistance divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
   /**
    * Divides this measure by a ratio in terms of this measurement's unit to another unit, returning
    * a measurement in terms of the other unit.

wpiunits/src/main/java/edu/wpi/first/units/ResistanceUnit.java

@@ -0,0 +1,104 @@
+// 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 edu.wpi.first.units;
+
+import edu.wpi.first.units.measure.ImmutableResistance;
+import edu.wpi.first.units.measure.MutResistance;
+import edu.wpi.first.units.measure.Resistance;
+
+/**
+ * Unit of resistance dimension.
+ *
+ * <p>This is the base type for units of resistance dimension. It is also used to specify the
+ * dimension for {@link Measure}: <code>Measure&lt;ResistanceUnit&gt;</code>.
+ *
+ * <p>Actual units (such as {@link Units#Ohms} and {@link Units#KiloOhms}) can be found in the
+ * {@link Units} class.
+ */
+public final class ResistanceUnit extends PerUnit<VoltageUnit, CurrentUnit> {
+  private static final CombinatoryUnitCache<VoltageUnit, CurrentUnit, ResistanceUnit> cache =
+      new CombinatoryUnitCache<>(ResistanceUnit::new);
+
+  ResistanceUnit(VoltageUnit numerator, CurrentUnit denominator) {
+    super(
+        numerator.isBaseUnit() && denominator.isBaseUnit()
+            ? null
+            : combine(numerator.getBaseUnit(), denominator.getBaseUnit()),
+        numerator,
+        denominator);
+  }
+
+  ResistanceUnit(
+      ResistanceUnit baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  /**
+   * Combines an voltage and a current unit to form a unit of resistance.
+   *
+   * @param voltage the unit of voltage
+   * @param current the unit of current
+   * @return the combined unit of resistance
+   */
+  public static ResistanceUnit combine(VoltageUnit voltage, CurrentUnit current) {
+    return cache.combine(voltage, current);
+  }
+
+  @Override
+  public ResistanceUnit getBaseUnit() {
+    return (ResistanceUnit) super.getBaseUnit();
+  }
+
+  @Override
+  public Resistance of(double magnitude) {
+    return new ImmutableResistance(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public Resistance ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableResistance(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public Resistance zero() {
+    return (Resistance) super.zero();
+  }
+
+  @Override
+  public Resistance one() {
+    return (Resistance) super.one();
+  }
+
+  @Override
+  public MutResistance mutable(double initialMagnitude) {
+    return new MutResistance(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+
+  /**
+   * Creates a ratio unit between this unit and an arbitrary other unit.
+   *
+   * @param other the other unit
+   * @param <U> the type of the other unit
+   * @return the ratio unit
+   */
+  public <U extends Unit> PerUnit<ResistanceUnit, U> per(U other) {
+    return PerUnit.combine(this, other);
+  }
+
+  /**
+   * Converts a measurement value in terms of another power unit to this unit.
+   *
+   * @param magnitude the magnitude of the measurement in terms of the other power unit
+   * @param otherUnit the other power unit
+   * @return the value of the measurement in terms of this unit
+   */
+  public double convertFrom(double magnitude, ResistanceUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+}

wpiunits/src/main/java/edu/wpi/first/units/Units.java

@@ -412,6 +412,25 @@ public final class Units {
    */
   public static final CurrentUnit Milliamp = Milliamps; // alias
 
+  // ResistanceUnit
+  /** The base unit of resistance. Equivalent to one {@link #Volt} per {@link #Amp}. */
+  public static final ResistanceUnit Ohms = derive(Volts.per(Amp)).named("Ohm").symbol("Ω").make();
+
+  /** The base unit of resistance. Equivalent to one {@link #Volt} per {@link #Amp}. */
+  public static final ResistanceUnit Ohm = Ohms; // alias
+
+  /** A unit equal to 1,000 {@link #Ohms}. */
+  public static final ResistanceUnit KiloOhms = Kilo(Ohms);
+
+  /** A unit equal to 1,000 {@link #Ohms}. */
+  public static final ResistanceUnit KiloOhm = KiloOhms; // alias
+
+  /** A unit equal to 1/1000 of a {@link #Ohm}. */
+  public static final ResistanceUnit MilliOhms = Milli(Ohms);
+
+  /** A unit equal to 1/1000 of a {@link #Ohm}. */
+  public static final ResistanceUnit MilliOhm = MilliOhms; // alias
+
   // EnergyUnit
   /** The base unit of energy. */
   public static final EnergyUnit Joules = BaseUnits.EnergyUnit;

wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java

@@ -81,6 +81,16 @@ public final class VoltageUnit extends Unit {
     return VelocityUnit.combine(this, period);
   }
 
+  /**
+   * Combines this unit of voltage with a unit of current to form a unit of resistance.
+   *
+   * @param currentUnit the unit of current
+   * @return the combined resistance unit
+   */
+  public ResistanceUnit per(CurrentUnit currentUnit) {
+    return ResistanceUnit.combine(this, currentUnit);
+  }
+
   /**
    * Creates a generic ratio unit of this voltage to a different unit type.
    *