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wpiunits/src/main/java/org/wpilib/units/AngularVelocityUnit.java

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+// 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.AngularVelocity;
+
+/** A unit of angular velocity like {@link Units#RadiansPerSecond}. */
+public final class AngularVelocityUnit extends PerUnit<AngleUnit, TimeUnit> {
+  private static final CombinatoryUnitCache<AngleUnit, TimeUnit, AngularVelocityUnit> cache =
+      new CombinatoryUnitCache<>(AngularVelocityUnit::new);
+
+  AngularVelocityUnit(AngleUnit numerator, TimeUnit denominator) {
+    super(
+        numerator.isBaseUnit() && denominator.isBaseUnit()
+            ? null
+            : combine(numerator.getBaseUnit(), denominator.getBaseUnit()),
+        numerator,
+        denominator);
+  }
+
+  AngularVelocityUnit(
+      AngularVelocityUnit baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  /**
+   * Combines an angle unit and a period of time into a unit of angular velocity.
+   *
+   * @param angle the unit of the changing angle
+   * @param time the period of the changing angle
+   * @return the combined angular velocity unit
+   */
+  public static AngularVelocityUnit combine(AngleUnit angle, TimeUnit time) {
+    return cache.combine(angle, time);
+  }
+
+  @Override
+  public AngularVelocityUnit getBaseUnit() {
+    return (AngularVelocityUnit) super.getBaseUnit();
+  }
+
+  @Override
+  public AngularVelocity of(double magnitude) {
+    return new AngularVelocity(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public AngularVelocity ofBaseUnits(double baseUnitMagnitude) {
+    return new AngularVelocity(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public AngularVelocity zero() {
+    return (AngularVelocity) super.zero();
+  }
+
+  @Override
+  public AngularVelocity one() {
+    return (AngularVelocity) super.one();
+  }
+
+  @Override
+  public AngularAccelerationUnit per(TimeUnit period) {
+    return AngularAccelerationUnit.combine(this, period);
+  }
+
+  /**
+   * 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<AngularVelocityUnit, U> per(U other) {
+    return PerUnit.combine(this, other);
+  }
+
+  /**
+   * Converts a measurement value in terms of another unit to this unit.
+   *
+   * @param magnitude the magnitude of the measurement in terms of the other unit
+   * @param otherUnit the other unit
+   * @return the value of the measurement in terms of this unit
+   */
+  public double convertFrom(double magnitude, AngularVelocityUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+}