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wpiunits/src/test/java/org/wpilib/units/VelocityUnitTest.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 static edu.wpi.first.units.Units.Feet;
+import static edu.wpi.first.units.Units.FeetPerSecond;
+import static edu.wpi.first.units.Units.Meters;
+import static edu.wpi.first.units.Units.MetersPerSecond;
+import static edu.wpi.first.units.Units.MetersPerSecondPerSecond;
+import static edu.wpi.first.units.Units.Millisecond;
+import static edu.wpi.first.units.Units.Minute;
+import static edu.wpi.first.units.Units.Radians;
+import static edu.wpi.first.units.Units.Second;
+import static edu.wpi.first.units.Units.Seconds;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertSame;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import org.junit.jupiter.api.Test;
+
+class VelocityUnitTest {
+  @Test
+  void testBaseUnit() {
+    assertTrue(MetersPerSecond.equivalent(MetersPerSecond));
+    assertTrue(Meters.per(Second).equivalent(MetersPerSecond));
+  }
+
+  @Test
+  void testToAcceleration() {
+    LinearAccelerationUnit metersPerSecondPerMillisecond = MetersPerSecond.per(Millisecond);
+
+    assertEquals(1000, metersPerSecondPerMillisecond.of(1).in(MetersPerSecondPerSecond), 0);
+    assertEquals(0, metersPerSecondPerMillisecond.of(0).in(MetersPerSecondPerSecond), 0);
+  }
+
+  @Test
+  void testCache() {
+    assertSame(
+        FeetPerSecond, Feet.per(Second), "Feet.per(Second) should return a cached object instance");
+
+    // completely arbitrary units chosen because they won't have already been cached
+    var someDistance = new AngleUnit(Radians, 123, "a", "a");
+    var someTime = new TimeUnit(Seconds, 123, "t", "t");
+    var firstInvocation = someDistance.per(someTime);
+    var secondInvocation = someDistance.per(someTime);
+    assertSame(
+        firstInvocation,
+        secondInvocation,
+        firstInvocation + " was not the same object as " + secondInvocation);
+  }
+
+  @Test
+  void testMult() {
+    // 92 per millisecond => 92,000 per second (base unit equivalent) => 5,520,000 per minute
+    var baseUnit = new ExampleUnit(92);
+    var vel = VelocityUnit.combine(baseUnit, Millisecond);
+    var mult = vel.mult(Minute);
+    assertEquals(1 / 92000.0, mult.fromBaseUnits(1), 1e-5);
+    assertEquals(5_520_000, mult.toBaseUnits(1), 1e-5);
+  }
+}