[wpiutil] Split units.h into separate headers for each unit (#2551)

Closes #2508. Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
2026-06-30 02:31:44 +00:00 · 2020-06-29 22:25:09 -07:00
parent c6e6346642
commit d30d1088da
169 changed files with 6851 additions and 5061 deletions
--- a/ThirdPartyNotices.txt
+++ b/ThirdPartyNotices.txt
@@ -36,7 +36,7 @@ CoreUI                wpiutil/src/main/native/resources/coreui-*
 Feather Icons         wpiutil/src/main/native/resources/feather-*
 jQuery                wpiutil/src/main/native/resources/jquery-*
 popper.js             wpiutil/src/main/native/resources/popper-*
-units                 wpiutil/src/main/native/include/units/units.h
+units                 wpiutil/src/main/native/include/units/
 Eigen                 wpiutil/src/main/native/eigeninclude/
 StackWalker           wpiutil/src/main/native/windows/StackWalker.*
 Team 254 Library      wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/SplineParameterizer.java
--- a/simulation/halsim_gui/src/main/native/cpp/Field2D.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/Field2D.cpp
@@ -16,7 +16,8 @@
 #define IMGUI_DEFINE_MATH_OPERATORS
 #include <hal/simulation/SimDeviceData.h>
 #include <imgui_internal.h>
-#include <units/units.h>
+#include <units/angle.h>
+#include <units/length.h>
 #include <wpi/Path.h>
 #include <wpi/SmallString.h>
 #include <wpi/json.h>
--- a/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
@@ -13,7 +13,7 @@
 #include <string>

 #include <frc/ErrorBase.h>
-#include <units/units.h>
+#include <units/time.h>
 #include <wpi/ArrayRef.h>
 #include <wpi/Demangle.h>
 #include <wpi/SmallSet.h>
--- a/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
@@ -16,7 +16,7 @@
 #include <frc/Watchdog.h>
 #include <frc/smartdashboard/Sendable.h>
 #include <frc/smartdashboard/SendableHelper.h>
-#include <units/units.h>
+#include <units/time.h>
 #include <wpi/ArrayRef.h>
 #include <wpi/FunctionExtras.h>

--- a/wpilibNewCommands/src/main/native/include/frc2/command/MecanumControllerCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/MecanumControllerCommand.h
@@ -18,7 +18,10 @@
 #include <frc/kinematics/MecanumDriveKinematics.h>
 #include <frc/kinematics/MecanumDriveWheelSpeeds.h>
 #include <frc/trajectory/Trajectory.h>
-#include <units/units.h>
+#include <units/angle.h>
+#include <units/length.h>
+#include <units/velocity.h>
+#include <units/voltage.h>
 #include <wpi/ArrayRef.h>

 #include "CommandBase.h"
--- a/wpilibNewCommands/src/main/native/include/frc2/command/NotifierCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/NotifierCommand.h
@@ -11,7 +11,7 @@
 #include <initializer_list>

 #include <frc/Notifier.h>
-#include <units/units.h>
+#include <units/time.h>
 #include <wpi/ArrayRef.h>

 #include "frc2/command/CommandBase.h"
--- a/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDCommand.h
@@ -12,7 +12,7 @@
 #include <utility>

 #include <frc/controller/ProfiledPIDController.h>
-#include <units/units.h>
+#include <units/time.h>
 #include <wpi/ArrayRef.h>

 #include "frc2/command/CommandBase.h"
--- a/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
@@ -8,7 +8,7 @@
 #pragma once

 #include <frc/controller/ProfiledPIDController.h>
-#include <units/units.h>
+#include <units/time.h>

 #include "frc2/command/SubsystemBase.h"

--- a/wpilibNewCommands/src/main/native/include/frc2/command/RamseteCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/RamseteCommand.h
@@ -17,7 +17,8 @@
 #include <frc/geometry/Pose2d.h>
 #include <frc/kinematics/DifferentialDriveKinematics.h>
 #include <frc/trajectory/Trajectory.h>
-#include <units/units.h>
+#include <units/length.h>
+#include <units/voltage.h>
 #include <wpi/ArrayRef.h>

 #include "frc2/Timer.h"
--- a/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.h
@@ -17,7 +17,9 @@
 #include <frc/kinematics/SwerveDriveKinematics.h>
 #include <frc/kinematics/SwerveModuleState.h>
 #include <frc/trajectory/Trajectory.h>
-#include <units/units.h>
+#include <units/length.h>
+#include <units/time.h>
+#include <units/voltage.h>
 #include <wpi/ArrayRef.h>

 #include "CommandBase.h"
--- a/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -8,7 +8,7 @@
 #pragma once

 #include <frc/trajectory/TrapezoidProfile.h>
-#include <units/units.h>
+#include <units/time.h>

 #include "frc2/command/SubsystemBase.h"

--- a/wpilibNewCommands/src/main/native/include/frc2/command/WaitCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/WaitCommand.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/time.h>

 #include "frc2/Timer.h"
 #include "frc2/command/CommandBase.h"
--- a/wpilibNewCommands/src/main/native/include/frc2/command/WaitUntilCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/WaitUntilCommand.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -9,7 +9,7 @@

 #include <functional>

-#include <units/units.h>
+#include <units/time.h>

 #include "frc2/command/CommandBase.h"
 #include "frc2/command/CommandHelper.h"
--- a/wpilibc/src/main/native/cpp/controller/RamseteController.cpp
+++ b/wpilibc/src/main/native/cpp/controller/RamseteController.cpp
@@ -9,6 +9,8 @@

 #include <cmath>

+#include <units/math.h>
+
 using namespace frc;

 /**
--- a/wpilibc/src/main/native/cpp/geometry/Rotation2d.cpp
+++ b/wpilibc/src/main/native/cpp/geometry/Rotation2d.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -9,6 +9,7 @@

 #include <cmath>

+#include <units/math.h>
 #include <wpi/json.h>

 using namespace frc;
--- a/wpilibc/src/main/native/cpp/geometry/Translation2d.cpp
+++ b/wpilibc/src/main/native/cpp/geometry/Translation2d.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,6 +7,7 @@

 #include "frc/geometry/Translation2d.h"

+#include <units/math.h>
 #include <wpi/json.h>

 using namespace frc;
--- a/wpilibc/src/main/native/cpp/kinematics/DifferentialDriveWheelSpeeds.cpp
+++ b/wpilibc/src/main/native/cpp/kinematics/DifferentialDriveWheelSpeeds.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,6 +7,8 @@

 #include "frc/kinematics/DifferentialDriveWheelSpeeds.h"

+#include <units/math.h>
+
 using namespace frc;

 void DifferentialDriveWheelSpeeds::Normalize(
--- a/wpilibc/src/main/native/cpp/kinematics/MecanumDriveWheelSpeeds.cpp
+++ b/wpilibc/src/main/native/cpp/kinematics/MecanumDriveWheelSpeeds.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -11,6 +11,8 @@
 #include <array>
 #include <cmath>

+#include <units/math.h>
+
 using namespace frc;

 void MecanumDriveWheelSpeeds::Normalize(
--- a/wpilibc/src/main/native/cpp/trajectory/Trajectory.cpp
+++ b/wpilibc/src/main/native/cpp/trajectory/Trajectory.cpp
@@ -7,6 +7,7 @@

 #include "frc/trajectory/Trajectory.h"

+#include <units/math.h>
 #include <wpi/json.h>

 using namespace frc;
--- a/wpilibc/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
+++ b/wpilibc/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
@@ -33,6 +33,8 @@

 #include <string>

+#include <units/math.h>
+
 using namespace frc;

 Trajectory TrajectoryParameterizer::TimeParameterizeTrajectory(
--- a/wpilibc/src/main/native/cpp/trajectory/constraint/CentripetalAccelerationConstraint.cpp
+++ b/wpilibc/src/main/native/cpp/trajectory/constraint/CentripetalAccelerationConstraint.cpp
@@ -7,6 +7,8 @@

 #include "frc/trajectory/constraint/CentripetalAccelerationConstraint.h"

+#include <units/math.h>
+
 using namespace frc;

 CentripetalAccelerationConstraint::CentripetalAccelerationConstraint(
--- a/wpilibc/src/main/native/cpp/trajectory/constraint/DifferentialDriveVoltageConstraint.cpp
+++ b/wpilibc/src/main/native/cpp/trajectory/constraint/DifferentialDriveVoltageConstraint.cpp
@@ -10,6 +10,7 @@
 #include <algorithm>
 #include <limits>

+#include <units/math.h>
 #include <wpi/MathExtras.h>

 using namespace frc;
--- a/wpilibc/src/main/native/cpp/trajectory/constraint/EllipticalRegionConstraint.cpp
+++ b/wpilibc/src/main/native/cpp/trajectory/constraint/EllipticalRegionConstraint.cpp
@@ -9,6 +9,8 @@

 #include <limits>

+#include <units/math.h>
+
 using namespace frc;

 EllipticalRegionConstraint::EllipticalRegionConstraint(
--- a/wpilibc/src/main/native/cpp/trajectory/constraint/MecanumDriveKinematicsConstraint.cpp
+++ b/wpilibc/src/main/native/cpp/trajectory/constraint/MecanumDriveKinematicsConstraint.cpp
@@ -7,6 +7,8 @@

 #include "frc/trajectory/constraint/MecanumDriveKinematicsConstraint.h"

+#include <units/math.h>
+
 using namespace frc;

 MecanumDriveKinematicsConstraint::MecanumDriveKinematicsConstraint(
--- a/wpilibc/src/main/native/include/frc/AddressableLED.h
+++ b/wpilibc/src/main/native/include/frc/AddressableLED.h
@@ -11,7 +11,7 @@

 #include <hal/AddressableLEDTypes.h>
 #include <hal/Types.h>
-#include <units/units.h>
+#include <units/time.h>
 #include <wpi/ArrayRef.h>

 #include "frc/ErrorBase.h"
--- a/wpilibc/src/main/native/include/frc/AnalogEncoder.h
+++ b/wpilibc/src/main/native/include/frc/AnalogEncoder.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -11,7 +11,7 @@

 #include <hal/SimDevice.h>
 #include <hal/Types.h>
-#include <units/units.h>
+#include <units/angle.h>

 #include "frc/AnalogTrigger.h"
 #include "frc/Counter.h"
--- a/wpilibc/src/main/native/include/frc/DMASample.h
+++ b/wpilibc/src/main/native/include/frc/DMASample.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -11,7 +11,7 @@

 #include <hal/AnalogInput.h>
 #include <hal/DMA.h>
-#include <units/units.h>
+#include <units/time.h>

 #include "frc/AnalogInput.h"
 #include "frc/Counter.h"
--- a/wpilibc/src/main/native/include/frc/DutyCycleEncoder.h
+++ b/wpilibc/src/main/native/include/frc/DutyCycleEncoder.h
@@ -11,7 +11,7 @@

 #include <hal/SimDevice.h>
 #include <hal/Types.h>
-#include <units/units.h>
+#include <units/angle.h>

 #include "frc/AnalogTrigger.h"
 #include "frc/Counter.h"
--- a/wpilibc/src/main/native/include/frc/IterativeRobotBase.h
+++ b/wpilibc/src/main/native/include/frc/IterativeRobotBase.h
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/time.h>
 #include <wpi/deprecated.h>

 #include "frc/RobotBase.h"
--- a/wpilibc/src/main/native/include/frc/LinearFilter.h
+++ b/wpilibc/src/main/native/include/frc/LinearFilter.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2015-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -13,7 +13,7 @@
 #include <vector>

 #include <hal/FRCUsageReporting.h>
-#include <units/units.h>
+#include <units/time.h>
 #include <wpi/ArrayRef.h>
 #include <wpi/circular_buffer.h>

--- a/wpilibc/src/main/native/include/frc/Notifier.h
+++ b/wpilibc/src/main/native/include/frc/Notifier.h
@@ -16,7 +16,7 @@
 #include <utility>

 #include <hal/Types.h>
-#include <units/units.h>
+#include <units/time.h>
 #include <wpi/Twine.h>
 #include <wpi/deprecated.h>
 #include <wpi/mutex.h>
--- a/wpilibc/src/main/native/include/frc/SPI.h
+++ b/wpilibc/src/main/native/include/frc/SPI.h
@@ -12,7 +12,7 @@
 #include <memory>

 #include <hal/SPITypes.h>
-#include <units/units.h>
+#include <units/time.h>
 #include <wpi/ArrayRef.h>
 #include <wpi/deprecated.h>

--- a/wpilibc/src/main/native/include/frc/SlewRateLimiter.h
+++ b/wpilibc/src/main/native/include/frc/SlewRateLimiter.h
@@ -11,7 +11,7 @@

 #include <algorithm>

-#include <units/units.h>
+#include <units/time.h>

 namespace frc {
 /**
--- a/wpilibc/src/main/native/include/frc/SpeedController.h
+++ b/wpilibc/src/main/native/include/frc/SpeedController.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2008-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/voltage.h>

 #include "frc/PIDOutput.h"

--- a/wpilibc/src/main/native/include/frc/TimedRobot.h
+++ b/wpilibc/src/main/native/include/frc/TimedRobot.h
@@ -8,7 +8,7 @@
 #pragma once

 #include <hal/Types.h>
-#include <units/units.h>
+#include <units/time.h>
 #include <wpi/deprecated.h>

 #include "frc/ErrorBase.h"
--- a/wpilibc/src/main/native/include/frc/Timer.h
+++ b/wpilibc/src/main/native/include/frc/Timer.h
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/time.h>
 #include <wpi/deprecated.h>
 #include <wpi/mutex.h>

--- a/wpilibc/src/main/native/include/frc/Tracer.h
+++ b/wpilibc/src/main/native/include/frc/Tracer.h
@@ -10,7 +10,6 @@
 #include <chrono>

 #include <hal/cpp/fpga_clock.h>
-#include <units/units.h>
 #include <wpi/StringMap.h>
 #include <wpi/StringRef.h>

--- a/wpilibc/src/main/native/include/frc/Watchdog.h
+++ b/wpilibc/src/main/native/include/frc/Watchdog.h
@@ -12,7 +12,7 @@
 #include <utility>

 #include <hal/cpp/fpga_clock.h>
-#include <units/units.h>
+#include <units/time.h>
 #include <wpi/SafeThread.h>
 #include <wpi/StringRef.h>
 #include <wpi/deprecated.h>
--- a/wpilibc/src/main/native/include/frc/controller/ArmFeedforward.h
+++ b/wpilibc/src/main/native/include/frc/controller/ArmFeedforward.h
@@ -7,7 +7,10 @@

 #pragma once

-#include <units/units.h>
+#include <units/angle.h>
+#include <units/angular_velocity.h>
+#include <units/math.h>
+#include <units/voltage.h>
 #include <wpi/MathExtras.h>

 namespace frc {
--- a/wpilibc/src/main/native/include/frc/controller/ControllerUtil.h
+++ b/wpilibc/src/main/native/include/frc/controller/ControllerUtil.h
@@ -10,7 +10,7 @@
 #include <cmath>
 #include <type_traits>

-#include <units/units.h>
+#include <units/math.h>

 namespace frc {

--- a/wpilibc/src/main/native/include/frc/controller/ElevatorFeedforward.h
+++ b/wpilibc/src/main/native/include/frc/controller/ElevatorFeedforward.h
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/voltage.h>
 #include <wpi/MathExtras.h>

 namespace frc {
--- a/wpilibc/src/main/native/include/frc/controller/PIDController.h
+++ b/wpilibc/src/main/native/include/frc/controller/PIDController.h
@@ -10,7 +10,7 @@
 #include <functional>
 #include <limits>

-#include <units/units.h>
+#include <units/time.h>

 #include "frc/smartdashboard/Sendable.h"
 #include "frc/smartdashboard/SendableHelper.h"
--- a/wpilibc/src/main/native/include/frc/controller/ProfiledPIDController.h
+++ b/wpilibc/src/main/native/include/frc/controller/ProfiledPIDController.h
@@ -12,7 +12,7 @@
 #include <functional>
 #include <limits>

-#include <units/units.h>
+#include <units/time.h>

 #include "frc/controller/ControllerUtil.h"
 #include "frc/controller/PIDController.h"
--- a/wpilibc/src/main/native/include/frc/controller/RamseteController.h
+++ b/wpilibc/src/main/native/include/frc/controller/RamseteController.h
@@ -7,7 +7,8 @@

 #pragma once

-#include <units/units.h>
+#include <units/angular_velocity.h>
+#include <units/velocity.h>

 #include "frc/geometry/Pose2d.h"
 #include "frc/kinematics/ChassisSpeeds.h"
--- a/wpilibc/src/main/native/include/frc/controller/SimpleMotorFeedforward.h
+++ b/wpilibc/src/main/native/include/frc/controller/SimpleMotorFeedforward.h
@@ -7,7 +7,8 @@

 #pragma once

-#include <units/units.h>
+#include <units/time.h>
+#include <units/voltage.h>
 #include <wpi/MathExtras.h>

 namespace frc {
--- a/wpilibc/src/main/native/include/frc/geometry/Rotation2d.h
+++ b/wpilibc/src/main/native/include/frc/geometry/Rotation2d.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/angle.h>

 namespace wpi {
 class json;
--- a/wpilibc/src/main/native/include/frc/geometry/Translation2d.h
+++ b/wpilibc/src/main/native/include/frc/geometry/Translation2d.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/length.h>

 #include "Rotation2d.h"

--- a/wpilibc/src/main/native/include/frc/geometry/Twist2d.h
+++ b/wpilibc/src/main/native/include/frc/geometry/Twist2d.h
@@ -1,12 +1,15 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/

 #pragma once
-#include <units/units.h>
+
+#include <units/angle.h>
+#include <units/length.h>
+#include <units/math.h>

 namespace frc {
 /**
--- a/wpilibc/src/main/native/include/frc/interfaces/Gyro.h
+++ b/wpilibc/src/main/native/include/frc/interfaces/Gyro.h
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/angle.h>

 #include "frc/geometry/Rotation2d.h"

--- a/wpilibc/src/main/native/include/frc/kinematics/ChassisSpeeds.h
+++ b/wpilibc/src/main/native/include/frc/kinematics/ChassisSpeeds.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,7 +7,8 @@

 #pragma once

-#include <units/units.h>
+#include <units/angular_velocity.h>
+#include <units/velocity.h>

 #include "frc/geometry/Rotation2d.h"

--- a/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
+++ b/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -8,7 +8,8 @@
 #pragma once

 #include <hal/FRCUsageReporting.h>
-#include <units/units.h>
+#include <units/angle.h>
+#include <units/length.h>

 #include "frc/kinematics/ChassisSpeeds.h"
 #include "frc/kinematics/DifferentialDriveWheelSpeeds.h"
--- a/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveOdometry.h
+++ b/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveOdometry.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/length.h>

 #include "DifferentialDriveKinematics.h"
 #include "frc/geometry/Pose2d.h"
--- a/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h
+++ b/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/velocity.h>

 namespace frc {
 /**
--- a/wpilibc/src/main/native/include/frc/kinematics/MecanumDriveOdometry.h
+++ b/wpilibc/src/main/native/include/frc/kinematics/MecanumDriveOdometry.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/time.h>

 #include "frc/geometry/Pose2d.h"
 #include "frc/kinematics/MecanumDriveKinematics.h"
--- a/wpilibc/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h
+++ b/wpilibc/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/velocity.h>

 namespace frc {
 /**
--- a/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
+++ b/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
@@ -13,7 +13,7 @@
 #include <Eigen/Core>
 #include <Eigen/QR>
 #include <hal/FRCUsageReporting.h>
-#include <units/units.h>
+#include <units/velocity.h>

 #include "frc/geometry/Rotation2d.h"
 #include "frc/geometry/Translation2d.h"
--- a/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc
+++ b/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc
@@ -9,6 +9,8 @@

 #include <algorithm>

+#include <units/math.h>
+
 namespace frc {

 template <class... Wheels>
--- a/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveOdometry.h
+++ b/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveOdometry.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -11,7 +11,7 @@
 #include <cstddef>
 #include <ctime>

-#include <units/units.h>
+#include <units/time.h>

 #include "SwerveDriveKinematics.h"
 #include "SwerveModuleState.h"
--- a/wpilibc/src/main/native/include/frc/kinematics/SwerveModuleState.h
+++ b/wpilibc/src/main/native/include/frc/kinematics/SwerveModuleState.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/velocity.h>

 #include "frc/geometry/Rotation2d.h"

--- a/wpilibc/src/main/native/include/frc/simulation/Field2d.h
+++ b/wpilibc/src/main/native/include/frc/simulation/Field2d.h
@@ -8,7 +8,7 @@
 #pragma once

 #include <hal/SimDevice.h>
-#include <units/units.h>
+#include <units/length.h>

 #include "frc/geometry/Pose2d.h"
 #include "frc/geometry/Rotation2d.h"
--- a/wpilibc/src/main/native/include/frc/spline/Spline.h
+++ b/wpilibc/src/main/native/include/frc/spline/Spline.h
@@ -12,7 +12,8 @@
 #include <vector>

 #include <Eigen/Core>
-#include <units/units.h>
+#include <units/curvature.h>
+#include <units/length.h>

 #include "frc/geometry/Pose2d.h"

--- a/wpilibc/src/main/native/include/frc/spline/SplineParameterizer.h
+++ b/wpilibc/src/main/native/include/frc/spline/SplineParameterizer.h
@@ -38,7 +38,10 @@
 #include <utility>
 #include <vector>

-#include <units/units.h>
+#include <units/angle.h>
+#include <units/curvature.h>
+#include <units/length.h>
+#include <units/math.h>
 #include <wpi/Twine.h>

 namespace frc {
--- a/wpilibc/src/main/native/include/frc/trajectory/Trajectory.h
+++ b/wpilibc/src/main/native/include/frc/trajectory/Trajectory.h
@@ -9,7 +9,10 @@

 #include <vector>

-#include <units/units.h>
+#include <units/acceleration.h>
+#include <units/curvature.h>
+#include <units/time.h>
+#include <units/velocity.h>

 #include "frc/geometry/Pose2d.h"
 #include "frc/geometry/Transform2d.h"
--- a/wpilibc/src/main/native/include/frc/trajectory/TrajectoryConfig.h
+++ b/wpilibc/src/main/native/include/frc/trajectory/TrajectoryConfig.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -11,7 +11,8 @@
 #include <utility>
 #include <vector>

-#include <units/units.h>
+#include <units/acceleration.h>
+#include <units/velocity.h>

 #include "frc/kinematics/DifferentialDriveKinematics.h"
 #include "frc/kinematics/MecanumDriveKinematics.h"
--- a/wpilibc/src/main/native/include/frc/trajectory/TrapezoidProfile.h
+++ b/wpilibc/src/main/native/include/frc/trajectory/TrapezoidProfile.h
@@ -8,7 +8,7 @@
 #pragma once

 #include <hal/FRCUsageReporting.h>
-#include <units/units.h>
+#include <units/time.h>

 namespace frc {

--- a/wpilibc/src/main/native/include/frc/trajectory/TrapezoidProfile.inc
+++ b/wpilibc/src/main/native/include/frc/trajectory/TrapezoidProfile.inc
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -9,6 +9,8 @@

 #include <algorithm>

+#include <units/math.h>
+
 namespace frc {
 template <class Distance>
 TrapezoidProfile<Distance>::TrapezoidProfile(Constraints constraints,
--- a/wpilibc/src/main/native/include/frc/trajectory/constraint/CentripetalAccelerationConstraint.h
+++ b/wpilibc/src/main/native/include/frc/trajectory/constraint/CentripetalAccelerationConstraint.h
@@ -7,7 +7,9 @@

 #pragma once

-#include <units/units.h>
+#include <units/acceleration.h>
+#include <units/curvature.h>
+#include <units/velocity.h>

 #include "frc/trajectory/constraint/TrajectoryConstraint.h"

--- a/wpilibc/src/main/native/include/frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h
+++ b/wpilibc/src/main/native/include/frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/velocity.h>

 #include "frc/kinematics/DifferentialDriveKinematics.h"
 #include "frc/trajectory/constraint/TrajectoryConstraint.h"
--- a/wpilibc/src/main/native/include/frc/trajectory/constraint/DifferentialDriveVoltageConstraint.h
+++ b/wpilibc/src/main/native/include/frc/trajectory/constraint/DifferentialDriveVoltageConstraint.h
@@ -7,7 +7,8 @@

 #pragma once

-#include <units/units.h>
+#include <units/length.h>
+#include <units/voltage.h>

 #include "frc/controller/SimpleMotorFeedforward.h"
 #include "frc/kinematics/DifferentialDriveKinematics.h"
--- a/wpilibc/src/main/native/include/frc/trajectory/constraint/EllipticalRegionConstraint.h
+++ b/wpilibc/src/main/native/include/frc/trajectory/constraint/EllipticalRegionConstraint.h
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/length.h>

 #include "frc/geometry/Rotation2d.h"
 #include "frc/geometry/Translation2d.h"
--- a/wpilibc/src/main/native/include/frc/trajectory/constraint/MaxVelocityConstraint.h
+++ b/wpilibc/src/main/native/include/frc/trajectory/constraint/MaxVelocityConstraint.h
@@ -7,7 +7,8 @@

 #pragma once

-#include <units/units.h>
+#include <units/math.h>
+#include <units/velocity.h>

 #include "frc/trajectory/constraint/TrajectoryConstraint.h"

--- a/wpilibc/src/main/native/include/frc/trajectory/constraint/MecanumDriveKinematicsConstraint.h
+++ b/wpilibc/src/main/native/include/frc/trajectory/constraint/MecanumDriveKinematicsConstraint.h
@@ -9,7 +9,7 @@

 #include <cmath>

-#include <units/units.h>
+#include <units/velocity.h>

 #include "frc/kinematics/MecanumDriveKinematics.h"
 #include "frc/trajectory/constraint/TrajectoryConstraint.h"
--- a/wpilibc/src/main/native/include/frc/trajectory/constraint/RectangularRegionConstraint.h
+++ b/wpilibc/src/main/native/include/frc/trajectory/constraint/RectangularRegionConstraint.h
@@ -7,8 +7,6 @@

 #pragma once

-#include <units/units.h>
-
 #include "frc/geometry/Rotation2d.h"
 #include "frc/geometry/Translation2d.h"
 #include "frc/trajectory/constraint/TrajectoryConstraint.h"
--- a/wpilibc/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.h
+++ b/wpilibc/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.h
@@ -9,7 +9,7 @@

 #include <cmath>

-#include <units/units.h>
+#include <units/velocity.h>

 #include "frc/kinematics/SwerveDriveKinematics.h"
 #include "frc/trajectory/constraint/TrajectoryConstraint.h"
--- a/wpilibc/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.inc
+++ b/wpilibc/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.inc
@@ -7,6 +7,8 @@

 #pragma once

+#include <units/math.h>
+
 namespace frc {

 template <size_t NumModules>
--- a/wpilibc/src/main/native/include/frc/trajectory/constraint/TrajectoryConstraint.h
+++ b/wpilibc/src/main/native/include/frc/trajectory/constraint/TrajectoryConstraint.h
@@ -9,7 +9,9 @@

 #include <limits>

-#include <units/units.h>
+#include <units/acceleration.h>
+#include <units/curvature.h>
+#include <units/velocity.h>

 #include "frc/geometry/Pose2d.h"
 #include "frc/spline/Spline.h"
--- a/wpilibc/src/main/native/include/frc2/Timer.h
+++ b/wpilibc/src/main/native/include/frc2/Timer.h
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/time.h>
 #include <wpi/deprecated.h>
 #include <wpi/mutex.h>

--- a/wpilibc/src/test/native/cpp/LinearFilterNoiseTest.cpp
+++ b/wpilibc/src/test/native/cpp/LinearFilterNoiseTest.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2015-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -11,7 +11,7 @@
 #include <memory>
 #include <random>

-#include <units/units.h>
+#include <units/time.h>
 #include <wpi/math>

 #include "gtest/gtest.h"
--- a/wpilibc/src/test/native/cpp/LinearFilterOutputTest.cpp
+++ b/wpilibc/src/test/native/cpp/LinearFilterOutputTest.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2015-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -12,7 +12,7 @@
 #include <memory>
 #include <random>

-#include <units/units.h>
+#include <units/time.h>
 #include <wpi/math>

 #include "gtest/gtest.h"
--- a/wpilibc/src/test/native/cpp/SlewRateLimiterTest.cpp
+++ b/wpilibc/src/test/native/cpp/SlewRateLimiterTest.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,6 +7,10 @@

 #include <thread>

+#include <units/length.h>
+#include <units/time.h>
+#include <units/velocity.h>
+
 #include "frc/SlewRateLimiter.h"
 #include "gtest/gtest.h"

--- a/wpilibc/src/test/native/cpp/controller/ControllerUtilTest.cpp
+++ b/wpilibc/src/test/native/cpp/controller/ControllerUtilTest.cpp
@@ -5,7 +5,7 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/

-#include <units/units.h>
+#include <units/angle.h>

 #include "frc/controller/ControllerUtil.h"
 #include "gtest/gtest.h"
--- a/wpilibc/src/test/native/cpp/controller/RamseteControllerTest.cpp
+++ b/wpilibc/src/test/native/cpp/controller/RamseteControllerTest.cpp
@@ -1,10 +1,11 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/

+#include <units/math.h>
 #include <wpi/math>

 #include "frc/controller/RamseteController.h"
--- a/wpilibc/src/test/native/cpp/kinematics/DifferentialDriveKinematicsTest.cpp
+++ b/wpilibc/src/test/native/cpp/kinematics/DifferentialDriveKinematicsTest.cpp
@@ -1,11 +1,13 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/

-#include <units/units.h>
+#include <units/angular_velocity.h>
+#include <units/length.h>
+#include <units/velocity.h>
 #include <wpi/math>

 #include "frc/kinematics/ChassisSpeeds.h"
--- a/wpilibc/src/test/native/cpp/kinematics/MecanumDriveKinematicsTest.cpp
+++ b/wpilibc/src/test/native/cpp/kinematics/MecanumDriveKinematicsTest.cpp
@@ -1,11 +1,11 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/

-#include <units/units.h>
+#include <units/angular_velocity.h>
 #include <wpi/math>

 #include "frc/geometry/Translation2d.h"
--- a/wpilibc/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp
+++ b/wpilibc/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp
@@ -1,11 +1,11 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/

-#include <units/units.h>
+#include <units/angular_velocity.h>
 #include <wpi/math>

 #include "frc/geometry/Translation2d.h"
--- a/wpilibc/src/test/native/cpp/spline/CubicHermiteSplineTest.cpp
+++ b/wpilibc/src/test/native/cpp/spline/CubicHermiteSplineTest.cpp
@@ -9,7 +9,7 @@
 #include <iostream>
 #include <vector>

-#include <units/units.h>
+#include <units/length.h>

 #include "frc/geometry/Pose2d.h"
 #include "frc/geometry/Rotation2d.h"
--- a/wpilibc/src/test/native/cpp/spline/QuinticHermiteSplineTest.cpp
+++ b/wpilibc/src/test/native/cpp/spline/QuinticHermiteSplineTest.cpp
@@ -8,7 +8,8 @@
 #include <chrono>
 #include <iostream>

-#include <units/units.h>
+#include <units/angle.h>
+#include <units/length.h>

 #include "frc/geometry/Pose2d.h"
 #include "frc/geometry/Rotation2d.h"
--- a/wpilibc/src/test/native/cpp/trajectory/CentripetalAccelerationConstraintTest.cpp
+++ b/wpilibc/src/test/native/cpp/trajectory/CentripetalAccelerationConstraintTest.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -8,7 +8,10 @@
 #include <memory>
 #include <vector>

-#include <units/units.h>
+#include <units/acceleration.h>
+#include <units/angle.h>
+#include <units/math.h>
+#include <units/velocity.h>

 #include "frc/trajectory/constraint/CentripetalAccelerationConstraint.h"
 #include "frc/trajectory/constraint/TrajectoryConstraint.h"
--- a/wpilibc/src/test/native/cpp/trajectory/DifferentialDriveKinematicsTest.cpp
+++ b/wpilibc/src/test/native/cpp/trajectory/DifferentialDriveKinematicsTest.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -8,7 +8,7 @@
 #include <memory>
 #include <vector>

-#include <units/units.h>
+#include <units/time.h>

 #include "frc/kinematics/DifferentialDriveKinematics.h"
 #include "frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h"
--- a/wpilibc/src/test/native/cpp/trajectory/DifferentialDriveVoltageTest.cpp
+++ b/wpilibc/src/test/native/cpp/trajectory/DifferentialDriveVoltageTest.cpp
@@ -9,7 +9,11 @@
 #include <memory>
 #include <vector>

-#include <units/units.h>
+#include <units/acceleration.h>
+#include <units/length.h>
+#include <units/time.h>
+#include <units/velocity.h>
+#include <units/voltage.h>

 #include "frc/geometry/Pose2d.h"
 #include "frc/kinematics/DifferentialDriveKinematics.h"
--- a/wpilibc/src/test/native/cpp/trajectory/EllipticalRegionConstraintTest.cpp
+++ b/wpilibc/src/test/native/cpp/trajectory/EllipticalRegionConstraintTest.cpp
@@ -7,7 +7,10 @@

 #include <vector>

-#include <units/units.h>
+#include <units/acceleration.h>
+#include <units/angle.h>
+#include <units/length.h>
+#include <units/velocity.h>

 #include "frc/kinematics/DifferentialDriveKinematics.h"
 #include "frc/trajectory/constraint/EllipticalRegionConstraint.h"
--- a/wpilibc/src/test/native/cpp/trajectory/RectangularRegionConstraintTest.cpp
+++ b/wpilibc/src/test/native/cpp/trajectory/RectangularRegionConstraintTest.cpp
@@ -7,7 +7,10 @@

 #include <vector>

-#include <units/units.h>
+#include <units/acceleration.h>
+#include <units/length.h>
+#include <units/math.h>
+#include <units/velocity.h>

 #include "frc/kinematics/DifferentialDriveKinematics.h"
 #include "frc/trajectory/constraint/MaxVelocityConstraint.h"
--- a/wpilibc/src/test/native/cpp/trajectory/TrajectoryGeneratorTest.cpp
+++ b/wpilibc/src/test/native/cpp/trajectory/TrajectoryGeneratorTest.cpp
@@ -7,6 +7,8 @@

 #include <vector>

+#include <units/math.h>
+
 #include "frc/trajectory/Trajectory.h"
 #include "frc/trajectory/TrajectoryGenerator.h"
 #include "frc/trajectory/constraint/CentripetalAccelerationConstraint.h"
--- a/wpilibc/src/test/native/cpp/trajectory/TrapezoidProfileTest.cpp
+++ b/wpilibc/src/test/native/cpp/trajectory/TrapezoidProfileTest.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -10,6 +10,11 @@
 #include <chrono>
 #include <cmath>

+#include <units/acceleration.h>
+#include <units/length.h>
+#include <units/math.h>
+#include <units/velocity.h>
+
 #include "gtest/gtest.h"

 static constexpr auto kDt = 10_ms;
--- a/wpilibcExamples/src/main/cpp/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.cpp
+++ b/wpilibcExamples/src/main/cpp/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,13 +7,16 @@

 #include "ReplaceMeProfiledPIDCommand.h"

+#include <units/acceleration.h>
+#include <units/velocity.h>
+
 // NOTE:  Consider using this command inline, rather than writing a subclass.
 // For more information, see:
 // https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
 ReplaceMeProfiledPIDCommand::ReplaceMeProfiledPIDCommand()
    : CommandHelper(
          // The ProfiledPIDController that the command will use
-          frc::ProfiledPIDController<units::meter>(
+          frc::ProfiledPIDController<units::meters>(
              // The PID gains
              0, 0, 0,
              // The motion profile constraints
@@ -22,11 +25,11 @@ ReplaceMeProfiledPIDCommand::ReplaceMeProfiledPIDCommand()
          [] { return 0_m; },
          // This should return the goal state (can also be a constant)
          [] {
-            return frc::TrapezoidProfile<units::meter>::State{0_m, 0_mps};
+            return frc::TrapezoidProfile<units::meters>::State{0_m, 0_mps};
          },
          // This uses the output and current trajectory setpoint
          [](double output,
-             frc::TrapezoidProfile<units::meter>::State setpoint) {
+             frc::TrapezoidProfile<units::meters>::State setpoint) {
            // Use the output and setpoint here
          }) {}

--- a/wpilibcExamples/src/main/cpp/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.h
+++ b/wpilibcExamples/src/main/cpp/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -9,9 +9,10 @@

 #include <frc2/command/CommandHelper.h>
 #include <frc2/command/ProfiledPIDCommand.h>
+#include <units/length.h>

 class ReplaceMeProfiledPIDCommand
-    : public frc2::CommandHelper<frc2::ProfiledPIDCommand<units::meter>,
+    : public frc2::CommandHelper<frc2::ProfiledPIDCommand<units::meters>,
                                 ReplaceMeProfiledPIDCommand> {
 public:
  ReplaceMeProfiledPIDCommand();
--- a/wpilibcExamples/src/main/cpp/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,17 +7,20 @@

 #include "ReplaceMeProfiledPIDSubsystem.h"

+#include <units/acceleration.h>
+#include <units/velocity.h>
+
 ReplaceMeProfiledPIDSubsystem::ReplaceMeProfiledPIDSubsystem()
    : ProfiledPIDSubsystem(
          // The ProfiledPIDController used by the subsystem
-          frc::ProfiledPIDController<units::meter>(
+          frc::ProfiledPIDController<units::meters>(
              // The PID gains
              0, 0, 0,
              // The constraints for the motion profiles
              {0_mps, 0_mps_sq})) {}

 void ReplaceMeProfiledPIDSubsystem::UseOutput(
-    double output, frc::TrapezoidProfile<units::meter>::State setpoint) {
+    double output, frc::TrapezoidProfile<units::meters>::State setpoint) {
  // Use the output and current trajectory setpoint here
 }

--- a/wpilibcExamples/src/main/cpp/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -8,15 +8,16 @@
 #pragma once

 #include <frc2/command/ProfiledPIDSubsystem.h>
+#include <units/length.h>

 class ReplaceMeProfiledPIDSubsystem
-    : public frc2::ProfiledPIDSubsystem<units::meter> {
+    : public frc2::ProfiledPIDSubsystem<units::meters> {
 public:
  ReplaceMeProfiledPIDSubsystem();

 protected:
  void UseOutput(double output,
-                 frc::TrapezoidProfile<units::meter>::State setpoint) override;
+                 frc::TrapezoidProfile<units::meters>::State setpoint) override;

  units::meter_t GetMeasurement() override;
 };
--- a/wpilibcExamples/src/main/cpp/commands/trapezoidprofilecommand/ReplaceMeTrapezoidProfileCommand.cpp
+++ b/wpilibcExamples/src/main/cpp/commands/trapezoidprofilecommand/ReplaceMeTrapezoidProfileCommand.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,19 +7,22 @@

 #include "ReplaceMeTrapezoidProfileCommand.h"

+#include <units/acceleration.h>
+#include <units/velocity.h>
+
 // NOTE:  Consider using this command inline, rather than writing a subclass.
 // For more information, see:
 // https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
 ReplaceMeTrapezoidProfileCommand::ReplaceMeTrapezoidProfileCommand()
    : CommandHelper
      // The profile to execute
-      (frc::TrapezoidProfile<units::meter>(
+      (frc::TrapezoidProfile<units::meters>(
           // The maximum velocity and acceleration of the profile
           {5_mps, 5_mps_sq},
           // The goal state of the profile
           {10_m, 0_mps},
           // The initial state of the profile
           {0_m, 0_mps}),
-       [](frc::TrapezoidProfile<units::meter>::State state) {
+       [](frc::TrapezoidProfile<units::meters>::State state) {
         // Use the computed intermediate trajectory state here
       }) {}
--- a/wpilibcExamples/src/main/cpp/commands/trapezoidprofilecommand/ReplaceMeTrapezoidProfileCommand.h
+++ b/wpilibcExamples/src/main/cpp/commands/trapezoidprofilecommand/ReplaceMeTrapezoidProfileCommand.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -9,9 +9,10 @@

 #include <frc2/command/CommandHelper.h>
 #include <frc2/command/TrapezoidProfileCommand.h>
+#include <units/length.h>

 class ReplaceMeTrapezoidProfileCommand
-    : public frc2::CommandHelper<frc2::TrapezoidProfileCommand<units::meter>,
+    : public frc2::CommandHelper<frc2::TrapezoidProfileCommand<units::meters>,
                                 ReplaceMeTrapezoidProfileCommand> {
 public:
  ReplaceMeTrapezoidProfileCommand();
--- a/Show More
+++ b/Show More