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

Closes #2508. Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
2026-06-20 00:51:42 +00:00 · 2020-06-29 22:25:09 -07:00
parent c6e6346642
commit d30d1088da
169 changed files with 6851 additions and 5061 deletions
--- 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/wpilibcExamples/src/main/cpp/commands/trapezoidprofilesubsystem/ReplaceMeTrapezoidProfileSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/commands/trapezoidprofilesubsystem/ReplaceMeTrapezoidProfileSubsystem.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 +7,9 @@

 #include "ReplaceMeTrapezoidProfileSubsystem.h"

+#include <units/acceleration.h>
+#include <units/velocity.h>
+
 ReplaceMeTrapezoidProfileSubsystem::ReplaceMeTrapezoidProfileSubsystem()
    : TrapezoidProfileSubsystem(
          // The motion profile constraints
--- a/wpilibcExamples/src/main/cpp/commands/trapezoidprofilesubsystem/ReplaceMeTrapezoidProfileSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/commands/trapezoidprofilesubsystem/ReplaceMeTrapezoidProfileSubsystem.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.                                                               */
@@ -8,6 +8,7 @@
 #pragma once

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

 class ReplaceMeTrapezoidProfileSubsystem
    : frc2::TrapezoidProfileSubsystem<units::meters> {
--- a/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.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.                                                               */
@@ -9,7 +9,7 @@

 #include <frc/shuffleboard/Shuffleboard.h>
 #include <frc2/command/button/JoystickButton.h>
-#include <units/units.h>
+#include <units/angle.h>

 RobotContainer::RobotContainer() {
  // Initialize all of your commands and subsystems here
--- a/wpilibcExamples/src/main/cpp/examples/ArmBot/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBot/include/Constants.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 +7,10 @@

 #pragma once

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

 /**
--- a/wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/ArmSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/ArmSubsystem.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 <frc/PWMVictorSPX.h>
 #include <frc/controller/ArmFeedforward.h>
 #include <frc2/command/ProfiledPIDSubsystem.h>
-#include <units/units.h>
+#include <units/angle.h>

 /**
 * A robot arm subsystem that moves with a motion profile.
--- a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.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.                                                               */
@@ -9,7 +9,7 @@

 #include <frc/shuffleboard/Shuffleboard.h>
 #include <frc2/command/button/JoystickButton.h>
-#include <units/units.h>
+#include <units/angle.h>

 RobotContainer::RobotContainer() {
  // Initialize all of your commands and subsystems here
--- a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Constants.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 +7,10 @@

 #pragma once

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

 /**
--- a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/ArmSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/ArmSubsystem.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 <frc/controller/ArmFeedforward.h>
 #include <frc2/command/TrapezoidProfileSubsystem.h>
-#include <units/units.h>
+#include <units/angle.h>

 #include "ExampleSmartMotorController.h"

--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
@@ -15,7 +15,10 @@
 #include <frc/controller/SimpleMotorFeedforward.h>
 #include <frc/kinematics/DifferentialDriveKinematics.h>
 #include <frc/kinematics/DifferentialDriveOdometry.h>
-#include <units/units.h>
+#include <units/angle.h>
+#include <units/angular_velocity.h>
+#include <units/length.h>
+#include <units/velocity.h>
 #include <wpi/math>

 /**
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.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 +7,11 @@

 #pragma once

-#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 <wpi/math>

 /**
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/subsystems/DriveSubsystem.h
@@ -12,7 +12,7 @@
 #include <frc/drive/DifferentialDrive.h>
 #include <frc/trajectory/TrapezoidProfile.h>
 #include <frc2/command/SubsystemBase.h>
-#include <units/units.h>
+#include <units/length.h>

 #include "Constants.h"
 #include "ExampleSmartMotorController.h"
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.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.                                                               */
@@ -11,7 +11,10 @@
 #include <frc/TimedRobot.h>
 #include <frc/controller/ProfiledPIDController.h>
 #include <frc/trajectory/TrapezoidProfile.h>
-#include <units/units.h>
+#include <units/acceleration.h>
+#include <units/length.h>
+#include <units/time.h>
+#include <units/velocity.h>
 #include <wpi/math>

 class Robot : public frc::TimedRobot {
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.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.                                                               */
@@ -9,7 +9,11 @@
 #include <frc/TimedRobot.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
 #include <frc/trajectory/TrapezoidProfile.h>
-#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 <wpi/math>

 #include "ExampleSmartMotorController.h"
@@ -33,8 +37,8 @@ class Robot : public frc::TimedRobot {
    // Create a motion profile with the given maximum velocity and maximum
    // acceleration constraints for the next setpoint, the desired goal, and the
    // current setpoint.
-    frc::TrapezoidProfile<units::meter> profile{m_constraints, m_goal,
-                                                m_setpoint};
+    frc::TrapezoidProfile<units::meters> profile{m_constraints, m_goal,
+                                                 m_setpoint};

    // Retrieve the profiled setpoint for the next timestep. This setpoint moves
    // toward the goal while obeying the constraints.
--- a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Constants.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 +7,9 @@

 #pragma once

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

 /**
--- a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/ShooterSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/ShooterSubsystem.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 <frc/PWMVictorSPX.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
 #include <frc2/command/PIDSubsystem.h>
-#include <units/units.h>
+#include <units/angle.h>

 class ShooterSubsystem : public frc2::PIDSubsystem {
 public:
--- a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Constants.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/angle.h>
+#include <units/angular_velocity.h>
 #include <wpi/math>

 /**
--- a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/subsystems/DriveSubsystem.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.                                                               */
@@ -13,7 +13,7 @@
 #include <frc/SpeedControllerGroup.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc2/command/SubsystemBase.h>
-#include <units/units.h>
+#include <units/angle.h>

 #include "Constants.h"

--- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp
@@ -7,7 +7,9 @@

 #include "subsystems/DriveSubsystem.h"

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

 #include "Constants.h"

--- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Constants.h
@@ -8,7 +8,13 @@
 #include <frc/geometry/Translation2d.h>
 #include <frc/kinematics/MecanumDriveKinematics.h>
 #include <frc/trajectory/TrapezoidProfile.h>
-#include <units/units.h>
+#include <units/acceleration.h>
+#include <units/angle.h>
+#include <units/angular_velocity.h>
+#include <units/length.h>
+#include <units/time.h>
+#include <units/velocity.h>
+#include <units/voltage.h>
 #include <wpi/math>

 #pragma once
--- a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
@@ -7,7 +7,11 @@

 #include <frc/kinematics/DifferentialDriveKinematics.h>
 #include <frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h>
-#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 <wpi/math>

 #pragma once
--- a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h
@@ -15,7 +15,7 @@
 #include <frc/geometry/Pose2d.h>
 #include <frc/kinematics/DifferentialDriveOdometry.h>
 #include <frc2/command/SubsystemBase.h>
-#include <units/units.h>
+#include <units/voltage.h>

 #include "Constants.h"

--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h
@@ -13,6 +13,10 @@
 #include <frc/controller/ProfiledPIDController.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
 #include <frc/kinematics/SwerveModuleState.h>
+#include <units/angular_velocity.h>
+#include <units/time.h>
+#include <units/velocity.h>
+#include <units/voltage.h>
 #include <wpi/math>

 class SwerveModule {
@@ -43,8 +47,8 @@ class SwerveModule {
      0.0,
      {kModuleMaxAngularVelocity, kModuleMaxAngularAcceleration}};

-  frc::SimpleMotorFeedforward<units::meter> m_driveFeedforward{1_V,
-                                                               3_V / 1_mps};
+  frc::SimpleMotorFeedforward<units::meters> m_driveFeedforward{1_V,
+                                                                3_V / 1_mps};
  frc::SimpleMotorFeedforward<units::radians> m_turnFeedforward{
      1_V, 0.5_V / 1_rad_per_s};
 };
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.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.                                                               */
@@ -16,7 +16,8 @@
 #include <frc2/command/SequentialCommandGroup.h>
 #include <frc2/command/SwerveControllerCommand.h>
 #include <frc2/command/button/JoystickButton.h>
-#include <units/units.h>
+#include <units/angle.h>
+#include <units/velocity.h>

 #include "Constants.h"
 #include "subsystems/DriveSubsystem.h"
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/DriveSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/DriveSubsystem.cpp
@@ -8,7 +8,9 @@
 #include "subsystems/DriveSubsystem.h"

 #include <frc/geometry/Rotation2d.h>
-#include <units/units.h>
+#include <units/angle.h>
+#include <units/angular_velocity.h>
+#include <units/velocity.h>

 #include "Constants.h"

--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Constants.h
@@ -8,7 +8,13 @@
 #include <frc/geometry/Translation2d.h>
 #include <frc/kinematics/SwerveDriveKinematics.h>
 #include <frc/trajectory/TrapezoidProfile.h>
-#include <units/units.h>
+#include <units/acceleration.h>
+#include <units/angle.h>
+#include <units/angular_velocity.h>
+#include <units/length.h>
+#include <units/time.h>
+#include <units/velocity.h>
+#include <units/voltage.h>
 #include <wpi/math>

 #pragma once