Use [pattern matching switch
expressions](https://docs.oracle.com/en/java/javase/17/language/pattern-matching-switch.html)
where possible. This is a JVM 21+ feature which wasn't available until
recently.
If you look at the Java bytecode, this improves performance from an O(n)
runtime check of literally each of the `if (x instanceof y)` checks to
instead be an O(1) tableswitch.
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Signed-off-by: Jonah Snider <jonah@jonahsnider.com>
As discussed in the discord. lb-in^2 is the common imperial MOI unit,
e.g. Onshape uses it.
Also, improved the Java docstring for `KilogramMetersSquaredPerSecond`
to explain what it represents.
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Co-authored-by: Benjamin Hall <bhall@ctr-electronics.com>
I left "free speed" alone since that's the technical term for it. In
general, velocity is a vector quantity, and speed is a magnitude (i.e.,
a strictly positive value).
This PR also replaces the speed verbiage in MotorController with duty
cycle.
Fixes#8423.
Currently the only name for this unit is `RPM`. This caused a bit of
confusion for a couple of my team members when we failed to find an RPM
unit, assuming it would be named `RotationsPerMinute` as is the standard
for almost all other units, such as `RotationsPerSecond`.
No corresponding changes have been made to wpilibc as it seems to
already work this way, with `rpm` being the abbreviation for
`revolutions_per_minute`.
I upgraded all plugins I could see except org.ysb33r.doxygen. 2.0 made
breaking changes, and I couldn't figure out how to migrate.
Most of the changes are for suppressing new linter purification rites.
This reverts commit 3dee19a435.
This was merged without sufficient review or discussion as to whether these units are value-add for the Java units library.
Instead of only providing per(TimeUnit)
Useful for making conversion factors easier, eg `Inches.of(10).per(Rotation)` vs `Inches.of(10).per(Rotation.one())`
Update VelocityUnit.one() and VelocityUnit.zero() to return Velocity objects instead of generic Measure<? extends VelocityUnit<D>>; VelocityUnit is final, so the wildcard generic is unnecessary, and this makes the generated `per` functions possible for this type
Java generics are too limited to do what we need. This refactors generic code previously in Unit and Measure into unit-specific classes that can have unit-safe math operations (notably, times and divide) that can return values in known units instead of a wildcarded Measure<?>.
Unit-specific measure implementations are automatically generated by ./wpiunits/generate_units.py, which generates generic interfaces and mutable and immutable implementations of those interfaces. These make up the bulk of the diff of this PR (approximately 9300 LOC).
This also adds units for angular and linear velocities, accelerations, and momenta; moment of inertia; and torque.
Uses enhanced instanceof (and simplify equals methods)
Uses switch expressions and arrow labels
Seal and finalize some Shuffleboard classes
Co-authored-by: Sam Carlberg <sam@slfc.dev>
Unit objects now have a reference to the base unit from which they're derived. Constructing a unit object without specifying a base unit implicitly signifies that it's its own base unit, eg new Angle(null, 1, "Radian", "rad") would be the base angle unit of radians, while new Angle(Radians, 2 * PI, "Rotation", "R") would be a new angle unit based on radians.
This fixes much of the hacky code surrounding the derived unit types Velocity, Per, and Mult, but is a breaking change for any user code that defines custom unit classes or uses the anonymous unit type.
To reduce the need for users to manually perform unit conversions, this allows Measure objects from wpiunits to be passed into most places in wpimath that currently expect doubles in terms of SI units like meters.
For example, users would need to know that unit conversion is required - and what the correct units are. Using units would be more difficult to write code for than just hardcoding a value or using Units.inchesToMeters.
Now, using units has no more developer overhead than using raw numbers.
