Class YUnits

java.lang.Object
yams.core.units.YUnits
public class YUnits extends Object
YUnits that are fun and useful!

This class extends the standard WPILib unit set with additional units that are either useful for FRC robotics or simply entertaining. Beyond what WPILib provides out of the box, YUnits adds:

Example

import yams.core.units.YUnits;
import static org.wpilib.units.Units.Meters;
import static org.wpilib.units.Units.MetersPerSecond;

// Convert a robot speed from MPH to meters per second
double speedMps = YUnits.MPH.of(10).in(MetersPerSecond);  // ~4.47 m/s

// Express angular acceleration in RPM per second
var accel = YUnits.RPMPerSecond.of(50);  // 50 RPM/s

// Use PoundSquareInches for a flywheel moment of inertia
var moi = YUnits.PoundSquareInches.of(0.004);

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final org.wpilib.units.DistanceUnit
    Chain
    20.1168 (Except in India, where it is 20 meters) Units.Meterss, or 66 Units.Feet.
    static final org.wpilib.units.DistanceUnit
    Chains
    20.1168 (Except in India, where it is 20 meters) Units.Meterss, or 66 Units.Feet.
    static final org.wpilib.units.DistanceUnit
    Cubit
    457.2/1000 of a Units.Meters, or 18 Units.Inches.
    static final org.wpilib.units.DistanceUnit
    Cubits
    457.2/1000 of a Units.Meters, or 18 Units.Inches.
    static final org.wpilib.units.TimeUnit
    Days
    24 Hours.
    static final org.wpilib.units.DistanceUnit
    Fathom
    1.8288 Units.Meterss, or 6 Units.Feet.
    static final org.wpilib.units.DistanceUnit
    Fathoms
    1.8288 Units.Meterss, or 6 Units.Feet.
    static final org.wpilib.units.DistanceUnit
    FootlongSandwich
    1 Units.Feet, or Sandwich
    static final org.wpilib.units.TimeUnit
    Fortnight
    2 Weeks.
    static final org.wpilib.units.LinearVelocityUnit
    FPF
    1 Furlongs per Fortnight.
    static final org.wpilib.units.DistanceUnit
    Furlong
    201.168 Units.Meterss, or 10 Chains.
    static final org.wpilib.units.DistanceUnit
    Furlongs
    201.168 Units.Meterss, or 10 Chains.
    static final org.wpilib.units.LinearVelocityUnit
    FurlongsPerFortnight
    1 Furlongs per Fortnight.
    static final org.wpilib.units.DistanceUnit
    Hand
    101.6/1000 of a Units.Meters, or 4 Units.Inches.
    static final org.wpilib.units.DistanceUnit
    Hands
    101.6/1000 of a Units.Meters, or 4 Units.Inches.
    static final org.wpilib.units.TimeUnit
    Hour
    Alias for Hours to make combined unit definitions read more smoothly.
    static final org.wpilib.units.TimeUnit
    Hours
    60 Units.Minutes.
    static final org.wpilib.units.DistanceUnit
    League
    4828.032 Units.Meterss, or 3 Miles.
    static final org.wpilib.units.DistanceUnit
    Leagues
    4828.032 Units.Meterss, or 3 Miles.
    static final org.wpilib.units.DistanceUnit
    Mile
    1609.344 Units.Meterss, or 5280 Units.Feet.
    static final org.wpilib.units.DistanceUnit
    Miles
    1609.344 Units.Meterss, or 5280 Units.Feet.
    static final org.wpilib.units.LinearVelocityUnit
    MilesPerHour
    1 Miles per Hour.
    static final org.wpilib.units.LinearVelocityUnit
    MPH
    1 Miles per Hour.
    static final org.wpilib.units.LinearMomentumUnit
    PoundFeetPerSecond
    Pounds * Feet/Second
    static final org.wpilib.units.AngularMomentumUnit
    PoundFeetSquaredPerSecond
    Pounds * Feet^2/Second
    static final org.wpilib.units.LinearMomentumUnit
    PoundInchesPerSecond
    Pounds * Inches/Second
    static final org.wpilib.units.AngularMomentumUnit
    PoundInchesSquaredPerSecond
    Pounds * Inches^2/Second
    static final org.wpilib.units.MomentOfInertiaUnit
    PoundSquareFeet
    Pounds^2 * Inches * Radians/Second
    static final org.wpilib.units.MomentOfInertiaUnit
    PoundSquareInches
    Pounds^2 * Inches *Radians/Second
    static final org.wpilib.units.AngularAccelerationUnit
    RotationsPerMinutePerSecond
    1 Units.RPM per Units.Second
    static final org.wpilib.units.AngularVelocityUnit
    RotationsPerYear
    1 Units.Rotations per Year.
    static final org.wpilib.units.AngularAccelerationUnit
    RPMPerSecond
    1 Units.RPM per Units.Second
    static final org.wpilib.units.AngularVelocityUnit
    RPY
    1 Units.Rotations per Year.
    static final org.wpilib.units.LinearVelocityUnit
    SandwichPerSecond
    1 FootlongSandwich per Units.Second
    static final org.wpilib.units.TimeUnit
    Weeks
    7 Days.
    static final org.wpilib.units.DistanceUnit
    Yard
    914.4/1000 of a Units.Meters, or 3 Units.Feet.
    static final org.wpilib.units.DistanceUnit
    Yards
    914.4/1000 of a Units.Meters, or 3 Units.Feet.
    static final org.wpilib.units.TimeUnit
    Year
    Alias for Years to make combined unit definitions read more smoothly.
    static final org.wpilib.units.TimeUnit
    Years
    525600 Units.Minutes.

  • Method Summary

    Methods inherited from class Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Field Details

    • PoundFeetPerSecond

      public static final org.wpilib.units.LinearMomentumUnit PoundFeetPerSecond
      Pounds * Feet/Second

    • PoundInchesPerSecond

      public static final org.wpilib.units.LinearMomentumUnit PoundInchesPerSecond
      Pounds * Inches/Second

    • PoundFeetSquaredPerSecond

      public static final org.wpilib.units.AngularMomentumUnit PoundFeetSquaredPerSecond
      Pounds * Feet^2/Second

    • PoundInchesSquaredPerSecond

      public static final org.wpilib.units.AngularMomentumUnit PoundInchesSquaredPerSecond
      Pounds * Inches^2/Second

    • PoundSquareFeet

      public static final org.wpilib.units.MomentOfInertiaUnit PoundSquareFeet
      Pounds^2 * Inches * Radians/Second

    • PoundSquareInches

      public static final org.wpilib.units.MomentOfInertiaUnit PoundSquareInches
      Pounds^2 * Inches *Radians/Second

    • Hands

      public static final org.wpilib.units.DistanceUnit Hands
      101.6/1000 of a Units.Meters, or 4 Units.Inches.

    • Hand

      public static final org.wpilib.units.DistanceUnit Hand
      101.6/1000 of a Units.Meters, or 4 Units.Inches.

    • Yards

      public static final org.wpilib.units.DistanceUnit Yards
      914.4/1000 of a Units.Meters, or 3 Units.Feet.

    • Yard

      public static final org.wpilib.units.DistanceUnit Yard
      914.4/1000 of a Units.Meters, or 3 Units.Feet.

    • Cubits

      public static final org.wpilib.units.DistanceUnit Cubits
      457.2/1000 of a Units.Meters, or 18 Units.Inches.

    • Cubit

      public static final org.wpilib.units.DistanceUnit Cubit
      457.2/1000 of a Units.Meters, or 18 Units.Inches.

    • Fathoms

      public static final org.wpilib.units.DistanceUnit Fathoms
      1.8288 Units.Meterss, or 6 Units.Feet.

    • FootlongSandwich

      public static final org.wpilib.units.DistanceUnit FootlongSandwich
      1 Units.Feet, or Sandwich

    • Fathom

      public static final org.wpilib.units.DistanceUnit Fathom
      1.8288 Units.Meterss, or 6 Units.Feet.

    • Chains

      public static final org.wpilib.units.DistanceUnit Chains
      20.1168 (Except in India, where it is 20 meters) Units.Meterss, or 66 Units.Feet.

    • Chain

      public static final org.wpilib.units.DistanceUnit Chain
      20.1168 (Except in India, where it is 20 meters) Units.Meterss, or 66 Units.Feet.

    • Furlongs

      public static final org.wpilib.units.DistanceUnit Furlongs
      201.168 Units.Meterss, or 10 Chains.

    • Furlong

      public static final org.wpilib.units.DistanceUnit Furlong
      201.168 Units.Meterss, or 10 Chains.

    • Miles

      public static final org.wpilib.units.DistanceUnit Miles
      1609.344 Units.Meterss, or 5280 Units.Feet.

    • Mile

      public static final org.wpilib.units.DistanceUnit Mile
      1609.344 Units.Meterss, or 5280 Units.Feet.

    • Leagues

      public static final org.wpilib.units.DistanceUnit Leagues
      4828.032 Units.Meterss, or 3 Miles.

    • League

      public static final org.wpilib.units.DistanceUnit League
      4828.032 Units.Meterss, or 3 Miles.

    • Hours

      public static final org.wpilib.units.TimeUnit Hours
      60 Units.Minutes.

    • Years

      public static final org.wpilib.units.TimeUnit Years
      525600 Units.Minutes.

    • Hour

      public static final org.wpilib.units.TimeUnit Hour
      Alias for Hours to make combined unit definitions read more smoothly.

    • MilesPerHour

      public static final org.wpilib.units.LinearVelocityUnit MilesPerHour
      1 Miles per Hour.

    • MPH

      public static final org.wpilib.units.LinearVelocityUnit MPH
      1 Miles per Hour.

    • Year

      public static final org.wpilib.units.TimeUnit Year
      Alias for Years to make combined unit definitions read more smoothly.

    • RotationsPerYear

      public static final org.wpilib.units.AngularVelocityUnit RotationsPerYear
      1 Units.Rotations per Year.

    • RPY

      public static final org.wpilib.units.AngularVelocityUnit RPY
      1 Units.Rotations per Year.

    • Days

      public static final org.wpilib.units.TimeUnit Days
      24 Hours.

    • Weeks

      public static final org.wpilib.units.TimeUnit Weeks
      7 Days.

    • Fortnight

      public static final org.wpilib.units.TimeUnit Fortnight
      2 Weeks.

    • FurlongsPerFortnight

      public static final org.wpilib.units.LinearVelocityUnit FurlongsPerFortnight
      1 Furlongs per Fortnight.

    • FPF

      public static final org.wpilib.units.LinearVelocityUnit FPF
      1 Furlongs per Fortnight.

    • SandwichPerSecond

      public static final org.wpilib.units.LinearVelocityUnit SandwichPerSecond
      1 FootlongSandwich per Units.Second

    • RotationsPerMinutePerSecond

      public static final org.wpilib.units.AngularAccelerationUnit RotationsPerMinutePerSecond
      1 Units.RPM per Units.Second

    • RPMPerSecond

      public static final org.wpilib.units.AngularAccelerationUnit RPMPerSecond
      1 Units.RPM per Units.Second