1.1.11

build.gradle

@@ -39,7 +39,7 @@ publishing {
 		release(MavenPublication) {
 			groupId = 'org.team4099'
 			artifactId = 'falconutils'
-			version = '1.1.10'
+			version = '1.1.11'
 
 			from(components["kotlin"])
 		}

src/main/kotlin/org/team4099/lib/controller/TrapezoidProfile.kt

@@ -10,9 +10,9 @@ import org.team4099.lib.units.base.seconds
 import edu.wpi.first.math.trajectory.TrapezoidProfile as WPITrapezoidProfile
 
 class TrapezoidProfile<U : UnitKey>(
-  constraints: Constraints<U>,
-  goal: State<U>,
-  initial: State<U>
+  val constraints: Constraints<U>,
+  val goal: State<U>,
+  val initial: State<U>
 ) {
   val trapezoidProfile =
     WPITrapezoidProfile(constraints.wpiConstraints, goal.wpiState, initial.wpiState)

src/main/kotlin/org/team4099/lib/units/Value.kt

@@ -1,6 +1,5 @@
 package org.team4099.lib.units
 
-import java.util.function.Supplier
 import kotlin.math.absoluteValue
 import kotlin.math.sign
 
@@ -21,8 +20,7 @@ value class Value<T : UnitKey>(val value: Double) : Comparable<Value<T>> {
   inline val cubed: Value<Cubed<T>>
     get() = Value(value * value * value)
 
-  inline val asSupplier: Supplier<Value<T>>
-    get() = Supplier { Value(value) }
+  inline fun epsilonEquals(o: Value<T>): Boolean = (value - o.value).absoluteValue <= 1E-9
 
   inline operator fun plus(o: Value<T>): Value<T> = Value(value + o.value)
   inline operator fun minus(o: Value<T>): Value<T> = Value(value - o.value)

src/main/kotlin/org/team4099/lib/units/derived/GearRatio.kt

@@ -11,26 +11,17 @@ typealias Driving = Unitless
 typealias Driven = Unitless
 
 // Reductions are < 1
-inline val Double.reduction
-  get() = GearRatio(1 / this)
-
-inline val Double.overdrive
+inline val Double.gearRatio
   get() = GearRatio(this)
 
-inline val Number.reduction
-  get() = this.toDouble().reduction
-
-inline val Number.overdrive
-  get() = this.toDouble().overdrive
-
 inline val Double.driving
   get() = Value<Driving>(this)
 
 inline val Double.driven
   get() = Value<Driven>(this)
 
 inline val GearRatio.asDrivingOverDriven
-  get() = 1 / value
+  get() = value
 
 inline val GearRatio.asDrivenOverDriving
-  get() = value
+  get() = 1 / value

src/main/kotlin/org/team4099/lib/units/derived/Inertia.kt

@@ -2,6 +2,7 @@ package org.team4099.lib.units.derived
 
 import org.team4099.lib.units.Product
 import org.team4099.lib.units.Squared
+import org.team4099.lib.units.UnitKey
 import org.team4099.lib.units.Value
 import org.team4099.lib.units.base.Kilogram
 import org.team4099.lib.units.base.Meter
@@ -10,11 +11,8 @@ typealias Inertia = Product<Kilogram, Squared<Meter>>
 
 typealias MomentOfInertia = Value<Inertia>
 
-inline val Double.momentOfInertia
-  get() = MomentOfInertia(this)
-
-inline val Number.momentOfInertia
-  get() = MomentOfInertia(this.toDouble())
-
-inline val MomentOfInertia.asKilogramsPerMeterSquared
+inline val MomentOfInertia.inKilogramsMeterSquared
   get() = value
+
+inline val <K : UnitKey> Value<K>.meterSquared
+  get() = Value<Product<K, Squared<Meter>>>(value)

src/test/kotlin/team4099/units/GearRatioTest.kt

@@ -1,21 +1,22 @@
 package team4099.units
 
+import org.junit.jupiter.api.Assertions.assertEquals
 import org.junit.jupiter.api.Test
 import org.team4099.lib.units.derived.asDrivenOverDriving
+import org.team4099.lib.units.derived.asDrivingOverDriven
 import org.team4099.lib.units.derived.driven
 import org.team4099.lib.units.derived.driving
-import org.team4099.lib.units.derived.overdrive
-import org.team4099.lib.units.derived.reduction
+import org.team4099.lib.units.derived.gearRatio
 
 class GearRatioTest {
 
   private val kEpsilon = 1E-9
 
   @Test
   fun testGearRatio() {
-    val reductionRatio = (18.0.driving / 72.0.driven).reduction
-    val overdriveRatio = (18.0.driving / 72.0.driven).overdrive
-    println(reductionRatio.asDrivenOverDriving) // 4.0
-    println(overdriveRatio.asDrivenOverDriving) // 0.25
+    val reductionRatio = (72.0.driven / 18.0.driving).gearRatio
+
+    assertEquals(reductionRatio.asDrivenOverDriving, 0.25)
+    assertEquals(reductionRatio.asDrivingOverDriven, 4.0)
   }
 }

src/test/kotlin/team4099/units/InertiaTest.kt

@@ -1,10 +1,11 @@
 package team4099.units
 
+import org.junit.jupiter.api.Assertions.assertEquals
 import org.junit.jupiter.api.Test
 import org.team4099.lib.units.base.grams
 import org.team4099.lib.units.base.inches
-import org.team4099.lib.units.derived.MomentOfInertia
-import org.team4099.lib.units.derived.asKilogramsPerMeterSquared
+import org.team4099.lib.units.derived.inKilogramsMeterSquared
+import org.team4099.lib.units.derived.meterSquared
 import org.team4099.lib.units.kilo
 
 class InertiaTest {
@@ -13,7 +14,10 @@ class InertiaTest {
 
   @Test
   fun testInertia() {
-    val inertia: MomentOfInertia = 1.0.kilo.grams * 3.0.inches.squared
-    println(inertia.asKilogramsPerMeterSquared)
+    val inertia = 1.0.kilo.grams * 3.0.inches.squared
+    val inertiaDefinition = 1.0.kilo.grams.meterSquared
+
+    assertEquals(1.0, inertiaDefinition.inKilogramsMeterSquared)
+    assertEquals(0.00580644, inertia.inKilogramsMeterSquared, kEpsilon)
   }
 }