Added controller units for per rotation per minute

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

@@ -71,5 +71,7 @@ inline val AngularAcceleration.inDegreesPerSecondPerSecond: Double
 inline val AngularAcceleration.inRotationsPerSecondPerSecond: Double
   get() = value / (2 * PI)
 
+
+
 inline val AngularAcceleration.inRotationsPerMinutePerMinute: Double
   get() = value * SECONDS_PER_MINUTE * SECONDS_PER_MINUTE / (2 * PI)

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

@@ -3,6 +3,7 @@ package org.team4099.lib.units.derived
 import org.team4099.lib.units.Fraction
 import org.team4099.lib.units.Product
 import org.team4099.lib.units.UnitKey
+import org.team4099.lib.units.Unitless
 import org.team4099.lib.units.Value
 import org.team4099.lib.units.Velocity
 import org.team4099.lib.units.base.Ampere
@@ -68,6 +69,11 @@ inline val <K : UnitKey> Value<K>.perRadianPerSecond
 inline val <K : UnitKey> Value<K>.perDegreePerSecond
   get() = perRadianPerSecond / RADIANS_PER_DEGREES
 
+inline val <K : UnitKey> Value<K>.perRotationPerMinute
+  get() = (perRadianPerSecond * SECONDS_PER_MINUTE) / RADIANS_PER_ROTATION
+
+
+
 inline val Double.VoltsPerVolts
   get() = Value<Fraction<Volt, Volt>>(this)
 
@@ -158,6 +164,7 @@ inline val DerivativeGain<Velocity<Radian>, Volt>.inVoltsPerDegreesPerSecondPerS
 inline val DerivativeGain<Velocity<Radian>, Volt>.inVoltsPerRotationsPerMinutePerSecond: Double
   get() = inVoltsPerRadiansPerSecondPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
 
+
 inline val Double.AmpsPerAmps
   get() = Value<Fraction<Ampere, Ampere>>(this)
 
@@ -248,7 +255,8 @@ inline val DerivativeGain<Velocity<Radian>, Ampere>.inAmpsPerDegreesPerSecondPer
 inline val DerivativeGain<Velocity<Radian>, Ampere>.inAmpsPerRotationsPerMinutePerSecond: Double
   get() = inAmpsPerRadiansPerSecondPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
 
-inline val Double.radiansPerSecondPerRadiansPerSecond
+
+inline val Double.RadiansPerSecondPerRadiansPerSecond
   get() = Value<Fraction<Velocity<Radian>, Velocity<Radian>>>(this)
 
 inline val ProportionalGain<Meter, Velocity<Radian>>.inRadiansPerSecondPerMeter: Double
@@ -269,16 +277,13 @@ inline val ProportionalGain<Radian, Velocity<Radian>>.inRadiansPerSecondPerDegre
 inline val ProportionalGain<Radian, Velocity<Radian>>.inRadiansPerSecondPerRotation: Double
   get() = inRadiansPerSecondPerRadian * RADIANS_PER_ROTATION
 
-inline val ProportionalGain<Velocity<Meter>, Velocity<Radian>>.inRadiansPerSecondPerMetersPerSecond:
-  Double
-    get() = value
+inline val ProportionalGain<Velocity<Meter>, Velocity<Radian>>.inRadiansPerSecondPerMetersPerSecond: Double
+  get() = value
 
-inline val ProportionalGain<
-  Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerRadiansPerSecond: Double
+inline val ProportionalGain<Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerRadiansPerSecond: Double
   get() = value
 
-inline val ProportionalGain<
-  Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerRotationPerMinute: Double
+inline val ProportionalGain<Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerRotationPerMinute: Double
   get() = inRadiansPerSecondPerRadiansPerSecond * RADIANS_PER_ROTATION / SECONDS_PER_MINUTE
 
 inline val IntegralGain<Meter, Velocity<Radian>>.inRadiansPerSecondPerMeterSeconds: Double
@@ -320,8 +325,7 @@ inline val DerivativeGain<Meter, Velocity<Radian>>.inRadiansPerSecondPerInchPerS
 inline val DerivativeGain<Meter, Velocity<Radian>>.inRadiansPerSecondPerFootPerSecond: Double
   get() = inRadiansPerSecondPerMeterPerSecond * METERS_PER_FOOT
 
-inline val DerivativeGain<
-  Velocity<Meter>, Velocity<Radian>>.inRadiansPerSecondPerMetersPerSecondPerSecond: Double
+inline val DerivativeGain<Velocity<Meter>, Velocity<Radian>>.inRadiansPerSecondPerMetersPerSecondPerSecond: Double
   get() = value
 
 inline val DerivativeGain<Radian, Velocity<Radian>>.inRadiansPerSecondPerRadianPerSecond: Double
@@ -333,19 +337,17 @@ inline val DerivativeGain<Radian, Velocity<Radian>>.inRadiansPerSecondPerDegreeP
 inline val DerivativeGain<Radian, Velocity<Radian>>.inRadiansPerSecondPerRotationsPerMinute: Double
   get() = inRadiansPerSecondPerRadianPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
 
-inline val DerivativeGain<
-  Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerRadiansPerSecondPerSecond: Double
+inline val DerivativeGain<Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerRadiansPerSecondPerSecond: Double
   get() = value
 
-inline val DerivativeGain<
-  Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerDegreesPerSecondPerSecond: Double
+inline val DerivativeGain<Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerDegreesPerSecondPerSecond: Double
   get() = inRadiansPerSecondPerRadiansPerSecondPerSecond * RADIANS_PER_DEGREES
 
-inline val DerivativeGain<
-  Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerRotationsPerMinutePerSecond: Double
+inline val DerivativeGain<Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerRotationsPerMinutePerSecond: Double
   get() = inRadiansPerSecondPerRadiansPerSecondPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
 
-inline val Double.metersPerSecondPerMetersPerSecond
+
+inline val Double.MetersPerSecondPerMetersPerSecond
   get() = Value<Fraction<Velocity<Meter>, Velocity<Meter>>>(this)
 
 inline val ProportionalGain<Meter, Velocity<Meter>>.inMetersPerSecondPerMeter: Double
@@ -366,16 +368,13 @@ inline val ProportionalGain<Radian, Velocity<Meter>>.inMetersPerSecondPerDegree:
 inline val ProportionalGain<Radian, Velocity<Meter>>.inMetersPerSecondPerRotation: Double
   get() = inMetersPerSecondPerRadian * RADIANS_PER_ROTATION
 
-inline val ProportionalGain<Velocity<Meter>, Velocity<Meter>>.inMetersPerSecondPerMetersPerSecond:
-  Double
-    get() = value
+inline val ProportionalGain<Velocity<Meter>, Velocity<Meter>>.inMetersPerSecondPerMetersPerSecond: Double
+  get() = value
 
-inline val ProportionalGain<Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerRadiansPerSecond:
-  Double
-    get() = value
+inline val ProportionalGain<Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerRadiansPerSecond: Double
+  get() = value
 
-inline val ProportionalGain<
-  Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerRotationPerMinute: Double
+inline val ProportionalGain<Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerRotationPerMinute: Double
   get() = inMetersPerSecondPerRadiansPerSecond * RADIANS_PER_ROTATION / SECONDS_PER_MINUTE
 
 inline val IntegralGain<Meter, Velocity<Meter>>.inMetersPerSecondPerMeterSeconds: Double
@@ -417,8 +416,7 @@ inline val DerivativeGain<Meter, Velocity<Meter>>.inMetersPerSecondPerInchPerSec
 inline val DerivativeGain<Meter, Velocity<Meter>>.inMetersPerSecondPerFootPerSecond: Double
   get() = inMetersPerSecondPerMeterPerSecond * METERS_PER_FOOT
 
-inline val DerivativeGain<
-  Velocity<Meter>, Velocity<Meter>>.inMetersPerSecondPerMetersPerSecondPerSecond: Double
+inline val DerivativeGain<Velocity<Meter>, Velocity<Meter>>.inMetersPerSecondPerMetersPerSecondPerSecond: Double
   get() = value
 
 inline val DerivativeGain<Radian, Velocity<Meter>>.inMetersPerSecondPerRadianPerSecond: Double
@@ -430,18 +428,16 @@ inline val DerivativeGain<Radian, Velocity<Meter>>.inMetersPerSecondPerDegreePer
 inline val DerivativeGain<Radian, Velocity<Meter>>.inMetersPerSecondPerRotationsPerMinute: Double
   get() = inMetersPerSecondPerRadianPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
 
-inline val DerivativeGain<
-  Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerRadiansPerSecondPerSecond: Double
+inline val DerivativeGain<Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerRadiansPerSecondPerSecond: Double
   get() = value
 
-inline val DerivativeGain<
-  Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerDegreesPerSecondPerSecond: Double
+inline val DerivativeGain<Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerDegreesPerSecondPerSecond: Double
   get() = inMetersPerSecondPerRadiansPerSecondPerSecond * RADIANS_PER_DEGREES
 
-inline val DerivativeGain<
-  Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerRotationsPerMinutePerSecond: Double
+inline val DerivativeGain<Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerRotationsPerMinutePerSecond: Double
   get() = inMetersPerSecondPerRadiansPerSecondPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
 
+
 inline val Double.MetersPerMeters
   get() = Value<Fraction<Meter, Meter>>(this)
 
@@ -532,6 +528,7 @@ inline val DerivativeGain<Velocity<Radian>, Meter>.inMetersPerDegreesPerSecondPe
 inline val DerivativeGain<Velocity<Radian>, Meter>.inMetersPerRotationsPerMinutePerSecond: Double
   get() = inMetersPerRadiansPerSecondPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
 
+
 inline val Double.DegreesPerSecondPerDegreesPerSecond
   get() = Value<Fraction<Velocity<Radian>, Velocity<Radian>>>(this)
 
@@ -553,16 +550,13 @@ inline val ProportionalGain<Radian, Velocity<Radian>>.inDegreesPerSecondPerDegre
 inline val ProportionalGain<Radian, Velocity<Radian>>.inDegreesPerSecondPerRotation: Double
   get() = inDegreesPerSecondPerRadian * RADIANS_PER_ROTATION
 
-inline val ProportionalGain<Velocity<Meter>, Velocity<Radian>>.inDegreesPerSecondPerMetersPerSecond:
-  Double
-    get() = value
+inline val ProportionalGain<Velocity<Meter>, Velocity<Radian>>.inDegreesPerSecondPerMetersPerSecond: Double
+  get() = value
 
-inline val ProportionalGain<
-  Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerRadiansPerSecond: Double
+inline val ProportionalGain<Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerRadiansPerSecond: Double
   get() = value
 
-inline val ProportionalGain<
-  Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerRotationPerMinute: Double
+inline val ProportionalGain<Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerRotationPerMinute: Double
   get() = inDegreesPerSecondPerRadiansPerSecond * RADIANS_PER_ROTATION / SECONDS_PER_MINUTE
 
 inline val IntegralGain<Meter, Velocity<Radian>>.inDegreesPerSecondPerMeterSeconds: Double
@@ -604,8 +598,7 @@ inline val DerivativeGain<Meter, Velocity<Radian>>.inDegreesPerSecondPerInchPerS
 inline val DerivativeGain<Meter, Velocity<Radian>>.inDegreesPerSecondPerFootPerSecond: Double
   get() = inDegreesPerSecondPerMeterPerSecond * METERS_PER_FOOT
 
-inline val DerivativeGain<
-  Velocity<Meter>, Velocity<Radian>>.inDegreesPerSecondPerMetersPerSecondPerSecond: Double
+inline val DerivativeGain<Velocity<Meter>, Velocity<Radian>>.inDegreesPerSecondPerMetersPerSecondPerSecond: Double
   get() = value
 
 inline val DerivativeGain<Radian, Velocity<Radian>>.inDegreesPerSecondPerRadianPerSecond: Double
@@ -617,14 +610,11 @@ inline val DerivativeGain<Radian, Velocity<Radian>>.inDegreesPerSecondPerDegreeP
 inline val DerivativeGain<Radian, Velocity<Radian>>.inDegreesPerSecondPerRotationsPerMinute: Double
   get() = inDegreesPerSecondPerRadianPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
 
-inline val DerivativeGain<
-  Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerRadiansPerSecondPerSecond: Double
+inline val DerivativeGain<Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerRadiansPerSecondPerSecond: Double
   get() = value
 
-inline val DerivativeGain<
-  Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerDegreesPerSecondPerSecond: Double
+inline val DerivativeGain<Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerDegreesPerSecondPerSecond: Double
   get() = inDegreesPerSecondPerRadiansPerSecondPerSecond * RADIANS_PER_DEGREES
 
-inline val DerivativeGain<
-  Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerRotationsPerMinutePerSecond: Double
+inline val DerivativeGain<Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerRotationsPerMinutePerSecond: Double
   get() = inDegreesPerSecondPerRadiansPerSecondPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION

src/main/kotlin/org/team4099/lib/units/derived/controllergeneration/templates/Controller.kt.jinja

@@ -69,6 +69,9 @@ inline val <K : UnitKey> Value<K>.perRadianPerSecond
 inline val <K : UnitKey> Value<K>.perDegreePerSecond
   get() = perRadianPerSecond / RADIANS_PER_DEGREES
 
+inline val <K : UnitKey> Value<K>.perRotationPerMinute
+  get() = (perRadianPerSecond * SECONDS_PER_MINUTE) / RADIANS_PER_ROTATION
+
 {% for output_index in range(control_outputs | length) %}
 
 inline val Double.{{ output_aliases[output_index] }}Per{{ output_aliases[output_index] }}