gear ratio units + bug fixes

build.gradle

@@ -39,7 +39,7 @@ publishing {
 		release(MavenPublication) {
 			groupId = 'org.team4099'
 			artifactId = 'falconutils'
-			version = '1.1.5'
+			version = '1.1.6'
 
 			from(components["kotlin"])
 		}

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

@@ -121,7 +121,7 @@ inline val ProportionalGain<Meter, Volt>.inVoltsPerFoot: Double
 inline val ProportionalGain<Radian, Volt>.inVoltsPerRadian: Double
   get() = value
 
-inline val ProportionalGain<Radian, Volt>.inVoltsPerDegrees: Double
+inline val ProportionalGain<Radian, Volt>.inVoltsPerDegree: Double
   get() = inVoltsPerRadian * RADIANS_PER_DEGREES
 
 inline val ProportionalGain<Radian, Volt>.inVoltsPerRotation: Double
@@ -133,6 +133,9 @@ inline val ProportionalGain<Velocity<Meter>, Volt>.inVoltsPerMetersPerSecond: Do
 inline val ProportionalGain<Velocity<Radian>, Volt>.inVoltsPerRadiansPerSecond: Double
   get() = value
 
+inline val ProportionalGain<Velocity<Radian>, Volt>.inVoltsPerRotationPerMinute: Double
+  get() = inVoltsPerRadiansPerSecond * RADIANS_PER_ROTATION / SECONDS_PER_MINUTE
+
 inline val IntegralGain<Meter, Volt>.inVoltsPerMeterSeconds: Double
   get() = value
 
@@ -151,12 +154,18 @@ inline val IntegralGain<Radian, Volt>.inVoltsPerRadianSeconds: Double
 inline val IntegralGain<Radian, Volt>.inVoltsPerDegreeSeconds: Double
   get() = inVoltsPerRadianSeconds * RADIANS_PER_DEGREES
 
-inline val IntegralGain<Radian, Volt>.inVoltsPerRotationsMinutes: Double
-  get() = inVoltsPerRadianSeconds * SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
+inline val IntegralGain<Radian, Volt>.inVoltsPerRotationSeconds: Double
+  get() = inVoltsPerRadianSeconds / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
 
 inline val IntegralGain<Velocity<Radian>, Volt>.inVoltsPerRadians: Double
   get() = value
 
+inline val IntegralGain<Velocity<Radian>, Volt>.inVoltsPerDegrees: Double
+  get() = inVoltsPerRadians * RADIANS_PER_DEGREES
+
+inline val IntegralGain<Velocity<Radian>, Volt>.inVoltsPerRotations: Double
+  get() = inVoltsPerRadians / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
+
 inline val DerivativeGain<Meter, Volt>.inVoltsPerMeterPerSecond: Double
   get() = value
 
@@ -176,11 +185,17 @@ inline val DerivativeGain<Radian, Volt>.inVoltsPerDegreePerSecond: Double
   get() = inVoltsPerRadianPerSecond * RADIANS_PER_DEGREES
 
 inline val DerivativeGain<Radian, Volt>.inVoltsPerRotationsPerMinute: Double
-  get() = inVoltsPerRadianPerSecond * SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
+  get() = inVoltsPerRadianPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
 
 inline val DerivativeGain<Velocity<Radian>, Volt>.inVoltsPerRadiansPerSecondPerSecond: Double
   get() = value
 
+inline val DerivativeGain<Velocity<Radian>, Volt>.inVoltsPerDegreesPerSecondPerSecond: Double
+  get() = inVoltsPerRadiansPerSecondPerSecond * RADIANS_PER_DEGREES
+
+inline val DerivativeGain<Velocity<Radian>, Volt>.inVoltsPerRotationsPerMinutePerSecond: Double
+  get() = inVoltsPerRadiansPerSecondPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
+
 inline val ProportionalGain<Meter, Ampere>.inAmpsPerMeter: Double
   get() = value
 
@@ -215,7 +230,7 @@ inline val IntegralGain<Radian, Ampere>.inAmpsPerDegreeSeconds: Double
   get() = inAmpsPerRadianSeconds * RADIANS_PER_DEGREES
 
 inline val IntegralGain<Radian, Ampere>.inAmpsPerRotationsMinutes: Double
-  get() = inAmpsPerRadianSeconds * SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
+  get() = inAmpsPerRadianSeconds / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
 
 inline val DerivativeGain<Meter, Ampere>.inAmpsPerMeterPerSecond: Double
   get() = value
@@ -233,4 +248,4 @@ inline val DerivativeGain<Radian, Ampere>.inAmpsPerDegreePerSecond: Double
   get() = inAmpsPerRadianPerSecond * RADIANS_PER_DEGREES
 
 inline val DerivativeGain<Radian, Ampere>.inAmpsPerRotationsPerMinute: Double
-  get() = inAmpsPerRadianPerSecond * SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
+  get() = inAmpsPerRadianPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION

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

@@ -0,0 +1,36 @@
+package org.team4099.lib.units.derived
+
+import org.team4099.lib.units.Fraction
+import org.team4099.lib.units.Unitless
+import org.team4099.lib.units.Value
+
+typealias GearRatio = Value<Fraction<Driving, Driven>>
+
+typealias Driving = Unitless
+
+typealias Driven = Unitless
+
+// Reductions are < 1
+inline val Double.reduction
+  get() = GearRatio(1 / this)
+
+inline val Double.overdrive
+  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
+
+inline val GearRatio.asDrivenOverDriving
+  get() = value

src/test/kotlin/team4099/controller/PIDControllerTest.kt

@@ -16,9 +16,14 @@ import org.team4099.lib.units.base.seconds
 import org.team4099.lib.units.derived.ProportionalGain
 import org.team4099.lib.units.derived.degrees
 import org.team4099.lib.units.derived.inDegreesPerSecondPerDegreesPerSecond
+import org.team4099.lib.units.derived.inVoltsPerRotation
+import org.team4099.lib.units.derived.inVoltsPerRotationPerMinute
+import org.team4099.lib.units.derived.inVoltsPerRotationsPerMinutePerSecond
 import org.team4099.lib.units.derived.metersPerSecondPerMetersPerSecond
 import org.team4099.lib.units.derived.radiansPerSecondPerRadiansPerSecond
+import org.team4099.lib.units.derived.rotations
 import org.team4099.lib.units.derived.volts
+import org.team4099.lib.units.perMinute
 import org.team4099.lib.units.perSecond
 
 class PIDControllerTest {
@@ -74,4 +79,15 @@ class PIDControllerTest {
 
     println(kp.inDegreesPerSecondPerDegreesPerSecond)
   }
+
+  @Test
+  fun testRPM() {
+    val kp = 2.0.volts / 1.0.rotations.perMinute
+    val kI = 2.0.volts / 1.0.rotations
+    val kD = 2.0.volts / 1.0.rotations.perMinute.perSecond
+
+    println(kp.inVoltsPerRotationPerMinute)
+    println(kI.inVoltsPerRotation)
+    println(kD.inVoltsPerRotationsPerMinutePerSecond)
+  }
 }

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

@@ -0,0 +1,21 @@
+package team4099.units
+
+import org.junit.jupiter.api.Test
+import org.team4099.lib.units.derived.asDrivenOverDriving
+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
+
+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
+  }
+}