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MatthewChoulasMatthewChoulas
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fix capitalization
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‎src/main/kotlin/org/team4099/lib/units/MechanismUnits.kt

-1
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,5 @@
11
package org.team4099.lib.units
22

3-
import com.ctre.phoenix6.hardware.TalonFX
43
import com.ctre.phoenix6.hardware.core.CoreTalonFX
54
import com.revrobotics.CANSparkMax
65
import org.team4099.lib.units.base.Length

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

+48-35
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,6 @@ package org.team4099.lib.units.derived
33
import org.team4099.lib.units.Fraction
44
import org.team4099.lib.units.Product
55
import org.team4099.lib.units.UnitKey
6-
import org.team4099.lib.units.Unitless
76
import org.team4099.lib.units.Value
87
import org.team4099.lib.units.Velocity
98
import org.team4099.lib.units.base.Ampere
@@ -69,8 +68,6 @@ inline val <K : UnitKey> Value<K>.perRadianPerSecond
6968
inline val <K : UnitKey> Value<K>.perDegreePerSecond
7069
get() = perRadianPerSecond / RADIANS_PER_DEGREES
7170

72-
73-
7471
inline val Double.VoltsPerVolts
7572
get() = Value<Fraction<Volt, Volt>>(this)
7673

@@ -161,7 +158,6 @@ inline val DerivativeGain<Velocity<Radian>, Volt>.inVoltsPerDegreesPerSecondPerS
161158
inline val DerivativeGain<Velocity<Radian>, Volt>.inVoltsPerRotationsPerMinutePerSecond: Double
162159
get() = inVoltsPerRadiansPerSecondPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
163160

164-
165161
inline val Double.AmpsPerAmps
166162
get() = Value<Fraction<Ampere, Ampere>>(this)
167163

@@ -252,8 +248,7 @@ inline val DerivativeGain<Velocity<Radian>, Ampere>.inAmpsPerDegreesPerSecondPer
252248
inline val DerivativeGain<Velocity<Radian>, Ampere>.inAmpsPerRotationsPerMinutePerSecond: Double
253249
get() = inAmpsPerRadiansPerSecondPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
254250

255-
256-
inline val Double.RadiansPerSecondPerRadiansPerSecond
251+
inline val Double.radiansPerSecondPerRadiansPerSecond
257252
get() = Value<Fraction<Velocity<Radian>, Velocity<Radian>>>(this)
258253

259254
inline val ProportionalGain<Meter, Velocity<Radian>>.inRadiansPerSecondPerMeter: Double
@@ -274,13 +269,16 @@ inline val ProportionalGain<Radian, Velocity<Radian>>.inRadiansPerSecondPerDegre
274269
inline val ProportionalGain<Radian, Velocity<Radian>>.inRadiansPerSecondPerRotation: Double
275270
get() = inRadiansPerSecondPerRadian * RADIANS_PER_ROTATION
276271

277-
inline val ProportionalGain<Velocity<Meter>, Velocity<Radian>>.inRadiansPerSecondPerMetersPerSecond: Double
278-
get() = value
272+
inline val ProportionalGain<Velocity<Meter>, Velocity<Radian>>.inRadiansPerSecondPerMetersPerSecond:
273+
Double
274+
get() = value
279275

280-
inline val ProportionalGain<Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerRadiansPerSecond: Double
276+
inline val ProportionalGain<
277+
Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerRadiansPerSecond: Double
281278
get() = value
282279

283-
inline val ProportionalGain<Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerRotationPerMinute: Double
280+
inline val ProportionalGain<
281+
Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerRotationPerMinute: Double
284282
get() = inRadiansPerSecondPerRadiansPerSecond * RADIANS_PER_ROTATION / SECONDS_PER_MINUTE
285283

286284
inline val IntegralGain<Meter, Velocity<Radian>>.inRadiansPerSecondPerMeterSeconds: Double
@@ -322,7 +320,8 @@ inline val DerivativeGain<Meter, Velocity<Radian>>.inRadiansPerSecondPerInchPerS
322320
inline val DerivativeGain<Meter, Velocity<Radian>>.inRadiansPerSecondPerFootPerSecond: Double
323321
get() = inRadiansPerSecondPerMeterPerSecond * METERS_PER_FOOT
324322

325-
inline val DerivativeGain<Velocity<Meter>, Velocity<Radian>>.inRadiansPerSecondPerMetersPerSecondPerSecond: Double
323+
inline val DerivativeGain<
324+
Velocity<Meter>, Velocity<Radian>>.inRadiansPerSecondPerMetersPerSecondPerSecond: Double
326325
get() = value
327326

328327
inline val DerivativeGain<Radian, Velocity<Radian>>.inRadiansPerSecondPerRadianPerSecond: Double
@@ -334,17 +333,19 @@ inline val DerivativeGain<Radian, Velocity<Radian>>.inRadiansPerSecondPerDegreeP
334333
inline val DerivativeGain<Radian, Velocity<Radian>>.inRadiansPerSecondPerRotationsPerMinute: Double
335334
get() = inRadiansPerSecondPerRadianPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
336335

337-
inline val DerivativeGain<Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerRadiansPerSecondPerSecond: Double
336+
inline val DerivativeGain<
337+
Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerRadiansPerSecondPerSecond: Double
338338
get() = value
339339

340-
inline val DerivativeGain<Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerDegreesPerSecondPerSecond: Double
340+
inline val DerivativeGain<
341+
Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerDegreesPerSecondPerSecond: Double
341342
get() = inRadiansPerSecondPerRadiansPerSecondPerSecond * RADIANS_PER_DEGREES
342343

343-
inline val DerivativeGain<Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerRotationsPerMinutePerSecond: Double
344+
inline val DerivativeGain<
345+
Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerRotationsPerMinutePerSecond: Double
344346
get() = inRadiansPerSecondPerRadiansPerSecondPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
345347

346-
347-
inline val Double.MetersPerSecondPerMetersPerSecond
348+
inline val Double.metersPerSecondPerMetersPerSecond
348349
get() = Value<Fraction<Velocity<Meter>, Velocity<Meter>>>(this)
349350

350351
inline val ProportionalGain<Meter, Velocity<Meter>>.inMetersPerSecondPerMeter: Double
@@ -365,13 +366,16 @@ inline val ProportionalGain<Radian, Velocity<Meter>>.inMetersPerSecondPerDegree:
365366
inline val ProportionalGain<Radian, Velocity<Meter>>.inMetersPerSecondPerRotation: Double
366367
get() = inMetersPerSecondPerRadian * RADIANS_PER_ROTATION
367368

368-
inline val ProportionalGain<Velocity<Meter>, Velocity<Meter>>.inMetersPerSecondPerMetersPerSecond: Double
369-
get() = value
369+
inline val ProportionalGain<Velocity<Meter>, Velocity<Meter>>.inMetersPerSecondPerMetersPerSecond:
370+
Double
371+
get() = value
370372

371-
inline val ProportionalGain<Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerRadiansPerSecond: Double
372-
get() = value
373+
inline val ProportionalGain<Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerRadiansPerSecond:
374+
Double
375+
get() = value
373376

374-
inline val ProportionalGain<Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerRotationPerMinute: Double
377+
inline val ProportionalGain<
378+
Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerRotationPerMinute: Double
375379
get() = inMetersPerSecondPerRadiansPerSecond * RADIANS_PER_ROTATION / SECONDS_PER_MINUTE
376380

377381
inline val IntegralGain<Meter, Velocity<Meter>>.inMetersPerSecondPerMeterSeconds: Double
@@ -413,7 +417,8 @@ inline val DerivativeGain<Meter, Velocity<Meter>>.inMetersPerSecondPerInchPerSec
413417
inline val DerivativeGain<Meter, Velocity<Meter>>.inMetersPerSecondPerFootPerSecond: Double
414418
get() = inMetersPerSecondPerMeterPerSecond * METERS_PER_FOOT
415419

416-
inline val DerivativeGain<Velocity<Meter>, Velocity<Meter>>.inMetersPerSecondPerMetersPerSecondPerSecond: Double
420+
inline val DerivativeGain<
421+
Velocity<Meter>, Velocity<Meter>>.inMetersPerSecondPerMetersPerSecondPerSecond: Double
417422
get() = value
418423

419424
inline val DerivativeGain<Radian, Velocity<Meter>>.inMetersPerSecondPerRadianPerSecond: Double
@@ -425,16 +430,18 @@ inline val DerivativeGain<Radian, Velocity<Meter>>.inMetersPerSecondPerDegreePer
425430
inline val DerivativeGain<Radian, Velocity<Meter>>.inMetersPerSecondPerRotationsPerMinute: Double
426431
get() = inMetersPerSecondPerRadianPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
427432

428-
inline val DerivativeGain<Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerRadiansPerSecondPerSecond: Double
433+
inline val DerivativeGain<
434+
Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerRadiansPerSecondPerSecond: Double
429435
get() = value
430436

431-
inline val DerivativeGain<Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerDegreesPerSecondPerSecond: Double
437+
inline val DerivativeGain<
438+
Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerDegreesPerSecondPerSecond: Double
432439
get() = inMetersPerSecondPerRadiansPerSecondPerSecond * RADIANS_PER_DEGREES
433440

434-
inline val DerivativeGain<Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerRotationsPerMinutePerSecond: Double
441+
inline val DerivativeGain<
442+
Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerRotationsPerMinutePerSecond: Double
435443
get() = inMetersPerSecondPerRadiansPerSecondPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
436444

437-
438445
inline val Double.MetersPerMeters
439446
get() = Value<Fraction<Meter, Meter>>(this)
440447

@@ -525,7 +532,6 @@ inline val DerivativeGain<Velocity<Radian>, Meter>.inMetersPerDegreesPerSecondPe
525532
inline val DerivativeGain<Velocity<Radian>, Meter>.inMetersPerRotationsPerMinutePerSecond: Double
526533
get() = inMetersPerRadiansPerSecondPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
527534

528-
529535
inline val Double.DegreesPerSecondPerDegreesPerSecond
530536
get() = Value<Fraction<Velocity<Radian>, Velocity<Radian>>>(this)
531537

@@ -547,13 +553,16 @@ inline val ProportionalGain<Radian, Velocity<Radian>>.inDegreesPerSecondPerDegre
547553
inline val ProportionalGain<Radian, Velocity<Radian>>.inDegreesPerSecondPerRotation: Double
548554
get() = inDegreesPerSecondPerRadian * RADIANS_PER_ROTATION
549555

550-
inline val ProportionalGain<Velocity<Meter>, Velocity<Radian>>.inDegreesPerSecondPerMetersPerSecond: Double
551-
get() = value
556+
inline val ProportionalGain<Velocity<Meter>, Velocity<Radian>>.inDegreesPerSecondPerMetersPerSecond:
557+
Double
558+
get() = value
552559

553-
inline val ProportionalGain<Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerRadiansPerSecond: Double
560+
inline val ProportionalGain<
561+
Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerRadiansPerSecond: Double
554562
get() = value
555563

556-
inline val ProportionalGain<Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerRotationPerMinute: Double
564+
inline val ProportionalGain<
565+
Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerRotationPerMinute: Double
557566
get() = inDegreesPerSecondPerRadiansPerSecond * RADIANS_PER_ROTATION / SECONDS_PER_MINUTE
558567

559568
inline val IntegralGain<Meter, Velocity<Radian>>.inDegreesPerSecondPerMeterSeconds: Double
@@ -595,7 +604,8 @@ inline val DerivativeGain<Meter, Velocity<Radian>>.inDegreesPerSecondPerInchPerS
595604
inline val DerivativeGain<Meter, Velocity<Radian>>.inDegreesPerSecondPerFootPerSecond: Double
596605
get() = inDegreesPerSecondPerMeterPerSecond * METERS_PER_FOOT
597606

598-
inline val DerivativeGain<Velocity<Meter>, Velocity<Radian>>.inDegreesPerSecondPerMetersPerSecondPerSecond: Double
607+
inline val DerivativeGain<
608+
Velocity<Meter>, Velocity<Radian>>.inDegreesPerSecondPerMetersPerSecondPerSecond: Double
599609
get() = value
600610

601611
inline val DerivativeGain<Radian, Velocity<Radian>>.inDegreesPerSecondPerRadianPerSecond: Double
@@ -607,11 +617,14 @@ inline val DerivativeGain<Radian, Velocity<Radian>>.inDegreesPerSecondPerDegreeP
607617
inline val DerivativeGain<Radian, Velocity<Radian>>.inDegreesPerSecondPerRotationsPerMinute: Double
608618
get() = inDegreesPerSecondPerRadianPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
609619

610-
inline val DerivativeGain<Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerRadiansPerSecondPerSecond: Double
620+
inline val DerivativeGain<
621+
Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerRadiansPerSecondPerSecond: Double
611622
get() = value
612623

613-
inline val DerivativeGain<Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerDegreesPerSecondPerSecond: Double
624+
inline val DerivativeGain<
625+
Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerDegreesPerSecondPerSecond: Double
614626
get() = inDegreesPerSecondPerRadiansPerSecondPerSecond * RADIANS_PER_DEGREES
615627

616-
inline val DerivativeGain<Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerRotationsPerMinutePerSecond: Double
628+
inline val DerivativeGain<
629+
Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerRotationsPerMinutePerSecond: Double
617630
get() = inDegreesPerSecondPerRadiansPerSecondPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION

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

+2-2
Original file line numberDiff line numberDiff line change
@@ -16,13 +16,13 @@ import org.team4099.lib.units.base.amps
1616
import org.team4099.lib.units.base.inches
1717
import org.team4099.lib.units.base.meters
1818
import org.team4099.lib.units.base.seconds
19-
import org.team4099.lib.units.derived.MetersPerSecondPerMetersPerSecond
2019
import org.team4099.lib.units.derived.ProportionalGain
2120
import org.team4099.lib.units.derived.degrees
2221
import org.team4099.lib.units.derived.inVoltsPerInch
2322
import org.team4099.lib.units.derived.inVoltsPerRotation
2423
import org.team4099.lib.units.derived.inVoltsPerRotationPerMinute
2524
import org.team4099.lib.units.derived.inVoltsPerRotationsPerMinutePerSecond
25+
import org.team4099.lib.units.derived.metersPerSecondPerMetersPerSecond
2626
import org.team4099.lib.units.derived.perInch
2727
import org.team4099.lib.units.derived.rotations
2828
import org.team4099.lib.units.derived.volts
@@ -34,7 +34,7 @@ class PIDControllerTest {
3434
@Test
3535
fun testConstruction() {
3636
val kP: ProportionalGain<Meter, Fraction<Meter, Second>> = 10.meters.perSecond / 1.meters
37-
val kD = (0.5.meters.perSecond / (1.meters / 1.seconds)).MetersPerSecondPerMetersPerSecond
37+
val kD = (0.5.meters.perSecond / (1.meters / 1.seconds)).metersPerSecondPerMetersPerSecond
3838
val kI = 0.1.meters.perSecond / (10.meters * 1.seconds)
3939
val positionToVelocityPIDController = PIDController<Meter, Fraction<Meter, Second>>(kP, kI, kD)
4040
}

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