Unit updates

build.gradle

@@ -43,7 +43,7 @@ configurations.configureEach {
 
 kotlin {
     explicitApi()
-    //jvmToolchain(17)
+    //jvmToolchain(21)
 
     compileKotlin {
         compilerOptions {

src/main/java/frc/chargerlibexternal/builddata/ChargerLibBuildConstants.java

@@ -7,12 +7,12 @@ public final class ChargerLibBuildConstants {
 	public static final String MAVEN_GROUP = "frc.chargers";
 	public static final String MAVEN_NAME = "ChargerLib";
 	public static final String VERSION = "1.0.0";
-	public static final int GIT_REVISION = 260;
-	public static final String GIT_SHA = "d05f31b80fc224b4c9522cbbd9c14e0bacb362b9";
-	public static final String GIT_DATE = "2024-01-07T18:34:00Z";
+	public static final int GIT_REVISION = 261;
+	public static final String GIT_SHA = "dc1da73de4a09c1eae729551160a95126f179563";
+	public static final String GIT_DATE = "2024-01-09T12:51:49Z";
 	public static final String GIT_BRANCH = "master";
-	public static final String BUILD_DATE = "2024-01-07T20:26:19Z";
-	public static final long BUILD_UNIX_TIME = 1704677179102L;
+	public static final String BUILD_DATE = "2024-01-09T13:45:32Z";
+	public static final long BUILD_UNIX_TIME = 1704825932597L;
 	public static final int DIRTY = 1;
 
 	private ChargerLibBuildConstants(){}

src/main/kotlin/frc/chargers/hardware/subsystems/differentialdrive/EncoderDifferentialDrivetrain.kt

@@ -132,7 +132,8 @@ public class EncoderDifferentialDrivetrain(
         getInput = {leftVelocity},
         target = AngularVelocity(0.0),
         setpointSupplier = SetpointSupplier.Default(
-            feedforward = Feedforward(controlData.leftFF)
+            // leftFF stores the left feedforward constants.
+            Feedforward(controlData.leftFF)
         ),
         selfSustain = true,
     )
@@ -142,7 +143,8 @@ public class EncoderDifferentialDrivetrain(
         getInput = {rightVelocity},
         target = AngularVelocity(0.0),
         setpointSupplier = SetpointSupplier.Default(
-            feedforward = Feedforward(controlData.rightFF)
+            // rightff stores the right feedforward constants.
+            Feedforward(controlData.rightFF)
         ),
         selfSustain = true,
     )

src/main/kotlin/frc/chargers/hardware/subsystems/swervedrive/EncoderHolonomicDrivetrain.kt

@@ -24,8 +24,6 @@ import frc.chargers.hardware.subsystems.swervedrive.module.*
 import frc.chargers.hardware.subsystems.swervedrive.module.lowlevel.*
 import frc.chargers.pathplannerextensions.asPathPlannerConstants
 import frc.chargers.utils.math.inputModulus
-import frc.chargers.utils.math.units.pow
-import frc.chargers.utils.math.units.sqrt
 import frc.chargers.wpilibextensions.geometry.ofUnit
 import frc.chargers.wpilibextensions.geometry.twodimensional.UnitPose2d
 import frc.chargers.wpilibextensions.geometry.twodimensional.UnitTranslation2d
@@ -338,7 +336,7 @@ public class EncoderHolonomicDrivetrain(
      */
     public val velocity: Velocity get(){
         val speeds = currentSpeeds
-        return sqrt(speeds.xVelocity.pow(2.0) + speeds.yVelocity.pow(2.0))
+        return hypot(speeds.xVelocity, speeds.yVelocity)
     }
 
 

src/main/kotlin/frc/chargers/utils/math/units/FeedforwardUnits.kt

@@ -12,22 +12,22 @@ import kotlin.internal.LowPriorityInOverloadResolution
 /**
  * Represents a kV gain for an angular velocity targeting feedforward.
  */
-public typealias VoltagePerAngularVelocity = Quantity<VoltagePerAngularVelocityDimension>
+public typealias VoltagePerAngularVelocity = KmeasureUnit<VoltagePerAngularVelocityDimension>
 
 /**
  * Represents a kV gain for a linear velocity targeting feedforward.
  */
-public typealias VoltagePerVelocity = Quantity<VoltagePerVelocityDimension>
+public typealias VoltagePerVelocity = KmeasureUnit<VoltagePerVelocityDimension>
 
 /**
  * Represents a kA gain for an angular velocity targeting feedforward.
  */
-public typealias VoltagePerAngularAcceleration = Quantity<VoltagePerAngularAccelerationDimension>
+public typealias VoltagePerAngularAcceleration = KmeasureUnit<VoltagePerAngularAccelerationDimension>
 
 /**
  * Represents a kA gain for a linear velocity targeting feedforward.
  */
-public typealias VoltagePerAcceleration = Quantity<VoltagePerAccelerationDimension>
+public typealias VoltagePerAcceleration = KmeasureUnit<VoltagePerAccelerationDimension>
 
 
 public typealias VoltagePerAngularVelocityDimension = MagneticFluxDimension
@@ -39,6 +39,9 @@ public typealias VoltagePerAngularAccelerationDimension = Dimension<Mass1, Lengt
 public typealias VoltagePerAccelerationDimension = Dimension<Mass1, Length1, TimeN1, CurrentN1>
 
 
+
+
+
 @JvmName("KvMultipliedAngular")
 @LowPriorityInOverloadResolution
 public operator fun VoltagePerAngularVelocity.times(other: Time): VoltagePerAngularAcceleration =

src/main/kotlin/frc/chargers/utils/math/units/Rem.kt

@@ -0,0 +1,12 @@
+package frc.chargers.utils.math.units
+
+import com.batterystaple.kmeasure.dimensions.*
+import com.batterystaple.kmeasure.quantities.*
+
+
+public operator fun <D: AnyDimension> Quantity<D>.rem(other: Quantity<D>): Quantity<D> =
+    Quantity(siValue % other.siValue)
+
+
+
+