[wpiunits] Add Feedforward unit types

wpiunits/generate_units.py

@@ -56,6 +56,10 @@ def output(outPath, outfn, contents):
     "Torque",
     "Velocity<?>",
     "Voltage",
+    "VoltagePerAnglePerTime",
+    "VoltagePerAnglePerTimeSquared",
+    "VoltagePerDistancePerTime",
+    "VoltagePerDistancePerTimeSquared",
 ]
 
 # Configurations for all generated units
@@ -73,8 +77,13 @@ def output(outPath, outfn, contents):
     },
     "AngularAcceleration": {
         "base_unit": "RadiansPerSecondPerSecond",
-        "multiply": {"Time": "AngularVelocity"},
-        "divide": {"Frequency": "AngularVelocity"},
+        "multiply": {
+            "Time": "AngularVelocity",
+            "VoltagePerAnglePerTimeSquared": "Voltage",
+        },
+        "divide": {
+            "Frequency": "AngularVelocity",
+        },
     },
     "AngularMomentum": {
         "base_unit": "KilogramMetersSquaredPerSecond",
@@ -83,8 +92,14 @@ def output(outPath, outfn, contents):
     },
     "AngularVelocity": {
         "base_unit": "RadiansPerSecond",
-        "multiply": {"Time": "Angle", "Frequency": "AngularAcceleration"},
-        "divide": {"Time": "AngularAcceleration"},
+        "multiply": {
+            "Time": "Angle",
+            "Frequency": "AngularAcceleration",
+            "VoltagePerAnglePerTime": "Voltage",
+        },
+        "divide": {
+            "Time": "AngularAcceleration",
+        },
         "extra": inspect.cleandoc(
             """
           default Frequency asFrequency() { return Hertz.of(baseUnitMagnitude()); }
@@ -115,6 +130,10 @@ def output(outPath, outfn, contents):
             "Time": "Time",
             "Torque": "Torque",
             "Voltage": "Voltage",
+            "VoltagePerAnglePerTime": "VoltagePerAnglePerTime",
+            "VoltagePerAnglePerTimeSquared": "VoltagePerAnglePerTimeSquared",
+            "VoltagePerDistancePerTime": "VoltagePerDistancePerTime",
+            "VoltagePerDistancePerTimeSquared": "VoltagePerDistancePerTimeSquared",
         },
         "divide": {
             "Time": "Frequency",
@@ -171,7 +190,10 @@ def output(outPath, outfn, contents):
     },
     "LinearAcceleration": {
         "base_unit": "MetersPerSecondPerSecond",
-        "multiply": {"Time": "LinearVelocity"},
+        "multiply": {
+            "Time": "LinearVelocity",
+            "VoltagePerDistancePerTimeSquared": "Voltage",
+        },
         "divide": {"Frequency": "LinearVelocity"},
     },
     "LinearMomentum": {
@@ -181,8 +203,14 @@ def output(outPath, outfn, contents):
     },
     "LinearVelocity": {
         "base_unit": "MetersPerSecond",
-        "multiply": {"Time": "Distance", "Frequency": "LinearAcceleration"},
-        "divide": {"Time": "LinearAcceleration"},
+        "multiply": {
+            "Time": "Distance",
+            "Frequency": "LinearAcceleration",
+            "VoltagePerDistancePerTime": "Voltage",
+        },
+        "divide": {
+            "Time": "LinearAcceleration",
+        },
     },
     "Mass": {
         "base_unit": "Kilograms",
@@ -261,7 +289,40 @@ def output(outPath, outfn, contents):
         "multiply": {},
         "divide": {},
     },
-    "Voltage": {"base_unit": "Volts", "multiply": {"Current": "Power"}, "divide": {}},
+    "Voltage": {
+        "base_unit": "Volts",
+        "multiply": {"Current": "Power"},
+        "divide": {
+            "VoltagePerAnglePerTime": "AngularVelocity",
+            "AngularVelocity": "VoltagePerAnglePerTime",
+            "VoltagePerAnglePerTimeSquared": "AngularAcceleration",
+            "AngularAcceleration": "VoltagePerAnglePerTimeSquared",
+            "VoltagePerDistancePerTime": "LinearVelocity",
+            "LinearVelocity": "VoltagePerDistancePerTime",
+            "VoltagePerDistancePerTimeSquared": "LinearAcceleration",
+            "LinearAcceleration": "VoltagePerDistancePerTimeSquared",
+        },
+    },
+    "VoltagePerAnglePerTime": {
+        "base_unit": "VoltsPerRadianPerSecond",
+        "multiply": {"AngularVelocity": "Voltage"},
+        "divide": {},
+    },
+    "VoltagePerAnglePerTimeSquared": {
+        "base_unit": "VoltsPerRadianPerSecondSquared",
+        "multiply": {"AngularAcceleration": "Voltage"},
+        "divide": {},
+    },
+    "VoltagePerDistancePerTime": {
+        "base_unit": "VoltsPerMeterPerSecond",
+        "multiply": {"LinearVelocity": "Voltage"},
+        "divide": {},
+    },
+    "VoltagePerDistancePerTimeSquared": {
+        "base_unit": "VoltsPerMeterPerSecondSquared",
+        "multiply": {"LinearAcceleration": "Voltage"},
+        "divide": {},
+    },
 }
 
 
@@ -311,7 +372,6 @@ def mtou(measure_name):
 
 
 def main():
-
     dirname, _ = os.path.split(os.path.abspath(__file__))
 
     env = Environment(