diff --git a/.github/workflows/pregenerate.yml b/.github/workflows/pregenerate.yml
index f356b087140..decca974b6c 100644
--- a/.github/workflows/pregenerate.yml
+++ b/.github/workflows/pregenerate.yml
@@ -32,6 +32,8 @@ jobs:
         run: ./ntcore/generate_topics.py
       - name: Run wpimath
         run: ./wpimath/generate_numbers.py && ./wpimath/generate_quickbuf.py --quickbuf_plugin=protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
+      - name: Run wpiunits
+        run: ./wpiunits/generate_units.py
       - name: Run HIDs
         run: ./wpilibj/generate_hids.py && ./wpilibc/generate_hids.py && ./wpilibNewCommands/generate_hids.py
       - name: Run PWM Controllers
diff --git a/docs/build.gradle b/docs/build.gradle
index 526bae0c7bb..4104c6db874 100644
--- a/docs/build.gradle
+++ b/docs/build.gradle
@@ -203,7 +203,10 @@ task generateJavaDocs(type: Javadoc) {
             "-edu.wpi.first.math.system.struct," +
             "-edu.wpi.first.math.system.plant.proto," +
             "-edu.wpi.first.math.system.plant.struct," +
-            "-edu.wpi.first.math.trajectory.proto", true)
+            "-edu.wpi.first.math.trajectory.proto," +
+            // The .measure package contains generated source files for which automatic javadoc
+            // generation is very difficult to do meaningfully.
+            "-edu.wpi.first.units.measure", true)
     options.addBooleanOption("Xdoclint:html,missing,reference,syntax", true)
     options.addBooleanOption('html5', true)
     options.linkSource(true)
diff --git a/epilogue-runtime/src/main/java/edu/wpi/first/epilogue/EpilogueConfiguration.java b/epilogue-runtime/src/main/java/edu/wpi/first/epilogue/EpilogueConfiguration.java
index 868a7cb0bf6..84bdc1fae5d 100644
--- a/epilogue-runtime/src/main/java/edu/wpi/first/epilogue/EpilogueConfiguration.java
+++ b/epilogue-runtime/src/main/java/edu/wpi/first/epilogue/EpilogueConfiguration.java
@@ -9,8 +9,7 @@
 import edu.wpi.first.epilogue.logging.errors.ErrorHandler;
 import edu.wpi.first.epilogue.logging.errors.ErrorPrinter;
 import edu.wpi.first.networktables.NetworkTableInstance;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Time;
+import edu.wpi.first.units.measure.Time;
 
 /**
  * A configuration object to be used by the generated {@code Epilogue} class to customize its
@@ -29,13 +28,13 @@ public class EpilogueConfiguration {
    * The period Epilogue will log at. By default this is the period that the robot runs at. This is
    * the field used by bind to configure speed when adding the periodic logging function
    */
-  public Measure<Time> loggingPeriod;
+  public Time loggingPeriod;
 
   /**
    * The offset from the periodic run that Epilogue will log at. By default this will be half of the
    * robots period. This is the field used by bind when adding the periodic logging function
    */
-  public Measure<Time> loggingPeriodOffset;
+  public Time loggingPeriodOffset;
 
   /**
    * The minimum importance level of data to be logged. Defaults to debug, which logs data of all
diff --git a/epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/DataLogger.java b/epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/DataLogger.java
index a8b6f341682..a804bc5a1ae 100644
--- a/epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/DataLogger.java
+++ b/epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/DataLogger.java
@@ -211,7 +211,7 @@ default void log(String identifier, Measure<?> value) {
    * @param unit the unit to log the measurement in
    * @param <U> the dimension of the unit
    */
-  default <U extends Unit<U>> void log(String identifier, Measure<U> value, U unit) {
+  default <U extends Unit> void log(String identifier, Measure<U> value, U unit) {
     log(identifier, value.in(unit));
   }
 
diff --git a/styleguide/checkstyle-suppressions.xml b/styleguide/checkstyle-suppressions.xml
index 7644ea0563c..2bfd414d595 100644
--- a/styleguide/checkstyle-suppressions.xml
+++ b/styleguide/checkstyle-suppressions.xml
@@ -14,4 +14,6 @@ suppressions PUBLIC "-//Puppy Crawl//DTD Suppressions 1.1//EN"
     checks="(CustomImportOrder|EmptyLineSeparator|LineLength|JavadocParagraph|MissingJavadocMethod|OverloadMethodsDeclarationOrder|SummaryJavadoc|UnnecessaryParentheses|OperatorWrap|JavadocMethod|JavadocTagContinuationIndentation)" />
   <suppress files="wpilibj[/\\]src[/\\]generated.*"
     checks="MethodName" />
+  <!-- Disable checkstyle for generated unit files -->
+  <suppress files="wpiunits[/\\]src[/\\]generated.*" checks=".*"/>
 </suppressions>
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
index 7d71676ce41..a53d792d0e4 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
@@ -4,11 +4,10 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import static edu.wpi.first.units.Units.Second;
+import static edu.wpi.first.units.Units.Seconds;
 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Time;
+import edu.wpi.first.units.measure.Time;
 import edu.wpi.first.util.function.BooleanConsumer;
 import edu.wpi.first.util.sendable.Sendable;
 import edu.wpi.first.util.sendable.SendableBuilder;
@@ -179,8 +178,8 @@ public ParallelRaceGroup withTimeout(double seconds) {
    * @param time the timeout duration
    * @return the command with the timeout added
    */
-  public ParallelRaceGroup withTimeout(Measure<Time> time) {
-    return withTimeout(time.in(Second));
+  public ParallelRaceGroup withTimeout(Time time) {
+    return withTimeout(time.in(Seconds));
   }
 
   /**
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java
index 3632c1100ad..c53409a033d 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java
@@ -6,8 +6,7 @@
 
 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Time;
+import edu.wpi.first.units.measure.Time;
 import java.util.Map;
 import java.util.Set;
 import java.util.function.BooleanSupplier;
@@ -137,7 +136,7 @@ public static Command waitSeconds(double seconds) {
    * @return the command
    * @see WaitCommand
    */
-  public static Command waitTime(Measure<Time> time) {
+  public static Command waitTime(Time time) {
     return new WaitCommand(time);
   }
 
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
index fa299a51180..bb47e58a370 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
@@ -19,9 +19,7 @@
 import edu.wpi.first.math.kinematics.MecanumDriveMotorVoltages;
 import edu.wpi.first.math.kinematics.MecanumDriveWheelSpeeds;
 import edu.wpi.first.math.trajectory.Trajectory;
-import edu.wpi.first.units.Distance;
-import edu.wpi.first.units.MutableMeasure;
-import edu.wpi.first.units.Velocity;
+import edu.wpi.first.units.measure.MutLinearVelocity;
 import edu.wpi.first.wpilibj.Timer;
 import java.util.function.Consumer;
 import java.util.function.Supplier;
@@ -60,22 +58,14 @@ public class MecanumControllerCommand extends Command {
   private final Supplier<MecanumDriveWheelSpeeds> m_currentWheelSpeeds;
   private final Consumer<MecanumDriveMotorVoltages> m_outputDriveVoltages;
   private final Consumer<MecanumDriveWheelSpeeds> m_outputWheelSpeeds;
-  private final MutableMeasure<Velocity<Distance>> m_prevFrontLeftSpeedSetpoint =
-      MutableMeasure.zero(MetersPerSecond);
-  private final MutableMeasure<Velocity<Distance>> m_prevRearLeftSpeedSetpoint =
-      MutableMeasure.zero(MetersPerSecond);
-  private final MutableMeasure<Velocity<Distance>> m_prevFrontRightSpeedSetpoint =
-      MutableMeasure.zero(MetersPerSecond);
-  private final MutableMeasure<Velocity<Distance>> m_prevRearRightSpeedSetpoint =
-      MutableMeasure.zero(MetersPerSecond);
-  private final MutableMeasure<Velocity<Distance>> m_frontLeftSpeedSetpoint =
-      MutableMeasure.zero(MetersPerSecond);
-  private final MutableMeasure<Velocity<Distance>> m_rearLeftSpeedSetpoint =
-      MutableMeasure.zero(MetersPerSecond);
-  private final MutableMeasure<Velocity<Distance>> m_frontRightSpeedSetpoint =
-      MutableMeasure.zero(MetersPerSecond);
-  private final MutableMeasure<Velocity<Distance>> m_rearRightSpeedSetpoint =
-      MutableMeasure.zero(MetersPerSecond);
+  private final MutLinearVelocity m_prevFrontLeftSpeedSetpoint = MetersPerSecond.mutable(0);
+  private final MutLinearVelocity m_prevRearLeftSpeedSetpoint = MetersPerSecond.mutable(0);
+  private final MutLinearVelocity m_prevFrontRightSpeedSetpoint = MetersPerSecond.mutable(0);
+  private final MutLinearVelocity m_prevRearRightSpeedSetpoint = MetersPerSecond.mutable(0);
+  private final MutLinearVelocity m_frontLeftSpeedSetpoint = MetersPerSecond.mutable(0);
+  private final MutLinearVelocity m_rearLeftSpeedSetpoint = MetersPerSecond.mutable(0);
+  private final MutLinearVelocity m_frontRightSpeedSetpoint = MetersPerSecond.mutable(0);
+  private final MutLinearVelocity m_rearRightSpeedSetpoint = MetersPerSecond.mutable(0);
 
   /**
    * Constructs a new MecanumControllerCommand that when executed will follow the provided
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
index bcd2a7929be..533db5b0398 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
@@ -16,9 +16,7 @@
 import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
 import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
 import edu.wpi.first.math.trajectory.Trajectory;
-import edu.wpi.first.units.Distance;
-import edu.wpi.first.units.MutableMeasure;
-import edu.wpi.first.units.Velocity;
+import edu.wpi.first.units.measure.MutLinearVelocity;
 import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.wpilibj.Timer;
 import java.util.function.BiConsumer;
@@ -51,14 +49,10 @@ public class RamseteCommand extends Command {
   private final PIDController m_rightController;
   private final BiConsumer<Double, Double> m_output;
   private DifferentialDriveWheelSpeeds m_prevSpeeds = new DifferentialDriveWheelSpeeds();
-  private final MutableMeasure<Velocity<Distance>> m_prevLeftSpeedSetpoint =
-      MutableMeasure.zero(MetersPerSecond);
-  private final MutableMeasure<Velocity<Distance>> m_prevRightSpeedSetpoint =
-      MutableMeasure.zero(MetersPerSecond);
-  private final MutableMeasure<Velocity<Distance>> m_leftSpeedSetpoint =
-      MutableMeasure.zero(MetersPerSecond);
-  private final MutableMeasure<Velocity<Distance>> m_rightSpeedSetpoint =
-      MutableMeasure.zero(MetersPerSecond);
+  private final MutLinearVelocity m_prevLeftSpeedSetpoint = MetersPerSecond.mutable(0);
+  private final MutLinearVelocity m_prevRightSpeedSetpoint = MetersPerSecond.mutable(0);
+  private final MutLinearVelocity m_leftSpeedSetpoint = MetersPerSecond.mutable(0);
+  private final MutLinearVelocity m_rightSpeedSetpoint = MetersPerSecond.mutable(0);
   private double m_prevTime;
 
   /**
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java
index a0851925137..556d134c7e5 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java
@@ -4,10 +4,9 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import static edu.wpi.first.units.Units.Second;
+import static edu.wpi.first.units.Units.Seconds;
 
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Time;
+import edu.wpi.first.units.measure.Time;
 import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.util.sendable.SendableRegistry;
 import edu.wpi.first.wpilibj.Timer;
@@ -39,8 +38,8 @@ public WaitCommand(double seconds) {
    *
    * @param time the time to wait
    */
-  public WaitCommand(Measure<Time> time) {
-    this(time.in(Second));
+  public WaitCommand(Time time) {
+    this(time.in(Seconds));
   }
 
   @Override
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/sysid/SysIdRoutine.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/sysid/SysIdRoutine.java
index 053a404c779..48c3a37190f 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/sysid/SysIdRoutine.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/sysid/SysIdRoutine.java
@@ -4,17 +4,16 @@
 
 package edu.wpi.first.wpilibj2.command.sysid;
 
-import static edu.wpi.first.units.MutableMeasure.mutable;
 import static edu.wpi.first.units.Units.Second;
 import static edu.wpi.first.units.Units.Seconds;
 import static edu.wpi.first.units.Units.Volts;
 import static java.util.Map.entry;
 
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.MutableMeasure;
-import edu.wpi.first.units.Time;
-import edu.wpi.first.units.Velocity;
-import edu.wpi.first.units.Voltage;
+import edu.wpi.first.units.VoltageUnit;
+import edu.wpi.first.units.measure.MutVoltage;
+import edu.wpi.first.units.measure.Time;
+import edu.wpi.first.units.measure.Velocity;
+import edu.wpi.first.units.measure.Voltage;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.sysid.SysIdRoutineLog;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -43,7 +42,7 @@
 public class SysIdRoutine extends SysIdRoutineLog {
   private final Config m_config;
   private final Mechanism m_mechanism;
-  private final MutableMeasure<Voltage> m_outputVolts = mutable(Volts.of(0));
+  private final MutVoltage m_outputVolts = Volts.mutable(0);
   private final Consumer<State> m_recordState;
 
   /**
@@ -62,13 +61,13 @@ public SysIdRoutine(Config config, Mechanism mechanism) {
   /** Hardware-independent configuration for a SysId test routine. */
   public static class Config {
     /** The voltage ramp rate used for quasistatic test routines. */
-    public final Measure<Velocity<Voltage>> m_rampRate;
+    public final Velocity<VoltageUnit> m_rampRate;
 
     /** The step voltage output used for dynamic test routines. */
-    public final Measure<Voltage> m_stepVoltage;
+    public final Voltage m_stepVoltage;
 
     /** Safety timeout for the test routine commands. */
-    public final Measure<Time> m_timeout;
+    public final Time m_timeout;
 
     /** Optional handle for recording test state in a third-party logging solution. */
     public final Consumer<State> m_recordState;
@@ -87,11 +86,11 @@ public static class Config {
      *     logged in WPILog.
      */
     public Config(
-        Measure<Velocity<Voltage>> rampRate,
-        Measure<Voltage> stepVoltage,
-        Measure<Time> timeout,
+        Velocity<VoltageUnit> rampRate,
+        Voltage stepVoltage,
+        Time timeout,
         Consumer<State> recordState) {
-      m_rampRate = rampRate != null ? rampRate : Volts.of(1).per(Seconds.of(1));
+      m_rampRate = rampRate != null ? rampRate : Volts.of(1).per(Second);
       m_stepVoltage = stepVoltage != null ? stepVoltage : Volts.of(7);
       m_timeout = timeout != null ? timeout : Seconds.of(10);
       m_recordState = recordState;
@@ -107,8 +106,7 @@ public Config(
      * @param timeout Safety timeout for the test routine commands. Defaults to 10 seconds if left
      *     null.
      */
-    public Config(
-        Measure<Velocity<Voltage>> rampRate, Measure<Voltage> stepVoltage, Measure<Time> timeout) {
+    public Config(Velocity<VoltageUnit> rampRate, Voltage stepVoltage, Time timeout) {
       this(rampRate, stepVoltage, timeout, null);
     }
 
@@ -132,7 +130,7 @@ public Config() {
    */
   public static class Mechanism {
     /** Sends the SysId-specified drive signal to the mechanism motors during test routines. */
-    public final Consumer<Measure<Voltage>> m_drive;
+    public final Consumer<? super Voltage> m_drive;
 
     /**
      * Returns measured data (voltages, positions, velocities) of the mechanism motors during test
@@ -163,10 +161,7 @@ public static class Mechanism {
      *     the subsystem if left null.
      */
     public Mechanism(
-        Consumer<Measure<Voltage>> drive,
-        Consumer<SysIdRoutineLog> log,
-        Subsystem subsystem,
-        String name) {
+        Consumer<Voltage> drive, Consumer<SysIdRoutineLog> log, Subsystem subsystem, String name) {
       m_drive = drive;
       m_log = log != null ? log : l -> {};
       m_subsystem = subsystem;
@@ -189,8 +184,7 @@ public Mechanism(
      *     will be appended to the log entry title for the routine's test state, e.g.
      *     "sysid-test-state-subsystem".
      */
-    public Mechanism(
-        Consumer<Measure<Voltage>> drive, Consumer<SysIdRoutineLog> log, Subsystem subsystem) {
+    public Mechanism(Consumer<Voltage> drive, Consumer<SysIdRoutineLog> log, Subsystem subsystem) {
       this(drive, log, subsystem, null);
     }
   }
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/sysid/SysIdRoutineTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/sysid/SysIdRoutineTest.java
index 3d885b21bd9..48b0ba89a0b 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/sysid/SysIdRoutineTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/sysid/SysIdRoutineTest.java
@@ -14,8 +14,7 @@
 import static org.mockito.Mockito.verify;
 
 import edu.wpi.first.hal.HAL;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Voltage;
+import edu.wpi.first.units.measure.Voltage;
 import edu.wpi.first.wpilibj.simulation.SimHooks;
 import edu.wpi.first.wpilibj.sysid.SysIdRoutineLog;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -28,7 +27,7 @@ class SysIdRoutineTest {
   interface Mechanism extends Subsystem {
     void recordState(SysIdRoutineLog.State state);
 
-    void drive(Measure<Voltage> voltage);
+    void drive(Voltage voltage);
 
     void log(SysIdRoutineLog log);
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java
index 3d39b502c01..adabe89da83 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java
@@ -10,12 +10,12 @@
 import static edu.wpi.first.units.Units.Value;
 
 import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.units.Dimensionless;
-import edu.wpi.first.units.Distance;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Time;
-import edu.wpi.first.units.Velocity;
 import edu.wpi.first.units.collections.LongToObjectHashMap;
+import edu.wpi.first.units.measure.Dimensionless;
+import edu.wpi.first.units.measure.Distance;
+import edu.wpi.first.units.measure.Frequency;
+import edu.wpi.first.units.measure.LinearVelocity;
+import edu.wpi.first.units.measure.Time;
 import edu.wpi.first.util.WPIUtilJNI;
 import edu.wpi.first.wpilibj.util.Color;
 import java.util.Map;
@@ -99,9 +99,9 @@ public interface LEDPattern {
    *
    * <p>This method is intentionally designed to use separate objects for reading and writing data.
    * By splitting them up, we can easily modify the behavior of some base pattern to make it {@link
-   * #scrollAtRelativeSpeed(Measure) scroll}, {@link #blink(Measure, Measure) blink}, or {@link
-   * #breathe(Measure) breathe} by intercepting the data writes to transform their behavior to
-   * whatever we like.
+   * #scrollAtRelativeSpeed(Frequency) scroll}, {@link #blink(Time, Time) blink}, or {@link
+   * #breathe(Time) breathe} by intercepting the data writes to transform their behavior to whatever
+   * we like.
    *
    * @param reader data reader for accessing buffer length and current colors
    * @param writer data writer for setting new LED colors on the buffer
@@ -186,8 +186,8 @@ default LEDPattern offsetBy(int offset) {
    *     scroll along the length of LEDs and return back to the starting position
    * @return the scrolling pattern
    */
-  default LEDPattern scrollAtRelativeSpeed(Measure<Velocity<Dimensionless>> velocity) {
-    final double periodMicros = 1 / velocity.in(Value.per(Microsecond));
+  default LEDPattern scrollAtRelativeSpeed(Frequency velocity) {
+    final double periodMicros = velocity.asPeriod().in(Microseconds);
 
     return (reader, writer) -> {
       int bufLen = reader.getLength();
@@ -217,7 +217,7 @@ default LEDPattern scrollAtRelativeSpeed(Measure<Velocity<Dimensionless>> veloci
    *
    * <pre>
    *   // LEDs per meter, a known value taken from the spec sheet of our particular LED strip
-   *   Measure&lt;Distance&gt; LED_SPACING = Meters.of(1.0 / 60);
+   *   Distance LED_SPACING = Meters.of(1.0 / 60);
    *
    *   LEDPattern rainbow = LEDPattern.rainbow();
    *   LEDPattern scrollingRainbow =
@@ -232,8 +232,7 @@ default LEDPattern scrollAtRelativeSpeed(Measure<Velocity<Dimensionless>> veloci
    * @param ledSpacing the distance between adjacent LEDs on the physical LED strip
    * @return the scrolling pattern
    */
-  default LEDPattern scrollAtAbsoluteSpeed(
-      Measure<Velocity<Distance>> velocity, Measure<Distance> ledSpacing) {
+  default LEDPattern scrollAtAbsoluteSpeed(LinearVelocity velocity, Distance ledSpacing) {
     // eg velocity = 10 m/s, spacing = 0.01m
     // meters per micro = 1e-5 m/us
     // micros per LED = 1e-2 m / (1e-5 m/us) = 1e-3 us
@@ -267,7 +266,7 @@ default LEDPattern scrollAtAbsoluteSpeed(
    * @param offTime how long the pattern should be turned off for, per cycle
    * @return the blinking pattern
    */
-  default LEDPattern blink(Measure<Time> onTime, Measure<Time> offTime) {
+  default LEDPattern blink(Time onTime, Time offTime) {
     final long totalTimeMicros = (long) (onTime.in(Microseconds) + offTime.in(Microseconds));
     final long onTimeMicros = (long) onTime.in(Microseconds);
 
@@ -281,13 +280,13 @@ default LEDPattern blink(Measure<Time> onTime, Measure<Time> offTime) {
   }
 
   /**
-   * Like {@link #blink(Measure, Measure) blink(onTime, offTime)}, but where the "off" time is
-   * exactly equal to the "on" time.
+   * Like {@link #blink(Time, Time) blink(onTime, offTime)}, but where the "off" time is exactly
+   * equal to the "on" time.
    *
    * @param onTime how long the pattern should play for (and be turned off for), per cycle
    * @return the blinking pattern
    */
-  default LEDPattern blink(Measure<Time> onTime) {
+  default LEDPattern blink(Time onTime) {
     return blink(onTime, onTime);
   }
 
@@ -316,7 +315,7 @@ default LEDPattern synchronizedBlink(BooleanSupplier signal) {
    * @param period how fast the breathing pattern should complete a single cycle
    * @return the breathing pattern
    */
-  default LEDPattern breathe(Measure<Time> period) {
+  default LEDPattern breathe(Time period) {
     final long periodMicros = (long) period.in(Microseconds);
 
     return (reader, writer) -> {
@@ -444,7 +443,7 @@ default LEDPattern mask(LEDPattern mask) {
    * @param relativeBrightness the multiplier to apply to all channels to modify brightness
    * @return the input pattern, displayed at
    */
-  default LEDPattern atBrightness(Measure<Dimensionless> relativeBrightness) {
+  default LEDPattern atBrightness(Dimensionless relativeBrightness) {
     double multiplier = relativeBrightness.in(Value);
 
     return (reader, writer) -> {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
index 2251d712d9f..7b59f528a6b 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
@@ -11,8 +11,7 @@
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.NotifierJNI;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Time;
+import edu.wpi.first.units.measure.Time;
 import java.util.PriorityQueue;
 
 /**
@@ -199,7 +198,7 @@ public final void addPeriodic(Runnable callback, double periodSeconds, double of
    * @param callback The callback to run.
    * @param period The period at which to run the callback.
    */
-  public final void addPeriodic(Runnable callback, Measure<Time> period) {
+  public final void addPeriodic(Runnable callback, Time period) {
     addPeriodic(callback, period.in(Seconds));
   }
 
@@ -214,7 +213,7 @@ public final void addPeriodic(Runnable callback, Measure<Time> period) {
    * @param offset The offset from the common starting time. This is useful for scheduling a
    *     callback in a different timeslot relative to TimedRobot.
    */
-  public final void addPeriodic(Runnable callback, Measure<Time> period, Measure<Time> offset) {
+  public final void addPeriodic(Runnable callback, Time period, Time offset) {
     addPeriodic(callback, period.in(Seconds), offset.in(Seconds));
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.java
index 4cd50da11d8..7c77f8afac9 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.java
@@ -4,6 +4,9 @@
 
 package edu.wpi.first.wpilibj.motorcontrol;
 
+import static edu.wpi.first.units.Units.Volts;
+
+import edu.wpi.first.units.measure.Voltage;
 import edu.wpi.first.wpilibj.RobotController;
 
 /** Interface for motor controlling devices. */
@@ -24,12 +27,27 @@ public interface MotorController {
    * <p>NOTE: This function *must* be called regularly in order for voltage compensation to work
    * properly - unlike the ordinary set function, it is not "set it and forget it."
    *
-   * @param outputVolts The voltage to output.
+   * @param outputVolts The voltage to output, in Volts.
    */
   default void setVoltage(double outputVolts) {
     set(outputVolts / RobotController.getBatteryVoltage());
   }
 
+  /**
+   * Sets the voltage output of the MotorController. Compensates for the current bus voltage to
+   * ensure that the desired voltage is output even if the battery voltage is below 12V - highly
+   * useful when the voltage outputs are "meaningful" (e.g. they come from a feedforward
+   * calculation).
+   *
+   * <p>NOTE: This function *must* be called regularly in order for voltage compensation to work
+   * properly - unlike the ordinary set function, it is not "set it and forget it."
+   *
+   * @param outputVoltage The voltage to output.
+   */
+  default void setVoltage(Voltage outputVoltage) {
+    setVoltage(outputVoltage.in(Volts));
+  }
+
   /**
    * Common interface for getting the current set speed of a motor controller.
    *
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java
index 225543a2b6c..372dec74560 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java
@@ -13,10 +13,10 @@
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.system.plant.LinearSystemId;
 import edu.wpi.first.math.util.Units;
-import edu.wpi.first.units.Angle;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.MutableMeasure;
-import edu.wpi.first.units.Velocity;
+import edu.wpi.first.units.measure.AngularAcceleration;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.MutAngularAcceleration;
+import edu.wpi.first.units.measure.MutAngularVelocity;
 import edu.wpi.first.wpilibj.RobotController;
 
 /** Represents a simulated flywheel mechanism. */
@@ -31,12 +31,10 @@ public class FlywheelSim extends LinearSystemSim<N1, N1, N1> {
   private final double m_jKgMetersSquared;
 
   // The angular velocity of the system.
-  private final MutableMeasure<Velocity<Angle>> m_angularVelocity =
-      MutableMeasure.zero(RadiansPerSecond);
+  private final MutAngularVelocity m_angularVelocity = RadiansPerSecond.mutable(0);
 
   // The angular acceleration of the system.
-  private final MutableMeasure<Velocity<Velocity<Angle>>> m_angularAcceleration =
-      MutableMeasure.zero(RadiansPerSecondPerSecond);
+  private final MutAngularAcceleration m_angularAcceleration = RadiansPerSecondPerSecond.mutable(0);
 
   /**
    * Creates a simulated flywheel mechanism.
@@ -133,7 +131,7 @@ public double getAngularVelocityRPM() {
    *
    * @return The flywheel's velocity
    */
-  public Measure<Velocity<Angle>> getAngularVelocity() {
+  public AngularVelocity getAngularVelocity() {
     m_angularVelocity.mut_setMagnitude(getAngularVelocityRadPerSec());
     return m_angularVelocity;
   }
@@ -153,7 +151,7 @@ public double getAngularAccelerationRadPerSecSq() {
    *
    * @return The flywheel's acceleration.
    */
-  public Measure<Velocity<Velocity<Angle>>> getAngularAcceleration() {
+  public AngularAcceleration getAngularAcceleration() {
     m_angularAcceleration.mut_setMagnitude(getAngularAccelerationRadPerSecSq());
     return m_angularAcceleration;
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/sysid/SysIdRoutineLog.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/sysid/SysIdRoutineLog.java
index cbc6991fd35..82c9ed9b05f 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/sysid/SysIdRoutineLog.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/sysid/SysIdRoutineLog.java
@@ -12,12 +12,14 @@
 import static edu.wpi.first.units.Units.Second;
 import static edu.wpi.first.units.Units.Volts;
 
-import edu.wpi.first.units.Angle;
-import edu.wpi.first.units.Current;
-import edu.wpi.first.units.Distance;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Velocity;
-import edu.wpi.first.units.Voltage;
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.AngularAcceleration;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Current;
+import edu.wpi.first.units.measure.Distance;
+import edu.wpi.first.units.measure.LinearAcceleration;
+import edu.wpi.first.units.measure.LinearVelocity;
+import edu.wpi.first.units.measure.Voltage;
 import edu.wpi.first.util.datalog.DoubleLogEntry;
 import edu.wpi.first.util.datalog.StringLogEntry;
 import edu.wpi.first.wpilibj.DataLogManager;
@@ -114,7 +116,7 @@ public MotorLog value(String name, double value, String unit) {
      * @param voltage The voltage to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog voltage(Measure<Voltage> voltage) {
+    public MotorLog voltage(Voltage voltage) {
       return value("voltage", voltage.in(Volts), Volts.name());
     }
 
@@ -124,7 +126,7 @@ public MotorLog voltage(Measure<Voltage> voltage) {
      * @param position The linear position to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog linearPosition(Measure<Distance> position) {
+    public MotorLog linearPosition(Distance position) {
       return value("position", position.in(Meters), Meters.name());
     }
 
@@ -134,7 +136,7 @@ public MotorLog linearPosition(Measure<Distance> position) {
      * @param position The angular position to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog angularPosition(Measure<Angle> position) {
+    public MotorLog angularPosition(Angle position) {
       return value("position", position.in(Rotations), Rotations.name());
     }
 
@@ -144,7 +146,7 @@ public MotorLog angularPosition(Measure<Angle> position) {
      * @param velocity The linear velocity to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog linearVelocity(Measure<Velocity<Distance>> velocity) {
+    public MotorLog linearVelocity(LinearVelocity velocity) {
       return value("velocity", velocity.in(MetersPerSecond), MetersPerSecond.name());
     }
 
@@ -154,7 +156,7 @@ public MotorLog linearVelocity(Measure<Velocity<Distance>> velocity) {
      * @param velocity The angular velocity to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog angularVelocity(Measure<Velocity<Angle>> velocity) {
+    public MotorLog angularVelocity(AngularVelocity velocity) {
       return value("velocity", velocity.in(RotationsPerSecond), RotationsPerSecond.name());
     }
 
@@ -166,7 +168,7 @@ public MotorLog angularVelocity(Measure<Velocity<Angle>> velocity) {
      * @param acceleration The linear acceleration to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog linearAcceleration(Measure<Velocity<Velocity<Distance>>> acceleration) {
+    public MotorLog linearAcceleration(LinearAcceleration acceleration) {
       return value(
           "acceleration",
           acceleration.in(MetersPerSecond.per(Second)),
@@ -181,7 +183,7 @@ public MotorLog linearAcceleration(Measure<Velocity<Velocity<Distance>>> acceler
      * @param acceleration The angular acceleration to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog angularAcceleration(Measure<Velocity<Velocity<Angle>>> acceleration) {
+    public MotorLog angularAcceleration(AngularAcceleration acceleration) {
       return value(
           "acceleration",
           acceleration.in(RotationsPerSecond.per(Second)),
@@ -196,7 +198,7 @@ public MotorLog angularAcceleration(Measure<Velocity<Velocity<Angle>>> accelerat
      * @param current The current to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog current(Measure<Current> current) {
+    public MotorLog current(Current current) {
       value("current", current.in(Amps), Amps.name());
       return this;
     }
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/LEDPatternTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/LEDPatternTest.java
index f6d38ed7484..ea4c7681516 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/LEDPatternTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/LEDPatternTest.java
@@ -745,7 +745,7 @@ void progressMaskLayer() {
 
   @Test
   void zeroBrightness() {
-    var pattern = LEDPattern.solid(kRed).atBrightness(Percent.zero());
+    var pattern = LEDPattern.solid(kRed).atBrightness(Percent.of(0));
     var buffer = new AddressableLEDBuffer(1);
     pattern.applyTo(buffer);
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled/Robot.java
index 16e5321307a..a698f333925 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled/Robot.java
@@ -7,8 +7,7 @@
 import static edu.wpi.first.units.Units.Meters;
 import static edu.wpi.first.units.Units.MetersPerSecond;
 
-import edu.wpi.first.units.Distance;
-import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.wpilibj.AddressableLED;
 import edu.wpi.first.wpilibj.AddressableLEDBuffer;
 import edu.wpi.first.wpilibj.LEDPattern;
@@ -23,7 +22,7 @@ public class Robot extends TimedRobot {
   private final LEDPattern m_rainbow = LEDPattern.rainbow(255, 128);
 
   // Our LED strip has a density of 120 LEDs per meter
-  private static final Measure<Distance> kLedSpacing = Meters.of(1 / 120.0);
+  private static final Distance kLedSpacing = Meters.of(1 / 120.0);
 
   // Create a new pattern that scrolls the rainbow pattern across the LED strip, moving at a speed
   // of 1 meter per second.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/subsystems/Drive.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/subsystems/Drive.java
index 9cad2950c0d..1981172cc53 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/subsystems/Drive.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/subsystems/Drive.java
@@ -4,16 +4,13 @@
 
 package edu.wpi.first.wpilibj.examples.sysid.subsystems;
 
-import static edu.wpi.first.units.MutableMeasure.mutable;
 import static edu.wpi.first.units.Units.Meters;
 import static edu.wpi.first.units.Units.MetersPerSecond;
 import static edu.wpi.first.units.Units.Volts;
 
-import edu.wpi.first.units.Distance;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.MutableMeasure;
-import edu.wpi.first.units.Velocity;
-import edu.wpi.first.units.Voltage;
+import edu.wpi.first.units.measure.MutDistance;
+import edu.wpi.first.units.measure.MutLinearVelocity;
+import edu.wpi.first.units.measure.MutVoltage;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -50,11 +47,11 @@ public class Drive extends SubsystemBase {
           DriveConstants.kRightEncoderReversed);
 
   // Mutable holder for unit-safe voltage values, persisted to avoid reallocation.
-  private final MutableMeasure<Voltage> m_appliedVoltage = mutable(Volts.of(0));
+  private final MutVoltage m_appliedVoltage = Volts.mutable(0);
   // Mutable holder for unit-safe linear distance values, persisted to avoid reallocation.
-  private final MutableMeasure<Distance> m_distance = mutable(Meters.of(0));
+  private final MutDistance m_distance = Meters.mutable(0);
   // Mutable holder for unit-safe linear velocity values, persisted to avoid reallocation.
-  private final MutableMeasure<Velocity<Distance>> m_velocity = mutable(MetersPerSecond.of(0));
+  private final MutLinearVelocity m_velocity = MetersPerSecond.mutable(0);
 
   // Create a new SysId routine for characterizing the drive.
   private final SysIdRoutine m_sysIdRoutine =
@@ -63,9 +60,9 @@ public class Drive extends SubsystemBase {
           new SysIdRoutine.Config(),
           new SysIdRoutine.Mechanism(
               // Tell SysId how to plumb the driving voltage to the motors.
-              (Measure<Voltage> volts) -> {
-                m_leftMotor.setVoltage(volts.in(Volts));
-                m_rightMotor.setVoltage(volts.in(Volts));
+              voltage -> {
+                m_leftMotor.setVoltage(voltage);
+                m_rightMotor.setVoltage(voltage);
               },
               // Tell SysId how to record a frame of data for each motor on the mechanism being
               // characterized.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/subsystems/Shooter.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/subsystems/Shooter.java
index 94574424db9..2b62f5c8064 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/subsystems/Shooter.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/subsystems/Shooter.java
@@ -4,18 +4,17 @@
 
 package edu.wpi.first.wpilibj.examples.sysid.subsystems;
 
-import static edu.wpi.first.units.MutableMeasure.mutable;
+import static edu.wpi.first.units.Units.Radians;
+import static edu.wpi.first.units.Units.RadiansPerSecond;
 import static edu.wpi.first.units.Units.Rotations;
 import static edu.wpi.first.units.Units.RotationsPerSecond;
 import static edu.wpi.first.units.Units.Volts;
 
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
-import edu.wpi.first.units.Angle;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.MutableMeasure;
-import edu.wpi.first.units.Velocity;
-import edu.wpi.first.units.Voltage;
+import edu.wpi.first.units.measure.MutAngle;
+import edu.wpi.first.units.measure.MutAngularVelocity;
+import edu.wpi.first.units.measure.MutVoltage;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.examples.sysid.Constants.ShooterConstants;
@@ -40,11 +39,11 @@ public class Shooter extends SubsystemBase {
           ShooterConstants.kEncoderReversed);
 
   // Mutable holder for unit-safe voltage values, persisted to avoid reallocation.
-  private final MutableMeasure<Voltage> m_appliedVoltage = mutable(Volts.of(0));
+  private final MutVoltage m_appliedVoltage = Volts.mutable(0);
   // Mutable holder for unit-safe linear distance values, persisted to avoid reallocation.
-  private final MutableMeasure<Angle> m_angle = mutable(Rotations.of(0));
+  private final MutAngle m_angle = Radians.mutable(0);
   // Mutable holder for unit-safe linear velocity values, persisted to avoid reallocation.
-  private final MutableMeasure<Velocity<Angle>> m_velocity = mutable(RotationsPerSecond.of(0));
+  private final MutAngularVelocity m_velocity = RadiansPerSecond.mutable(0);
 
   // Create a new SysId routine for characterizing the shooter.
   private final SysIdRoutine m_sysIdRoutine =
@@ -53,9 +52,7 @@ public class Shooter extends SubsystemBase {
           new SysIdRoutine.Config(),
           new SysIdRoutine.Mechanism(
               // Tell SysId how to plumb the driving voltage to the motor(s).
-              (Measure<Voltage> volts) -> {
-                m_shooterMotor.setVoltage(volts.in(Volts));
-              },
+              m_shooterMotor::setVoltage,
               // Tell SysId how to record a frame of data for each motor on the mechanism being
               // characterized.
               log -> {
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java
index 771d927cb40..eb8fae85594 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java
@@ -9,9 +9,10 @@
 import edu.wpi.first.math.controller.proto.SimpleMotorFeedforwardProto;
 import edu.wpi.first.math.controller.struct.SimpleMotorFeedforwardStruct;
 import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.PerUnit;
+import edu.wpi.first.units.TimeUnit;
 import edu.wpi.first.units.Unit;
-import edu.wpi.first.units.Velocity;
-import edu.wpi.first.units.Voltage;
+import edu.wpi.first.units.measure.Voltage;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 
@@ -156,7 +157,7 @@ public double calculate(double velocity) {
    * @param setpoint The velocity setpoint.
    * @return The computed feedforward.
    */
-  public <U extends Unit<U>> Measure<Voltage> calculate(Measure<Velocity<U>> setpoint) {
+  public <U extends Unit> Voltage calculate(Measure<? extends PerUnit<U, TimeUnit>> setpoint) {
     return calculate(setpoint, setpoint);
   }
 
@@ -168,8 +169,9 @@ public <U extends Unit<U>> Measure<Voltage> calculate(Measure<Velocity<U>> setpo
    * @param nextVelocity The next velocity setpoint.
    * @return The computed feedforward.
    */
-  public <U extends Unit<U>> Measure<Voltage> calculate(
-      Measure<Velocity<U>> currentVelocity, Measure<Velocity<U>> nextVelocity) {
+  public <U extends Unit> Voltage calculate(
+      Measure<? extends PerUnit<U, TimeUnit>> currentVelocity,
+      Measure<? extends PerUnit<U, TimeUnit>> nextVelocity) {
     if (ka == 0.0) {
       // Given the following discrete feedforward model
       //
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java
index 3a72ee79f72..536f44e9e52 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java
@@ -13,8 +13,7 @@
 import edu.wpi.first.math.geometry.proto.Pose2dProto;
 import edu.wpi.first.math.geometry.struct.Pose2dStruct;
 import edu.wpi.first.math.interpolation.Interpolatable;
-import edu.wpi.first.units.Distance;
-import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Collections;
@@ -76,7 +75,7 @@ public Pose2d(double x, double y, Rotation2d rotation) {
    * @param y The y component of the translational component of the pose.
    * @param rotation The rotational component of the pose.
    */
-  public Pose2d(Measure<Distance> x, Measure<Distance> y, Rotation2d rotation) {
+  public Pose2d(Distance x, Distance y, Rotation2d rotation) {
     this(x.in(Meters), y.in(Meters), rotation);
   }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
index cbcc3b91555..3eeac17a8f8 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
@@ -16,8 +16,7 @@
 import edu.wpi.first.math.geometry.struct.Rotation2dStruct;
 import edu.wpi.first.math.interpolation.Interpolatable;
 import edu.wpi.first.math.util.Units;
-import edu.wpi.first.units.Angle;
-import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
@@ -130,7 +129,7 @@ public Rotation2d(double x, double y) {
    *
    * @param angle The angle of the rotation.
    */
-  public Rotation2d(Measure<Angle> angle) {
+  public Rotation2d(Angle angle) {
     this(angle.in(Radians));
   }
 
@@ -244,7 +243,7 @@ public Rotation2d rotateBy(Rotation2d other) {
    *
    * @return The measure of the Rotation2d.
    */
-  public Measure<Angle> getMeasure() {
+  public Angle getMeasure() {
     return Radians.of(getRadians());
   }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java
index f2bccd80677..4eab093ae46 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java
@@ -8,8 +8,7 @@
 
 import edu.wpi.first.math.geometry.proto.Transform2dProto;
 import edu.wpi.first.math.geometry.struct.Transform2dStruct;
-import edu.wpi.first.units.Distance;
-import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
@@ -75,7 +74,7 @@ public Transform2d(double x, double y, Rotation2d rotation) {
    * @param y The y component of the translational component of the transform.
    * @param rotation The rotational component of the transform.
    */
-  public Transform2d(Measure<Distance> x, Measure<Distance> y, Rotation2d rotation) {
+  public Transform2d(Distance x, Distance y, Rotation2d rotation) {
     this(x.in(Meters), y.in(Meters), rotation);
   }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java
index 698421d3b4a..031d88429a5 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java
@@ -17,8 +17,7 @@
 import edu.wpi.first.math.geometry.struct.Translation2dStruct;
 import edu.wpi.first.math.interpolation.Interpolatable;
 import edu.wpi.first.math.numbers.N2;
-import edu.wpi.first.units.Distance;
-import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Collections;
@@ -84,7 +83,7 @@ public Translation2d(double distance, Rotation2d angle) {
    * @param x The x component of the translation.
    * @param y The y component of the translation.
    */
-  public Translation2d(Measure<Distance> x, Measure<Distance> y) {
+  public Translation2d(Distance x, Distance y) {
     this(x.in(Meters), y.in(Meters));
   }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation3d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation3d.java
index 3d31784b8be..4ae368b3b65 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation3d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation3d.java
@@ -17,8 +17,7 @@
 import edu.wpi.first.math.geometry.struct.Translation3dStruct;
 import edu.wpi.first.math.interpolation.Interpolatable;
 import edu.wpi.first.math.numbers.N3;
-import edu.wpi.first.units.Distance;
-import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
@@ -89,7 +88,7 @@ public Translation3d(double distance, Rotation3d angle) {
    * @param y The y component of the translation.
    * @param z The z component of the translation.
    */
-  public Translation3d(Measure<Distance> x, Measure<Distance> y, Measure<Distance> z) {
+  public Translation3d(Distance x, Distance y, Distance z) {
     this(x.in(Meters), y.in(Meters), z.in(Meters));
   }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java
index 44628733e32..4c806a52cb7 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java
@@ -14,11 +14,9 @@
 import edu.wpi.first.math.geometry.Twist2d;
 import edu.wpi.first.math.kinematics.proto.ChassisSpeedsProto;
 import edu.wpi.first.math.kinematics.struct.ChassisSpeedsStruct;
-import edu.wpi.first.units.Angle;
-import edu.wpi.first.units.Distance;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Time;
-import edu.wpi.first.units.Velocity;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.LinearVelocity;
+import edu.wpi.first.units.measure.Time;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
@@ -72,10 +70,7 @@ public ChassisSpeeds(
    * @param vy Sideways velocity.
    * @param omega Angular velocity.
    */
-  public ChassisSpeeds(
-      Measure<Velocity<Distance>> vx,
-      Measure<Velocity<Distance>> vy,
-      Measure<Velocity<Angle>> omega) {
+  public ChassisSpeeds(LinearVelocity vx, LinearVelocity vy, AngularVelocity omega) {
     this(vx.in(MetersPerSecond), vy.in(MetersPerSecond), omega.in(RadiansPerSecond));
   }
 
@@ -148,10 +143,7 @@ public static ChassisSpeeds discretize(
    * @return Discretized ChassisSpeeds.
    */
   public static ChassisSpeeds discretize(
-      Measure<Velocity<Distance>> vx,
-      Measure<Velocity<Distance>> vy,
-      Measure<Velocity<Angle>> omega,
-      Measure<Time> dt) {
+      LinearVelocity vx, LinearVelocity vy, AngularVelocity omega, Time dt) {
     return discretize(
         vx.in(MetersPerSecond), vy.in(MetersPerSecond), omega.in(RadiansPerSecond), dt.in(Seconds));
   }
@@ -219,10 +211,7 @@ public static ChassisSpeeds fromFieldRelativeSpeeds(
    * @return ChassisSpeeds object representing the speeds in the robot's frame of reference.
    */
   public static ChassisSpeeds fromFieldRelativeSpeeds(
-      Measure<Velocity<Distance>> vx,
-      Measure<Velocity<Distance>> vy,
-      Measure<Velocity<Angle>> omega,
-      Rotation2d robotAngle) {
+      LinearVelocity vx, LinearVelocity vy, AngularVelocity omega, Rotation2d robotAngle) {
     return fromFieldRelativeSpeeds(
         vx.in(MetersPerSecond), vy.in(MetersPerSecond), omega.in(RadiansPerSecond), robotAngle);
   }
@@ -287,10 +276,7 @@ public static ChassisSpeeds fromRobotRelativeSpeeds(
    * @return ChassisSpeeds object representing the speeds in the field's frame of reference.
    */
   public static ChassisSpeeds fromRobotRelativeSpeeds(
-      Measure<Velocity<Distance>> vx,
-      Measure<Velocity<Distance>> vy,
-      Measure<Velocity<Angle>> omega,
-      Rotation2d robotAngle) {
+      LinearVelocity vx, LinearVelocity vy, AngularVelocity omega, Rotation2d robotAngle) {
     return fromRobotRelativeSpeeds(
         vx.in(MetersPerSecond), vy.in(MetersPerSecond), omega.in(RadiansPerSecond), robotAngle);
   }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematics.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematics.java
index c8a443904f6..ffa24cd9ba9 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematics.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematics.java
@@ -11,8 +11,7 @@
 import edu.wpi.first.math.geometry.Twist2d;
 import edu.wpi.first.math.kinematics.proto.DifferentialDriveKinematicsProto;
 import edu.wpi.first.math.kinematics.struct.DifferentialDriveKinematicsStruct;
-import edu.wpi.first.units.Distance;
-import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 
@@ -58,7 +57,7 @@ public DifferentialDriveKinematics(double trackWidthMeters) {
    *     between the left wheels and right wheels. However, the empirical value may be larger than
    *     the physical measured value due to scrubbing effects.
    */
-  public DifferentialDriveKinematics(Measure<Distance> trackWidth) {
+  public DifferentialDriveKinematics(Distance trackWidth) {
     this(trackWidth.in(Meters));
   }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveOdometry.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveOdometry.java
index ad2199e4b98..46fb3950638 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveOdometry.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveOdometry.java
@@ -10,8 +10,7 @@
 import edu.wpi.first.math.MathUsageId;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.units.Distance;
-import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.measure.Distance;
 
 /**
  * Class for differential drive odometry. Odometry allows you to track the robot's position on the
@@ -55,8 +54,8 @@ public DifferentialDriveOdometry(
    */
   public DifferentialDriveOdometry(
       Rotation2d gyroAngle,
-      Measure<Distance> leftDistance,
-      Measure<Distance> rightDistance,
+      Distance leftDistance,
+      Distance rightDistance,
       Pose2d initialPoseMeters) {
     this(gyroAngle, leftDistance.in(Meters), rightDistance.in(Meters), initialPoseMeters);
   }
@@ -81,7 +80,7 @@ public DifferentialDriveOdometry(
    * @param rightDistance The distance traveled by the right encoder.
    */
   public DifferentialDriveOdometry(
-      Rotation2d gyroAngle, Measure<Distance> leftDistance, Measure<Distance> rightDistance) {
+      Rotation2d gyroAngle, Distance leftDistance, Distance rightDistance) {
     this(gyroAngle, leftDistance, rightDistance, Pose2d.kZero);
   }
 
@@ -119,10 +118,7 @@ public void resetPosition(
    * @param poseMeters The position on the field that your robot is at.
    */
   public void resetPosition(
-      Rotation2d gyroAngle,
-      Measure<Distance> leftDistance,
-      Measure<Distance> rightDistance,
-      Pose2d poseMeters) {
+      Rotation2d gyroAngle, Distance leftDistance, Distance rightDistance, Pose2d poseMeters) {
     resetPosition(gyroAngle, leftDistance.in(Meters), rightDistance.in(Meters), poseMeters);
   }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java
index 24f3070847d..b4503e6480f 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java
@@ -10,8 +10,7 @@
 import edu.wpi.first.math.interpolation.Interpolatable;
 import edu.wpi.first.math.kinematics.proto.DifferentialDriveWheelPositionsProto;
 import edu.wpi.first.math.kinematics.struct.DifferentialDriveWheelPositionsStruct;
-import edu.wpi.first.units.Distance;
-import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.measure.Distance;
 import java.util.Objects;
 
 /** Represents the wheel positions for a differential drive drivetrain. */
@@ -48,7 +47,7 @@ public DifferentialDriveWheelPositions(double leftMeters, double rightMeters) {
    * @param left Distance measured by the left side.
    * @param right Distance measured by the right side.
    */
-  public DifferentialDriveWheelPositions(Measure<Distance> left, Measure<Distance> right) {
+  public DifferentialDriveWheelPositions(Distance left, Distance right) {
     this(left.in(Meters), right.in(Meters));
   }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelSpeeds.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelSpeeds.java
index de188179534..6796fabb1e2 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelSpeeds.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelSpeeds.java
@@ -8,9 +8,7 @@
 
 import edu.wpi.first.math.kinematics.proto.DifferentialDriveWheelSpeedsProto;
 import edu.wpi.first.math.kinematics.struct.DifferentialDriveWheelSpeedsStruct;
-import edu.wpi.first.units.Distance;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Velocity;
+import edu.wpi.first.units.measure.LinearVelocity;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 
@@ -50,8 +48,7 @@ public DifferentialDriveWheelSpeeds(double leftMetersPerSecond, double rightMete
    * @param left The left speed.
    * @param right The right speed.
    */
-  public DifferentialDriveWheelSpeeds(
-      Measure<Velocity<Distance>> left, Measure<Velocity<Distance>> right) {
+  public DifferentialDriveWheelSpeeds(LinearVelocity left, LinearVelocity right) {
     this(left.in(MetersPerSecond), right.in(MetersPerSecond));
   }
 
@@ -85,7 +82,7 @@ public void desaturate(double attainableMaxSpeedMetersPerSecond) {
    *
    * @param attainableMaxSpeed The absolute max speed that a wheel can reach.
    */
-  public void desaturate(Measure<Velocity<Distance>> attainableMaxSpeed) {
+  public void desaturate(LinearVelocity attainableMaxSpeed) {
     desaturate(attainableMaxSpeed.in(MetersPerSecond));
   }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelPositions.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelPositions.java
index 1dc14a82928..284c4d3f859 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelPositions.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelPositions.java
@@ -10,8 +10,7 @@
 import edu.wpi.first.math.interpolation.Interpolatable;
 import edu.wpi.first.math.kinematics.proto.MecanumDriveWheelPositionsProto;
 import edu.wpi.first.math.kinematics.struct.MecanumDriveWheelPositionsStruct;
-import edu.wpi.first.units.Distance;
-import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
@@ -71,10 +70,7 @@ public MecanumDriveWheelPositions(
    * @param rearRight Distance measured by the rear right wheel.
    */
   public MecanumDriveWheelPositions(
-      Measure<Distance> frontLeft,
-      Measure<Distance> frontRight,
-      Measure<Distance> rearLeft,
-      Measure<Distance> rearRight) {
+      Distance frontLeft, Distance frontRight, Distance rearLeft, Distance rearRight) {
     this(frontLeft.in(Meters), frontRight.in(Meters), rearLeft.in(Meters), rearRight.in(Meters));
   }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelSpeeds.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelSpeeds.java
index 59a34558a1d..4240b9f5397 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelSpeeds.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelSpeeds.java
@@ -8,9 +8,7 @@
 
 import edu.wpi.first.math.kinematics.proto.MecanumDriveWheelSpeedsProto;
 import edu.wpi.first.math.kinematics.struct.MecanumDriveWheelSpeedsStruct;
-import edu.wpi.first.units.Distance;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Velocity;
+import edu.wpi.first.units.measure.LinearVelocity;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 
@@ -65,10 +63,10 @@ public MecanumDriveWheelSpeeds(
    * @param rearRight Speed of the rear right wheel.
    */
   public MecanumDriveWheelSpeeds(
-      Measure<Velocity<Distance>> frontLeft,
-      Measure<Velocity<Distance>> frontRight,
-      Measure<Velocity<Distance>> rearLeft,
-      Measure<Velocity<Distance>> rearRight) {
+      LinearVelocity frontLeft,
+      LinearVelocity frontRight,
+      LinearVelocity rearLeft,
+      LinearVelocity rearRight) {
     this(
         frontLeft.in(MetersPerSecond),
         frontRight.in(MetersPerSecond),
@@ -114,7 +112,7 @@ public void desaturate(double attainableMaxSpeedMetersPerSecond) {
    *
    * @param attainableMaxSpeed The absolute max speed that a wheel can reach.
    */
-  public void desaturate(Measure<Velocity<Distance>> attainableMaxSpeed) {
+  public void desaturate(LinearVelocity attainableMaxSpeed) {
     desaturate(attainableMaxSpeed.in(MetersPerSecond));
   }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java
index 99dd85d9873..a5205dcfc74 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java
@@ -14,10 +14,8 @@
 import edu.wpi.first.math.geometry.Twist2d;
 import edu.wpi.first.math.kinematics.proto.SwerveDriveKinematicsProto;
 import edu.wpi.first.math.kinematics.struct.SwerveDriveKinematicsStruct;
-import edu.wpi.first.units.Angle;
-import edu.wpi.first.units.Distance;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Velocity;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.LinearVelocity;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.Struct;
 import edu.wpi.first.util.struct.StructSerializable;
@@ -307,7 +305,7 @@ public static void desaturateWheelSpeeds(
    * @param attainableMaxSpeed The absolute max speed that a module can reach.
    */
   public static void desaturateWheelSpeeds(
-      SwerveModuleState[] moduleStates, Measure<Velocity<Distance>> attainableMaxSpeed) {
+      SwerveModuleState[] moduleStates, LinearVelocity attainableMaxSpeed) {
     desaturateWheelSpeeds(moduleStates, attainableMaxSpeed.in(MetersPerSecond));
   }
 
@@ -379,9 +377,9 @@ public static void desaturateWheelSpeeds(
   public static void desaturateWheelSpeeds(
       SwerveModuleState[] moduleStates,
       ChassisSpeeds desiredChassisSpeed,
-      Measure<Velocity<Distance>> attainableMaxModuleSpeed,
-      Measure<Velocity<Distance>> attainableMaxTranslationalSpeed,
-      Measure<Velocity<Angle>> attainableMaxRotationalVelocity) {
+      LinearVelocity attainableMaxModuleSpeed,
+      LinearVelocity attainableMaxTranslationalSpeed,
+      AngularVelocity attainableMaxRotationalVelocity) {
     desaturateWheelSpeeds(
         moduleStates,
         desiredChassisSpeed,
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModulePosition.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModulePosition.java
index 7923a0312b2..a081a702498 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModulePosition.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModulePosition.java
@@ -11,8 +11,7 @@
 import edu.wpi.first.math.interpolation.Interpolatable;
 import edu.wpi.first.math.kinematics.proto.SwerveModulePositionProto;
 import edu.wpi.first.math.kinematics.struct.SwerveModulePositionStruct;
-import edu.wpi.first.units.Distance;
-import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
@@ -55,7 +54,7 @@ public SwerveModulePosition(double distanceMeters, Rotation2d angle) {
    * @param distance The distance measured by the wheel of the module.
    * @param angle The angle of the module.
    */
-  public SwerveModulePosition(Measure<Distance> distance, Rotation2d angle) {
+  public SwerveModulePosition(Distance distance, Rotation2d angle) {
     this(distance.in(Meters), angle);
   }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModuleState.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModuleState.java
index 70d52da96dc..8d30494d526 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModuleState.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModuleState.java
@@ -9,9 +9,7 @@
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.proto.SwerveModuleStateProto;
 import edu.wpi.first.math.kinematics.struct.SwerveModuleStateStruct;
-import edu.wpi.first.units.Distance;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Velocity;
+import edu.wpi.first.units.measure.LinearVelocity;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
@@ -51,7 +49,7 @@ public SwerveModuleState(double speedMetersPerSecond, Rotation2d angle) {
    * @param speed The speed of the wheel of the module.
    * @param angle The angle of the module.
    */
-  public SwerveModuleState(Measure<Velocity<Distance>> speed, Rotation2d angle) {
+  public SwerveModuleState(LinearVelocity speed, Rotation2d angle) {
     this(speed.in(MetersPerSecond), angle);
   }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryConfig.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryConfig.java
index 931efe5aab8..1bcb15f8b56 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryConfig.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryConfig.java
@@ -14,9 +14,8 @@
 import edu.wpi.first.math.trajectory.constraint.MecanumDriveKinematicsConstraint;
 import edu.wpi.first.math.trajectory.constraint.SwerveDriveKinematicsConstraint;
 import edu.wpi.first.math.trajectory.constraint.TrajectoryConstraint;
-import edu.wpi.first.units.Distance;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Velocity;
+import edu.wpi.first.units.measure.LinearAcceleration;
+import edu.wpi.first.units.measure.LinearVelocity;
 import java.util.ArrayList;
 import java.util.List;
 
@@ -55,9 +54,7 @@ public TrajectoryConfig(
    * @param maxVelocity The max velocity for the trajectory.
    * @param maxAcceleration The max acceleration for the trajectory.
    */
-  public TrajectoryConfig(
-      Measure<Velocity<Distance>> maxVelocity,
-      Measure<Velocity<Velocity<Distance>>> maxAcceleration) {
+  public TrajectoryConfig(LinearVelocity maxVelocity, LinearAcceleration maxAcceleration) {
     this(maxVelocity.in(MetersPerSecond), maxAcceleration.in(MetersPerSecondPerSecond));
   }
 
@@ -145,7 +142,7 @@ public TrajectoryConfig setStartVelocity(double startVelocityMetersPerSecond) {
    * @param startVelocity The start velocity of the trajectory.
    * @return Instance of the current config object.
    */
-  public TrajectoryConfig setStartVelocity(Measure<Velocity<Distance>> startVelocity) {
+  public TrajectoryConfig setStartVelocity(LinearVelocity startVelocity) {
     return setStartVelocity(startVelocity.in(MetersPerSecond));
   }
 
@@ -175,7 +172,7 @@ public TrajectoryConfig setEndVelocity(double endVelocityMetersPerSecond) {
    * @param endVelocity The end velocity of the trajectory.
    * @return Instance of the current config object.
    */
-  public TrajectoryConfig setEndVelocity(Measure<Velocity<Distance>> endVelocity) {
+  public TrajectoryConfig setEndVelocity(LinearVelocity endVelocity) {
     return setEndVelocity(endVelocity.in(MetersPerSecond));
   }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java
index 234d725f003..a7ead1bc9c8 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java
@@ -7,8 +7,9 @@
 import edu.wpi.first.math.MathSharedStore;
 import edu.wpi.first.math.MathUsageId;
 import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.PerUnit;
+import edu.wpi.first.units.TimeUnit;
 import edu.wpi.first.units.Unit;
-import edu.wpi.first.units.Velocity;
 import java.util.Objects;
 
 /**
@@ -79,8 +80,10 @@ public Constraints(double maxVelocity, double maxAcceleration) {
      * @param maxVelocity maximum velocity
      * @param maxAcceleration maximum acceleration
      */
-    public <U extends Unit<U>> Constraints(
-        Measure<Velocity<U>> maxVelocity, Measure<Velocity<Velocity<U>>> maxAcceleration) {
+    public <U extends Unit> Constraints(
+        Measure<? extends PerUnit<? extends U, TimeUnit>> maxVelocity,
+        Measure<? extends PerUnit<? extends PerUnit<? extends U, TimeUnit>, TimeUnit>>
+            maxAcceleration) {
       this(maxVelocity.baseUnitMagnitude(), maxAcceleration.baseUnitMagnitude());
     }
   }
@@ -114,7 +117,8 @@ public State(double position, double velocity) {
      * @param position The position at this state.
      * @param velocity The velocity at this state.
      */
-    public <U extends Unit<U>> State(Measure<U> position, Measure<Velocity<U>> velocity) {
+    public <U extends Unit> State(
+        Measure<U> position, Measure<? extends PerUnit<? extends U, TimeUnit>> velocity) {
       this(position.baseUnitMagnitude(), velocity.baseUnitMagnitude());
     }
 
diff --git a/wpimath/src/test/java/edu/wpi/first/math/controller/SimpleMotorFeedforwardTest.java b/wpimath/src/test/java/edu/wpi/first/math/controller/SimpleMotorFeedforwardTest.java
index 0f4edf75d4c..1fd6f58d25f 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/controller/SimpleMotorFeedforwardTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/controller/SimpleMotorFeedforwardTest.java
@@ -13,7 +13,6 @@
 import edu.wpi.first.math.Nat;
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.numbers.N1;
-import edu.wpi.first.units.MutableMeasure;
 import org.junit.jupiter.api.Test;
 
 class SimpleMotorFeedforwardTest {
@@ -32,8 +31,8 @@ void testCalculate() {
 
     var r = VecBuilder.fill(2.0);
     var nextR = VecBuilder.fill(3.0);
-    var currentVelocity = MutableMeasure.ofBaseUnits(2.0, RadiansPerSecond);
-    var nextVelocity = MutableMeasure.ofBaseUnits(3.0, RadiansPerSecond);
+    var currentVelocity = RadiansPerSecond.mutable(2.0);
+    var nextVelocity = RadiansPerSecond.mutable(3.0);
 
     assertEquals(
         37.52499583432516 + 0.5,
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/ChassisSpeedsTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/ChassisSpeedsTest.java
index d5d81858cb3..8f7bb6fd123 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/ChassisSpeedsTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/ChassisSpeedsTest.java
@@ -49,7 +49,7 @@ void testDiscretize() {
   @Test
   void testMeasureConstructor() {
     var vx = InchesPerSecond.of(14.52);
-    var vy = InchesPerSecond.zero();
+    var vy = InchesPerSecond.of(0);
     var omega = RPM.of(0.02);
     var speeds = new ChassisSpeeds(vx, vy, omega);
 
diff --git a/wpimath/src/test/java/edu/wpi/first/math/trajectory/ExponentialProfileTest.java b/wpimath/src/test/java/edu/wpi/first/math/trajectory/ExponentialProfileTest.java
index 6a987d47445..80d6abb41cb 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/trajectory/ExponentialProfileTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/trajectory/ExponentialProfileTest.java
@@ -11,7 +11,6 @@
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
-import edu.wpi.first.units.MutableMeasure;
 import java.util.List;
 import org.junit.jupiter.api.Test;
 
@@ -45,8 +44,8 @@ private static void assertNear(
   private static ExponentialProfile.State checkDynamics(
       ExponentialProfile profile, ExponentialProfile.State current, ExponentialProfile.State goal) {
     var next = profile.calculate(kDt, current, goal);
-    var currentVelocity = MutableMeasure.ofBaseUnits(current.velocity, RadiansPerSecond);
-    var nextVelocity = MutableMeasure.ofBaseUnits(next.velocity, RadiansPerSecond);
+    var currentVelocity = RadiansPerSecond.mutable(current.velocity);
+    var nextVelocity = RadiansPerSecond.mutable(next.velocity);
     var signal = feedforward.calculate(currentVelocity, nextVelocity);
 
     assertTrue(Math.abs(signal.magnitude()) < constraints.maxInput + 1e-9);
diff --git a/wpiunits/CMakeLists.txt b/wpiunits/CMakeLists.txt
index 1bfa329089d..df2964a175f 100644
--- a/wpiunits/CMakeLists.txt
+++ b/wpiunits/CMakeLists.txt
@@ -4,7 +4,7 @@ project(wpiunits)
 if(WITH_JAVA)
     include(UseJava)
 
-    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
+    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java src/generated/main/java/*.java)
 
     add_jar(
         wpiunits_jar
@@ -24,7 +24,9 @@ if(WITH_JAVA_SOURCE)
     include(CreateSourceJar)
     add_source_jar(
         wpiunits_src_jar
-        BASE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/src/main/java
+        BASE_DIRECTORIES
+            ${CMAKE_CURRENT_SOURCE_DIR}/src/main/java
+            ${CMAKE_CURRENT_SOURCE_DIR}/src/generated/main/java
         OUTPUT_NAME wpiunits-sources
     )
     set_property(TARGET wpiunits_src_jar PROPERTY FOLDER "java")
diff --git a/wpiunits/build.gradle b/wpiunits/build.gradle
index e10033df6af..e6b23385757 100644
--- a/wpiunits/build.gradle
+++ b/wpiunits/build.gradle
@@ -12,3 +12,5 @@ apply from: "${rootDir}/shared/java/javacommon.gradle"
 
 dependencies {
 }
+
+sourceSets.main.java.srcDir "${projectDir}/src/generated/main/java"
diff --git a/wpiunits/generate_units.py b/wpiunits/generate_units.py
new file mode 100755
index 00000000000..2aebf286c22
--- /dev/null
+++ b/wpiunits/generate_units.py
@@ -0,0 +1,362 @@
+#!/usr/bin/env python3
+
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+
+# This script generates unit-specific interfaces and mutable and immutable implementations of
+# those interfaces.
+# Generated files will be located in wpiunits/src/generated/main/
+
+import inspect
+import os
+import re
+from jinja2 import Environment, FileSystemLoader
+
+
+def output(outPath, outfn, contents):
+    if not os.path.exists(outPath):
+        os.makedirs(outPath)
+
+    outpathname = f"{outPath}/{outfn}"
+
+    if os.path.exists(outpathname):
+        with open(outpathname, "r") as f:
+            if f.read() == contents:
+                return
+
+    # File either doesn't exist or has different contents
+    with open(outpathname, "w", newline="\n") as f:
+        f.write(contents)
+
+
+# The units for which multiply and divide mathematical operations are defined
+MATH_OPERATION_UNITS = [
+    "Acceleration<?>",
+    "Angle",
+    "AngularAcceleration",
+    "AngularMomentum",
+    "AngularVelocity",
+    "Current",
+    "Dimensionless",
+    "Distance",
+    "Energy",
+    "Force",
+    "Frequency",
+    "LinearAcceleration",
+    "LinearMomentum",
+    "LinearVelocity",
+    "Mass",
+    "MomentOfInertia",
+    "Mult<?, ?>",
+    "Per<?, ?>",
+    "Power",
+    "Temperature",
+    "Time",
+    "Torque",
+    "Velocity<?>",
+    "Voltage",
+]
+
+# Configurations for all generated units
+UNIT_CONFIGURATIONS = {
+    "Acceleration": {
+        "base_unit": "unit()",
+        "generics": {"D": {"extends": "Unit"}},
+        "multiply": {},
+        "divide": {},
+    },
+    "Angle": {
+        "base_unit": "Radians",
+        "multiply": {"Frequency": "AngularVelocity"},
+        "divide": {"Time": "AngularVelocity"},
+    },
+    "AngularAcceleration": {
+        "base_unit": "RadiansPerSecondPerSecond",
+        "multiply": {"Time": "AngularVelocity"},
+        "divide": {"Frequency": "AngularVelocity"},
+    },
+    "AngularMomentum": {
+        "base_unit": "KilogramMetersSquaredPerSecond",
+        "multiply": {},
+        "divide": {"AngularVelocity": "MomentOfInertia"},
+    },
+    "AngularVelocity": {
+        "base_unit": "RadiansPerSecond",
+        "multiply": {"Time": "Angle", "Frequency": "AngularAcceleration"},
+        "divide": {"Time": "AngularAcceleration"},
+        "extra": inspect.cleandoc(
+            """
+          default Frequency asFrequency() { return Hertz.of(baseUnitMagnitude()); }
+        """
+        ),
+    },
+    "Current": {"base_unit": "Amps", "multiply": {"Voltage": "Power"}, "divide": {}},
+    "Dimensionless": {
+        "base_unit": "Value",
+        "multiply": {
+            "Angle": "Angle",
+            "AngularAcceleration": "AngularAcceleration",
+            "AngularMomentum": "AngularMomentum",
+            "AngularVelocity": "AngularVelocity",
+            "Current": "Current",
+            "Dimensionless": "Dimensionless",
+            "Distance": "Distance",
+            "Energy": "Energy",
+            "Force": "Force",
+            "Frequency": "Frequency",
+            "LinearAcceleration": "LinearAcceleration",
+            "LinearMomentum": "LinearMomentum",
+            "LinearVelocity": "LinearVelocity",
+            "Mass": "Mass",
+            "MomentOfInertia": "MomentOfInertia",
+            "Power": "Power",
+            "Temperature": "Temperature",
+            "Time": "Time",
+            "Torque": "Torque",
+            "Voltage": "Voltage",
+        },
+        "divide": {
+            "Time": "Frequency",
+            # TODO:
+            # "AngularVelocity": "Per<TimeUnit, AngleUnit>",
+            # "AngularAcceleration": "Per<TimeUnit, AngularVelocityUnit>",
+            # "LinearVelocity": "Per<TimeUnit, DistanceUnit>",
+            # "LinearAcceleration": "Per<TimeUnit, LinearVelocityUnit>",
+            # "Velocity<?>": "Per<TimeUnit, ?>",
+            # "Acceleration<?>": "Per<TimeUnit, VelocityUnit<?>>
+            # "Per<N, D>": "Per<D, N>"
+        },
+    },
+    "Distance": {
+        "base_unit": "Meters",
+        "multiply": {
+            "Frequency": "LinearVelocity",
+            # Distance x Force = Torque
+            # Force x Distance = Energy
+            "Force": "Torque",
+        },
+        "divide": {"Time": "LinearVelocity", "LinearVelocity": "Time"},
+    },
+    "Energy": {
+        "base_unit": "Joules",
+        "multiply": {"Frequency": "Power"},
+        "divide": {"Time": "Power"},
+    },
+    "Force": {
+        "base_unit": "Newtons",
+        "multiply": {
+            # Distance x Force = Torque
+            # Force x Distance = Energy
+            "Distance": "Energy"
+        },
+        "divide": {"Mass": "LinearAcceleration", "LinearAcceleration": "Mass"},
+    },
+    "Frequency": {
+        "base_unit": "Hertz",
+        "multiply": {
+            "Time": "Dimensionless",
+            "Distance": "LinearVelocity",
+            "LinearVelocity": "LinearAcceleration",
+            "Angle": "AngularVelocity",
+            "AngularVelocity": "AngularAcceleration",
+        },
+        "divide": {},
+        "extra": inspect.cleandoc(
+            """
+          /** Converts this frequency to the time period between cycles. */
+          default Time asPeriod() { return Seconds.of(1 / baseUnitMagnitude()); }
+        """
+        ),
+    },
+    "LinearAcceleration": {
+        "base_unit": "MetersPerSecondPerSecond",
+        "multiply": {"Time": "LinearVelocity"},
+        "divide": {"Frequency": "LinearVelocity"},
+    },
+    "LinearMomentum": {
+        "base_unit": "KilogramMetersPerSecond",
+        "multiply": {"Frequency": "Force"},
+        "divide": {"Mass": "LinearVelocity", "LinearVelocity": "Mass", "Time": "Force"},
+    },
+    "LinearVelocity": {
+        "base_unit": "MetersPerSecond",
+        "multiply": {"Time": "Distance", "Frequency": "LinearAcceleration"},
+        "divide": {"Time": "LinearAcceleration"},
+    },
+    "Mass": {
+        "base_unit": "Kilograms",
+        "multiply": {"LinearAcceleration": "Force"},
+        "divide": {},
+    },
+    "MomentOfInertia": {
+        "base_unit": "KilogramSquareMeters",
+        "multiply": {"AngularVelocity": "AngularMomentum"},
+        "divide": {},
+    },
+    "Mult": {
+        "base_unit": "unit()",
+        "generics": {"A": {"extends": "Unit"}, "B": {"extends": "Unit"}},
+        "multiply": {},
+        "divide": {},
+    },
+    "Per": {
+        "base_unit": "unit()",
+        "generics": {"Dividend": {"extends": "Unit"}, "Divisor": {"extends": "Unit"}},
+        "multiply": {},
+        "divide": {},
+        "extra": inspect.cleandoc(
+            """
+          default Measure<Dividend> timesDivisor(Measure<? extends Divisor> multiplier) {
+            return (Measure<Dividend>) baseUnit().numerator().ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+          }
+
+          default Measure<? extends PerUnit<Divisor, Dividend>> reciprocal() {
+            // May return a velocity if Divisor == TimeUnit, so we can't guarantee a "Per" instance
+            return baseUnit().reciprocal().ofBaseUnits(1 / baseUnitMagnitude());
+          }
+        """
+        ),
+    },
+    "Power": {
+        "base_unit": "Watts",
+        "multiply": {
+            "Time": "Energy",
+        },
+        "divide": {"Voltage": "Current", "Current": "Voltage", "Energy": "Frequency"},
+    },
+    "Temperature": {"base_unit": "Kelvin", "multiply": {}, "divide": {}},
+    "Time": {
+        "base_unit": "Seconds",
+        "multiply": {
+            "Frequency": "Dimensionless",
+            "AngularVelocity": "Angle",
+            "AngularAcceleration": "AngularVelocity",
+            "LinearVelocity": "Distance",
+            "LinearAcceleration": "LinearVelocity",
+            # TODO:
+            # "Acceleration<D>": "Velocity<D>"
+            # "Velocity<D>": "Measure<D>"
+        },
+        "divide": {
+            # Time specifically needs this to be called out so generated methods like
+            # `per(TimeUnit)` or `divide(Time)` will return dimensionless values instead of
+            # `Velocity<TimeUnit>` (i.e. a time per unit time ratio)
+            "Time": "Dimensionless"
+        },
+        "extra": inspect.cleandoc(
+            """
+          default Frequency asFrequency() { return Hertz.of(1 / baseUnitMagnitude()); }
+        """
+        ),
+    },
+    "Torque": {
+        "base_unit": "NewtonMeters",
+        "multiply": {},
+        "divide": {"Distance": "Force", "Force": "Distance"},
+    },
+    "Velocity": {
+        "base_unit": "unit()",
+        "generics": {"D": {"extends": "Unit"}},
+        "multiply": {},
+        "divide": {},
+    },
+    "Voltage": {"base_unit": "Volts", "multiply": {"Current": "Power"}, "divide": {}},
+}
+
+
+def generics_list(measure_name):
+    if "generics" in UNIT_CONFIGURATIONS[measure_name]:
+        args = []
+        for name, config in UNIT_CONFIGURATIONS[measure_name]["generics"].items():
+            if "extends" in config:
+                args.append("{} extends {}".format(name, config["extends"]))
+            elif "super" in config:
+                args.append("{} super {}".format(name, config["super"]))
+            else:
+                args.append(name)
+
+        return "<{}>".format(", ".join(args))
+    else:
+        return ""
+
+
+def generics_usage(measure_name):
+    if "generics" in UNIT_CONFIGURATIONS[measure_name]:
+        args = UNIT_CONFIGURATIONS[measure_name]["generics"].keys()
+
+        return "<{}>".format(", ".join(args))
+    else:
+        return ""
+
+
+def type_decl(measure_name):
+    return measure_name + generics_list(measure_name)
+
+
+def type_usage(measure_name):
+    return measure_name + generics_usage(measure_name)
+
+
+# measure-to-unit
+def mtou(measure_name):
+    if (
+        measure_name in UNIT_CONFIGURATIONS
+        and "generics" in UNIT_CONFIGURATIONS[measure_name]
+    ):
+        return "{}Unit{}".format(measure_name, generics_usage(measure_name))
+    else:
+        regex = re.compile(r"^(.*?)(<.*>)?$")
+        return re.sub(regex, "\\1Unit\\2", measure_name)
+
+
+def main():
+
+    dirname, _ = os.path.split(os.path.abspath(__file__))
+
+    env = Environment(
+        loader=FileSystemLoader(f"{dirname}/src/generate/main/java"),
+        autoescape=False,
+        keep_trailing_newline=True,
+    )
+
+    interfaceTemplate = env.get_template("Measure-interface.java.jinja")
+    immutableTemplate = env.get_template("Measure-immutable.java.jinja")
+    mutableTemplate = env.get_template("Measure-mutable.java.jinja")
+    rootPath = f"{dirname}/src/generated/main/java/edu/wpi/first/units"
+
+    helpers = {
+        "type_decl": type_decl,
+        "type_usage": type_usage,
+        "generics_list": generics_list,
+        "generics_usage": generics_usage,
+        "mtou": mtou,
+    }
+
+    for unit_name in UNIT_CONFIGURATIONS:
+        interfaceContents = interfaceTemplate.render(
+            name=unit_name,
+            math_units=MATH_OPERATION_UNITS,
+            config=UNIT_CONFIGURATIONS,
+            helpers=helpers,
+        )
+        immutableContents = immutableTemplate.render(
+            name=unit_name,
+            units=MATH_OPERATION_UNITS,
+            config=UNIT_CONFIGURATIONS,
+            helpers=helpers,
+        )
+        mutableContents = mutableTemplate.render(
+            name=unit_name,
+            units=MATH_OPERATION_UNITS,
+            config=UNIT_CONFIGURATIONS,
+            helpers=helpers,
+        )
+
+        output(f"{rootPath}/measure", f"{unit_name}.java", interfaceContents)
+        output(f"{rootPath}/measure", f"Immutable{unit_name}.java", immutableContents)
+        output(f"{rootPath}/measure", f"Mut{unit_name}.java", mutableContents)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/wpiunits/src/generate/main/java/Measure-immutable.java.jinja b/wpiunits/src/generate/main/java/Measure-immutable.java.jinja
new file mode 100644
index 00000000000..526c9509778
--- /dev/null
+++ b/wpiunits/src/generate/main/java/Measure-immutable.java.jinja
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public record Immutable{{ helpers['type_decl'](name) }}(double magnitude, double baseUnitMagnitude, {{ helpers['mtou'](name) }} unit) implements {{ helpers['type_usage'](name) }} {
+  @Override
+  public {{ helpers['type_usage'](name) }} copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    return o instanceof Measure<?> m && isEquivalent(m);
+  }
+}
diff --git a/wpiunits/src/generate/main/java/Measure-interface.java.jinja b/wpiunits/src/generate/main/java/Measure-interface.java.jinja
new file mode 100644
index 00000000000..83c7025d9f1
--- /dev/null
+++ b/wpiunits/src/generate/main/java/Measure-interface.java.jinja
@@ -0,0 +1,117 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public interface {{ helpers['type_decl'](name) }} extends Measure<{{ helpers['mtou'](name) }}> {
+  static {{ helpers['generics_list'](name) }} {{ helpers['type_usage'](name) }} ofRelativeUnits(double magnitude, {{ helpers['mtou'](name) }} unit) {
+    return new Immutable{{ helpers['type_usage'](name) }}(magnitude, unit.toBaseUnits(magnitude), unit);
+  }
+
+  static {{ helpers['generics_list'](name) }} {{ helpers['type_usage'](name) }} ofBaseUnits(double baseUnitMagnitude, {{ helpers['mtou'](name) }} unit) {
+    return new Immutable{{ helpers['type_usage'](name) }}(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
+  }
+
+  @Override
+  {{ helpers['type_usage'](name) }} copy();
+
+  @Override
+  default Mut{{ helpers['type_usage'](name) }} mutableCopy() {
+    return new Mut{{ helpers['type_usage'](name) }}(magnitude(), baseUnitMagnitude(), unit());
+  }
+
+  @Override
+  {{ helpers['mtou'](name) }} unit();
+
+  @Override
+  default {{ helpers['mtou'](name) }} baseUnit() { return ({{ helpers['mtou'](name) }}) unit().getBaseUnit(); }
+
+  @Override
+  default double in({{ helpers['mtou'](name) }} unit) {
+    return unit.fromBaseUnits(baseUnitMagnitude());
+  }
+
+  @Override
+  default {{ helpers['type_usage'](name) }} unaryMinus() {
+    return ({{ helpers['type_usage'](name) }}) unit().ofBaseUnits(0 - baseUnitMagnitude());
+  }
+
+  @Override
+  default {{ helpers['type_usage'](name) }} plus(Measure<? extends {{ helpers['mtou'](name) }}> other) {
+    return ({{ helpers['type_usage'](name) }}) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
+  }
+
+  @Override
+  default {{ helpers['type_usage'](name) }} minus(Measure<? extends {{ helpers['mtou'](name) }}> other) {
+    return ({{ helpers['type_usage'](name) }}) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
+  }
+
+  @Override
+  default {{ helpers['type_usage'](name) }} times(double multiplier) {
+    return ({{ helpers['type_usage'](name) }}) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
+  }
+
+  @Override
+  default {{ helpers['type_usage'](name) }} divide(double divisor) {
+    return ({{ helpers['type_usage'](name) }}) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
+  }
+
+  @Override
+  default {{ config[name]['divide']['Time'] or "Velocity<{}>".format(helpers['mtou'](name)) }} per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+{% for unit in math_units -%}
+{% if unit == "Dimensionless" %}
+  @Override
+  default {{ helpers['type_usage'](name) }} divide({{ unit }} divisor) {
+    return ({{ helpers['type_usage'](name) }}) {{ config[name]['base_unit'] }}.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  @Override
+  default {{ helpers['type_usage'](name) }} times({{ unit }} multiplier) {
+    return ({{ helpers['type_usage'](name) }}) {{ config[name]['base_unit'] }}.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+{% else %}
+{% if unit in config[name]['multiply'] %}
+  @Override
+  default {{ config[name]['multiply'][unit] }} times({{ unit }} multiplier) {
+    return {{ config[config[name]['multiply'][unit]]['base_unit'] }}.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+{% else %}
+  @Override
+  default Mult<{{ helpers['mtou'](name) }}, {{ helpers['mtou'](unit) }}> times({{ unit }} multiplier) {
+    return (Mult<{{ helpers['mtou'](name) }}, {{ helpers['mtou'](unit) }}>) Measure.super.times(multiplier);
+  }
+{% endif -%}
+{% if unit in config[name]['divide'] %}
+  @Override
+  default {{ config[name]['divide'][unit] }} divide({{ unit }} divisor) {
+    return {{ config[config[name]['divide'][unit]]['base_unit'] }}.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+{% elif unit == "Time" %}
+  @Override
+  default Velocity<{{ helpers['mtou'](name) }}> divide({{ unit }} divisor) {
+    return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+{% elif unit == name %}
+  @Override
+  default Dimensionless divide({{ unit }} divisor) {
+    return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+{% else %}
+  @Override
+  default Per<{{ helpers['mtou'](name) }}, {{ helpers['mtou'](unit) }}> divide({{ unit }} divisor) {
+    return (Per<{{ helpers['mtou'](name) }}, {{ helpers['mtou'](unit) }}>) Measure.super.divide(divisor);
+  }
+{% endif -%}
+{% endif -%}
+{% endfor -%}
+{{ config[name]['extra'] }}
+}
diff --git a/wpiunits/src/generate/main/java/Measure-mutable.java.jinja b/wpiunits/src/generate/main/java/Measure-mutable.java.jinja
new file mode 100644
index 00000000000..8adf22f74dd
--- /dev/null
+++ b/wpiunits/src/generate/main/java/Measure-mutable.java.jinja
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+import edu.wpi.first.units.mutable.MutableMeasureBase;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public final class Mut{{ helpers['type_decl'](name) }}
+  extends MutableMeasureBase<{{ helpers['mtou'](name) }}, {{ helpers['type_usage'](name) }}, Mut{{ helpers['type_usage'](name) }}>
+  implements {{ helpers['type_usage'](name) }} {
+  public Mut{{ name }}(double magnitude, double baseUnitMagnitude, {{ helpers['mtou'](name) }} unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public {{ helpers['type_usage'](name) }} copy() {
+    return new Immutable{{ helpers['type_usage'](name) }}(magnitude(), baseUnitMagnitude(), unit());
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Acceleration.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Acceleration.java
new file mode 100644
index 00000000000..f4ceb282439
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Acceleration.java
@@ -0,0 +1,334 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public interface Acceleration<D extends Unit> extends Measure<AccelerationUnit<D>> {
+  static <D extends Unit> Acceleration<D> ofRelativeUnits(double magnitude, AccelerationUnit<D> unit) {
+    return new ImmutableAcceleration<D>(magnitude, unit.toBaseUnits(magnitude), unit);
+  }
+
+  static <D extends Unit> Acceleration<D> ofBaseUnits(double baseUnitMagnitude, AccelerationUnit<D> unit) {
+    return new ImmutableAcceleration<D>(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
+  }
+
+  @Override
+  Acceleration<D> copy();
+
+  @Override
+  default MutAcceleration<D> mutableCopy() {
+    return new MutAcceleration<D>(magnitude(), baseUnitMagnitude(), unit());
+  }
+
+  @Override
+  AccelerationUnit<D> unit();
+
+  @Override
+  default AccelerationUnit<D> baseUnit() { return (AccelerationUnit<D>) unit().getBaseUnit(); }
+
+  @Override
+  default double in(AccelerationUnit<D> unit) {
+    return unit.fromBaseUnits(baseUnitMagnitude());
+  }
+
+  @Override
+  default Acceleration<D> unaryMinus() {
+    return (Acceleration<D>) unit().ofBaseUnits(0 - baseUnitMagnitude());
+  }
+
+  @Override
+  default Acceleration<D> plus(Measure<? extends AccelerationUnit<D>> other) {
+    return (Acceleration<D>) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Acceleration<D> minus(Measure<? extends AccelerationUnit<D>> other) {
+    return (Acceleration<D>) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Acceleration<D> times(double multiplier) {
+    return (Acceleration<D>) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
+  }
+
+  @Override
+  default Acceleration<D> divide(double divisor) {
+    return (Acceleration<D>) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
+  }
+
+  @Override
+  default Velocity<AccelerationUnit<D>> per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+
+
+  @Override
+  default Mult<AccelerationUnit<D>, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
+    return (Mult<AccelerationUnit<D>, AccelerationUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AccelerationUnit<D>, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
+    return (Per<AccelerationUnit<D>, AccelerationUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AccelerationUnit<D>, AngleUnit> times(Angle multiplier) {
+    return (Mult<AccelerationUnit<D>, AngleUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AccelerationUnit<D>, AngleUnit> divide(Angle divisor) {
+    return (Per<AccelerationUnit<D>, AngleUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AccelerationUnit<D>, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
+    return (Mult<AccelerationUnit<D>, AngularAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AccelerationUnit<D>, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
+    return (Per<AccelerationUnit<D>, AngularAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AccelerationUnit<D>, AngularMomentumUnit> times(AngularMomentum multiplier) {
+    return (Mult<AccelerationUnit<D>, AngularMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AccelerationUnit<D>, AngularMomentumUnit> divide(AngularMomentum divisor) {
+    return (Per<AccelerationUnit<D>, AngularMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AccelerationUnit<D>, AngularVelocityUnit> times(AngularVelocity multiplier) {
+    return (Mult<AccelerationUnit<D>, AngularVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AccelerationUnit<D>, AngularVelocityUnit> divide(AngularVelocity divisor) {
+    return (Per<AccelerationUnit<D>, AngularVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AccelerationUnit<D>, CurrentUnit> times(Current multiplier) {
+    return (Mult<AccelerationUnit<D>, CurrentUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AccelerationUnit<D>, CurrentUnit> divide(Current divisor) {
+    return (Per<AccelerationUnit<D>, CurrentUnit>) Measure.super.divide(divisor);
+  }
+
+  @Override
+  default Acceleration<D> divide(Dimensionless divisor) {
+    return (Acceleration<D>) unit().of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  @Override
+  default Acceleration<D> times(Dimensionless multiplier) {
+    return (Acceleration<D>) unit().of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<AccelerationUnit<D>, DistanceUnit> times(Distance multiplier) {
+    return (Mult<AccelerationUnit<D>, DistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AccelerationUnit<D>, DistanceUnit> divide(Distance divisor) {
+    return (Per<AccelerationUnit<D>, DistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AccelerationUnit<D>, EnergyUnit> times(Energy multiplier) {
+    return (Mult<AccelerationUnit<D>, EnergyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AccelerationUnit<D>, EnergyUnit> divide(Energy divisor) {
+    return (Per<AccelerationUnit<D>, EnergyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AccelerationUnit<D>, ForceUnit> times(Force multiplier) {
+    return (Mult<AccelerationUnit<D>, ForceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AccelerationUnit<D>, ForceUnit> divide(Force divisor) {
+    return (Per<AccelerationUnit<D>, ForceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AccelerationUnit<D>, FrequencyUnit> times(Frequency multiplier) {
+    return (Mult<AccelerationUnit<D>, FrequencyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AccelerationUnit<D>, FrequencyUnit> divide(Frequency divisor) {
+    return (Per<AccelerationUnit<D>, FrequencyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AccelerationUnit<D>, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
+    return (Mult<AccelerationUnit<D>, LinearAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AccelerationUnit<D>, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
+    return (Per<AccelerationUnit<D>, LinearAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AccelerationUnit<D>, LinearMomentumUnit> times(LinearMomentum multiplier) {
+    return (Mult<AccelerationUnit<D>, LinearMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AccelerationUnit<D>, LinearMomentumUnit> divide(LinearMomentum divisor) {
+    return (Per<AccelerationUnit<D>, LinearMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AccelerationUnit<D>, LinearVelocityUnit> times(LinearVelocity multiplier) {
+    return (Mult<AccelerationUnit<D>, LinearVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AccelerationUnit<D>, LinearVelocityUnit> divide(LinearVelocity divisor) {
+    return (Per<AccelerationUnit<D>, LinearVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AccelerationUnit<D>, MassUnit> times(Mass multiplier) {
+    return (Mult<AccelerationUnit<D>, MassUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AccelerationUnit<D>, MassUnit> divide(Mass divisor) {
+    return (Per<AccelerationUnit<D>, MassUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AccelerationUnit<D>, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
+    return (Mult<AccelerationUnit<D>, MomentOfInertiaUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AccelerationUnit<D>, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
+    return (Per<AccelerationUnit<D>, MomentOfInertiaUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AccelerationUnit<D>, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
+    return (Mult<AccelerationUnit<D>, MultUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AccelerationUnit<D>, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
+    return (Per<AccelerationUnit<D>, MultUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AccelerationUnit<D>, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
+    return (Mult<AccelerationUnit<D>, PerUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AccelerationUnit<D>, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
+    return (Per<AccelerationUnit<D>, PerUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AccelerationUnit<D>, PowerUnit> times(Power multiplier) {
+    return (Mult<AccelerationUnit<D>, PowerUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AccelerationUnit<D>, PowerUnit> divide(Power divisor) {
+    return (Per<AccelerationUnit<D>, PowerUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AccelerationUnit<D>, TemperatureUnit> times(Temperature multiplier) {
+    return (Mult<AccelerationUnit<D>, TemperatureUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AccelerationUnit<D>, TemperatureUnit> divide(Temperature divisor) {
+    return (Per<AccelerationUnit<D>, TemperatureUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AccelerationUnit<D>, TimeUnit> times(Time multiplier) {
+    return (Mult<AccelerationUnit<D>, TimeUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Velocity<AccelerationUnit<D>> divide(Time divisor) {
+    return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<AccelerationUnit<D>, TorqueUnit> times(Torque multiplier) {
+    return (Mult<AccelerationUnit<D>, TorqueUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AccelerationUnit<D>, TorqueUnit> divide(Torque divisor) {
+    return (Per<AccelerationUnit<D>, TorqueUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AccelerationUnit<D>, VelocityUnit<?>> times(Velocity<?> multiplier) {
+    return (Mult<AccelerationUnit<D>, VelocityUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AccelerationUnit<D>, VelocityUnit<?>> divide(Velocity<?> divisor) {
+    return (Per<AccelerationUnit<D>, VelocityUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AccelerationUnit<D>, VoltageUnit> times(Voltage multiplier) {
+    return (Mult<AccelerationUnit<D>, VoltageUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AccelerationUnit<D>, VoltageUnit> divide(Voltage divisor) {
+    return (Per<AccelerationUnit<D>, VoltageUnit>) Measure.super.divide(divisor);
+  }
+
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Angle.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Angle.java
new file mode 100644
index 00000000000..c182d48f3c1
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Angle.java
@@ -0,0 +1,334 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public interface Angle extends Measure<AngleUnit> {
+  static  Angle ofRelativeUnits(double magnitude, AngleUnit unit) {
+    return new ImmutableAngle(magnitude, unit.toBaseUnits(magnitude), unit);
+  }
+
+  static  Angle ofBaseUnits(double baseUnitMagnitude, AngleUnit unit) {
+    return new ImmutableAngle(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
+  }
+
+  @Override
+  Angle copy();
+
+  @Override
+  default MutAngle mutableCopy() {
+    return new MutAngle(magnitude(), baseUnitMagnitude(), unit());
+  }
+
+  @Override
+  AngleUnit unit();
+
+  @Override
+  default AngleUnit baseUnit() { return (AngleUnit) unit().getBaseUnit(); }
+
+  @Override
+  default double in(AngleUnit unit) {
+    return unit.fromBaseUnits(baseUnitMagnitude());
+  }
+
+  @Override
+  default Angle unaryMinus() {
+    return (Angle) unit().ofBaseUnits(0 - baseUnitMagnitude());
+  }
+
+  @Override
+  default Angle plus(Measure<? extends AngleUnit> other) {
+    return (Angle) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Angle minus(Measure<? extends AngleUnit> other) {
+    return (Angle) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Angle times(double multiplier) {
+    return (Angle) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
+  }
+
+  @Override
+  default Angle divide(double divisor) {
+    return (Angle) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
+  }
+
+  @Override
+  default AngularVelocity per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+
+
+  @Override
+  default Mult<AngleUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
+    return (Mult<AngleUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngleUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
+    return (Per<AngleUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngleUnit, AngleUnit> times(Angle multiplier) {
+    return (Mult<AngleUnit, AngleUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Dimensionless divide(Angle divisor) {
+    return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<AngleUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
+    return (Mult<AngleUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngleUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
+    return (Per<AngleUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngleUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
+    return (Mult<AngleUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngleUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
+    return (Per<AngleUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngleUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
+    return (Mult<AngleUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngleUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
+    return (Per<AngleUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngleUnit, CurrentUnit> times(Current multiplier) {
+    return (Mult<AngleUnit, CurrentUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngleUnit, CurrentUnit> divide(Current divisor) {
+    return (Per<AngleUnit, CurrentUnit>) Measure.super.divide(divisor);
+  }
+
+  @Override
+  default Angle divide(Dimensionless divisor) {
+    return (Angle) Radians.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  @Override
+  default Angle times(Dimensionless multiplier) {
+    return (Angle) Radians.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<AngleUnit, DistanceUnit> times(Distance multiplier) {
+    return (Mult<AngleUnit, DistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngleUnit, DistanceUnit> divide(Distance divisor) {
+    return (Per<AngleUnit, DistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngleUnit, EnergyUnit> times(Energy multiplier) {
+    return (Mult<AngleUnit, EnergyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngleUnit, EnergyUnit> divide(Energy divisor) {
+    return (Per<AngleUnit, EnergyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngleUnit, ForceUnit> times(Force multiplier) {
+    return (Mult<AngleUnit, ForceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngleUnit, ForceUnit> divide(Force divisor) {
+    return (Per<AngleUnit, ForceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default AngularVelocity times(Frequency multiplier) {
+    return RadiansPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<AngleUnit, FrequencyUnit> divide(Frequency divisor) {
+    return (Per<AngleUnit, FrequencyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngleUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
+    return (Mult<AngleUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngleUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
+    return (Per<AngleUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngleUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
+    return (Mult<AngleUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngleUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
+    return (Per<AngleUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngleUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
+    return (Mult<AngleUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngleUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
+    return (Per<AngleUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngleUnit, MassUnit> times(Mass multiplier) {
+    return (Mult<AngleUnit, MassUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngleUnit, MassUnit> divide(Mass divisor) {
+    return (Per<AngleUnit, MassUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngleUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
+    return (Mult<AngleUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngleUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
+    return (Per<AngleUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngleUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
+    return (Mult<AngleUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngleUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
+    return (Per<AngleUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngleUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
+    return (Mult<AngleUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngleUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
+    return (Per<AngleUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngleUnit, PowerUnit> times(Power multiplier) {
+    return (Mult<AngleUnit, PowerUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngleUnit, PowerUnit> divide(Power divisor) {
+    return (Per<AngleUnit, PowerUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngleUnit, TemperatureUnit> times(Temperature multiplier) {
+    return (Mult<AngleUnit, TemperatureUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngleUnit, TemperatureUnit> divide(Temperature divisor) {
+    return (Per<AngleUnit, TemperatureUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngleUnit, TimeUnit> times(Time multiplier) {
+    return (Mult<AngleUnit, TimeUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default AngularVelocity divide(Time divisor) {
+    return RadiansPerSecond.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<AngleUnit, TorqueUnit> times(Torque multiplier) {
+    return (Mult<AngleUnit, TorqueUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngleUnit, TorqueUnit> divide(Torque divisor) {
+    return (Per<AngleUnit, TorqueUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngleUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
+    return (Mult<AngleUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngleUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
+    return (Per<AngleUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngleUnit, VoltageUnit> times(Voltage multiplier) {
+    return (Mult<AngleUnit, VoltageUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngleUnit, VoltageUnit> divide(Voltage divisor) {
+    return (Per<AngleUnit, VoltageUnit>) Measure.super.divide(divisor);
+  }
+
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/AngularAcceleration.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/AngularAcceleration.java
new file mode 100644
index 00000000000..44ff1c395b1
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/AngularAcceleration.java
@@ -0,0 +1,334 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public interface AngularAcceleration extends Measure<AngularAccelerationUnit> {
+  static  AngularAcceleration ofRelativeUnits(double magnitude, AngularAccelerationUnit unit) {
+    return new ImmutableAngularAcceleration(magnitude, unit.toBaseUnits(magnitude), unit);
+  }
+
+  static  AngularAcceleration ofBaseUnits(double baseUnitMagnitude, AngularAccelerationUnit unit) {
+    return new ImmutableAngularAcceleration(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
+  }
+
+  @Override
+  AngularAcceleration copy();
+
+  @Override
+  default MutAngularAcceleration mutableCopy() {
+    return new MutAngularAcceleration(magnitude(), baseUnitMagnitude(), unit());
+  }
+
+  @Override
+  AngularAccelerationUnit unit();
+
+  @Override
+  default AngularAccelerationUnit baseUnit() { return (AngularAccelerationUnit) unit().getBaseUnit(); }
+
+  @Override
+  default double in(AngularAccelerationUnit unit) {
+    return unit.fromBaseUnits(baseUnitMagnitude());
+  }
+
+  @Override
+  default AngularAcceleration unaryMinus() {
+    return (AngularAcceleration) unit().ofBaseUnits(0 - baseUnitMagnitude());
+  }
+
+  @Override
+  default AngularAcceleration plus(Measure<? extends AngularAccelerationUnit> other) {
+    return (AngularAcceleration) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
+  }
+
+  @Override
+  default AngularAcceleration minus(Measure<? extends AngularAccelerationUnit> other) {
+    return (AngularAcceleration) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
+  }
+
+  @Override
+  default AngularAcceleration times(double multiplier) {
+    return (AngularAcceleration) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
+  }
+
+  @Override
+  default AngularAcceleration divide(double divisor) {
+    return (AngularAcceleration) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
+  }
+
+  @Override
+  default Velocity<AngularAccelerationUnit> per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+
+
+  @Override
+  default Mult<AngularAccelerationUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
+    return (Mult<AngularAccelerationUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularAccelerationUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
+    return (Per<AngularAccelerationUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularAccelerationUnit, AngleUnit> times(Angle multiplier) {
+    return (Mult<AngularAccelerationUnit, AngleUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularAccelerationUnit, AngleUnit> divide(Angle divisor) {
+    return (Per<AngularAccelerationUnit, AngleUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularAccelerationUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
+    return (Mult<AngularAccelerationUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Dimensionless divide(AngularAcceleration divisor) {
+    return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<AngularAccelerationUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
+    return (Mult<AngularAccelerationUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularAccelerationUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
+    return (Per<AngularAccelerationUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularAccelerationUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
+    return (Mult<AngularAccelerationUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularAccelerationUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
+    return (Per<AngularAccelerationUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularAccelerationUnit, CurrentUnit> times(Current multiplier) {
+    return (Mult<AngularAccelerationUnit, CurrentUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularAccelerationUnit, CurrentUnit> divide(Current divisor) {
+    return (Per<AngularAccelerationUnit, CurrentUnit>) Measure.super.divide(divisor);
+  }
+
+  @Override
+  default AngularAcceleration divide(Dimensionless divisor) {
+    return (AngularAcceleration) RadiansPerSecondPerSecond.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  @Override
+  default AngularAcceleration times(Dimensionless multiplier) {
+    return (AngularAcceleration) RadiansPerSecondPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<AngularAccelerationUnit, DistanceUnit> times(Distance multiplier) {
+    return (Mult<AngularAccelerationUnit, DistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularAccelerationUnit, DistanceUnit> divide(Distance divisor) {
+    return (Per<AngularAccelerationUnit, DistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularAccelerationUnit, EnergyUnit> times(Energy multiplier) {
+    return (Mult<AngularAccelerationUnit, EnergyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularAccelerationUnit, EnergyUnit> divide(Energy divisor) {
+    return (Per<AngularAccelerationUnit, EnergyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularAccelerationUnit, ForceUnit> times(Force multiplier) {
+    return (Mult<AngularAccelerationUnit, ForceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularAccelerationUnit, ForceUnit> divide(Force divisor) {
+    return (Per<AngularAccelerationUnit, ForceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularAccelerationUnit, FrequencyUnit> times(Frequency multiplier) {
+    return (Mult<AngularAccelerationUnit, FrequencyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default AngularVelocity divide(Frequency divisor) {
+    return RadiansPerSecond.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<AngularAccelerationUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
+    return (Mult<AngularAccelerationUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularAccelerationUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
+    return (Per<AngularAccelerationUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularAccelerationUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
+    return (Mult<AngularAccelerationUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularAccelerationUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
+    return (Per<AngularAccelerationUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularAccelerationUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
+    return (Mult<AngularAccelerationUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularAccelerationUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
+    return (Per<AngularAccelerationUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularAccelerationUnit, MassUnit> times(Mass multiplier) {
+    return (Mult<AngularAccelerationUnit, MassUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularAccelerationUnit, MassUnit> divide(Mass divisor) {
+    return (Per<AngularAccelerationUnit, MassUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularAccelerationUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
+    return (Mult<AngularAccelerationUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularAccelerationUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
+    return (Per<AngularAccelerationUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularAccelerationUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
+    return (Mult<AngularAccelerationUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularAccelerationUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
+    return (Per<AngularAccelerationUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularAccelerationUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
+    return (Mult<AngularAccelerationUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularAccelerationUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
+    return (Per<AngularAccelerationUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularAccelerationUnit, PowerUnit> times(Power multiplier) {
+    return (Mult<AngularAccelerationUnit, PowerUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularAccelerationUnit, PowerUnit> divide(Power divisor) {
+    return (Per<AngularAccelerationUnit, PowerUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularAccelerationUnit, TemperatureUnit> times(Temperature multiplier) {
+    return (Mult<AngularAccelerationUnit, TemperatureUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularAccelerationUnit, TemperatureUnit> divide(Temperature divisor) {
+    return (Per<AngularAccelerationUnit, TemperatureUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default AngularVelocity times(Time multiplier) {
+    return RadiansPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Velocity<AngularAccelerationUnit> divide(Time divisor) {
+    return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<AngularAccelerationUnit, TorqueUnit> times(Torque multiplier) {
+    return (Mult<AngularAccelerationUnit, TorqueUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularAccelerationUnit, TorqueUnit> divide(Torque divisor) {
+    return (Per<AngularAccelerationUnit, TorqueUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularAccelerationUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
+    return (Mult<AngularAccelerationUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularAccelerationUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
+    return (Per<AngularAccelerationUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularAccelerationUnit, VoltageUnit> times(Voltage multiplier) {
+    return (Mult<AngularAccelerationUnit, VoltageUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularAccelerationUnit, VoltageUnit> divide(Voltage divisor) {
+    return (Per<AngularAccelerationUnit, VoltageUnit>) Measure.super.divide(divisor);
+  }
+
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/AngularMomentum.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/AngularMomentum.java
new file mode 100644
index 00000000000..631ac45cafa
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/AngularMomentum.java
@@ -0,0 +1,334 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public interface AngularMomentum extends Measure<AngularMomentumUnit> {
+  static  AngularMomentum ofRelativeUnits(double magnitude, AngularMomentumUnit unit) {
+    return new ImmutableAngularMomentum(magnitude, unit.toBaseUnits(magnitude), unit);
+  }
+
+  static  AngularMomentum ofBaseUnits(double baseUnitMagnitude, AngularMomentumUnit unit) {
+    return new ImmutableAngularMomentum(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
+  }
+
+  @Override
+  AngularMomentum copy();
+
+  @Override
+  default MutAngularMomentum mutableCopy() {
+    return new MutAngularMomentum(magnitude(), baseUnitMagnitude(), unit());
+  }
+
+  @Override
+  AngularMomentumUnit unit();
+
+  @Override
+  default AngularMomentumUnit baseUnit() { return (AngularMomentumUnit) unit().getBaseUnit(); }
+
+  @Override
+  default double in(AngularMomentumUnit unit) {
+    return unit.fromBaseUnits(baseUnitMagnitude());
+  }
+
+  @Override
+  default AngularMomentum unaryMinus() {
+    return (AngularMomentum) unit().ofBaseUnits(0 - baseUnitMagnitude());
+  }
+
+  @Override
+  default AngularMomentum plus(Measure<? extends AngularMomentumUnit> other) {
+    return (AngularMomentum) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
+  }
+
+  @Override
+  default AngularMomentum minus(Measure<? extends AngularMomentumUnit> other) {
+    return (AngularMomentum) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
+  }
+
+  @Override
+  default AngularMomentum times(double multiplier) {
+    return (AngularMomentum) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
+  }
+
+  @Override
+  default AngularMomentum divide(double divisor) {
+    return (AngularMomentum) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
+  }
+
+  @Override
+  default Velocity<AngularMomentumUnit> per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+
+
+  @Override
+  default Mult<AngularMomentumUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
+    return (Mult<AngularMomentumUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularMomentumUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
+    return (Per<AngularMomentumUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularMomentumUnit, AngleUnit> times(Angle multiplier) {
+    return (Mult<AngularMomentumUnit, AngleUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularMomentumUnit, AngleUnit> divide(Angle divisor) {
+    return (Per<AngularMomentumUnit, AngleUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularMomentumUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
+    return (Mult<AngularMomentumUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularMomentumUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
+    return (Per<AngularMomentumUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularMomentumUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
+    return (Mult<AngularMomentumUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Dimensionless divide(AngularMomentum divisor) {
+    return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<AngularMomentumUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
+    return (Mult<AngularMomentumUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default MomentOfInertia divide(AngularVelocity divisor) {
+    return KilogramSquareMeters.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<AngularMomentumUnit, CurrentUnit> times(Current multiplier) {
+    return (Mult<AngularMomentumUnit, CurrentUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularMomentumUnit, CurrentUnit> divide(Current divisor) {
+    return (Per<AngularMomentumUnit, CurrentUnit>) Measure.super.divide(divisor);
+  }
+
+  @Override
+  default AngularMomentum divide(Dimensionless divisor) {
+    return (AngularMomentum) KilogramMetersSquaredPerSecond.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  @Override
+  default AngularMomentum times(Dimensionless multiplier) {
+    return (AngularMomentum) KilogramMetersSquaredPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<AngularMomentumUnit, DistanceUnit> times(Distance multiplier) {
+    return (Mult<AngularMomentumUnit, DistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularMomentumUnit, DistanceUnit> divide(Distance divisor) {
+    return (Per<AngularMomentumUnit, DistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularMomentumUnit, EnergyUnit> times(Energy multiplier) {
+    return (Mult<AngularMomentumUnit, EnergyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularMomentumUnit, EnergyUnit> divide(Energy divisor) {
+    return (Per<AngularMomentumUnit, EnergyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularMomentumUnit, ForceUnit> times(Force multiplier) {
+    return (Mult<AngularMomentumUnit, ForceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularMomentumUnit, ForceUnit> divide(Force divisor) {
+    return (Per<AngularMomentumUnit, ForceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularMomentumUnit, FrequencyUnit> times(Frequency multiplier) {
+    return (Mult<AngularMomentumUnit, FrequencyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularMomentumUnit, FrequencyUnit> divide(Frequency divisor) {
+    return (Per<AngularMomentumUnit, FrequencyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularMomentumUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
+    return (Mult<AngularMomentumUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularMomentumUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
+    return (Per<AngularMomentumUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularMomentumUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
+    return (Mult<AngularMomentumUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularMomentumUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
+    return (Per<AngularMomentumUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularMomentumUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
+    return (Mult<AngularMomentumUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularMomentumUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
+    return (Per<AngularMomentumUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularMomentumUnit, MassUnit> times(Mass multiplier) {
+    return (Mult<AngularMomentumUnit, MassUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularMomentumUnit, MassUnit> divide(Mass divisor) {
+    return (Per<AngularMomentumUnit, MassUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularMomentumUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
+    return (Mult<AngularMomentumUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularMomentumUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
+    return (Per<AngularMomentumUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularMomentumUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
+    return (Mult<AngularMomentumUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularMomentumUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
+    return (Per<AngularMomentumUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularMomentumUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
+    return (Mult<AngularMomentumUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularMomentumUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
+    return (Per<AngularMomentumUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularMomentumUnit, PowerUnit> times(Power multiplier) {
+    return (Mult<AngularMomentumUnit, PowerUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularMomentumUnit, PowerUnit> divide(Power divisor) {
+    return (Per<AngularMomentumUnit, PowerUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularMomentumUnit, TemperatureUnit> times(Temperature multiplier) {
+    return (Mult<AngularMomentumUnit, TemperatureUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularMomentumUnit, TemperatureUnit> divide(Temperature divisor) {
+    return (Per<AngularMomentumUnit, TemperatureUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularMomentumUnit, TimeUnit> times(Time multiplier) {
+    return (Mult<AngularMomentumUnit, TimeUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Velocity<AngularMomentumUnit> divide(Time divisor) {
+    return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<AngularMomentumUnit, TorqueUnit> times(Torque multiplier) {
+    return (Mult<AngularMomentumUnit, TorqueUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularMomentumUnit, TorqueUnit> divide(Torque divisor) {
+    return (Per<AngularMomentumUnit, TorqueUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularMomentumUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
+    return (Mult<AngularMomentumUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularMomentumUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
+    return (Per<AngularMomentumUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularMomentumUnit, VoltageUnit> times(Voltage multiplier) {
+    return (Mult<AngularMomentumUnit, VoltageUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularMomentumUnit, VoltageUnit> divide(Voltage divisor) {
+    return (Per<AngularMomentumUnit, VoltageUnit>) Measure.super.divide(divisor);
+  }
+
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/AngularVelocity.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/AngularVelocity.java
new file mode 100644
index 00000000000..5c017c5c8f1
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/AngularVelocity.java
@@ -0,0 +1,334 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public interface AngularVelocity extends Measure<AngularVelocityUnit> {
+  static  AngularVelocity ofRelativeUnits(double magnitude, AngularVelocityUnit unit) {
+    return new ImmutableAngularVelocity(magnitude, unit.toBaseUnits(magnitude), unit);
+  }
+
+  static  AngularVelocity ofBaseUnits(double baseUnitMagnitude, AngularVelocityUnit unit) {
+    return new ImmutableAngularVelocity(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
+  }
+
+  @Override
+  AngularVelocity copy();
+
+  @Override
+  default MutAngularVelocity mutableCopy() {
+    return new MutAngularVelocity(magnitude(), baseUnitMagnitude(), unit());
+  }
+
+  @Override
+  AngularVelocityUnit unit();
+
+  @Override
+  default AngularVelocityUnit baseUnit() { return (AngularVelocityUnit) unit().getBaseUnit(); }
+
+  @Override
+  default double in(AngularVelocityUnit unit) {
+    return unit.fromBaseUnits(baseUnitMagnitude());
+  }
+
+  @Override
+  default AngularVelocity unaryMinus() {
+    return (AngularVelocity) unit().ofBaseUnits(0 - baseUnitMagnitude());
+  }
+
+  @Override
+  default AngularVelocity plus(Measure<? extends AngularVelocityUnit> other) {
+    return (AngularVelocity) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
+  }
+
+  @Override
+  default AngularVelocity minus(Measure<? extends AngularVelocityUnit> other) {
+    return (AngularVelocity) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
+  }
+
+  @Override
+  default AngularVelocity times(double multiplier) {
+    return (AngularVelocity) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
+  }
+
+  @Override
+  default AngularVelocity divide(double divisor) {
+    return (AngularVelocity) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
+  }
+
+  @Override
+  default AngularAcceleration per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+
+
+  @Override
+  default Mult<AngularVelocityUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
+    return (Mult<AngularVelocityUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularVelocityUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
+    return (Per<AngularVelocityUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularVelocityUnit, AngleUnit> times(Angle multiplier) {
+    return (Mult<AngularVelocityUnit, AngleUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularVelocityUnit, AngleUnit> divide(Angle divisor) {
+    return (Per<AngularVelocityUnit, AngleUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularVelocityUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
+    return (Mult<AngularVelocityUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularVelocityUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
+    return (Per<AngularVelocityUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularVelocityUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
+    return (Mult<AngularVelocityUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularVelocityUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
+    return (Per<AngularVelocityUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularVelocityUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
+    return (Mult<AngularVelocityUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Dimensionless divide(AngularVelocity divisor) {
+    return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<AngularVelocityUnit, CurrentUnit> times(Current multiplier) {
+    return (Mult<AngularVelocityUnit, CurrentUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularVelocityUnit, CurrentUnit> divide(Current divisor) {
+    return (Per<AngularVelocityUnit, CurrentUnit>) Measure.super.divide(divisor);
+  }
+
+  @Override
+  default AngularVelocity divide(Dimensionless divisor) {
+    return (AngularVelocity) RadiansPerSecond.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  @Override
+  default AngularVelocity times(Dimensionless multiplier) {
+    return (AngularVelocity) RadiansPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<AngularVelocityUnit, DistanceUnit> times(Distance multiplier) {
+    return (Mult<AngularVelocityUnit, DistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularVelocityUnit, DistanceUnit> divide(Distance divisor) {
+    return (Per<AngularVelocityUnit, DistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularVelocityUnit, EnergyUnit> times(Energy multiplier) {
+    return (Mult<AngularVelocityUnit, EnergyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularVelocityUnit, EnergyUnit> divide(Energy divisor) {
+    return (Per<AngularVelocityUnit, EnergyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularVelocityUnit, ForceUnit> times(Force multiplier) {
+    return (Mult<AngularVelocityUnit, ForceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularVelocityUnit, ForceUnit> divide(Force divisor) {
+    return (Per<AngularVelocityUnit, ForceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default AngularAcceleration times(Frequency multiplier) {
+    return RadiansPerSecondPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<AngularVelocityUnit, FrequencyUnit> divide(Frequency divisor) {
+    return (Per<AngularVelocityUnit, FrequencyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularVelocityUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
+    return (Mult<AngularVelocityUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularVelocityUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
+    return (Per<AngularVelocityUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularVelocityUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
+    return (Mult<AngularVelocityUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularVelocityUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
+    return (Per<AngularVelocityUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularVelocityUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
+    return (Mult<AngularVelocityUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularVelocityUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
+    return (Per<AngularVelocityUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularVelocityUnit, MassUnit> times(Mass multiplier) {
+    return (Mult<AngularVelocityUnit, MassUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularVelocityUnit, MassUnit> divide(Mass divisor) {
+    return (Per<AngularVelocityUnit, MassUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularVelocityUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
+    return (Mult<AngularVelocityUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularVelocityUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
+    return (Per<AngularVelocityUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularVelocityUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
+    return (Mult<AngularVelocityUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularVelocityUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
+    return (Per<AngularVelocityUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularVelocityUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
+    return (Mult<AngularVelocityUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularVelocityUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
+    return (Per<AngularVelocityUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularVelocityUnit, PowerUnit> times(Power multiplier) {
+    return (Mult<AngularVelocityUnit, PowerUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularVelocityUnit, PowerUnit> divide(Power divisor) {
+    return (Per<AngularVelocityUnit, PowerUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularVelocityUnit, TemperatureUnit> times(Temperature multiplier) {
+    return (Mult<AngularVelocityUnit, TemperatureUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularVelocityUnit, TemperatureUnit> divide(Temperature divisor) {
+    return (Per<AngularVelocityUnit, TemperatureUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Angle times(Time multiplier) {
+    return Radians.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default AngularAcceleration divide(Time divisor) {
+    return RadiansPerSecondPerSecond.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<AngularVelocityUnit, TorqueUnit> times(Torque multiplier) {
+    return (Mult<AngularVelocityUnit, TorqueUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularVelocityUnit, TorqueUnit> divide(Torque divisor) {
+    return (Per<AngularVelocityUnit, TorqueUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularVelocityUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
+    return (Mult<AngularVelocityUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularVelocityUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
+    return (Per<AngularVelocityUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<AngularVelocityUnit, VoltageUnit> times(Voltage multiplier) {
+    return (Mult<AngularVelocityUnit, VoltageUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<AngularVelocityUnit, VoltageUnit> divide(Voltage divisor) {
+    return (Per<AngularVelocityUnit, VoltageUnit>) Measure.super.divide(divisor);
+  }
+default Frequency asFrequency() { return Hertz.of(baseUnitMagnitude()); }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Current.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Current.java
new file mode 100644
index 00000000000..e7af53dfdac
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Current.java
@@ -0,0 +1,334 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public interface Current extends Measure<CurrentUnit> {
+  static  Current ofRelativeUnits(double magnitude, CurrentUnit unit) {
+    return new ImmutableCurrent(magnitude, unit.toBaseUnits(magnitude), unit);
+  }
+
+  static  Current ofBaseUnits(double baseUnitMagnitude, CurrentUnit unit) {
+    return new ImmutableCurrent(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
+  }
+
+  @Override
+  Current copy();
+
+  @Override
+  default MutCurrent mutableCopy() {
+    return new MutCurrent(magnitude(), baseUnitMagnitude(), unit());
+  }
+
+  @Override
+  CurrentUnit unit();
+
+  @Override
+  default CurrentUnit baseUnit() { return (CurrentUnit) unit().getBaseUnit(); }
+
+  @Override
+  default double in(CurrentUnit unit) {
+    return unit.fromBaseUnits(baseUnitMagnitude());
+  }
+
+  @Override
+  default Current unaryMinus() {
+    return (Current) unit().ofBaseUnits(0 - baseUnitMagnitude());
+  }
+
+  @Override
+  default Current plus(Measure<? extends CurrentUnit> other) {
+    return (Current) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Current minus(Measure<? extends CurrentUnit> other) {
+    return (Current) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Current times(double multiplier) {
+    return (Current) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
+  }
+
+  @Override
+  default Current divide(double divisor) {
+    return (Current) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
+  }
+
+  @Override
+  default Velocity<CurrentUnit> per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+
+
+  @Override
+  default Mult<CurrentUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
+    return (Mult<CurrentUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<CurrentUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
+    return (Per<CurrentUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<CurrentUnit, AngleUnit> times(Angle multiplier) {
+    return (Mult<CurrentUnit, AngleUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<CurrentUnit, AngleUnit> divide(Angle divisor) {
+    return (Per<CurrentUnit, AngleUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<CurrentUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
+    return (Mult<CurrentUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<CurrentUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
+    return (Per<CurrentUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<CurrentUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
+    return (Mult<CurrentUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<CurrentUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
+    return (Per<CurrentUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<CurrentUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
+    return (Mult<CurrentUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<CurrentUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
+    return (Per<CurrentUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<CurrentUnit, CurrentUnit> times(Current multiplier) {
+    return (Mult<CurrentUnit, CurrentUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Dimensionless divide(Current divisor) {
+    return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  @Override
+  default Current divide(Dimensionless divisor) {
+    return (Current) Amps.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  @Override
+  default Current times(Dimensionless multiplier) {
+    return (Current) Amps.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<CurrentUnit, DistanceUnit> times(Distance multiplier) {
+    return (Mult<CurrentUnit, DistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<CurrentUnit, DistanceUnit> divide(Distance divisor) {
+    return (Per<CurrentUnit, DistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<CurrentUnit, EnergyUnit> times(Energy multiplier) {
+    return (Mult<CurrentUnit, EnergyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<CurrentUnit, EnergyUnit> divide(Energy divisor) {
+    return (Per<CurrentUnit, EnergyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<CurrentUnit, ForceUnit> times(Force multiplier) {
+    return (Mult<CurrentUnit, ForceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<CurrentUnit, ForceUnit> divide(Force divisor) {
+    return (Per<CurrentUnit, ForceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<CurrentUnit, FrequencyUnit> times(Frequency multiplier) {
+    return (Mult<CurrentUnit, FrequencyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<CurrentUnit, FrequencyUnit> divide(Frequency divisor) {
+    return (Per<CurrentUnit, FrequencyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<CurrentUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
+    return (Mult<CurrentUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<CurrentUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
+    return (Per<CurrentUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<CurrentUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
+    return (Mult<CurrentUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<CurrentUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
+    return (Per<CurrentUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<CurrentUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
+    return (Mult<CurrentUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<CurrentUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
+    return (Per<CurrentUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<CurrentUnit, MassUnit> times(Mass multiplier) {
+    return (Mult<CurrentUnit, MassUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<CurrentUnit, MassUnit> divide(Mass divisor) {
+    return (Per<CurrentUnit, MassUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<CurrentUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
+    return (Mult<CurrentUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<CurrentUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
+    return (Per<CurrentUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<CurrentUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
+    return (Mult<CurrentUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<CurrentUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
+    return (Per<CurrentUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<CurrentUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
+    return (Mult<CurrentUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<CurrentUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
+    return (Per<CurrentUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<CurrentUnit, PowerUnit> times(Power multiplier) {
+    return (Mult<CurrentUnit, PowerUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<CurrentUnit, PowerUnit> divide(Power divisor) {
+    return (Per<CurrentUnit, PowerUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<CurrentUnit, TemperatureUnit> times(Temperature multiplier) {
+    return (Mult<CurrentUnit, TemperatureUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<CurrentUnit, TemperatureUnit> divide(Temperature divisor) {
+    return (Per<CurrentUnit, TemperatureUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<CurrentUnit, TimeUnit> times(Time multiplier) {
+    return (Mult<CurrentUnit, TimeUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Velocity<CurrentUnit> divide(Time divisor) {
+    return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<CurrentUnit, TorqueUnit> times(Torque multiplier) {
+    return (Mult<CurrentUnit, TorqueUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<CurrentUnit, TorqueUnit> divide(Torque divisor) {
+    return (Per<CurrentUnit, TorqueUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<CurrentUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
+    return (Mult<CurrentUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<CurrentUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
+    return (Per<CurrentUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Power times(Voltage multiplier) {
+    return Watts.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<CurrentUnit, VoltageUnit> divide(Voltage divisor) {
+    return (Per<CurrentUnit, VoltageUnit>) Measure.super.divide(divisor);
+  }
+
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Dimensionless.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Dimensionless.java
new file mode 100644
index 00000000000..942f55d4155
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Dimensionless.java
@@ -0,0 +1,334 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public interface Dimensionless extends Measure<DimensionlessUnit> {
+  static  Dimensionless ofRelativeUnits(double magnitude, DimensionlessUnit unit) {
+    return new ImmutableDimensionless(magnitude, unit.toBaseUnits(magnitude), unit);
+  }
+
+  static  Dimensionless ofBaseUnits(double baseUnitMagnitude, DimensionlessUnit unit) {
+    return new ImmutableDimensionless(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
+  }
+
+  @Override
+  Dimensionless copy();
+
+  @Override
+  default MutDimensionless mutableCopy() {
+    return new MutDimensionless(magnitude(), baseUnitMagnitude(), unit());
+  }
+
+  @Override
+  DimensionlessUnit unit();
+
+  @Override
+  default DimensionlessUnit baseUnit() { return (DimensionlessUnit) unit().getBaseUnit(); }
+
+  @Override
+  default double in(DimensionlessUnit unit) {
+    return unit.fromBaseUnits(baseUnitMagnitude());
+  }
+
+  @Override
+  default Dimensionless unaryMinus() {
+    return (Dimensionless) unit().ofBaseUnits(0 - baseUnitMagnitude());
+  }
+
+  @Override
+  default Dimensionless plus(Measure<? extends DimensionlessUnit> other) {
+    return (Dimensionless) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Dimensionless minus(Measure<? extends DimensionlessUnit> other) {
+    return (Dimensionless) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Dimensionless times(double multiplier) {
+    return (Dimensionless) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
+  }
+
+  @Override
+  default Dimensionless divide(double divisor) {
+    return (Dimensionless) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
+  }
+
+  @Override
+  default Frequency per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+
+
+  @Override
+  default Mult<DimensionlessUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
+    return (Mult<DimensionlessUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<DimensionlessUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
+    return (Per<DimensionlessUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Angle times(Angle multiplier) {
+    return Radians.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<DimensionlessUnit, AngleUnit> divide(Angle divisor) {
+    return (Per<DimensionlessUnit, AngleUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default AngularAcceleration times(AngularAcceleration multiplier) {
+    return RadiansPerSecondPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<DimensionlessUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
+    return (Per<DimensionlessUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default AngularMomentum times(AngularMomentum multiplier) {
+    return KilogramMetersSquaredPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<DimensionlessUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
+    return (Per<DimensionlessUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default AngularVelocity times(AngularVelocity multiplier) {
+    return RadiansPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<DimensionlessUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
+    return (Per<DimensionlessUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Current times(Current multiplier) {
+    return Amps.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<DimensionlessUnit, CurrentUnit> divide(Current divisor) {
+    return (Per<DimensionlessUnit, CurrentUnit>) Measure.super.divide(divisor);
+  }
+
+  @Override
+  default Dimensionless divide(Dimensionless divisor) {
+    return (Dimensionless) Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  @Override
+  default Dimensionless times(Dimensionless multiplier) {
+    return (Dimensionless) Value.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Distance times(Distance multiplier) {
+    return Meters.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<DimensionlessUnit, DistanceUnit> divide(Distance divisor) {
+    return (Per<DimensionlessUnit, DistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Energy times(Energy multiplier) {
+    return Joules.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<DimensionlessUnit, EnergyUnit> divide(Energy divisor) {
+    return (Per<DimensionlessUnit, EnergyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Force times(Force multiplier) {
+    return Newtons.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<DimensionlessUnit, ForceUnit> divide(Force divisor) {
+    return (Per<DimensionlessUnit, ForceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Frequency times(Frequency multiplier) {
+    return Hertz.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<DimensionlessUnit, FrequencyUnit> divide(Frequency divisor) {
+    return (Per<DimensionlessUnit, FrequencyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default LinearAcceleration times(LinearAcceleration multiplier) {
+    return MetersPerSecondPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<DimensionlessUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
+    return (Per<DimensionlessUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default LinearMomentum times(LinearMomentum multiplier) {
+    return KilogramMetersPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<DimensionlessUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
+    return (Per<DimensionlessUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default LinearVelocity times(LinearVelocity multiplier) {
+    return MetersPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<DimensionlessUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
+    return (Per<DimensionlessUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mass times(Mass multiplier) {
+    return Kilograms.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<DimensionlessUnit, MassUnit> divide(Mass divisor) {
+    return (Per<DimensionlessUnit, MassUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default MomentOfInertia times(MomentOfInertia multiplier) {
+    return KilogramSquareMeters.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<DimensionlessUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
+    return (Per<DimensionlessUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<DimensionlessUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
+    return (Mult<DimensionlessUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<DimensionlessUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
+    return (Per<DimensionlessUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<DimensionlessUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
+    return (Mult<DimensionlessUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<DimensionlessUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
+    return (Per<DimensionlessUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Power times(Power multiplier) {
+    return Watts.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<DimensionlessUnit, PowerUnit> divide(Power divisor) {
+    return (Per<DimensionlessUnit, PowerUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Temperature times(Temperature multiplier) {
+    return Kelvin.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<DimensionlessUnit, TemperatureUnit> divide(Temperature divisor) {
+    return (Per<DimensionlessUnit, TemperatureUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Time times(Time multiplier) {
+    return Seconds.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Frequency divide(Time divisor) {
+    return Hertz.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Torque times(Torque multiplier) {
+    return NewtonMeters.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<DimensionlessUnit, TorqueUnit> divide(Torque divisor) {
+    return (Per<DimensionlessUnit, TorqueUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<DimensionlessUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
+    return (Mult<DimensionlessUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<DimensionlessUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
+    return (Per<DimensionlessUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Voltage times(Voltage multiplier) {
+    return Volts.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<DimensionlessUnit, VoltageUnit> divide(Voltage divisor) {
+    return (Per<DimensionlessUnit, VoltageUnit>) Measure.super.divide(divisor);
+  }
+
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Distance.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Distance.java
new file mode 100644
index 00000000000..f87106362ef
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Distance.java
@@ -0,0 +1,334 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public interface Distance extends Measure<DistanceUnit> {
+  static  Distance ofRelativeUnits(double magnitude, DistanceUnit unit) {
+    return new ImmutableDistance(magnitude, unit.toBaseUnits(magnitude), unit);
+  }
+
+  static  Distance ofBaseUnits(double baseUnitMagnitude, DistanceUnit unit) {
+    return new ImmutableDistance(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
+  }
+
+  @Override
+  Distance copy();
+
+  @Override
+  default MutDistance mutableCopy() {
+    return new MutDistance(magnitude(), baseUnitMagnitude(), unit());
+  }
+
+  @Override
+  DistanceUnit unit();
+
+  @Override
+  default DistanceUnit baseUnit() { return (DistanceUnit) unit().getBaseUnit(); }
+
+  @Override
+  default double in(DistanceUnit unit) {
+    return unit.fromBaseUnits(baseUnitMagnitude());
+  }
+
+  @Override
+  default Distance unaryMinus() {
+    return (Distance) unit().ofBaseUnits(0 - baseUnitMagnitude());
+  }
+
+  @Override
+  default Distance plus(Measure<? extends DistanceUnit> other) {
+    return (Distance) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Distance minus(Measure<? extends DistanceUnit> other) {
+    return (Distance) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Distance times(double multiplier) {
+    return (Distance) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
+  }
+
+  @Override
+  default Distance divide(double divisor) {
+    return (Distance) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
+  }
+
+  @Override
+  default LinearVelocity per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+
+
+  @Override
+  default Mult<DistanceUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
+    return (Mult<DistanceUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<DistanceUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
+    return (Per<DistanceUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<DistanceUnit, AngleUnit> times(Angle multiplier) {
+    return (Mult<DistanceUnit, AngleUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<DistanceUnit, AngleUnit> divide(Angle divisor) {
+    return (Per<DistanceUnit, AngleUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<DistanceUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
+    return (Mult<DistanceUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<DistanceUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
+    return (Per<DistanceUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<DistanceUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
+    return (Mult<DistanceUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<DistanceUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
+    return (Per<DistanceUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<DistanceUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
+    return (Mult<DistanceUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<DistanceUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
+    return (Per<DistanceUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<DistanceUnit, CurrentUnit> times(Current multiplier) {
+    return (Mult<DistanceUnit, CurrentUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<DistanceUnit, CurrentUnit> divide(Current divisor) {
+    return (Per<DistanceUnit, CurrentUnit>) Measure.super.divide(divisor);
+  }
+
+  @Override
+  default Distance divide(Dimensionless divisor) {
+    return (Distance) Meters.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  @Override
+  default Distance times(Dimensionless multiplier) {
+    return (Distance) Meters.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<DistanceUnit, DistanceUnit> times(Distance multiplier) {
+    return (Mult<DistanceUnit, DistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Dimensionless divide(Distance divisor) {
+    return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<DistanceUnit, EnergyUnit> times(Energy multiplier) {
+    return (Mult<DistanceUnit, EnergyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<DistanceUnit, EnergyUnit> divide(Energy divisor) {
+    return (Per<DistanceUnit, EnergyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Torque times(Force multiplier) {
+    return NewtonMeters.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<DistanceUnit, ForceUnit> divide(Force divisor) {
+    return (Per<DistanceUnit, ForceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default LinearVelocity times(Frequency multiplier) {
+    return MetersPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<DistanceUnit, FrequencyUnit> divide(Frequency divisor) {
+    return (Per<DistanceUnit, FrequencyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<DistanceUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
+    return (Mult<DistanceUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<DistanceUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
+    return (Per<DistanceUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<DistanceUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
+    return (Mult<DistanceUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<DistanceUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
+    return (Per<DistanceUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<DistanceUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
+    return (Mult<DistanceUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Time divide(LinearVelocity divisor) {
+    return Seconds.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<DistanceUnit, MassUnit> times(Mass multiplier) {
+    return (Mult<DistanceUnit, MassUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<DistanceUnit, MassUnit> divide(Mass divisor) {
+    return (Per<DistanceUnit, MassUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<DistanceUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
+    return (Mult<DistanceUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<DistanceUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
+    return (Per<DistanceUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<DistanceUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
+    return (Mult<DistanceUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<DistanceUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
+    return (Per<DistanceUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<DistanceUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
+    return (Mult<DistanceUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<DistanceUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
+    return (Per<DistanceUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<DistanceUnit, PowerUnit> times(Power multiplier) {
+    return (Mult<DistanceUnit, PowerUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<DistanceUnit, PowerUnit> divide(Power divisor) {
+    return (Per<DistanceUnit, PowerUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<DistanceUnit, TemperatureUnit> times(Temperature multiplier) {
+    return (Mult<DistanceUnit, TemperatureUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<DistanceUnit, TemperatureUnit> divide(Temperature divisor) {
+    return (Per<DistanceUnit, TemperatureUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<DistanceUnit, TimeUnit> times(Time multiplier) {
+    return (Mult<DistanceUnit, TimeUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default LinearVelocity divide(Time divisor) {
+    return MetersPerSecond.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<DistanceUnit, TorqueUnit> times(Torque multiplier) {
+    return (Mult<DistanceUnit, TorqueUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<DistanceUnit, TorqueUnit> divide(Torque divisor) {
+    return (Per<DistanceUnit, TorqueUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<DistanceUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
+    return (Mult<DistanceUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<DistanceUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
+    return (Per<DistanceUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<DistanceUnit, VoltageUnit> times(Voltage multiplier) {
+    return (Mult<DistanceUnit, VoltageUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<DistanceUnit, VoltageUnit> divide(Voltage divisor) {
+    return (Per<DistanceUnit, VoltageUnit>) Measure.super.divide(divisor);
+  }
+
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Energy.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Energy.java
new file mode 100644
index 00000000000..d20f8f19622
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Energy.java
@@ -0,0 +1,334 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public interface Energy extends Measure<EnergyUnit> {
+  static  Energy ofRelativeUnits(double magnitude, EnergyUnit unit) {
+    return new ImmutableEnergy(magnitude, unit.toBaseUnits(magnitude), unit);
+  }
+
+  static  Energy ofBaseUnits(double baseUnitMagnitude, EnergyUnit unit) {
+    return new ImmutableEnergy(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
+  }
+
+  @Override
+  Energy copy();
+
+  @Override
+  default MutEnergy mutableCopy() {
+    return new MutEnergy(magnitude(), baseUnitMagnitude(), unit());
+  }
+
+  @Override
+  EnergyUnit unit();
+
+  @Override
+  default EnergyUnit baseUnit() { return (EnergyUnit) unit().getBaseUnit(); }
+
+  @Override
+  default double in(EnergyUnit unit) {
+    return unit.fromBaseUnits(baseUnitMagnitude());
+  }
+
+  @Override
+  default Energy unaryMinus() {
+    return (Energy) unit().ofBaseUnits(0 - baseUnitMagnitude());
+  }
+
+  @Override
+  default Energy plus(Measure<? extends EnergyUnit> other) {
+    return (Energy) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Energy minus(Measure<? extends EnergyUnit> other) {
+    return (Energy) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Energy times(double multiplier) {
+    return (Energy) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
+  }
+
+  @Override
+  default Energy divide(double divisor) {
+    return (Energy) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
+  }
+
+  @Override
+  default Power per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+
+
+  @Override
+  default Mult<EnergyUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
+    return (Mult<EnergyUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<EnergyUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
+    return (Per<EnergyUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<EnergyUnit, AngleUnit> times(Angle multiplier) {
+    return (Mult<EnergyUnit, AngleUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<EnergyUnit, AngleUnit> divide(Angle divisor) {
+    return (Per<EnergyUnit, AngleUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<EnergyUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
+    return (Mult<EnergyUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<EnergyUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
+    return (Per<EnergyUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<EnergyUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
+    return (Mult<EnergyUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<EnergyUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
+    return (Per<EnergyUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<EnergyUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
+    return (Mult<EnergyUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<EnergyUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
+    return (Per<EnergyUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<EnergyUnit, CurrentUnit> times(Current multiplier) {
+    return (Mult<EnergyUnit, CurrentUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<EnergyUnit, CurrentUnit> divide(Current divisor) {
+    return (Per<EnergyUnit, CurrentUnit>) Measure.super.divide(divisor);
+  }
+
+  @Override
+  default Energy divide(Dimensionless divisor) {
+    return (Energy) Joules.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  @Override
+  default Energy times(Dimensionless multiplier) {
+    return (Energy) Joules.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<EnergyUnit, DistanceUnit> times(Distance multiplier) {
+    return (Mult<EnergyUnit, DistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<EnergyUnit, DistanceUnit> divide(Distance divisor) {
+    return (Per<EnergyUnit, DistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<EnergyUnit, EnergyUnit> times(Energy multiplier) {
+    return (Mult<EnergyUnit, EnergyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Dimensionless divide(Energy divisor) {
+    return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<EnergyUnit, ForceUnit> times(Force multiplier) {
+    return (Mult<EnergyUnit, ForceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<EnergyUnit, ForceUnit> divide(Force divisor) {
+    return (Per<EnergyUnit, ForceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Power times(Frequency multiplier) {
+    return Watts.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<EnergyUnit, FrequencyUnit> divide(Frequency divisor) {
+    return (Per<EnergyUnit, FrequencyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<EnergyUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
+    return (Mult<EnergyUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<EnergyUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
+    return (Per<EnergyUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<EnergyUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
+    return (Mult<EnergyUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<EnergyUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
+    return (Per<EnergyUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<EnergyUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
+    return (Mult<EnergyUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<EnergyUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
+    return (Per<EnergyUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<EnergyUnit, MassUnit> times(Mass multiplier) {
+    return (Mult<EnergyUnit, MassUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<EnergyUnit, MassUnit> divide(Mass divisor) {
+    return (Per<EnergyUnit, MassUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<EnergyUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
+    return (Mult<EnergyUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<EnergyUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
+    return (Per<EnergyUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<EnergyUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
+    return (Mult<EnergyUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<EnergyUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
+    return (Per<EnergyUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<EnergyUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
+    return (Mult<EnergyUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<EnergyUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
+    return (Per<EnergyUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<EnergyUnit, PowerUnit> times(Power multiplier) {
+    return (Mult<EnergyUnit, PowerUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<EnergyUnit, PowerUnit> divide(Power divisor) {
+    return (Per<EnergyUnit, PowerUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<EnergyUnit, TemperatureUnit> times(Temperature multiplier) {
+    return (Mult<EnergyUnit, TemperatureUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<EnergyUnit, TemperatureUnit> divide(Temperature divisor) {
+    return (Per<EnergyUnit, TemperatureUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<EnergyUnit, TimeUnit> times(Time multiplier) {
+    return (Mult<EnergyUnit, TimeUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Power divide(Time divisor) {
+    return Watts.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<EnergyUnit, TorqueUnit> times(Torque multiplier) {
+    return (Mult<EnergyUnit, TorqueUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<EnergyUnit, TorqueUnit> divide(Torque divisor) {
+    return (Per<EnergyUnit, TorqueUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<EnergyUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
+    return (Mult<EnergyUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<EnergyUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
+    return (Per<EnergyUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<EnergyUnit, VoltageUnit> times(Voltage multiplier) {
+    return (Mult<EnergyUnit, VoltageUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<EnergyUnit, VoltageUnit> divide(Voltage divisor) {
+    return (Per<EnergyUnit, VoltageUnit>) Measure.super.divide(divisor);
+  }
+
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Force.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Force.java
new file mode 100644
index 00000000000..2f69f808b8b
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Force.java
@@ -0,0 +1,334 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public interface Force extends Measure<ForceUnit> {
+  static  Force ofRelativeUnits(double magnitude, ForceUnit unit) {
+    return new ImmutableForce(magnitude, unit.toBaseUnits(magnitude), unit);
+  }
+
+  static  Force ofBaseUnits(double baseUnitMagnitude, ForceUnit unit) {
+    return new ImmutableForce(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
+  }
+
+  @Override
+  Force copy();
+
+  @Override
+  default MutForce mutableCopy() {
+    return new MutForce(magnitude(), baseUnitMagnitude(), unit());
+  }
+
+  @Override
+  ForceUnit unit();
+
+  @Override
+  default ForceUnit baseUnit() { return (ForceUnit) unit().getBaseUnit(); }
+
+  @Override
+  default double in(ForceUnit unit) {
+    return unit.fromBaseUnits(baseUnitMagnitude());
+  }
+
+  @Override
+  default Force unaryMinus() {
+    return (Force) unit().ofBaseUnits(0 - baseUnitMagnitude());
+  }
+
+  @Override
+  default Force plus(Measure<? extends ForceUnit> other) {
+    return (Force) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Force minus(Measure<? extends ForceUnit> other) {
+    return (Force) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Force times(double multiplier) {
+    return (Force) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
+  }
+
+  @Override
+  default Force divide(double divisor) {
+    return (Force) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
+  }
+
+  @Override
+  default Velocity<ForceUnit> per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+
+
+  @Override
+  default Mult<ForceUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
+    return (Mult<ForceUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ForceUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
+    return (Per<ForceUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ForceUnit, AngleUnit> times(Angle multiplier) {
+    return (Mult<ForceUnit, AngleUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ForceUnit, AngleUnit> divide(Angle divisor) {
+    return (Per<ForceUnit, AngleUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ForceUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
+    return (Mult<ForceUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ForceUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
+    return (Per<ForceUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ForceUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
+    return (Mult<ForceUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ForceUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
+    return (Per<ForceUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ForceUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
+    return (Mult<ForceUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ForceUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
+    return (Per<ForceUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ForceUnit, CurrentUnit> times(Current multiplier) {
+    return (Mult<ForceUnit, CurrentUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ForceUnit, CurrentUnit> divide(Current divisor) {
+    return (Per<ForceUnit, CurrentUnit>) Measure.super.divide(divisor);
+  }
+
+  @Override
+  default Force divide(Dimensionless divisor) {
+    return (Force) Newtons.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  @Override
+  default Force times(Dimensionless multiplier) {
+    return (Force) Newtons.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Energy times(Distance multiplier) {
+    return Joules.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<ForceUnit, DistanceUnit> divide(Distance divisor) {
+    return (Per<ForceUnit, DistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ForceUnit, EnergyUnit> times(Energy multiplier) {
+    return (Mult<ForceUnit, EnergyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ForceUnit, EnergyUnit> divide(Energy divisor) {
+    return (Per<ForceUnit, EnergyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ForceUnit, ForceUnit> times(Force multiplier) {
+    return (Mult<ForceUnit, ForceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Dimensionless divide(Force divisor) {
+    return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<ForceUnit, FrequencyUnit> times(Frequency multiplier) {
+    return (Mult<ForceUnit, FrequencyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ForceUnit, FrequencyUnit> divide(Frequency divisor) {
+    return (Per<ForceUnit, FrequencyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ForceUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
+    return (Mult<ForceUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Mass divide(LinearAcceleration divisor) {
+    return Kilograms.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<ForceUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
+    return (Mult<ForceUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ForceUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
+    return (Per<ForceUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ForceUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
+    return (Mult<ForceUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ForceUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
+    return (Per<ForceUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ForceUnit, MassUnit> times(Mass multiplier) {
+    return (Mult<ForceUnit, MassUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default LinearAcceleration divide(Mass divisor) {
+    return MetersPerSecondPerSecond.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<ForceUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
+    return (Mult<ForceUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ForceUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
+    return (Per<ForceUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ForceUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
+    return (Mult<ForceUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ForceUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
+    return (Per<ForceUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ForceUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
+    return (Mult<ForceUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ForceUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
+    return (Per<ForceUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ForceUnit, PowerUnit> times(Power multiplier) {
+    return (Mult<ForceUnit, PowerUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ForceUnit, PowerUnit> divide(Power divisor) {
+    return (Per<ForceUnit, PowerUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ForceUnit, TemperatureUnit> times(Temperature multiplier) {
+    return (Mult<ForceUnit, TemperatureUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ForceUnit, TemperatureUnit> divide(Temperature divisor) {
+    return (Per<ForceUnit, TemperatureUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ForceUnit, TimeUnit> times(Time multiplier) {
+    return (Mult<ForceUnit, TimeUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Velocity<ForceUnit> divide(Time divisor) {
+    return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<ForceUnit, TorqueUnit> times(Torque multiplier) {
+    return (Mult<ForceUnit, TorqueUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ForceUnit, TorqueUnit> divide(Torque divisor) {
+    return (Per<ForceUnit, TorqueUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ForceUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
+    return (Mult<ForceUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ForceUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
+    return (Per<ForceUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<ForceUnit, VoltageUnit> times(Voltage multiplier) {
+    return (Mult<ForceUnit, VoltageUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<ForceUnit, VoltageUnit> divide(Voltage divisor) {
+    return (Per<ForceUnit, VoltageUnit>) Measure.super.divide(divisor);
+  }
+
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Frequency.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Frequency.java
new file mode 100644
index 00000000000..ebce2a9a31c
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Frequency.java
@@ -0,0 +1,335 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public interface Frequency extends Measure<FrequencyUnit> {
+  static  Frequency ofRelativeUnits(double magnitude, FrequencyUnit unit) {
+    return new ImmutableFrequency(magnitude, unit.toBaseUnits(magnitude), unit);
+  }
+
+  static  Frequency ofBaseUnits(double baseUnitMagnitude, FrequencyUnit unit) {
+    return new ImmutableFrequency(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
+  }
+
+  @Override
+  Frequency copy();
+
+  @Override
+  default MutFrequency mutableCopy() {
+    return new MutFrequency(magnitude(), baseUnitMagnitude(), unit());
+  }
+
+  @Override
+  FrequencyUnit unit();
+
+  @Override
+  default FrequencyUnit baseUnit() { return (FrequencyUnit) unit().getBaseUnit(); }
+
+  @Override
+  default double in(FrequencyUnit unit) {
+    return unit.fromBaseUnits(baseUnitMagnitude());
+  }
+
+  @Override
+  default Frequency unaryMinus() {
+    return (Frequency) unit().ofBaseUnits(0 - baseUnitMagnitude());
+  }
+
+  @Override
+  default Frequency plus(Measure<? extends FrequencyUnit> other) {
+    return (Frequency) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Frequency minus(Measure<? extends FrequencyUnit> other) {
+    return (Frequency) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Frequency times(double multiplier) {
+    return (Frequency) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
+  }
+
+  @Override
+  default Frequency divide(double divisor) {
+    return (Frequency) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
+  }
+
+  @Override
+  default Velocity<FrequencyUnit> per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+
+
+  @Override
+  default Mult<FrequencyUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
+    return (Mult<FrequencyUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<FrequencyUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
+    return (Per<FrequencyUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default AngularVelocity times(Angle multiplier) {
+    return RadiansPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<FrequencyUnit, AngleUnit> divide(Angle divisor) {
+    return (Per<FrequencyUnit, AngleUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<FrequencyUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
+    return (Mult<FrequencyUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<FrequencyUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
+    return (Per<FrequencyUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<FrequencyUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
+    return (Mult<FrequencyUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<FrequencyUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
+    return (Per<FrequencyUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default AngularAcceleration times(AngularVelocity multiplier) {
+    return RadiansPerSecondPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<FrequencyUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
+    return (Per<FrequencyUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<FrequencyUnit, CurrentUnit> times(Current multiplier) {
+    return (Mult<FrequencyUnit, CurrentUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<FrequencyUnit, CurrentUnit> divide(Current divisor) {
+    return (Per<FrequencyUnit, CurrentUnit>) Measure.super.divide(divisor);
+  }
+
+  @Override
+  default Frequency divide(Dimensionless divisor) {
+    return (Frequency) Hertz.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  @Override
+  default Frequency times(Dimensionless multiplier) {
+    return (Frequency) Hertz.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default LinearVelocity times(Distance multiplier) {
+    return MetersPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<FrequencyUnit, DistanceUnit> divide(Distance divisor) {
+    return (Per<FrequencyUnit, DistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<FrequencyUnit, EnergyUnit> times(Energy multiplier) {
+    return (Mult<FrequencyUnit, EnergyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<FrequencyUnit, EnergyUnit> divide(Energy divisor) {
+    return (Per<FrequencyUnit, EnergyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<FrequencyUnit, ForceUnit> times(Force multiplier) {
+    return (Mult<FrequencyUnit, ForceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<FrequencyUnit, ForceUnit> divide(Force divisor) {
+    return (Per<FrequencyUnit, ForceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<FrequencyUnit, FrequencyUnit> times(Frequency multiplier) {
+    return (Mult<FrequencyUnit, FrequencyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Dimensionless divide(Frequency divisor) {
+    return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<FrequencyUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
+    return (Mult<FrequencyUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<FrequencyUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
+    return (Per<FrequencyUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<FrequencyUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
+    return (Mult<FrequencyUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<FrequencyUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
+    return (Per<FrequencyUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default LinearAcceleration times(LinearVelocity multiplier) {
+    return MetersPerSecondPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<FrequencyUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
+    return (Per<FrequencyUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<FrequencyUnit, MassUnit> times(Mass multiplier) {
+    return (Mult<FrequencyUnit, MassUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<FrequencyUnit, MassUnit> divide(Mass divisor) {
+    return (Per<FrequencyUnit, MassUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<FrequencyUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
+    return (Mult<FrequencyUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<FrequencyUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
+    return (Per<FrequencyUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<FrequencyUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
+    return (Mult<FrequencyUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<FrequencyUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
+    return (Per<FrequencyUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<FrequencyUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
+    return (Mult<FrequencyUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<FrequencyUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
+    return (Per<FrequencyUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<FrequencyUnit, PowerUnit> times(Power multiplier) {
+    return (Mult<FrequencyUnit, PowerUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<FrequencyUnit, PowerUnit> divide(Power divisor) {
+    return (Per<FrequencyUnit, PowerUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<FrequencyUnit, TemperatureUnit> times(Temperature multiplier) {
+    return (Mult<FrequencyUnit, TemperatureUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<FrequencyUnit, TemperatureUnit> divide(Temperature divisor) {
+    return (Per<FrequencyUnit, TemperatureUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Dimensionless times(Time multiplier) {
+    return Value.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Velocity<FrequencyUnit> divide(Time divisor) {
+    return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<FrequencyUnit, TorqueUnit> times(Torque multiplier) {
+    return (Mult<FrequencyUnit, TorqueUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<FrequencyUnit, TorqueUnit> divide(Torque divisor) {
+    return (Per<FrequencyUnit, TorqueUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<FrequencyUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
+    return (Mult<FrequencyUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<FrequencyUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
+    return (Per<FrequencyUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<FrequencyUnit, VoltageUnit> times(Voltage multiplier) {
+    return (Mult<FrequencyUnit, VoltageUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<FrequencyUnit, VoltageUnit> divide(Voltage divisor) {
+    return (Per<FrequencyUnit, VoltageUnit>) Measure.super.divide(divisor);
+  }
+/** Converts this frequency to the time period between cycles. */
+default Time asPeriod() { return Seconds.of(1 / baseUnitMagnitude()); }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAcceleration.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAcceleration.java
new file mode 100644
index 00000000000..ab6f0449bfe
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAcceleration.java
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public record ImmutableAcceleration<D extends Unit>(double magnitude, double baseUnitMagnitude, AccelerationUnit<D> unit) implements Acceleration<D> {
+  @Override
+  public Acceleration<D> copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    return o instanceof Measure<?> m && isEquivalent(m);
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAngle.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAngle.java
new file mode 100644
index 00000000000..352e19ea38a
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAngle.java
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public record ImmutableAngle(double magnitude, double baseUnitMagnitude, AngleUnit unit) implements Angle {
+  @Override
+  public Angle copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    return o instanceof Measure<?> m && isEquivalent(m);
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAngularAcceleration.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAngularAcceleration.java
new file mode 100644
index 00000000000..0c417e08c6f
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAngularAcceleration.java
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public record ImmutableAngularAcceleration(double magnitude, double baseUnitMagnitude, AngularAccelerationUnit unit) implements AngularAcceleration {
+  @Override
+  public AngularAcceleration copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    return o instanceof Measure<?> m && isEquivalent(m);
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAngularMomentum.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAngularMomentum.java
new file mode 100644
index 00000000000..7d00dd669ed
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAngularMomentum.java
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public record ImmutableAngularMomentum(double magnitude, double baseUnitMagnitude, AngularMomentumUnit unit) implements AngularMomentum {
+  @Override
+  public AngularMomentum copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    return o instanceof Measure<?> m && isEquivalent(m);
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAngularVelocity.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAngularVelocity.java
new file mode 100644
index 00000000000..c692a116d50
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAngularVelocity.java
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public record ImmutableAngularVelocity(double magnitude, double baseUnitMagnitude, AngularVelocityUnit unit) implements AngularVelocity {
+  @Override
+  public AngularVelocity copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    return o instanceof Measure<?> m && isEquivalent(m);
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableCurrent.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableCurrent.java
new file mode 100644
index 00000000000..8710f57efee
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableCurrent.java
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public record ImmutableCurrent(double magnitude, double baseUnitMagnitude, CurrentUnit unit) implements Current {
+  @Override
+  public Current copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    return o instanceof Measure<?> m && isEquivalent(m);
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableDimensionless.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableDimensionless.java
new file mode 100644
index 00000000000..455bd2b4026
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableDimensionless.java
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public record ImmutableDimensionless(double magnitude, double baseUnitMagnitude, DimensionlessUnit unit) implements Dimensionless {
+  @Override
+  public Dimensionless copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    return o instanceof Measure<?> m && isEquivalent(m);
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableDistance.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableDistance.java
new file mode 100644
index 00000000000..f9197822361
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableDistance.java
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public record ImmutableDistance(double magnitude, double baseUnitMagnitude, DistanceUnit unit) implements Distance {
+  @Override
+  public Distance copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    return o instanceof Measure<?> m && isEquivalent(m);
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableEnergy.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableEnergy.java
new file mode 100644
index 00000000000..7e443075b05
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableEnergy.java
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public record ImmutableEnergy(double magnitude, double baseUnitMagnitude, EnergyUnit unit) implements Energy {
+  @Override
+  public Energy copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    return o instanceof Measure<?> m && isEquivalent(m);
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableForce.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableForce.java
new file mode 100644
index 00000000000..14f11ec7a19
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableForce.java
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public record ImmutableForce(double magnitude, double baseUnitMagnitude, ForceUnit unit) implements Force {
+  @Override
+  public Force copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    return o instanceof Measure<?> m && isEquivalent(m);
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableFrequency.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableFrequency.java
new file mode 100644
index 00000000000..f9084ed569d
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableFrequency.java
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public record ImmutableFrequency(double magnitude, double baseUnitMagnitude, FrequencyUnit unit) implements Frequency {
+  @Override
+  public Frequency copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    return o instanceof Measure<?> m && isEquivalent(m);
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableLinearAcceleration.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableLinearAcceleration.java
new file mode 100644
index 00000000000..3212588d059
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableLinearAcceleration.java
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public record ImmutableLinearAcceleration(double magnitude, double baseUnitMagnitude, LinearAccelerationUnit unit) implements LinearAcceleration {
+  @Override
+  public LinearAcceleration copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    return o instanceof Measure<?> m && isEquivalent(m);
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableLinearMomentum.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableLinearMomentum.java
new file mode 100644
index 00000000000..0d7afd654b6
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableLinearMomentum.java
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public record ImmutableLinearMomentum(double magnitude, double baseUnitMagnitude, LinearMomentumUnit unit) implements LinearMomentum {
+  @Override
+  public LinearMomentum copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    return o instanceof Measure<?> m && isEquivalent(m);
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableLinearVelocity.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableLinearVelocity.java
new file mode 100644
index 00000000000..7373307d39f
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableLinearVelocity.java
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public record ImmutableLinearVelocity(double magnitude, double baseUnitMagnitude, LinearVelocityUnit unit) implements LinearVelocity {
+  @Override
+  public LinearVelocity copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    return o instanceof Measure<?> m && isEquivalent(m);
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableMass.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableMass.java
new file mode 100644
index 00000000000..c74ad2711a6
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableMass.java
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public record ImmutableMass(double magnitude, double baseUnitMagnitude, MassUnit unit) implements Mass {
+  @Override
+  public Mass copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    return o instanceof Measure<?> m && isEquivalent(m);
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableMomentOfInertia.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableMomentOfInertia.java
new file mode 100644
index 00000000000..ea903c7652a
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableMomentOfInertia.java
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public record ImmutableMomentOfInertia(double magnitude, double baseUnitMagnitude, MomentOfInertiaUnit unit) implements MomentOfInertia {
+  @Override
+  public MomentOfInertia copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    return o instanceof Measure<?> m && isEquivalent(m);
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableMult.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableMult.java
new file mode 100644
index 00000000000..fc69825ee4a
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableMult.java
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public record ImmutableMult<A extends Unit, B extends Unit>(double magnitude, double baseUnitMagnitude, MultUnit<A, B> unit) implements Mult<A, B> {
+  @Override
+  public Mult<A, B> copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    return o instanceof Measure<?> m && isEquivalent(m);
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutablePer.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutablePer.java
new file mode 100644
index 00000000000..3d9ad1fe14b
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutablePer.java
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public record ImmutablePer<Dividend extends Unit, Divisor extends Unit>(double magnitude, double baseUnitMagnitude, PerUnit<Dividend, Divisor> unit) implements Per<Dividend, Divisor> {
+  @Override
+  public Per<Dividend, Divisor> copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    return o instanceof Measure<?> m && isEquivalent(m);
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutablePower.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutablePower.java
new file mode 100644
index 00000000000..0c7ffc0d95b
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutablePower.java
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public record ImmutablePower(double magnitude, double baseUnitMagnitude, PowerUnit unit) implements Power {
+  @Override
+  public Power copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    return o instanceof Measure<?> m && isEquivalent(m);
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableTemperature.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableTemperature.java
new file mode 100644
index 00000000000..e035d809222
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableTemperature.java
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public record ImmutableTemperature(double magnitude, double baseUnitMagnitude, TemperatureUnit unit) implements Temperature {
+  @Override
+  public Temperature copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    return o instanceof Measure<?> m && isEquivalent(m);
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableTime.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableTime.java
new file mode 100644
index 00000000000..1230d92028b
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableTime.java
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public record ImmutableTime(double magnitude, double baseUnitMagnitude, TimeUnit unit) implements Time {
+  @Override
+  public Time copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    return o instanceof Measure<?> m && isEquivalent(m);
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableTorque.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableTorque.java
new file mode 100644
index 00000000000..7c756e75dcb
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableTorque.java
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public record ImmutableTorque(double magnitude, double baseUnitMagnitude, TorqueUnit unit) implements Torque {
+  @Override
+  public Torque copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    return o instanceof Measure<?> m && isEquivalent(m);
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableVelocity.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableVelocity.java
new file mode 100644
index 00000000000..89256f9d055
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableVelocity.java
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public record ImmutableVelocity<D extends Unit>(double magnitude, double baseUnitMagnitude, VelocityUnit<D> unit) implements Velocity<D> {
+  @Override
+  public Velocity<D> copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    return o instanceof Measure<?> m && isEquivalent(m);
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableVoltage.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableVoltage.java
new file mode 100644
index 00000000000..ca5dfebbf3d
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableVoltage.java
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public record ImmutableVoltage(double magnitude, double baseUnitMagnitude, VoltageUnit unit) implements Voltage {
+  @Override
+  public Voltage copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    return o instanceof Measure<?> m && isEquivalent(m);
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/LinearAcceleration.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/LinearAcceleration.java
new file mode 100644
index 00000000000..f595bcc33ff
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/LinearAcceleration.java
@@ -0,0 +1,334 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public interface LinearAcceleration extends Measure<LinearAccelerationUnit> {
+  static  LinearAcceleration ofRelativeUnits(double magnitude, LinearAccelerationUnit unit) {
+    return new ImmutableLinearAcceleration(magnitude, unit.toBaseUnits(magnitude), unit);
+  }
+
+  static  LinearAcceleration ofBaseUnits(double baseUnitMagnitude, LinearAccelerationUnit unit) {
+    return new ImmutableLinearAcceleration(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
+  }
+
+  @Override
+  LinearAcceleration copy();
+
+  @Override
+  default MutLinearAcceleration mutableCopy() {
+    return new MutLinearAcceleration(magnitude(), baseUnitMagnitude(), unit());
+  }
+
+  @Override
+  LinearAccelerationUnit unit();
+
+  @Override
+  default LinearAccelerationUnit baseUnit() { return (LinearAccelerationUnit) unit().getBaseUnit(); }
+
+  @Override
+  default double in(LinearAccelerationUnit unit) {
+    return unit.fromBaseUnits(baseUnitMagnitude());
+  }
+
+  @Override
+  default LinearAcceleration unaryMinus() {
+    return (LinearAcceleration) unit().ofBaseUnits(0 - baseUnitMagnitude());
+  }
+
+  @Override
+  default LinearAcceleration plus(Measure<? extends LinearAccelerationUnit> other) {
+    return (LinearAcceleration) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
+  }
+
+  @Override
+  default LinearAcceleration minus(Measure<? extends LinearAccelerationUnit> other) {
+    return (LinearAcceleration) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
+  }
+
+  @Override
+  default LinearAcceleration times(double multiplier) {
+    return (LinearAcceleration) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
+  }
+
+  @Override
+  default LinearAcceleration divide(double divisor) {
+    return (LinearAcceleration) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
+  }
+
+  @Override
+  default Velocity<LinearAccelerationUnit> per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+
+
+  @Override
+  default Mult<LinearAccelerationUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
+    return (Mult<LinearAccelerationUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearAccelerationUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
+    return (Per<LinearAccelerationUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearAccelerationUnit, AngleUnit> times(Angle multiplier) {
+    return (Mult<LinearAccelerationUnit, AngleUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearAccelerationUnit, AngleUnit> divide(Angle divisor) {
+    return (Per<LinearAccelerationUnit, AngleUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearAccelerationUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
+    return (Mult<LinearAccelerationUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearAccelerationUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
+    return (Per<LinearAccelerationUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearAccelerationUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
+    return (Mult<LinearAccelerationUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearAccelerationUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
+    return (Per<LinearAccelerationUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearAccelerationUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
+    return (Mult<LinearAccelerationUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearAccelerationUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
+    return (Per<LinearAccelerationUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearAccelerationUnit, CurrentUnit> times(Current multiplier) {
+    return (Mult<LinearAccelerationUnit, CurrentUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearAccelerationUnit, CurrentUnit> divide(Current divisor) {
+    return (Per<LinearAccelerationUnit, CurrentUnit>) Measure.super.divide(divisor);
+  }
+
+  @Override
+  default LinearAcceleration divide(Dimensionless divisor) {
+    return (LinearAcceleration) MetersPerSecondPerSecond.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  @Override
+  default LinearAcceleration times(Dimensionless multiplier) {
+    return (LinearAcceleration) MetersPerSecondPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<LinearAccelerationUnit, DistanceUnit> times(Distance multiplier) {
+    return (Mult<LinearAccelerationUnit, DistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearAccelerationUnit, DistanceUnit> divide(Distance divisor) {
+    return (Per<LinearAccelerationUnit, DistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearAccelerationUnit, EnergyUnit> times(Energy multiplier) {
+    return (Mult<LinearAccelerationUnit, EnergyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearAccelerationUnit, EnergyUnit> divide(Energy divisor) {
+    return (Per<LinearAccelerationUnit, EnergyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearAccelerationUnit, ForceUnit> times(Force multiplier) {
+    return (Mult<LinearAccelerationUnit, ForceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearAccelerationUnit, ForceUnit> divide(Force divisor) {
+    return (Per<LinearAccelerationUnit, ForceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearAccelerationUnit, FrequencyUnit> times(Frequency multiplier) {
+    return (Mult<LinearAccelerationUnit, FrequencyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default LinearVelocity divide(Frequency divisor) {
+    return MetersPerSecond.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<LinearAccelerationUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
+    return (Mult<LinearAccelerationUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Dimensionless divide(LinearAcceleration divisor) {
+    return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<LinearAccelerationUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
+    return (Mult<LinearAccelerationUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearAccelerationUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
+    return (Per<LinearAccelerationUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearAccelerationUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
+    return (Mult<LinearAccelerationUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearAccelerationUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
+    return (Per<LinearAccelerationUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearAccelerationUnit, MassUnit> times(Mass multiplier) {
+    return (Mult<LinearAccelerationUnit, MassUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearAccelerationUnit, MassUnit> divide(Mass divisor) {
+    return (Per<LinearAccelerationUnit, MassUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearAccelerationUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
+    return (Mult<LinearAccelerationUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearAccelerationUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
+    return (Per<LinearAccelerationUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearAccelerationUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
+    return (Mult<LinearAccelerationUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearAccelerationUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
+    return (Per<LinearAccelerationUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearAccelerationUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
+    return (Mult<LinearAccelerationUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearAccelerationUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
+    return (Per<LinearAccelerationUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearAccelerationUnit, PowerUnit> times(Power multiplier) {
+    return (Mult<LinearAccelerationUnit, PowerUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearAccelerationUnit, PowerUnit> divide(Power divisor) {
+    return (Per<LinearAccelerationUnit, PowerUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearAccelerationUnit, TemperatureUnit> times(Temperature multiplier) {
+    return (Mult<LinearAccelerationUnit, TemperatureUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearAccelerationUnit, TemperatureUnit> divide(Temperature divisor) {
+    return (Per<LinearAccelerationUnit, TemperatureUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default LinearVelocity times(Time multiplier) {
+    return MetersPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Velocity<LinearAccelerationUnit> divide(Time divisor) {
+    return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<LinearAccelerationUnit, TorqueUnit> times(Torque multiplier) {
+    return (Mult<LinearAccelerationUnit, TorqueUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearAccelerationUnit, TorqueUnit> divide(Torque divisor) {
+    return (Per<LinearAccelerationUnit, TorqueUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearAccelerationUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
+    return (Mult<LinearAccelerationUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearAccelerationUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
+    return (Per<LinearAccelerationUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearAccelerationUnit, VoltageUnit> times(Voltage multiplier) {
+    return (Mult<LinearAccelerationUnit, VoltageUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearAccelerationUnit, VoltageUnit> divide(Voltage divisor) {
+    return (Per<LinearAccelerationUnit, VoltageUnit>) Measure.super.divide(divisor);
+  }
+
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/LinearMomentum.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/LinearMomentum.java
new file mode 100644
index 00000000000..92177a9598c
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/LinearMomentum.java
@@ -0,0 +1,334 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public interface LinearMomentum extends Measure<LinearMomentumUnit> {
+  static  LinearMomentum ofRelativeUnits(double magnitude, LinearMomentumUnit unit) {
+    return new ImmutableLinearMomentum(magnitude, unit.toBaseUnits(magnitude), unit);
+  }
+
+  static  LinearMomentum ofBaseUnits(double baseUnitMagnitude, LinearMomentumUnit unit) {
+    return new ImmutableLinearMomentum(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
+  }
+
+  @Override
+  LinearMomentum copy();
+
+  @Override
+  default MutLinearMomentum mutableCopy() {
+    return new MutLinearMomentum(magnitude(), baseUnitMagnitude(), unit());
+  }
+
+  @Override
+  LinearMomentumUnit unit();
+
+  @Override
+  default LinearMomentumUnit baseUnit() { return (LinearMomentumUnit) unit().getBaseUnit(); }
+
+  @Override
+  default double in(LinearMomentumUnit unit) {
+    return unit.fromBaseUnits(baseUnitMagnitude());
+  }
+
+  @Override
+  default LinearMomentum unaryMinus() {
+    return (LinearMomentum) unit().ofBaseUnits(0 - baseUnitMagnitude());
+  }
+
+  @Override
+  default LinearMomentum plus(Measure<? extends LinearMomentumUnit> other) {
+    return (LinearMomentum) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
+  }
+
+  @Override
+  default LinearMomentum minus(Measure<? extends LinearMomentumUnit> other) {
+    return (LinearMomentum) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
+  }
+
+  @Override
+  default LinearMomentum times(double multiplier) {
+    return (LinearMomentum) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
+  }
+
+  @Override
+  default LinearMomentum divide(double divisor) {
+    return (LinearMomentum) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
+  }
+
+  @Override
+  default Force per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+
+
+  @Override
+  default Mult<LinearMomentumUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
+    return (Mult<LinearMomentumUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearMomentumUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
+    return (Per<LinearMomentumUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearMomentumUnit, AngleUnit> times(Angle multiplier) {
+    return (Mult<LinearMomentumUnit, AngleUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearMomentumUnit, AngleUnit> divide(Angle divisor) {
+    return (Per<LinearMomentumUnit, AngleUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearMomentumUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
+    return (Mult<LinearMomentumUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearMomentumUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
+    return (Per<LinearMomentumUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearMomentumUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
+    return (Mult<LinearMomentumUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearMomentumUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
+    return (Per<LinearMomentumUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearMomentumUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
+    return (Mult<LinearMomentumUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearMomentumUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
+    return (Per<LinearMomentumUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearMomentumUnit, CurrentUnit> times(Current multiplier) {
+    return (Mult<LinearMomentumUnit, CurrentUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearMomentumUnit, CurrentUnit> divide(Current divisor) {
+    return (Per<LinearMomentumUnit, CurrentUnit>) Measure.super.divide(divisor);
+  }
+
+  @Override
+  default LinearMomentum divide(Dimensionless divisor) {
+    return (LinearMomentum) KilogramMetersPerSecond.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  @Override
+  default LinearMomentum times(Dimensionless multiplier) {
+    return (LinearMomentum) KilogramMetersPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<LinearMomentumUnit, DistanceUnit> times(Distance multiplier) {
+    return (Mult<LinearMomentumUnit, DistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearMomentumUnit, DistanceUnit> divide(Distance divisor) {
+    return (Per<LinearMomentumUnit, DistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearMomentumUnit, EnergyUnit> times(Energy multiplier) {
+    return (Mult<LinearMomentumUnit, EnergyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearMomentumUnit, EnergyUnit> divide(Energy divisor) {
+    return (Per<LinearMomentumUnit, EnergyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearMomentumUnit, ForceUnit> times(Force multiplier) {
+    return (Mult<LinearMomentumUnit, ForceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearMomentumUnit, ForceUnit> divide(Force divisor) {
+    return (Per<LinearMomentumUnit, ForceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Force times(Frequency multiplier) {
+    return Newtons.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<LinearMomentumUnit, FrequencyUnit> divide(Frequency divisor) {
+    return (Per<LinearMomentumUnit, FrequencyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearMomentumUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
+    return (Mult<LinearMomentumUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearMomentumUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
+    return (Per<LinearMomentumUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearMomentumUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
+    return (Mult<LinearMomentumUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Dimensionless divide(LinearMomentum divisor) {
+    return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<LinearMomentumUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
+    return (Mult<LinearMomentumUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Mass divide(LinearVelocity divisor) {
+    return Kilograms.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<LinearMomentumUnit, MassUnit> times(Mass multiplier) {
+    return (Mult<LinearMomentumUnit, MassUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default LinearVelocity divide(Mass divisor) {
+    return MetersPerSecond.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<LinearMomentumUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
+    return (Mult<LinearMomentumUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearMomentumUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
+    return (Per<LinearMomentumUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearMomentumUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
+    return (Mult<LinearMomentumUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearMomentumUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
+    return (Per<LinearMomentumUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearMomentumUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
+    return (Mult<LinearMomentumUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearMomentumUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
+    return (Per<LinearMomentumUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearMomentumUnit, PowerUnit> times(Power multiplier) {
+    return (Mult<LinearMomentumUnit, PowerUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearMomentumUnit, PowerUnit> divide(Power divisor) {
+    return (Per<LinearMomentumUnit, PowerUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearMomentumUnit, TemperatureUnit> times(Temperature multiplier) {
+    return (Mult<LinearMomentumUnit, TemperatureUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearMomentumUnit, TemperatureUnit> divide(Temperature divisor) {
+    return (Per<LinearMomentumUnit, TemperatureUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearMomentumUnit, TimeUnit> times(Time multiplier) {
+    return (Mult<LinearMomentumUnit, TimeUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Force divide(Time divisor) {
+    return Newtons.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<LinearMomentumUnit, TorqueUnit> times(Torque multiplier) {
+    return (Mult<LinearMomentumUnit, TorqueUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearMomentumUnit, TorqueUnit> divide(Torque divisor) {
+    return (Per<LinearMomentumUnit, TorqueUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearMomentumUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
+    return (Mult<LinearMomentumUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearMomentumUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
+    return (Per<LinearMomentumUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearMomentumUnit, VoltageUnit> times(Voltage multiplier) {
+    return (Mult<LinearMomentumUnit, VoltageUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearMomentumUnit, VoltageUnit> divide(Voltage divisor) {
+    return (Per<LinearMomentumUnit, VoltageUnit>) Measure.super.divide(divisor);
+  }
+
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/LinearVelocity.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/LinearVelocity.java
new file mode 100644
index 00000000000..4f3d1c389de
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/LinearVelocity.java
@@ -0,0 +1,334 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public interface LinearVelocity extends Measure<LinearVelocityUnit> {
+  static  LinearVelocity ofRelativeUnits(double magnitude, LinearVelocityUnit unit) {
+    return new ImmutableLinearVelocity(magnitude, unit.toBaseUnits(magnitude), unit);
+  }
+
+  static  LinearVelocity ofBaseUnits(double baseUnitMagnitude, LinearVelocityUnit unit) {
+    return new ImmutableLinearVelocity(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
+  }
+
+  @Override
+  LinearVelocity copy();
+
+  @Override
+  default MutLinearVelocity mutableCopy() {
+    return new MutLinearVelocity(magnitude(), baseUnitMagnitude(), unit());
+  }
+
+  @Override
+  LinearVelocityUnit unit();
+
+  @Override
+  default LinearVelocityUnit baseUnit() { return (LinearVelocityUnit) unit().getBaseUnit(); }
+
+  @Override
+  default double in(LinearVelocityUnit unit) {
+    return unit.fromBaseUnits(baseUnitMagnitude());
+  }
+
+  @Override
+  default LinearVelocity unaryMinus() {
+    return (LinearVelocity) unit().ofBaseUnits(0 - baseUnitMagnitude());
+  }
+
+  @Override
+  default LinearVelocity plus(Measure<? extends LinearVelocityUnit> other) {
+    return (LinearVelocity) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
+  }
+
+  @Override
+  default LinearVelocity minus(Measure<? extends LinearVelocityUnit> other) {
+    return (LinearVelocity) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
+  }
+
+  @Override
+  default LinearVelocity times(double multiplier) {
+    return (LinearVelocity) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
+  }
+
+  @Override
+  default LinearVelocity divide(double divisor) {
+    return (LinearVelocity) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
+  }
+
+  @Override
+  default LinearAcceleration per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+
+
+  @Override
+  default Mult<LinearVelocityUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
+    return (Mult<LinearVelocityUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearVelocityUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
+    return (Per<LinearVelocityUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearVelocityUnit, AngleUnit> times(Angle multiplier) {
+    return (Mult<LinearVelocityUnit, AngleUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearVelocityUnit, AngleUnit> divide(Angle divisor) {
+    return (Per<LinearVelocityUnit, AngleUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearVelocityUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
+    return (Mult<LinearVelocityUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearVelocityUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
+    return (Per<LinearVelocityUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearVelocityUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
+    return (Mult<LinearVelocityUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearVelocityUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
+    return (Per<LinearVelocityUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearVelocityUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
+    return (Mult<LinearVelocityUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearVelocityUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
+    return (Per<LinearVelocityUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearVelocityUnit, CurrentUnit> times(Current multiplier) {
+    return (Mult<LinearVelocityUnit, CurrentUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearVelocityUnit, CurrentUnit> divide(Current divisor) {
+    return (Per<LinearVelocityUnit, CurrentUnit>) Measure.super.divide(divisor);
+  }
+
+  @Override
+  default LinearVelocity divide(Dimensionless divisor) {
+    return (LinearVelocity) MetersPerSecond.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  @Override
+  default LinearVelocity times(Dimensionless multiplier) {
+    return (LinearVelocity) MetersPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<LinearVelocityUnit, DistanceUnit> times(Distance multiplier) {
+    return (Mult<LinearVelocityUnit, DistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearVelocityUnit, DistanceUnit> divide(Distance divisor) {
+    return (Per<LinearVelocityUnit, DistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearVelocityUnit, EnergyUnit> times(Energy multiplier) {
+    return (Mult<LinearVelocityUnit, EnergyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearVelocityUnit, EnergyUnit> divide(Energy divisor) {
+    return (Per<LinearVelocityUnit, EnergyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearVelocityUnit, ForceUnit> times(Force multiplier) {
+    return (Mult<LinearVelocityUnit, ForceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearVelocityUnit, ForceUnit> divide(Force divisor) {
+    return (Per<LinearVelocityUnit, ForceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default LinearAcceleration times(Frequency multiplier) {
+    return MetersPerSecondPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<LinearVelocityUnit, FrequencyUnit> divide(Frequency divisor) {
+    return (Per<LinearVelocityUnit, FrequencyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearVelocityUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
+    return (Mult<LinearVelocityUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearVelocityUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
+    return (Per<LinearVelocityUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearVelocityUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
+    return (Mult<LinearVelocityUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearVelocityUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
+    return (Per<LinearVelocityUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearVelocityUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
+    return (Mult<LinearVelocityUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Dimensionless divide(LinearVelocity divisor) {
+    return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<LinearVelocityUnit, MassUnit> times(Mass multiplier) {
+    return (Mult<LinearVelocityUnit, MassUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearVelocityUnit, MassUnit> divide(Mass divisor) {
+    return (Per<LinearVelocityUnit, MassUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearVelocityUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
+    return (Mult<LinearVelocityUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearVelocityUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
+    return (Per<LinearVelocityUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearVelocityUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
+    return (Mult<LinearVelocityUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearVelocityUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
+    return (Per<LinearVelocityUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearVelocityUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
+    return (Mult<LinearVelocityUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearVelocityUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
+    return (Per<LinearVelocityUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearVelocityUnit, PowerUnit> times(Power multiplier) {
+    return (Mult<LinearVelocityUnit, PowerUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearVelocityUnit, PowerUnit> divide(Power divisor) {
+    return (Per<LinearVelocityUnit, PowerUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearVelocityUnit, TemperatureUnit> times(Temperature multiplier) {
+    return (Mult<LinearVelocityUnit, TemperatureUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearVelocityUnit, TemperatureUnit> divide(Temperature divisor) {
+    return (Per<LinearVelocityUnit, TemperatureUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Distance times(Time multiplier) {
+    return Meters.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default LinearAcceleration divide(Time divisor) {
+    return MetersPerSecondPerSecond.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<LinearVelocityUnit, TorqueUnit> times(Torque multiplier) {
+    return (Mult<LinearVelocityUnit, TorqueUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearVelocityUnit, TorqueUnit> divide(Torque divisor) {
+    return (Per<LinearVelocityUnit, TorqueUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearVelocityUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
+    return (Mult<LinearVelocityUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearVelocityUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
+    return (Per<LinearVelocityUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<LinearVelocityUnit, VoltageUnit> times(Voltage multiplier) {
+    return (Mult<LinearVelocityUnit, VoltageUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<LinearVelocityUnit, VoltageUnit> divide(Voltage divisor) {
+    return (Per<LinearVelocityUnit, VoltageUnit>) Measure.super.divide(divisor);
+  }
+
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Mass.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Mass.java
new file mode 100644
index 00000000000..6046be68d45
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Mass.java
@@ -0,0 +1,334 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public interface Mass extends Measure<MassUnit> {
+  static  Mass ofRelativeUnits(double magnitude, MassUnit unit) {
+    return new ImmutableMass(magnitude, unit.toBaseUnits(magnitude), unit);
+  }
+
+  static  Mass ofBaseUnits(double baseUnitMagnitude, MassUnit unit) {
+    return new ImmutableMass(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
+  }
+
+  @Override
+  Mass copy();
+
+  @Override
+  default MutMass mutableCopy() {
+    return new MutMass(magnitude(), baseUnitMagnitude(), unit());
+  }
+
+  @Override
+  MassUnit unit();
+
+  @Override
+  default MassUnit baseUnit() { return (MassUnit) unit().getBaseUnit(); }
+
+  @Override
+  default double in(MassUnit unit) {
+    return unit.fromBaseUnits(baseUnitMagnitude());
+  }
+
+  @Override
+  default Mass unaryMinus() {
+    return (Mass) unit().ofBaseUnits(0 - baseUnitMagnitude());
+  }
+
+  @Override
+  default Mass plus(Measure<? extends MassUnit> other) {
+    return (Mass) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Mass minus(Measure<? extends MassUnit> other) {
+    return (Mass) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Mass times(double multiplier) {
+    return (Mass) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
+  }
+
+  @Override
+  default Mass divide(double divisor) {
+    return (Mass) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
+  }
+
+  @Override
+  default Velocity<MassUnit> per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+
+
+  @Override
+  default Mult<MassUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
+    return (Mult<MassUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MassUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
+    return (Per<MassUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MassUnit, AngleUnit> times(Angle multiplier) {
+    return (Mult<MassUnit, AngleUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MassUnit, AngleUnit> divide(Angle divisor) {
+    return (Per<MassUnit, AngleUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MassUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
+    return (Mult<MassUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MassUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
+    return (Per<MassUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MassUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
+    return (Mult<MassUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MassUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
+    return (Per<MassUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MassUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
+    return (Mult<MassUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MassUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
+    return (Per<MassUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MassUnit, CurrentUnit> times(Current multiplier) {
+    return (Mult<MassUnit, CurrentUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MassUnit, CurrentUnit> divide(Current divisor) {
+    return (Per<MassUnit, CurrentUnit>) Measure.super.divide(divisor);
+  }
+
+  @Override
+  default Mass divide(Dimensionless divisor) {
+    return (Mass) Kilograms.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  @Override
+  default Mass times(Dimensionless multiplier) {
+    return (Mass) Kilograms.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<MassUnit, DistanceUnit> times(Distance multiplier) {
+    return (Mult<MassUnit, DistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MassUnit, DistanceUnit> divide(Distance divisor) {
+    return (Per<MassUnit, DistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MassUnit, EnergyUnit> times(Energy multiplier) {
+    return (Mult<MassUnit, EnergyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MassUnit, EnergyUnit> divide(Energy divisor) {
+    return (Per<MassUnit, EnergyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MassUnit, ForceUnit> times(Force multiplier) {
+    return (Mult<MassUnit, ForceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MassUnit, ForceUnit> divide(Force divisor) {
+    return (Per<MassUnit, ForceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MassUnit, FrequencyUnit> times(Frequency multiplier) {
+    return (Mult<MassUnit, FrequencyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MassUnit, FrequencyUnit> divide(Frequency divisor) {
+    return (Per<MassUnit, FrequencyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Force times(LinearAcceleration multiplier) {
+    return Newtons.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<MassUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
+    return (Per<MassUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MassUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
+    return (Mult<MassUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MassUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
+    return (Per<MassUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MassUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
+    return (Mult<MassUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MassUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
+    return (Per<MassUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MassUnit, MassUnit> times(Mass multiplier) {
+    return (Mult<MassUnit, MassUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Dimensionless divide(Mass divisor) {
+    return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<MassUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
+    return (Mult<MassUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MassUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
+    return (Per<MassUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MassUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
+    return (Mult<MassUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MassUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
+    return (Per<MassUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MassUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
+    return (Mult<MassUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MassUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
+    return (Per<MassUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MassUnit, PowerUnit> times(Power multiplier) {
+    return (Mult<MassUnit, PowerUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MassUnit, PowerUnit> divide(Power divisor) {
+    return (Per<MassUnit, PowerUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MassUnit, TemperatureUnit> times(Temperature multiplier) {
+    return (Mult<MassUnit, TemperatureUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MassUnit, TemperatureUnit> divide(Temperature divisor) {
+    return (Per<MassUnit, TemperatureUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MassUnit, TimeUnit> times(Time multiplier) {
+    return (Mult<MassUnit, TimeUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Velocity<MassUnit> divide(Time divisor) {
+    return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<MassUnit, TorqueUnit> times(Torque multiplier) {
+    return (Mult<MassUnit, TorqueUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MassUnit, TorqueUnit> divide(Torque divisor) {
+    return (Per<MassUnit, TorqueUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MassUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
+    return (Mult<MassUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MassUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
+    return (Per<MassUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MassUnit, VoltageUnit> times(Voltage multiplier) {
+    return (Mult<MassUnit, VoltageUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MassUnit, VoltageUnit> divide(Voltage divisor) {
+    return (Per<MassUnit, VoltageUnit>) Measure.super.divide(divisor);
+  }
+
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MomentOfInertia.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MomentOfInertia.java
new file mode 100644
index 00000000000..c56c6ba0015
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MomentOfInertia.java
@@ -0,0 +1,334 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public interface MomentOfInertia extends Measure<MomentOfInertiaUnit> {
+  static  MomentOfInertia ofRelativeUnits(double magnitude, MomentOfInertiaUnit unit) {
+    return new ImmutableMomentOfInertia(magnitude, unit.toBaseUnits(magnitude), unit);
+  }
+
+  static  MomentOfInertia ofBaseUnits(double baseUnitMagnitude, MomentOfInertiaUnit unit) {
+    return new ImmutableMomentOfInertia(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
+  }
+
+  @Override
+  MomentOfInertia copy();
+
+  @Override
+  default MutMomentOfInertia mutableCopy() {
+    return new MutMomentOfInertia(magnitude(), baseUnitMagnitude(), unit());
+  }
+
+  @Override
+  MomentOfInertiaUnit unit();
+
+  @Override
+  default MomentOfInertiaUnit baseUnit() { return (MomentOfInertiaUnit) unit().getBaseUnit(); }
+
+  @Override
+  default double in(MomentOfInertiaUnit unit) {
+    return unit.fromBaseUnits(baseUnitMagnitude());
+  }
+
+  @Override
+  default MomentOfInertia unaryMinus() {
+    return (MomentOfInertia) unit().ofBaseUnits(0 - baseUnitMagnitude());
+  }
+
+  @Override
+  default MomentOfInertia plus(Measure<? extends MomentOfInertiaUnit> other) {
+    return (MomentOfInertia) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
+  }
+
+  @Override
+  default MomentOfInertia minus(Measure<? extends MomentOfInertiaUnit> other) {
+    return (MomentOfInertia) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
+  }
+
+  @Override
+  default MomentOfInertia times(double multiplier) {
+    return (MomentOfInertia) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
+  }
+
+  @Override
+  default MomentOfInertia divide(double divisor) {
+    return (MomentOfInertia) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
+  }
+
+  @Override
+  default Velocity<MomentOfInertiaUnit> per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+
+
+  @Override
+  default Mult<MomentOfInertiaUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
+    return (Mult<MomentOfInertiaUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MomentOfInertiaUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
+    return (Per<MomentOfInertiaUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MomentOfInertiaUnit, AngleUnit> times(Angle multiplier) {
+    return (Mult<MomentOfInertiaUnit, AngleUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MomentOfInertiaUnit, AngleUnit> divide(Angle divisor) {
+    return (Per<MomentOfInertiaUnit, AngleUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MomentOfInertiaUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
+    return (Mult<MomentOfInertiaUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MomentOfInertiaUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
+    return (Per<MomentOfInertiaUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MomentOfInertiaUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
+    return (Mult<MomentOfInertiaUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MomentOfInertiaUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
+    return (Per<MomentOfInertiaUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default AngularMomentum times(AngularVelocity multiplier) {
+    return KilogramMetersSquaredPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<MomentOfInertiaUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
+    return (Per<MomentOfInertiaUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MomentOfInertiaUnit, CurrentUnit> times(Current multiplier) {
+    return (Mult<MomentOfInertiaUnit, CurrentUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MomentOfInertiaUnit, CurrentUnit> divide(Current divisor) {
+    return (Per<MomentOfInertiaUnit, CurrentUnit>) Measure.super.divide(divisor);
+  }
+
+  @Override
+  default MomentOfInertia divide(Dimensionless divisor) {
+    return (MomentOfInertia) KilogramSquareMeters.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  @Override
+  default MomentOfInertia times(Dimensionless multiplier) {
+    return (MomentOfInertia) KilogramSquareMeters.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<MomentOfInertiaUnit, DistanceUnit> times(Distance multiplier) {
+    return (Mult<MomentOfInertiaUnit, DistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MomentOfInertiaUnit, DistanceUnit> divide(Distance divisor) {
+    return (Per<MomentOfInertiaUnit, DistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MomentOfInertiaUnit, EnergyUnit> times(Energy multiplier) {
+    return (Mult<MomentOfInertiaUnit, EnergyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MomentOfInertiaUnit, EnergyUnit> divide(Energy divisor) {
+    return (Per<MomentOfInertiaUnit, EnergyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MomentOfInertiaUnit, ForceUnit> times(Force multiplier) {
+    return (Mult<MomentOfInertiaUnit, ForceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MomentOfInertiaUnit, ForceUnit> divide(Force divisor) {
+    return (Per<MomentOfInertiaUnit, ForceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MomentOfInertiaUnit, FrequencyUnit> times(Frequency multiplier) {
+    return (Mult<MomentOfInertiaUnit, FrequencyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MomentOfInertiaUnit, FrequencyUnit> divide(Frequency divisor) {
+    return (Per<MomentOfInertiaUnit, FrequencyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MomentOfInertiaUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
+    return (Mult<MomentOfInertiaUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MomentOfInertiaUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
+    return (Per<MomentOfInertiaUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MomentOfInertiaUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
+    return (Mult<MomentOfInertiaUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MomentOfInertiaUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
+    return (Per<MomentOfInertiaUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MomentOfInertiaUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
+    return (Mult<MomentOfInertiaUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MomentOfInertiaUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
+    return (Per<MomentOfInertiaUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MomentOfInertiaUnit, MassUnit> times(Mass multiplier) {
+    return (Mult<MomentOfInertiaUnit, MassUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MomentOfInertiaUnit, MassUnit> divide(Mass divisor) {
+    return (Per<MomentOfInertiaUnit, MassUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MomentOfInertiaUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
+    return (Mult<MomentOfInertiaUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Dimensionless divide(MomentOfInertia divisor) {
+    return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<MomentOfInertiaUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
+    return (Mult<MomentOfInertiaUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MomentOfInertiaUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
+    return (Per<MomentOfInertiaUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MomentOfInertiaUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
+    return (Mult<MomentOfInertiaUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MomentOfInertiaUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
+    return (Per<MomentOfInertiaUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MomentOfInertiaUnit, PowerUnit> times(Power multiplier) {
+    return (Mult<MomentOfInertiaUnit, PowerUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MomentOfInertiaUnit, PowerUnit> divide(Power divisor) {
+    return (Per<MomentOfInertiaUnit, PowerUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MomentOfInertiaUnit, TemperatureUnit> times(Temperature multiplier) {
+    return (Mult<MomentOfInertiaUnit, TemperatureUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MomentOfInertiaUnit, TemperatureUnit> divide(Temperature divisor) {
+    return (Per<MomentOfInertiaUnit, TemperatureUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MomentOfInertiaUnit, TimeUnit> times(Time multiplier) {
+    return (Mult<MomentOfInertiaUnit, TimeUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Velocity<MomentOfInertiaUnit> divide(Time divisor) {
+    return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<MomentOfInertiaUnit, TorqueUnit> times(Torque multiplier) {
+    return (Mult<MomentOfInertiaUnit, TorqueUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MomentOfInertiaUnit, TorqueUnit> divide(Torque divisor) {
+    return (Per<MomentOfInertiaUnit, TorqueUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MomentOfInertiaUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
+    return (Mult<MomentOfInertiaUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MomentOfInertiaUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
+    return (Per<MomentOfInertiaUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MomentOfInertiaUnit, VoltageUnit> times(Voltage multiplier) {
+    return (Mult<MomentOfInertiaUnit, VoltageUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MomentOfInertiaUnit, VoltageUnit> divide(Voltage divisor) {
+    return (Per<MomentOfInertiaUnit, VoltageUnit>) Measure.super.divide(divisor);
+  }
+
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Mult.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Mult.java
new file mode 100644
index 00000000000..9ea6033054f
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Mult.java
@@ -0,0 +1,334 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public interface Mult<A extends Unit, B extends Unit> extends Measure<MultUnit<A, B>> {
+  static <A extends Unit, B extends Unit> Mult<A, B> ofRelativeUnits(double magnitude, MultUnit<A, B> unit) {
+    return new ImmutableMult<A, B>(magnitude, unit.toBaseUnits(magnitude), unit);
+  }
+
+  static <A extends Unit, B extends Unit> Mult<A, B> ofBaseUnits(double baseUnitMagnitude, MultUnit<A, B> unit) {
+    return new ImmutableMult<A, B>(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
+  }
+
+  @Override
+  Mult<A, B> copy();
+
+  @Override
+  default MutMult<A, B> mutableCopy() {
+    return new MutMult<A, B>(magnitude(), baseUnitMagnitude(), unit());
+  }
+
+  @Override
+  MultUnit<A, B> unit();
+
+  @Override
+  default MultUnit<A, B> baseUnit() { return (MultUnit<A, B>) unit().getBaseUnit(); }
+
+  @Override
+  default double in(MultUnit<A, B> unit) {
+    return unit.fromBaseUnits(baseUnitMagnitude());
+  }
+
+  @Override
+  default Mult<A, B> unaryMinus() {
+    return (Mult<A, B>) unit().ofBaseUnits(0 - baseUnitMagnitude());
+  }
+
+  @Override
+  default Mult<A, B> plus(Measure<? extends MultUnit<A, B>> other) {
+    return (Mult<A, B>) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Mult<A, B> minus(Measure<? extends MultUnit<A, B>> other) {
+    return (Mult<A, B>) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Mult<A, B> times(double multiplier) {
+    return (Mult<A, B>) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
+  }
+
+  @Override
+  default Mult<A, B> divide(double divisor) {
+    return (Mult<A, B>) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
+  }
+
+  @Override
+  default Velocity<MultUnit<A, B>> per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+
+
+  @Override
+  default Mult<MultUnit<A, B>, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
+    return (Mult<MultUnit<A, B>, AccelerationUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MultUnit<A, B>, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
+    return (Per<MultUnit<A, B>, AccelerationUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MultUnit<A, B>, AngleUnit> times(Angle multiplier) {
+    return (Mult<MultUnit<A, B>, AngleUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MultUnit<A, B>, AngleUnit> divide(Angle divisor) {
+    return (Per<MultUnit<A, B>, AngleUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MultUnit<A, B>, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
+    return (Mult<MultUnit<A, B>, AngularAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MultUnit<A, B>, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
+    return (Per<MultUnit<A, B>, AngularAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MultUnit<A, B>, AngularMomentumUnit> times(AngularMomentum multiplier) {
+    return (Mult<MultUnit<A, B>, AngularMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MultUnit<A, B>, AngularMomentumUnit> divide(AngularMomentum divisor) {
+    return (Per<MultUnit<A, B>, AngularMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MultUnit<A, B>, AngularVelocityUnit> times(AngularVelocity multiplier) {
+    return (Mult<MultUnit<A, B>, AngularVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MultUnit<A, B>, AngularVelocityUnit> divide(AngularVelocity divisor) {
+    return (Per<MultUnit<A, B>, AngularVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MultUnit<A, B>, CurrentUnit> times(Current multiplier) {
+    return (Mult<MultUnit<A, B>, CurrentUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MultUnit<A, B>, CurrentUnit> divide(Current divisor) {
+    return (Per<MultUnit<A, B>, CurrentUnit>) Measure.super.divide(divisor);
+  }
+
+  @Override
+  default Mult<A, B> divide(Dimensionless divisor) {
+    return (Mult<A, B>) unit().of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  @Override
+  default Mult<A, B> times(Dimensionless multiplier) {
+    return (Mult<A, B>) unit().of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<MultUnit<A, B>, DistanceUnit> times(Distance multiplier) {
+    return (Mult<MultUnit<A, B>, DistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MultUnit<A, B>, DistanceUnit> divide(Distance divisor) {
+    return (Per<MultUnit<A, B>, DistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MultUnit<A, B>, EnergyUnit> times(Energy multiplier) {
+    return (Mult<MultUnit<A, B>, EnergyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MultUnit<A, B>, EnergyUnit> divide(Energy divisor) {
+    return (Per<MultUnit<A, B>, EnergyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MultUnit<A, B>, ForceUnit> times(Force multiplier) {
+    return (Mult<MultUnit<A, B>, ForceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MultUnit<A, B>, ForceUnit> divide(Force divisor) {
+    return (Per<MultUnit<A, B>, ForceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MultUnit<A, B>, FrequencyUnit> times(Frequency multiplier) {
+    return (Mult<MultUnit<A, B>, FrequencyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MultUnit<A, B>, FrequencyUnit> divide(Frequency divisor) {
+    return (Per<MultUnit<A, B>, FrequencyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MultUnit<A, B>, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
+    return (Mult<MultUnit<A, B>, LinearAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MultUnit<A, B>, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
+    return (Per<MultUnit<A, B>, LinearAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MultUnit<A, B>, LinearMomentumUnit> times(LinearMomentum multiplier) {
+    return (Mult<MultUnit<A, B>, LinearMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MultUnit<A, B>, LinearMomentumUnit> divide(LinearMomentum divisor) {
+    return (Per<MultUnit<A, B>, LinearMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MultUnit<A, B>, LinearVelocityUnit> times(LinearVelocity multiplier) {
+    return (Mult<MultUnit<A, B>, LinearVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MultUnit<A, B>, LinearVelocityUnit> divide(LinearVelocity divisor) {
+    return (Per<MultUnit<A, B>, LinearVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MultUnit<A, B>, MassUnit> times(Mass multiplier) {
+    return (Mult<MultUnit<A, B>, MassUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MultUnit<A, B>, MassUnit> divide(Mass divisor) {
+    return (Per<MultUnit<A, B>, MassUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MultUnit<A, B>, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
+    return (Mult<MultUnit<A, B>, MomentOfInertiaUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MultUnit<A, B>, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
+    return (Per<MultUnit<A, B>, MomentOfInertiaUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MultUnit<A, B>, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
+    return (Mult<MultUnit<A, B>, MultUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MultUnit<A, B>, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
+    return (Per<MultUnit<A, B>, MultUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MultUnit<A, B>, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
+    return (Mult<MultUnit<A, B>, PerUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MultUnit<A, B>, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
+    return (Per<MultUnit<A, B>, PerUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MultUnit<A, B>, PowerUnit> times(Power multiplier) {
+    return (Mult<MultUnit<A, B>, PowerUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MultUnit<A, B>, PowerUnit> divide(Power divisor) {
+    return (Per<MultUnit<A, B>, PowerUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MultUnit<A, B>, TemperatureUnit> times(Temperature multiplier) {
+    return (Mult<MultUnit<A, B>, TemperatureUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MultUnit<A, B>, TemperatureUnit> divide(Temperature divisor) {
+    return (Per<MultUnit<A, B>, TemperatureUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MultUnit<A, B>, TimeUnit> times(Time multiplier) {
+    return (Mult<MultUnit<A, B>, TimeUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Velocity<MultUnit<A, B>> divide(Time divisor) {
+    return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<MultUnit<A, B>, TorqueUnit> times(Torque multiplier) {
+    return (Mult<MultUnit<A, B>, TorqueUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MultUnit<A, B>, TorqueUnit> divide(Torque divisor) {
+    return (Per<MultUnit<A, B>, TorqueUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MultUnit<A, B>, VelocityUnit<?>> times(Velocity<?> multiplier) {
+    return (Mult<MultUnit<A, B>, VelocityUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MultUnit<A, B>, VelocityUnit<?>> divide(Velocity<?> divisor) {
+    return (Per<MultUnit<A, B>, VelocityUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<MultUnit<A, B>, VoltageUnit> times(Voltage multiplier) {
+    return (Mult<MultUnit<A, B>, VoltageUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<MultUnit<A, B>, VoltageUnit> divide(Voltage divisor) {
+    return (Per<MultUnit<A, B>, VoltageUnit>) Measure.super.divide(divisor);
+  }
+
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAcceleration.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAcceleration.java
new file mode 100644
index 00000000000..ed74009c457
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAcceleration.java
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+import edu.wpi.first.units.mutable.MutableMeasureBase;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public final class MutAcceleration<D extends Unit>
+  extends MutableMeasureBase<AccelerationUnit<D>, Acceleration<D>, MutAcceleration<D>>
+  implements Acceleration<D> {
+  public MutAcceleration(double magnitude, double baseUnitMagnitude, AccelerationUnit<D> unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public Acceleration<D> copy() {
+    return new ImmutableAcceleration<D>(magnitude(), baseUnitMagnitude(), unit());
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAngle.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAngle.java
new file mode 100644
index 00000000000..ff356e33c2d
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAngle.java
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+import edu.wpi.first.units.mutable.MutableMeasureBase;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public final class MutAngle
+  extends MutableMeasureBase<AngleUnit, Angle, MutAngle>
+  implements Angle {
+  public MutAngle(double magnitude, double baseUnitMagnitude, AngleUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public Angle copy() {
+    return new ImmutableAngle(magnitude(), baseUnitMagnitude(), unit());
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAngularAcceleration.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAngularAcceleration.java
new file mode 100644
index 00000000000..8d7cecc8037
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAngularAcceleration.java
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+import edu.wpi.first.units.mutable.MutableMeasureBase;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public final class MutAngularAcceleration
+  extends MutableMeasureBase<AngularAccelerationUnit, AngularAcceleration, MutAngularAcceleration>
+  implements AngularAcceleration {
+  public MutAngularAcceleration(double magnitude, double baseUnitMagnitude, AngularAccelerationUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public AngularAcceleration copy() {
+    return new ImmutableAngularAcceleration(magnitude(), baseUnitMagnitude(), unit());
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAngularMomentum.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAngularMomentum.java
new file mode 100644
index 00000000000..c7ee4726224
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAngularMomentum.java
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+import edu.wpi.first.units.mutable.MutableMeasureBase;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public final class MutAngularMomentum
+  extends MutableMeasureBase<AngularMomentumUnit, AngularMomentum, MutAngularMomentum>
+  implements AngularMomentum {
+  public MutAngularMomentum(double magnitude, double baseUnitMagnitude, AngularMomentumUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public AngularMomentum copy() {
+    return new ImmutableAngularMomentum(magnitude(), baseUnitMagnitude(), unit());
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAngularVelocity.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAngularVelocity.java
new file mode 100644
index 00000000000..d4083e179c1
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAngularVelocity.java
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+import edu.wpi.first.units.mutable.MutableMeasureBase;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public final class MutAngularVelocity
+  extends MutableMeasureBase<AngularVelocityUnit, AngularVelocity, MutAngularVelocity>
+  implements AngularVelocity {
+  public MutAngularVelocity(double magnitude, double baseUnitMagnitude, AngularVelocityUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public AngularVelocity copy() {
+    return new ImmutableAngularVelocity(magnitude(), baseUnitMagnitude(), unit());
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutCurrent.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutCurrent.java
new file mode 100644
index 00000000000..3dab503de20
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutCurrent.java
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+import edu.wpi.first.units.mutable.MutableMeasureBase;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public final class MutCurrent
+  extends MutableMeasureBase<CurrentUnit, Current, MutCurrent>
+  implements Current {
+  public MutCurrent(double magnitude, double baseUnitMagnitude, CurrentUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public Current copy() {
+    return new ImmutableCurrent(magnitude(), baseUnitMagnitude(), unit());
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutDimensionless.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutDimensionless.java
new file mode 100644
index 00000000000..13ee3f6e8c3
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutDimensionless.java
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+import edu.wpi.first.units.mutable.MutableMeasureBase;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public final class MutDimensionless
+  extends MutableMeasureBase<DimensionlessUnit, Dimensionless, MutDimensionless>
+  implements Dimensionless {
+  public MutDimensionless(double magnitude, double baseUnitMagnitude, DimensionlessUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public Dimensionless copy() {
+    return new ImmutableDimensionless(magnitude(), baseUnitMagnitude(), unit());
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutDistance.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutDistance.java
new file mode 100644
index 00000000000..35f1e3faa95
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutDistance.java
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+import edu.wpi.first.units.mutable.MutableMeasureBase;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public final class MutDistance
+  extends MutableMeasureBase<DistanceUnit, Distance, MutDistance>
+  implements Distance {
+  public MutDistance(double magnitude, double baseUnitMagnitude, DistanceUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public Distance copy() {
+    return new ImmutableDistance(magnitude(), baseUnitMagnitude(), unit());
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutEnergy.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutEnergy.java
new file mode 100644
index 00000000000..bd23cd1e9b6
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutEnergy.java
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+import edu.wpi.first.units.mutable.MutableMeasureBase;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public final class MutEnergy
+  extends MutableMeasureBase<EnergyUnit, Energy, MutEnergy>
+  implements Energy {
+  public MutEnergy(double magnitude, double baseUnitMagnitude, EnergyUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public Energy copy() {
+    return new ImmutableEnergy(magnitude(), baseUnitMagnitude(), unit());
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutForce.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutForce.java
new file mode 100644
index 00000000000..da6c973164d
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutForce.java
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+import edu.wpi.first.units.mutable.MutableMeasureBase;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public final class MutForce
+  extends MutableMeasureBase<ForceUnit, Force, MutForce>
+  implements Force {
+  public MutForce(double magnitude, double baseUnitMagnitude, ForceUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public Force copy() {
+    return new ImmutableForce(magnitude(), baseUnitMagnitude(), unit());
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutFrequency.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutFrequency.java
new file mode 100644
index 00000000000..091afd130bb
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutFrequency.java
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+import edu.wpi.first.units.mutable.MutableMeasureBase;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public final class MutFrequency
+  extends MutableMeasureBase<FrequencyUnit, Frequency, MutFrequency>
+  implements Frequency {
+  public MutFrequency(double magnitude, double baseUnitMagnitude, FrequencyUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public Frequency copy() {
+    return new ImmutableFrequency(magnitude(), baseUnitMagnitude(), unit());
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutLinearAcceleration.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutLinearAcceleration.java
new file mode 100644
index 00000000000..dd074db5f8a
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutLinearAcceleration.java
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+import edu.wpi.first.units.mutable.MutableMeasureBase;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public final class MutLinearAcceleration
+  extends MutableMeasureBase<LinearAccelerationUnit, LinearAcceleration, MutLinearAcceleration>
+  implements LinearAcceleration {
+  public MutLinearAcceleration(double magnitude, double baseUnitMagnitude, LinearAccelerationUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public LinearAcceleration copy() {
+    return new ImmutableLinearAcceleration(magnitude(), baseUnitMagnitude(), unit());
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutLinearMomentum.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutLinearMomentum.java
new file mode 100644
index 00000000000..da3113c3456
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutLinearMomentum.java
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+import edu.wpi.first.units.mutable.MutableMeasureBase;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public final class MutLinearMomentum
+  extends MutableMeasureBase<LinearMomentumUnit, LinearMomentum, MutLinearMomentum>
+  implements LinearMomentum {
+  public MutLinearMomentum(double magnitude, double baseUnitMagnitude, LinearMomentumUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public LinearMomentum copy() {
+    return new ImmutableLinearMomentum(magnitude(), baseUnitMagnitude(), unit());
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutLinearVelocity.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutLinearVelocity.java
new file mode 100644
index 00000000000..ffd19e3a7e0
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutLinearVelocity.java
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+import edu.wpi.first.units.mutable.MutableMeasureBase;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public final class MutLinearVelocity
+  extends MutableMeasureBase<LinearVelocityUnit, LinearVelocity, MutLinearVelocity>
+  implements LinearVelocity {
+  public MutLinearVelocity(double magnitude, double baseUnitMagnitude, LinearVelocityUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public LinearVelocity copy() {
+    return new ImmutableLinearVelocity(magnitude(), baseUnitMagnitude(), unit());
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutMass.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutMass.java
new file mode 100644
index 00000000000..c1b80c191e2
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutMass.java
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+import edu.wpi.first.units.mutable.MutableMeasureBase;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public final class MutMass
+  extends MutableMeasureBase<MassUnit, Mass, MutMass>
+  implements Mass {
+  public MutMass(double magnitude, double baseUnitMagnitude, MassUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public Mass copy() {
+    return new ImmutableMass(magnitude(), baseUnitMagnitude(), unit());
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutMomentOfInertia.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutMomentOfInertia.java
new file mode 100644
index 00000000000..b6f7481fa5a
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutMomentOfInertia.java
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+import edu.wpi.first.units.mutable.MutableMeasureBase;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public final class MutMomentOfInertia
+  extends MutableMeasureBase<MomentOfInertiaUnit, MomentOfInertia, MutMomentOfInertia>
+  implements MomentOfInertia {
+  public MutMomentOfInertia(double magnitude, double baseUnitMagnitude, MomentOfInertiaUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public MomentOfInertia copy() {
+    return new ImmutableMomentOfInertia(magnitude(), baseUnitMagnitude(), unit());
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutMult.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutMult.java
new file mode 100644
index 00000000000..b743c950fd2
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutMult.java
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+import edu.wpi.first.units.mutable.MutableMeasureBase;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public final class MutMult<A extends Unit, B extends Unit>
+  extends MutableMeasureBase<MultUnit<A, B>, Mult<A, B>, MutMult<A, B>>
+  implements Mult<A, B> {
+  public MutMult(double magnitude, double baseUnitMagnitude, MultUnit<A, B> unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public Mult<A, B> copy() {
+    return new ImmutableMult<A, B>(magnitude(), baseUnitMagnitude(), unit());
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutPer.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutPer.java
new file mode 100644
index 00000000000..054d87f19b8
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutPer.java
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+import edu.wpi.first.units.mutable.MutableMeasureBase;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public final class MutPer<Dividend extends Unit, Divisor extends Unit>
+  extends MutableMeasureBase<PerUnit<Dividend, Divisor>, Per<Dividend, Divisor>, MutPer<Dividend, Divisor>>
+  implements Per<Dividend, Divisor> {
+  public MutPer(double magnitude, double baseUnitMagnitude, PerUnit<Dividend, Divisor> unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public Per<Dividend, Divisor> copy() {
+    return new ImmutablePer<Dividend, Divisor>(magnitude(), baseUnitMagnitude(), unit());
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutPower.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutPower.java
new file mode 100644
index 00000000000..7a08663a7d4
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutPower.java
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+import edu.wpi.first.units.mutable.MutableMeasureBase;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public final class MutPower
+  extends MutableMeasureBase<PowerUnit, Power, MutPower>
+  implements Power {
+  public MutPower(double magnitude, double baseUnitMagnitude, PowerUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public Power copy() {
+    return new ImmutablePower(magnitude(), baseUnitMagnitude(), unit());
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutTemperature.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutTemperature.java
new file mode 100644
index 00000000000..31ae1fe7b53
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutTemperature.java
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+import edu.wpi.first.units.mutable.MutableMeasureBase;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public final class MutTemperature
+  extends MutableMeasureBase<TemperatureUnit, Temperature, MutTemperature>
+  implements Temperature {
+  public MutTemperature(double magnitude, double baseUnitMagnitude, TemperatureUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public Temperature copy() {
+    return new ImmutableTemperature(magnitude(), baseUnitMagnitude(), unit());
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutTime.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutTime.java
new file mode 100644
index 00000000000..4b9b81a745d
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutTime.java
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+import edu.wpi.first.units.mutable.MutableMeasureBase;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public final class MutTime
+  extends MutableMeasureBase<TimeUnit, Time, MutTime>
+  implements Time {
+  public MutTime(double magnitude, double baseUnitMagnitude, TimeUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public Time copy() {
+    return new ImmutableTime(magnitude(), baseUnitMagnitude(), unit());
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutTorque.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutTorque.java
new file mode 100644
index 00000000000..30f91523291
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutTorque.java
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+import edu.wpi.first.units.mutable.MutableMeasureBase;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public final class MutTorque
+  extends MutableMeasureBase<TorqueUnit, Torque, MutTorque>
+  implements Torque {
+  public MutTorque(double magnitude, double baseUnitMagnitude, TorqueUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public Torque copy() {
+    return new ImmutableTorque(magnitude(), baseUnitMagnitude(), unit());
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutVelocity.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutVelocity.java
new file mode 100644
index 00000000000..660cfa9de2d
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutVelocity.java
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+import edu.wpi.first.units.mutable.MutableMeasureBase;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public final class MutVelocity<D extends Unit>
+  extends MutableMeasureBase<VelocityUnit<D>, Velocity<D>, MutVelocity<D>>
+  implements Velocity<D> {
+  public MutVelocity(double magnitude, double baseUnitMagnitude, VelocityUnit<D> unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public Velocity<D> copy() {
+    return new ImmutableVelocity<D>(magnitude(), baseUnitMagnitude(), unit());
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutVoltage.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutVoltage.java
new file mode 100644
index 00000000000..7002767b9ed
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutVoltage.java
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+import edu.wpi.first.units.mutable.MutableMeasureBase;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public final class MutVoltage
+  extends MutableMeasureBase<VoltageUnit, Voltage, MutVoltage>
+  implements Voltage {
+  public MutVoltage(double magnitude, double baseUnitMagnitude, VoltageUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public Voltage copy() {
+    return new ImmutableVoltage(magnitude(), baseUnitMagnitude(), unit());
+  }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Per.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Per.java
new file mode 100644
index 00000000000..b467e977a0e
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Per.java
@@ -0,0 +1,341 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public interface Per<Dividend extends Unit, Divisor extends Unit> extends Measure<PerUnit<Dividend, Divisor>> {
+  static <Dividend extends Unit, Divisor extends Unit> Per<Dividend, Divisor> ofRelativeUnits(double magnitude, PerUnit<Dividend, Divisor> unit) {
+    return new ImmutablePer<Dividend, Divisor>(magnitude, unit.toBaseUnits(magnitude), unit);
+  }
+
+  static <Dividend extends Unit, Divisor extends Unit> Per<Dividend, Divisor> ofBaseUnits(double baseUnitMagnitude, PerUnit<Dividend, Divisor> unit) {
+    return new ImmutablePer<Dividend, Divisor>(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
+  }
+
+  @Override
+  Per<Dividend, Divisor> copy();
+
+  @Override
+  default MutPer<Dividend, Divisor> mutableCopy() {
+    return new MutPer<Dividend, Divisor>(magnitude(), baseUnitMagnitude(), unit());
+  }
+
+  @Override
+  PerUnit<Dividend, Divisor> unit();
+
+  @Override
+  default PerUnit<Dividend, Divisor> baseUnit() { return (PerUnit<Dividend, Divisor>) unit().getBaseUnit(); }
+
+  @Override
+  default double in(PerUnit<Dividend, Divisor> unit) {
+    return unit.fromBaseUnits(baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<Dividend, Divisor> unaryMinus() {
+    return (Per<Dividend, Divisor>) unit().ofBaseUnits(0 - baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<Dividend, Divisor> plus(Measure<? extends PerUnit<Dividend, Divisor>> other) {
+    return (Per<Dividend, Divisor>) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<Dividend, Divisor> minus(Measure<? extends PerUnit<Dividend, Divisor>> other) {
+    return (Per<Dividend, Divisor>) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<Dividend, Divisor> times(double multiplier) {
+    return (Per<Dividend, Divisor>) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
+  }
+
+  @Override
+  default Per<Dividend, Divisor> divide(double divisor) {
+    return (Per<Dividend, Divisor>) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
+  }
+
+  @Override
+  default Velocity<PerUnit<Dividend, Divisor>> per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+
+
+  @Override
+  default Mult<PerUnit<Dividend, Divisor>, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
+    return (Mult<PerUnit<Dividend, Divisor>, AccelerationUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PerUnit<Dividend, Divisor>, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
+    return (Per<PerUnit<Dividend, Divisor>, AccelerationUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PerUnit<Dividend, Divisor>, AngleUnit> times(Angle multiplier) {
+    return (Mult<PerUnit<Dividend, Divisor>, AngleUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PerUnit<Dividend, Divisor>, AngleUnit> divide(Angle divisor) {
+    return (Per<PerUnit<Dividend, Divisor>, AngleUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PerUnit<Dividend, Divisor>, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
+    return (Mult<PerUnit<Dividend, Divisor>, AngularAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PerUnit<Dividend, Divisor>, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
+    return (Per<PerUnit<Dividend, Divisor>, AngularAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PerUnit<Dividend, Divisor>, AngularMomentumUnit> times(AngularMomentum multiplier) {
+    return (Mult<PerUnit<Dividend, Divisor>, AngularMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PerUnit<Dividend, Divisor>, AngularMomentumUnit> divide(AngularMomentum divisor) {
+    return (Per<PerUnit<Dividend, Divisor>, AngularMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PerUnit<Dividend, Divisor>, AngularVelocityUnit> times(AngularVelocity multiplier) {
+    return (Mult<PerUnit<Dividend, Divisor>, AngularVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PerUnit<Dividend, Divisor>, AngularVelocityUnit> divide(AngularVelocity divisor) {
+    return (Per<PerUnit<Dividend, Divisor>, AngularVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PerUnit<Dividend, Divisor>, CurrentUnit> times(Current multiplier) {
+    return (Mult<PerUnit<Dividend, Divisor>, CurrentUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PerUnit<Dividend, Divisor>, CurrentUnit> divide(Current divisor) {
+    return (Per<PerUnit<Dividend, Divisor>, CurrentUnit>) Measure.super.divide(divisor);
+  }
+
+  @Override
+  default Per<Dividend, Divisor> divide(Dimensionless divisor) {
+    return (Per<Dividend, Divisor>) unit().of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<Dividend, Divisor> times(Dimensionless multiplier) {
+    return (Per<Dividend, Divisor>) unit().of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<PerUnit<Dividend, Divisor>, DistanceUnit> times(Distance multiplier) {
+    return (Mult<PerUnit<Dividend, Divisor>, DistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PerUnit<Dividend, Divisor>, DistanceUnit> divide(Distance divisor) {
+    return (Per<PerUnit<Dividend, Divisor>, DistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PerUnit<Dividend, Divisor>, EnergyUnit> times(Energy multiplier) {
+    return (Mult<PerUnit<Dividend, Divisor>, EnergyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PerUnit<Dividend, Divisor>, EnergyUnit> divide(Energy divisor) {
+    return (Per<PerUnit<Dividend, Divisor>, EnergyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PerUnit<Dividend, Divisor>, ForceUnit> times(Force multiplier) {
+    return (Mult<PerUnit<Dividend, Divisor>, ForceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PerUnit<Dividend, Divisor>, ForceUnit> divide(Force divisor) {
+    return (Per<PerUnit<Dividend, Divisor>, ForceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PerUnit<Dividend, Divisor>, FrequencyUnit> times(Frequency multiplier) {
+    return (Mult<PerUnit<Dividend, Divisor>, FrequencyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PerUnit<Dividend, Divisor>, FrequencyUnit> divide(Frequency divisor) {
+    return (Per<PerUnit<Dividend, Divisor>, FrequencyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PerUnit<Dividend, Divisor>, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
+    return (Mult<PerUnit<Dividend, Divisor>, LinearAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PerUnit<Dividend, Divisor>, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
+    return (Per<PerUnit<Dividend, Divisor>, LinearAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PerUnit<Dividend, Divisor>, LinearMomentumUnit> times(LinearMomentum multiplier) {
+    return (Mult<PerUnit<Dividend, Divisor>, LinearMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PerUnit<Dividend, Divisor>, LinearMomentumUnit> divide(LinearMomentum divisor) {
+    return (Per<PerUnit<Dividend, Divisor>, LinearMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PerUnit<Dividend, Divisor>, LinearVelocityUnit> times(LinearVelocity multiplier) {
+    return (Mult<PerUnit<Dividend, Divisor>, LinearVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PerUnit<Dividend, Divisor>, LinearVelocityUnit> divide(LinearVelocity divisor) {
+    return (Per<PerUnit<Dividend, Divisor>, LinearVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PerUnit<Dividend, Divisor>, MassUnit> times(Mass multiplier) {
+    return (Mult<PerUnit<Dividend, Divisor>, MassUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PerUnit<Dividend, Divisor>, MassUnit> divide(Mass divisor) {
+    return (Per<PerUnit<Dividend, Divisor>, MassUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PerUnit<Dividend, Divisor>, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
+    return (Mult<PerUnit<Dividend, Divisor>, MomentOfInertiaUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PerUnit<Dividend, Divisor>, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
+    return (Per<PerUnit<Dividend, Divisor>, MomentOfInertiaUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PerUnit<Dividend, Divisor>, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
+    return (Mult<PerUnit<Dividend, Divisor>, MultUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PerUnit<Dividend, Divisor>, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
+    return (Per<PerUnit<Dividend, Divisor>, MultUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PerUnit<Dividend, Divisor>, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
+    return (Mult<PerUnit<Dividend, Divisor>, PerUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PerUnit<Dividend, Divisor>, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
+    return (Per<PerUnit<Dividend, Divisor>, PerUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PerUnit<Dividend, Divisor>, PowerUnit> times(Power multiplier) {
+    return (Mult<PerUnit<Dividend, Divisor>, PowerUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PerUnit<Dividend, Divisor>, PowerUnit> divide(Power divisor) {
+    return (Per<PerUnit<Dividend, Divisor>, PowerUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PerUnit<Dividend, Divisor>, TemperatureUnit> times(Temperature multiplier) {
+    return (Mult<PerUnit<Dividend, Divisor>, TemperatureUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PerUnit<Dividend, Divisor>, TemperatureUnit> divide(Temperature divisor) {
+    return (Per<PerUnit<Dividend, Divisor>, TemperatureUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PerUnit<Dividend, Divisor>, TimeUnit> times(Time multiplier) {
+    return (Mult<PerUnit<Dividend, Divisor>, TimeUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Velocity<PerUnit<Dividend, Divisor>> divide(Time divisor) {
+    return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<PerUnit<Dividend, Divisor>, TorqueUnit> times(Torque multiplier) {
+    return (Mult<PerUnit<Dividend, Divisor>, TorqueUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PerUnit<Dividend, Divisor>, TorqueUnit> divide(Torque divisor) {
+    return (Per<PerUnit<Dividend, Divisor>, TorqueUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PerUnit<Dividend, Divisor>, VelocityUnit<?>> times(Velocity<?> multiplier) {
+    return (Mult<PerUnit<Dividend, Divisor>, VelocityUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PerUnit<Dividend, Divisor>, VelocityUnit<?>> divide(Velocity<?> divisor) {
+    return (Per<PerUnit<Dividend, Divisor>, VelocityUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PerUnit<Dividend, Divisor>, VoltageUnit> times(Voltage multiplier) {
+    return (Mult<PerUnit<Dividend, Divisor>, VoltageUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PerUnit<Dividend, Divisor>, VoltageUnit> divide(Voltage divisor) {
+    return (Per<PerUnit<Dividend, Divisor>, VoltageUnit>) Measure.super.divide(divisor);
+  }
+default Measure<Dividend> timesDivisor(Measure<? extends Divisor> multiplier) {
+  return (Measure<Dividend>) baseUnit().numerator().ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+}
+
+default Measure<? extends PerUnit<Divisor, Dividend>> reciprocal() {
+  // May return a velocity if Divisor == TimeUnit, so we can't guarantee a "Per" instance
+  return baseUnit().reciprocal().ofBaseUnits(1 / baseUnitMagnitude());
+}
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Power.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Power.java
new file mode 100644
index 00000000000..054bfa785d4
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Power.java
@@ -0,0 +1,334 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public interface Power extends Measure<PowerUnit> {
+  static  Power ofRelativeUnits(double magnitude, PowerUnit unit) {
+    return new ImmutablePower(magnitude, unit.toBaseUnits(magnitude), unit);
+  }
+
+  static  Power ofBaseUnits(double baseUnitMagnitude, PowerUnit unit) {
+    return new ImmutablePower(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
+  }
+
+  @Override
+  Power copy();
+
+  @Override
+  default MutPower mutableCopy() {
+    return new MutPower(magnitude(), baseUnitMagnitude(), unit());
+  }
+
+  @Override
+  PowerUnit unit();
+
+  @Override
+  default PowerUnit baseUnit() { return (PowerUnit) unit().getBaseUnit(); }
+
+  @Override
+  default double in(PowerUnit unit) {
+    return unit.fromBaseUnits(baseUnitMagnitude());
+  }
+
+  @Override
+  default Power unaryMinus() {
+    return (Power) unit().ofBaseUnits(0 - baseUnitMagnitude());
+  }
+
+  @Override
+  default Power plus(Measure<? extends PowerUnit> other) {
+    return (Power) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Power minus(Measure<? extends PowerUnit> other) {
+    return (Power) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Power times(double multiplier) {
+    return (Power) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
+  }
+
+  @Override
+  default Power divide(double divisor) {
+    return (Power) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
+  }
+
+  @Override
+  default Velocity<PowerUnit> per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+
+
+  @Override
+  default Mult<PowerUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
+    return (Mult<PowerUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PowerUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
+    return (Per<PowerUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PowerUnit, AngleUnit> times(Angle multiplier) {
+    return (Mult<PowerUnit, AngleUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PowerUnit, AngleUnit> divide(Angle divisor) {
+    return (Per<PowerUnit, AngleUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PowerUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
+    return (Mult<PowerUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PowerUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
+    return (Per<PowerUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PowerUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
+    return (Mult<PowerUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PowerUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
+    return (Per<PowerUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PowerUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
+    return (Mult<PowerUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PowerUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
+    return (Per<PowerUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PowerUnit, CurrentUnit> times(Current multiplier) {
+    return (Mult<PowerUnit, CurrentUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Voltage divide(Current divisor) {
+    return Volts.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  @Override
+  default Power divide(Dimensionless divisor) {
+    return (Power) Watts.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  @Override
+  default Power times(Dimensionless multiplier) {
+    return (Power) Watts.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<PowerUnit, DistanceUnit> times(Distance multiplier) {
+    return (Mult<PowerUnit, DistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PowerUnit, DistanceUnit> divide(Distance divisor) {
+    return (Per<PowerUnit, DistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PowerUnit, EnergyUnit> times(Energy multiplier) {
+    return (Mult<PowerUnit, EnergyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Frequency divide(Energy divisor) {
+    return Hertz.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<PowerUnit, ForceUnit> times(Force multiplier) {
+    return (Mult<PowerUnit, ForceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PowerUnit, ForceUnit> divide(Force divisor) {
+    return (Per<PowerUnit, ForceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PowerUnit, FrequencyUnit> times(Frequency multiplier) {
+    return (Mult<PowerUnit, FrequencyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PowerUnit, FrequencyUnit> divide(Frequency divisor) {
+    return (Per<PowerUnit, FrequencyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PowerUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
+    return (Mult<PowerUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PowerUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
+    return (Per<PowerUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PowerUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
+    return (Mult<PowerUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PowerUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
+    return (Per<PowerUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PowerUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
+    return (Mult<PowerUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PowerUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
+    return (Per<PowerUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PowerUnit, MassUnit> times(Mass multiplier) {
+    return (Mult<PowerUnit, MassUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PowerUnit, MassUnit> divide(Mass divisor) {
+    return (Per<PowerUnit, MassUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PowerUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
+    return (Mult<PowerUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PowerUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
+    return (Per<PowerUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PowerUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
+    return (Mult<PowerUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PowerUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
+    return (Per<PowerUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PowerUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
+    return (Mult<PowerUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PowerUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
+    return (Per<PowerUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PowerUnit, PowerUnit> times(Power multiplier) {
+    return (Mult<PowerUnit, PowerUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Dimensionless divide(Power divisor) {
+    return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<PowerUnit, TemperatureUnit> times(Temperature multiplier) {
+    return (Mult<PowerUnit, TemperatureUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PowerUnit, TemperatureUnit> divide(Temperature divisor) {
+    return (Per<PowerUnit, TemperatureUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Energy times(Time multiplier) {
+    return Joules.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Velocity<PowerUnit> divide(Time divisor) {
+    return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<PowerUnit, TorqueUnit> times(Torque multiplier) {
+    return (Mult<PowerUnit, TorqueUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PowerUnit, TorqueUnit> divide(Torque divisor) {
+    return (Per<PowerUnit, TorqueUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PowerUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
+    return (Mult<PowerUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<PowerUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
+    return (Per<PowerUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<PowerUnit, VoltageUnit> times(Voltage multiplier) {
+    return (Mult<PowerUnit, VoltageUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Current divide(Voltage divisor) {
+    return Amps.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Temperature.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Temperature.java
new file mode 100644
index 00000000000..c9396f79223
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Temperature.java
@@ -0,0 +1,334 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public interface Temperature extends Measure<TemperatureUnit> {
+  static  Temperature ofRelativeUnits(double magnitude, TemperatureUnit unit) {
+    return new ImmutableTemperature(magnitude, unit.toBaseUnits(magnitude), unit);
+  }
+
+  static  Temperature ofBaseUnits(double baseUnitMagnitude, TemperatureUnit unit) {
+    return new ImmutableTemperature(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
+  }
+
+  @Override
+  Temperature copy();
+
+  @Override
+  default MutTemperature mutableCopy() {
+    return new MutTemperature(magnitude(), baseUnitMagnitude(), unit());
+  }
+
+  @Override
+  TemperatureUnit unit();
+
+  @Override
+  default TemperatureUnit baseUnit() { return (TemperatureUnit) unit().getBaseUnit(); }
+
+  @Override
+  default double in(TemperatureUnit unit) {
+    return unit.fromBaseUnits(baseUnitMagnitude());
+  }
+
+  @Override
+  default Temperature unaryMinus() {
+    return (Temperature) unit().ofBaseUnits(0 - baseUnitMagnitude());
+  }
+
+  @Override
+  default Temperature plus(Measure<? extends TemperatureUnit> other) {
+    return (Temperature) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Temperature minus(Measure<? extends TemperatureUnit> other) {
+    return (Temperature) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Temperature times(double multiplier) {
+    return (Temperature) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
+  }
+
+  @Override
+  default Temperature divide(double divisor) {
+    return (Temperature) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
+  }
+
+  @Override
+  default Velocity<TemperatureUnit> per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+
+
+  @Override
+  default Mult<TemperatureUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
+    return (Mult<TemperatureUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TemperatureUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
+    return (Per<TemperatureUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TemperatureUnit, AngleUnit> times(Angle multiplier) {
+    return (Mult<TemperatureUnit, AngleUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TemperatureUnit, AngleUnit> divide(Angle divisor) {
+    return (Per<TemperatureUnit, AngleUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TemperatureUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
+    return (Mult<TemperatureUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TemperatureUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
+    return (Per<TemperatureUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TemperatureUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
+    return (Mult<TemperatureUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TemperatureUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
+    return (Per<TemperatureUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TemperatureUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
+    return (Mult<TemperatureUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TemperatureUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
+    return (Per<TemperatureUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TemperatureUnit, CurrentUnit> times(Current multiplier) {
+    return (Mult<TemperatureUnit, CurrentUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TemperatureUnit, CurrentUnit> divide(Current divisor) {
+    return (Per<TemperatureUnit, CurrentUnit>) Measure.super.divide(divisor);
+  }
+
+  @Override
+  default Temperature divide(Dimensionless divisor) {
+    return (Temperature) Kelvin.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  @Override
+  default Temperature times(Dimensionless multiplier) {
+    return (Temperature) Kelvin.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<TemperatureUnit, DistanceUnit> times(Distance multiplier) {
+    return (Mult<TemperatureUnit, DistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TemperatureUnit, DistanceUnit> divide(Distance divisor) {
+    return (Per<TemperatureUnit, DistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TemperatureUnit, EnergyUnit> times(Energy multiplier) {
+    return (Mult<TemperatureUnit, EnergyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TemperatureUnit, EnergyUnit> divide(Energy divisor) {
+    return (Per<TemperatureUnit, EnergyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TemperatureUnit, ForceUnit> times(Force multiplier) {
+    return (Mult<TemperatureUnit, ForceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TemperatureUnit, ForceUnit> divide(Force divisor) {
+    return (Per<TemperatureUnit, ForceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TemperatureUnit, FrequencyUnit> times(Frequency multiplier) {
+    return (Mult<TemperatureUnit, FrequencyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TemperatureUnit, FrequencyUnit> divide(Frequency divisor) {
+    return (Per<TemperatureUnit, FrequencyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TemperatureUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
+    return (Mult<TemperatureUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TemperatureUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
+    return (Per<TemperatureUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TemperatureUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
+    return (Mult<TemperatureUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TemperatureUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
+    return (Per<TemperatureUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TemperatureUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
+    return (Mult<TemperatureUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TemperatureUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
+    return (Per<TemperatureUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TemperatureUnit, MassUnit> times(Mass multiplier) {
+    return (Mult<TemperatureUnit, MassUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TemperatureUnit, MassUnit> divide(Mass divisor) {
+    return (Per<TemperatureUnit, MassUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TemperatureUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
+    return (Mult<TemperatureUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TemperatureUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
+    return (Per<TemperatureUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TemperatureUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
+    return (Mult<TemperatureUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TemperatureUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
+    return (Per<TemperatureUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TemperatureUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
+    return (Mult<TemperatureUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TemperatureUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
+    return (Per<TemperatureUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TemperatureUnit, PowerUnit> times(Power multiplier) {
+    return (Mult<TemperatureUnit, PowerUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TemperatureUnit, PowerUnit> divide(Power divisor) {
+    return (Per<TemperatureUnit, PowerUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TemperatureUnit, TemperatureUnit> times(Temperature multiplier) {
+    return (Mult<TemperatureUnit, TemperatureUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Dimensionless divide(Temperature divisor) {
+    return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<TemperatureUnit, TimeUnit> times(Time multiplier) {
+    return (Mult<TemperatureUnit, TimeUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Velocity<TemperatureUnit> divide(Time divisor) {
+    return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<TemperatureUnit, TorqueUnit> times(Torque multiplier) {
+    return (Mult<TemperatureUnit, TorqueUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TemperatureUnit, TorqueUnit> divide(Torque divisor) {
+    return (Per<TemperatureUnit, TorqueUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TemperatureUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
+    return (Mult<TemperatureUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TemperatureUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
+    return (Per<TemperatureUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TemperatureUnit, VoltageUnit> times(Voltage multiplier) {
+    return (Mult<TemperatureUnit, VoltageUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TemperatureUnit, VoltageUnit> divide(Voltage divisor) {
+    return (Per<TemperatureUnit, VoltageUnit>) Measure.super.divide(divisor);
+  }
+
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Time.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Time.java
new file mode 100644
index 00000000000..aa4945c2a8d
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Time.java
@@ -0,0 +1,334 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public interface Time extends Measure<TimeUnit> {
+  static  Time ofRelativeUnits(double magnitude, TimeUnit unit) {
+    return new ImmutableTime(magnitude, unit.toBaseUnits(magnitude), unit);
+  }
+
+  static  Time ofBaseUnits(double baseUnitMagnitude, TimeUnit unit) {
+    return new ImmutableTime(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
+  }
+
+  @Override
+  Time copy();
+
+  @Override
+  default MutTime mutableCopy() {
+    return new MutTime(magnitude(), baseUnitMagnitude(), unit());
+  }
+
+  @Override
+  TimeUnit unit();
+
+  @Override
+  default TimeUnit baseUnit() { return (TimeUnit) unit().getBaseUnit(); }
+
+  @Override
+  default double in(TimeUnit unit) {
+    return unit.fromBaseUnits(baseUnitMagnitude());
+  }
+
+  @Override
+  default Time unaryMinus() {
+    return (Time) unit().ofBaseUnits(0 - baseUnitMagnitude());
+  }
+
+  @Override
+  default Time plus(Measure<? extends TimeUnit> other) {
+    return (Time) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Time minus(Measure<? extends TimeUnit> other) {
+    return (Time) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Time times(double multiplier) {
+    return (Time) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
+  }
+
+  @Override
+  default Time divide(double divisor) {
+    return (Time) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
+  }
+
+  @Override
+  default Dimensionless per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+
+
+  @Override
+  default Mult<TimeUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
+    return (Mult<TimeUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TimeUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
+    return (Per<TimeUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TimeUnit, AngleUnit> times(Angle multiplier) {
+    return (Mult<TimeUnit, AngleUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TimeUnit, AngleUnit> divide(Angle divisor) {
+    return (Per<TimeUnit, AngleUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default AngularVelocity times(AngularAcceleration multiplier) {
+    return RadiansPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<TimeUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
+    return (Per<TimeUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TimeUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
+    return (Mult<TimeUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TimeUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
+    return (Per<TimeUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Angle times(AngularVelocity multiplier) {
+    return Radians.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<TimeUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
+    return (Per<TimeUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TimeUnit, CurrentUnit> times(Current multiplier) {
+    return (Mult<TimeUnit, CurrentUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TimeUnit, CurrentUnit> divide(Current divisor) {
+    return (Per<TimeUnit, CurrentUnit>) Measure.super.divide(divisor);
+  }
+
+  @Override
+  default Time divide(Dimensionless divisor) {
+    return (Time) Seconds.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  @Override
+  default Time times(Dimensionless multiplier) {
+    return (Time) Seconds.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<TimeUnit, DistanceUnit> times(Distance multiplier) {
+    return (Mult<TimeUnit, DistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TimeUnit, DistanceUnit> divide(Distance divisor) {
+    return (Per<TimeUnit, DistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TimeUnit, EnergyUnit> times(Energy multiplier) {
+    return (Mult<TimeUnit, EnergyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TimeUnit, EnergyUnit> divide(Energy divisor) {
+    return (Per<TimeUnit, EnergyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TimeUnit, ForceUnit> times(Force multiplier) {
+    return (Mult<TimeUnit, ForceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TimeUnit, ForceUnit> divide(Force divisor) {
+    return (Per<TimeUnit, ForceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Dimensionless times(Frequency multiplier) {
+    return Value.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<TimeUnit, FrequencyUnit> divide(Frequency divisor) {
+    return (Per<TimeUnit, FrequencyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default LinearVelocity times(LinearAcceleration multiplier) {
+    return MetersPerSecond.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<TimeUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
+    return (Per<TimeUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TimeUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
+    return (Mult<TimeUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TimeUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
+    return (Per<TimeUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Distance times(LinearVelocity multiplier) {
+    return Meters.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<TimeUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
+    return (Per<TimeUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TimeUnit, MassUnit> times(Mass multiplier) {
+    return (Mult<TimeUnit, MassUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TimeUnit, MassUnit> divide(Mass divisor) {
+    return (Per<TimeUnit, MassUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TimeUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
+    return (Mult<TimeUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TimeUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
+    return (Per<TimeUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TimeUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
+    return (Mult<TimeUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TimeUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
+    return (Per<TimeUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TimeUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
+    return (Mult<TimeUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TimeUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
+    return (Per<TimeUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TimeUnit, PowerUnit> times(Power multiplier) {
+    return (Mult<TimeUnit, PowerUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TimeUnit, PowerUnit> divide(Power divisor) {
+    return (Per<TimeUnit, PowerUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TimeUnit, TemperatureUnit> times(Temperature multiplier) {
+    return (Mult<TimeUnit, TemperatureUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TimeUnit, TemperatureUnit> divide(Temperature divisor) {
+    return (Per<TimeUnit, TemperatureUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TimeUnit, TimeUnit> times(Time multiplier) {
+    return (Mult<TimeUnit, TimeUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Dimensionless divide(Time divisor) {
+    return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<TimeUnit, TorqueUnit> times(Torque multiplier) {
+    return (Mult<TimeUnit, TorqueUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TimeUnit, TorqueUnit> divide(Torque divisor) {
+    return (Per<TimeUnit, TorqueUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TimeUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
+    return (Mult<TimeUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TimeUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
+    return (Per<TimeUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TimeUnit, VoltageUnit> times(Voltage multiplier) {
+    return (Mult<TimeUnit, VoltageUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TimeUnit, VoltageUnit> divide(Voltage divisor) {
+    return (Per<TimeUnit, VoltageUnit>) Measure.super.divide(divisor);
+  }
+default Frequency asFrequency() { return Hertz.of(1 / baseUnitMagnitude()); }
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Torque.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Torque.java
new file mode 100644
index 00000000000..ff1ccee5260
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Torque.java
@@ -0,0 +1,334 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public interface Torque extends Measure<TorqueUnit> {
+  static  Torque ofRelativeUnits(double magnitude, TorqueUnit unit) {
+    return new ImmutableTorque(magnitude, unit.toBaseUnits(magnitude), unit);
+  }
+
+  static  Torque ofBaseUnits(double baseUnitMagnitude, TorqueUnit unit) {
+    return new ImmutableTorque(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
+  }
+
+  @Override
+  Torque copy();
+
+  @Override
+  default MutTorque mutableCopy() {
+    return new MutTorque(magnitude(), baseUnitMagnitude(), unit());
+  }
+
+  @Override
+  TorqueUnit unit();
+
+  @Override
+  default TorqueUnit baseUnit() { return (TorqueUnit) unit().getBaseUnit(); }
+
+  @Override
+  default double in(TorqueUnit unit) {
+    return unit.fromBaseUnits(baseUnitMagnitude());
+  }
+
+  @Override
+  default Torque unaryMinus() {
+    return (Torque) unit().ofBaseUnits(0 - baseUnitMagnitude());
+  }
+
+  @Override
+  default Torque plus(Measure<? extends TorqueUnit> other) {
+    return (Torque) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Torque minus(Measure<? extends TorqueUnit> other) {
+    return (Torque) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Torque times(double multiplier) {
+    return (Torque) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
+  }
+
+  @Override
+  default Torque divide(double divisor) {
+    return (Torque) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
+  }
+
+  @Override
+  default Velocity<TorqueUnit> per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+
+
+  @Override
+  default Mult<TorqueUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
+    return (Mult<TorqueUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TorqueUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
+    return (Per<TorqueUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TorqueUnit, AngleUnit> times(Angle multiplier) {
+    return (Mult<TorqueUnit, AngleUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TorqueUnit, AngleUnit> divide(Angle divisor) {
+    return (Per<TorqueUnit, AngleUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TorqueUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
+    return (Mult<TorqueUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TorqueUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
+    return (Per<TorqueUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TorqueUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
+    return (Mult<TorqueUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TorqueUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
+    return (Per<TorqueUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TorqueUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
+    return (Mult<TorqueUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TorqueUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
+    return (Per<TorqueUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TorqueUnit, CurrentUnit> times(Current multiplier) {
+    return (Mult<TorqueUnit, CurrentUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TorqueUnit, CurrentUnit> divide(Current divisor) {
+    return (Per<TorqueUnit, CurrentUnit>) Measure.super.divide(divisor);
+  }
+
+  @Override
+  default Torque divide(Dimensionless divisor) {
+    return (Torque) NewtonMeters.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  @Override
+  default Torque times(Dimensionless multiplier) {
+    return (Torque) NewtonMeters.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<TorqueUnit, DistanceUnit> times(Distance multiplier) {
+    return (Mult<TorqueUnit, DistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Force divide(Distance divisor) {
+    return Newtons.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<TorqueUnit, EnergyUnit> times(Energy multiplier) {
+    return (Mult<TorqueUnit, EnergyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TorqueUnit, EnergyUnit> divide(Energy divisor) {
+    return (Per<TorqueUnit, EnergyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TorqueUnit, ForceUnit> times(Force multiplier) {
+    return (Mult<TorqueUnit, ForceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Distance divide(Force divisor) {
+    return Meters.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<TorqueUnit, FrequencyUnit> times(Frequency multiplier) {
+    return (Mult<TorqueUnit, FrequencyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TorqueUnit, FrequencyUnit> divide(Frequency divisor) {
+    return (Per<TorqueUnit, FrequencyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TorqueUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
+    return (Mult<TorqueUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TorqueUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
+    return (Per<TorqueUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TorqueUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
+    return (Mult<TorqueUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TorqueUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
+    return (Per<TorqueUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TorqueUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
+    return (Mult<TorqueUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TorqueUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
+    return (Per<TorqueUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TorqueUnit, MassUnit> times(Mass multiplier) {
+    return (Mult<TorqueUnit, MassUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TorqueUnit, MassUnit> divide(Mass divisor) {
+    return (Per<TorqueUnit, MassUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TorqueUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
+    return (Mult<TorqueUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TorqueUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
+    return (Per<TorqueUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TorqueUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
+    return (Mult<TorqueUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TorqueUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
+    return (Per<TorqueUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TorqueUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
+    return (Mult<TorqueUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TorqueUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
+    return (Per<TorqueUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TorqueUnit, PowerUnit> times(Power multiplier) {
+    return (Mult<TorqueUnit, PowerUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TorqueUnit, PowerUnit> divide(Power divisor) {
+    return (Per<TorqueUnit, PowerUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TorqueUnit, TemperatureUnit> times(Temperature multiplier) {
+    return (Mult<TorqueUnit, TemperatureUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TorqueUnit, TemperatureUnit> divide(Temperature divisor) {
+    return (Per<TorqueUnit, TemperatureUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TorqueUnit, TimeUnit> times(Time multiplier) {
+    return (Mult<TorqueUnit, TimeUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Velocity<TorqueUnit> divide(Time divisor) {
+    return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<TorqueUnit, TorqueUnit> times(Torque multiplier) {
+    return (Mult<TorqueUnit, TorqueUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Dimensionless divide(Torque divisor) {
+    return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<TorqueUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
+    return (Mult<TorqueUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TorqueUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
+    return (Per<TorqueUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<TorqueUnit, VoltageUnit> times(Voltage multiplier) {
+    return (Mult<TorqueUnit, VoltageUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<TorqueUnit, VoltageUnit> divide(Voltage divisor) {
+    return (Per<TorqueUnit, VoltageUnit>) Measure.super.divide(divisor);
+  }
+
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Velocity.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Velocity.java
new file mode 100644
index 00000000000..bc1c9ce8c25
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Velocity.java
@@ -0,0 +1,334 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public interface Velocity<D extends Unit> extends Measure<VelocityUnit<D>> {
+  static <D extends Unit> Velocity<D> ofRelativeUnits(double magnitude, VelocityUnit<D> unit) {
+    return new ImmutableVelocity<D>(magnitude, unit.toBaseUnits(magnitude), unit);
+  }
+
+  static <D extends Unit> Velocity<D> ofBaseUnits(double baseUnitMagnitude, VelocityUnit<D> unit) {
+    return new ImmutableVelocity<D>(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
+  }
+
+  @Override
+  Velocity<D> copy();
+
+  @Override
+  default MutVelocity<D> mutableCopy() {
+    return new MutVelocity<D>(magnitude(), baseUnitMagnitude(), unit());
+  }
+
+  @Override
+  VelocityUnit<D> unit();
+
+  @Override
+  default VelocityUnit<D> baseUnit() { return (VelocityUnit<D>) unit().getBaseUnit(); }
+
+  @Override
+  default double in(VelocityUnit<D> unit) {
+    return unit.fromBaseUnits(baseUnitMagnitude());
+  }
+
+  @Override
+  default Velocity<D> unaryMinus() {
+    return (Velocity<D>) unit().ofBaseUnits(0 - baseUnitMagnitude());
+  }
+
+  @Override
+  default Velocity<D> plus(Measure<? extends VelocityUnit<D>> other) {
+    return (Velocity<D>) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Velocity<D> minus(Measure<? extends VelocityUnit<D>> other) {
+    return (Velocity<D>) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Velocity<D> times(double multiplier) {
+    return (Velocity<D>) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
+  }
+
+  @Override
+  default Velocity<D> divide(double divisor) {
+    return (Velocity<D>) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
+  }
+
+  @Override
+  default Velocity<VelocityUnit<D>> per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+
+
+  @Override
+  default Mult<VelocityUnit<D>, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
+    return (Mult<VelocityUnit<D>, AccelerationUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VelocityUnit<D>, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
+    return (Per<VelocityUnit<D>, AccelerationUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VelocityUnit<D>, AngleUnit> times(Angle multiplier) {
+    return (Mult<VelocityUnit<D>, AngleUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VelocityUnit<D>, AngleUnit> divide(Angle divisor) {
+    return (Per<VelocityUnit<D>, AngleUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VelocityUnit<D>, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
+    return (Mult<VelocityUnit<D>, AngularAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VelocityUnit<D>, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
+    return (Per<VelocityUnit<D>, AngularAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VelocityUnit<D>, AngularMomentumUnit> times(AngularMomentum multiplier) {
+    return (Mult<VelocityUnit<D>, AngularMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VelocityUnit<D>, AngularMomentumUnit> divide(AngularMomentum divisor) {
+    return (Per<VelocityUnit<D>, AngularMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VelocityUnit<D>, AngularVelocityUnit> times(AngularVelocity multiplier) {
+    return (Mult<VelocityUnit<D>, AngularVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VelocityUnit<D>, AngularVelocityUnit> divide(AngularVelocity divisor) {
+    return (Per<VelocityUnit<D>, AngularVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VelocityUnit<D>, CurrentUnit> times(Current multiplier) {
+    return (Mult<VelocityUnit<D>, CurrentUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VelocityUnit<D>, CurrentUnit> divide(Current divisor) {
+    return (Per<VelocityUnit<D>, CurrentUnit>) Measure.super.divide(divisor);
+  }
+
+  @Override
+  default Velocity<D> divide(Dimensionless divisor) {
+    return (Velocity<D>) unit().of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  @Override
+  default Velocity<D> times(Dimensionless multiplier) {
+    return (Velocity<D>) unit().of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<VelocityUnit<D>, DistanceUnit> times(Distance multiplier) {
+    return (Mult<VelocityUnit<D>, DistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VelocityUnit<D>, DistanceUnit> divide(Distance divisor) {
+    return (Per<VelocityUnit<D>, DistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VelocityUnit<D>, EnergyUnit> times(Energy multiplier) {
+    return (Mult<VelocityUnit<D>, EnergyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VelocityUnit<D>, EnergyUnit> divide(Energy divisor) {
+    return (Per<VelocityUnit<D>, EnergyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VelocityUnit<D>, ForceUnit> times(Force multiplier) {
+    return (Mult<VelocityUnit<D>, ForceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VelocityUnit<D>, ForceUnit> divide(Force divisor) {
+    return (Per<VelocityUnit<D>, ForceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VelocityUnit<D>, FrequencyUnit> times(Frequency multiplier) {
+    return (Mult<VelocityUnit<D>, FrequencyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VelocityUnit<D>, FrequencyUnit> divide(Frequency divisor) {
+    return (Per<VelocityUnit<D>, FrequencyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VelocityUnit<D>, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
+    return (Mult<VelocityUnit<D>, LinearAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VelocityUnit<D>, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
+    return (Per<VelocityUnit<D>, LinearAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VelocityUnit<D>, LinearMomentumUnit> times(LinearMomentum multiplier) {
+    return (Mult<VelocityUnit<D>, LinearMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VelocityUnit<D>, LinearMomentumUnit> divide(LinearMomentum divisor) {
+    return (Per<VelocityUnit<D>, LinearMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VelocityUnit<D>, LinearVelocityUnit> times(LinearVelocity multiplier) {
+    return (Mult<VelocityUnit<D>, LinearVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VelocityUnit<D>, LinearVelocityUnit> divide(LinearVelocity divisor) {
+    return (Per<VelocityUnit<D>, LinearVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VelocityUnit<D>, MassUnit> times(Mass multiplier) {
+    return (Mult<VelocityUnit<D>, MassUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VelocityUnit<D>, MassUnit> divide(Mass divisor) {
+    return (Per<VelocityUnit<D>, MassUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VelocityUnit<D>, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
+    return (Mult<VelocityUnit<D>, MomentOfInertiaUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VelocityUnit<D>, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
+    return (Per<VelocityUnit<D>, MomentOfInertiaUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VelocityUnit<D>, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
+    return (Mult<VelocityUnit<D>, MultUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VelocityUnit<D>, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
+    return (Per<VelocityUnit<D>, MultUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VelocityUnit<D>, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
+    return (Mult<VelocityUnit<D>, PerUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VelocityUnit<D>, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
+    return (Per<VelocityUnit<D>, PerUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VelocityUnit<D>, PowerUnit> times(Power multiplier) {
+    return (Mult<VelocityUnit<D>, PowerUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VelocityUnit<D>, PowerUnit> divide(Power divisor) {
+    return (Per<VelocityUnit<D>, PowerUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VelocityUnit<D>, TemperatureUnit> times(Temperature multiplier) {
+    return (Mult<VelocityUnit<D>, TemperatureUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VelocityUnit<D>, TemperatureUnit> divide(Temperature divisor) {
+    return (Per<VelocityUnit<D>, TemperatureUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VelocityUnit<D>, TimeUnit> times(Time multiplier) {
+    return (Mult<VelocityUnit<D>, TimeUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Velocity<VelocityUnit<D>> divide(Time divisor) {
+    return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<VelocityUnit<D>, TorqueUnit> times(Torque multiplier) {
+    return (Mult<VelocityUnit<D>, TorqueUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VelocityUnit<D>, TorqueUnit> divide(Torque divisor) {
+    return (Per<VelocityUnit<D>, TorqueUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VelocityUnit<D>, VelocityUnit<?>> times(Velocity<?> multiplier) {
+    return (Mult<VelocityUnit<D>, VelocityUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VelocityUnit<D>, VelocityUnit<?>> divide(Velocity<?> divisor) {
+    return (Per<VelocityUnit<D>, VelocityUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VelocityUnit<D>, VoltageUnit> times(Voltage multiplier) {
+    return (Mult<VelocityUnit<D>, VoltageUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VelocityUnit<D>, VoltageUnit> divide(Voltage divisor) {
+    return (Per<VelocityUnit<D>, VoltageUnit>) Measure.super.divide(divisor);
+  }
+
+}
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Voltage.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Voltage.java
new file mode 100644
index 00000000000..403bb7080ae
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Voltage.java
@@ -0,0 +1,334 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
+public interface Voltage extends Measure<VoltageUnit> {
+  static  Voltage ofRelativeUnits(double magnitude, VoltageUnit unit) {
+    return new ImmutableVoltage(magnitude, unit.toBaseUnits(magnitude), unit);
+  }
+
+  static  Voltage ofBaseUnits(double baseUnitMagnitude, VoltageUnit unit) {
+    return new ImmutableVoltage(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
+  }
+
+  @Override
+  Voltage copy();
+
+  @Override
+  default MutVoltage mutableCopy() {
+    return new MutVoltage(magnitude(), baseUnitMagnitude(), unit());
+  }
+
+  @Override
+  VoltageUnit unit();
+
+  @Override
+  default VoltageUnit baseUnit() { return (VoltageUnit) unit().getBaseUnit(); }
+
+  @Override
+  default double in(VoltageUnit unit) {
+    return unit.fromBaseUnits(baseUnitMagnitude());
+  }
+
+  @Override
+  default Voltage unaryMinus() {
+    return (Voltage) unit().ofBaseUnits(0 - baseUnitMagnitude());
+  }
+
+  @Override
+  default Voltage plus(Measure<? extends VoltageUnit> other) {
+    return (Voltage) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Voltage minus(Measure<? extends VoltageUnit> other) {
+    return (Voltage) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
+  }
+
+  @Override
+  default Voltage times(double multiplier) {
+    return (Voltage) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
+  }
+
+  @Override
+  default Voltage divide(double divisor) {
+    return (Voltage) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
+  }
+
+  @Override
+  default Velocity<VoltageUnit> per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+
+
+  @Override
+  default Mult<VoltageUnit, AccelerationUnit<?>> times(Acceleration<?> multiplier) {
+    return (Mult<VoltageUnit, AccelerationUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VoltageUnit, AccelerationUnit<?>> divide(Acceleration<?> divisor) {
+    return (Per<VoltageUnit, AccelerationUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VoltageUnit, AngleUnit> times(Angle multiplier) {
+    return (Mult<VoltageUnit, AngleUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VoltageUnit, AngleUnit> divide(Angle divisor) {
+    return (Per<VoltageUnit, AngleUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VoltageUnit, AngularAccelerationUnit> times(AngularAcceleration multiplier) {
+    return (Mult<VoltageUnit, AngularAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VoltageUnit, AngularAccelerationUnit> divide(AngularAcceleration divisor) {
+    return (Per<VoltageUnit, AngularAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VoltageUnit, AngularMomentumUnit> times(AngularMomentum multiplier) {
+    return (Mult<VoltageUnit, AngularMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VoltageUnit, AngularMomentumUnit> divide(AngularMomentum divisor) {
+    return (Per<VoltageUnit, AngularMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VoltageUnit, AngularVelocityUnit> times(AngularVelocity multiplier) {
+    return (Mult<VoltageUnit, AngularVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VoltageUnit, AngularVelocityUnit> divide(AngularVelocity divisor) {
+    return (Per<VoltageUnit, AngularVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Power times(Current multiplier) {
+    return Watts.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  @Override
+  default Per<VoltageUnit, CurrentUnit> divide(Current divisor) {
+    return (Per<VoltageUnit, CurrentUnit>) Measure.super.divide(divisor);
+  }
+
+  @Override
+  default Voltage divide(Dimensionless divisor) {
+    return (Voltage) Volts.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  @Override
+  default Voltage times(Dimensionless multiplier) {
+    return (Voltage) Volts.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<VoltageUnit, DistanceUnit> times(Distance multiplier) {
+    return (Mult<VoltageUnit, DistanceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VoltageUnit, DistanceUnit> divide(Distance divisor) {
+    return (Per<VoltageUnit, DistanceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VoltageUnit, EnergyUnit> times(Energy multiplier) {
+    return (Mult<VoltageUnit, EnergyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VoltageUnit, EnergyUnit> divide(Energy divisor) {
+    return (Per<VoltageUnit, EnergyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VoltageUnit, ForceUnit> times(Force multiplier) {
+    return (Mult<VoltageUnit, ForceUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VoltageUnit, ForceUnit> divide(Force divisor) {
+    return (Per<VoltageUnit, ForceUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VoltageUnit, FrequencyUnit> times(Frequency multiplier) {
+    return (Mult<VoltageUnit, FrequencyUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VoltageUnit, FrequencyUnit> divide(Frequency divisor) {
+    return (Per<VoltageUnit, FrequencyUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VoltageUnit, LinearAccelerationUnit> times(LinearAcceleration multiplier) {
+    return (Mult<VoltageUnit, LinearAccelerationUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VoltageUnit, LinearAccelerationUnit> divide(LinearAcceleration divisor) {
+    return (Per<VoltageUnit, LinearAccelerationUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VoltageUnit, LinearMomentumUnit> times(LinearMomentum multiplier) {
+    return (Mult<VoltageUnit, LinearMomentumUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VoltageUnit, LinearMomentumUnit> divide(LinearMomentum divisor) {
+    return (Per<VoltageUnit, LinearMomentumUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VoltageUnit, LinearVelocityUnit> times(LinearVelocity multiplier) {
+    return (Mult<VoltageUnit, LinearVelocityUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VoltageUnit, LinearVelocityUnit> divide(LinearVelocity divisor) {
+    return (Per<VoltageUnit, LinearVelocityUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VoltageUnit, MassUnit> times(Mass multiplier) {
+    return (Mult<VoltageUnit, MassUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VoltageUnit, MassUnit> divide(Mass divisor) {
+    return (Per<VoltageUnit, MassUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VoltageUnit, MomentOfInertiaUnit> times(MomentOfInertia multiplier) {
+    return (Mult<VoltageUnit, MomentOfInertiaUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VoltageUnit, MomentOfInertiaUnit> divide(MomentOfInertia divisor) {
+    return (Per<VoltageUnit, MomentOfInertiaUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VoltageUnit, MultUnit<?, ?>> times(Mult<?, ?> multiplier) {
+    return (Mult<VoltageUnit, MultUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VoltageUnit, MultUnit<?, ?>> divide(Mult<?, ?> divisor) {
+    return (Per<VoltageUnit, MultUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VoltageUnit, PerUnit<?, ?>> times(Per<?, ?> multiplier) {
+    return (Mult<VoltageUnit, PerUnit<?, ?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VoltageUnit, PerUnit<?, ?>> divide(Per<?, ?> divisor) {
+    return (Per<VoltageUnit, PerUnit<?, ?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VoltageUnit, PowerUnit> times(Power multiplier) {
+    return (Mult<VoltageUnit, PowerUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VoltageUnit, PowerUnit> divide(Power divisor) {
+    return (Per<VoltageUnit, PowerUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VoltageUnit, TemperatureUnit> times(Temperature multiplier) {
+    return (Mult<VoltageUnit, TemperatureUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VoltageUnit, TemperatureUnit> divide(Temperature divisor) {
+    return (Per<VoltageUnit, TemperatureUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VoltageUnit, TimeUnit> times(Time multiplier) {
+    return (Mult<VoltageUnit, TimeUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Velocity<VoltageUnit> divide(Time divisor) {
+    return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+
+  @Override
+  default Mult<VoltageUnit, TorqueUnit> times(Torque multiplier) {
+    return (Mult<VoltageUnit, TorqueUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VoltageUnit, TorqueUnit> divide(Torque divisor) {
+    return (Per<VoltageUnit, TorqueUnit>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VoltageUnit, VelocityUnit<?>> times(Velocity<?> multiplier) {
+    return (Mult<VoltageUnit, VelocityUnit<?>>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Per<VoltageUnit, VelocityUnit<?>> divide(Velocity<?> divisor) {
+    return (Per<VoltageUnit, VelocityUnit<?>>) Measure.super.divide(divisor);
+  }
+
+
+  @Override
+  default Mult<VoltageUnit, VoltageUnit> times(Voltage multiplier) {
+    return (Mult<VoltageUnit, VoltageUnit>) Measure.super.times(multiplier);
+  }
+
+  @Override
+  default Dimensionless divide(Voltage divisor) {
+    return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
new file mode 100644
index 00000000000..7fe2bc1dd50
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
@@ -0,0 +1,113 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units;
+
+import edu.wpi.first.units.measure.Acceleration;
+import edu.wpi.first.units.measure.ImmutableAcceleration;
+import edu.wpi.first.units.measure.MutAcceleration;
+
+/**
+ * A generic unit of acceleration.
+ *
+ * <p><strong>NOTE:</strong> This type is not compatible with unit-specific accelerations like
+ * {@link edu.wpi.first.units.measure.LinearAcceleration}. Authors of APIs that need to interact
+ * with all types should consider using a generic {@code Measure<? extends PerUnit<? extends
+ * PerUnit<[dimension>], TimeUnit>, TimeUnit>}. Bounded wildcards are necessary in order to
+ * interoperate with <i>any</i> subclass of the {@link edu.wpi.first.units.measure.Per} measurement
+ * type.
+ *
+ * @param <D> the unit of the accelerating quantity
+ */
+public final class AccelerationUnit<D extends Unit> extends PerUnit<VelocityUnit<D>, TimeUnit> {
+  @SuppressWarnings({"rawtypes", "unchecked"})
+  private static final CombinatoryUnitCache<VelocityUnit, TimeUnit, AccelerationUnit> cache =
+      new CombinatoryUnitCache<>(AccelerationUnit::new);
+
+  AccelerationUnit(VelocityUnit<D> velocity, TimeUnit period) {
+    super(
+        velocity.isBaseUnit() && period.isBaseUnit()
+            ? null
+            : combine(velocity.getBaseUnit(), period.getBaseUnit()),
+        velocity,
+        period);
+  }
+
+  AccelerationUnit(
+      AccelerationUnit<D> baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  @Override
+  public Acceleration<D> of(double magnitude) {
+    return new ImmutableAcceleration<>(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public Acceleration<D> ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableAcceleration<>(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  @SuppressWarnings({"unchecked", "rawtypes"})
+  public Acceleration<D> zero() {
+    return (Acceleration<D>) (Acceleration) super.zero();
+  }
+
+  @Override
+  @SuppressWarnings({"unchecked", "rawtypes"})
+  public Acceleration<D> one() {
+    return (Acceleration<D>) (Acceleration) super.one();
+  }
+
+  @Override
+  public MutAcceleration<D> mutable(double initialMagnitude) {
+    return new MutAcceleration<>(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+
+  @Override
+  public VelocityUnit<AccelerationUnit<D>> per(TimeUnit time) {
+    return VelocityUnit.combine(this, time);
+  }
+
+  /**
+   * Creates a ratio unit between this unit and an arbitrary other unit.
+   *
+   * @param other the other unit
+   * @param <U> the type of the other unit
+   * @return the ratio unit
+   */
+  public <U extends Unit> PerUnit<AccelerationUnit<D>, U> per(U other) {
+    return PerUnit.combine(this, other);
+  }
+
+  /**
+   * Converts a measurement value in terms of another time unit to this unit.
+   *
+   * @param magnitude the magnitude of the measurement in terms of the other time unit
+   * @param otherUnit the other time unit
+   * @return the value of the measurement in terms of this unit
+   */
+  public double convertFrom(double magnitude, AccelerationUnit<D> otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+
+  /**
+   * Combines a generic velocity and time period into a unit of acceleration.
+   *
+   * @param velocity the unit of velocity
+   * @param period the unit of the time period of acceleration
+   * @param <D> the unit of the accelerating quantity
+   * @return the combined acceleration unit
+   */
+  @SuppressWarnings("unchecked")
+  public static <D extends Unit> AccelerationUnit<D> combine(
+      VelocityUnit<D> velocity, TimeUnit period) {
+    return cache.combine(velocity, period);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Angle.java b/wpiunits/src/main/java/edu/wpi/first/units/Angle.java
deleted file mode 100644
index f20d98e7025..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/Angle.java
+++ /dev/null
@@ -1,32 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.units;
-
-/**
- * Unit of angular dimension.
- *
- * <p>This is the base type for units of angular dimension. It is also used to specify the dimension
- * for {@link Measure}: <code>Measure&lt;Angle&gt;</code>.
- *
- * <p>Actual units (such as {@link Units#Degrees} and {@link Units#Radians}) can be found in the
- * {@link Units} class.
- */
-// technically, angles are unitless dimensions
-// eg Mass * Distance * Velocity<Angle> is equivalent to (Mass * Distance) / Time - otherwise known
-// as Power - in other words, Velocity<Angle> is /actually/ Frequency
-public class Angle extends Unit<Angle> {
-  Angle(Angle baseUnit, double baseUnitEquivalent, String name, String symbol) {
-    super(baseUnit, baseUnitEquivalent, name, symbol);
-  }
-
-  Angle(
-      Angle baseUnit,
-      UnaryFunction toBaseConverter,
-      UnaryFunction fromBaseConverter,
-      String name,
-      String symbol) {
-    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
new file mode 100644
index 00000000000..d89d6d9ad6e
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
@@ -0,0 +1,93 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units;
+
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.MutAngle;
+
+/**
+ * Unit of angular dimension.
+ *
+ * <p>This is the base type for units of angular dimension. It is also used to specify the dimension
+ * for {@link Measure}: <code>Measure&lt;AngleUnit&gt;</code>.
+ *
+ * <p>Actual units (such as {@link Units#Degrees} and {@link Units#Radians}) can be found in the
+ * {@link Units} class.
+ */
+// technically, angles are unitless dimensions
+// eg MassUnit * DistanceUnit * VelocityUnit<AngleUnit> is equivalent to (MassUnit * DistanceUnit) /
+// TimeUnit - otherwise known
+// as PowerUnit - in other words, VelocityUnit<AngleUnit> is /actually/ Frequency
+public final class AngleUnit extends Unit {
+  AngleUnit(AngleUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
+    super(baseUnit, baseUnitEquivalent, name, symbol);
+  }
+
+  AngleUnit(
+      AngleUnit baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  @Override
+  public AngleUnit getBaseUnit() {
+    return (AngleUnit) super.getBaseUnit();
+  }
+
+  @Override
+  public Angle of(double magnitude) {
+    return Angle.ofRelativeUnits(magnitude, this);
+  }
+
+  @Override
+  public Angle ofBaseUnits(double baseUnitMagnitude) {
+    return Angle.ofBaseUnits(baseUnitMagnitude, this);
+  }
+
+  @Override
+  public MutAngle mutable(double initialMagnitude) {
+    return new MutAngle(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+
+  @Override
+  public AngularVelocityUnit per(TimeUnit period) {
+    return AngularVelocityUnit.combine(this, period);
+  }
+
+  /**
+   * Creates a ratio unit between this unit and an arbitrary other unit.
+   *
+   * @param other the other unit
+   * @param <U> the type of the other unit
+   * @return the ratio unit
+   */
+  public <U extends Unit> PerUnit<AngleUnit, U> per(U other) {
+    return PerUnit.combine(this, other);
+  }
+
+  /**
+   * Converts a measurement value in terms of another angle unit to this unit.
+   *
+   * @param magnitude the magnitude of the measurement in terms of the other angle unit
+   * @param otherUnit the other angle unit
+   * @return the value of the measurement in terms of this unit
+   */
+  public double convertFrom(double magnitude, AngleUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+
+  @Override
+  public Angle zero() {
+    return (Angle) super.zero();
+  }
+
+  @Override
+  public Angle one() {
+    return (Angle) super.one();
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java
new file mode 100644
index 00000000000..c818a16662f
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java
@@ -0,0 +1,102 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units;
+
+import edu.wpi.first.units.measure.AngularAcceleration;
+import edu.wpi.first.units.measure.ImmutableAngularAcceleration;
+import edu.wpi.first.units.measure.MutAngularAcceleration;
+
+/** A unit of angular acceleration, such as {@link Units#RadiansPerSecondPerSecond}. */
+public final class AngularAccelerationUnit extends PerUnit<AngularVelocityUnit, TimeUnit> {
+  private static final CombinatoryUnitCache<AngularVelocityUnit, TimeUnit, AngularAccelerationUnit>
+      cache = new CombinatoryUnitCache<>(AngularAccelerationUnit::new);
+
+  AngularAccelerationUnit(AngularVelocityUnit velocity, TimeUnit period) {
+    super(
+        velocity.isBaseUnit() && period.isBaseUnit()
+            ? null
+            : combine(velocity.getBaseUnit(), period.getBaseUnit()),
+        velocity,
+        period);
+  }
+
+  AngularAccelerationUnit(
+      AngularAccelerationUnit baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  /**
+   * Combines an angular velocity and time period unit into an angular acceleration.
+   *
+   * @param velocity the unit of velocity
+   * @param period the unit of time
+   * @return the combined angular acceleration unit
+   */
+  public static AngularAccelerationUnit combine(AngularVelocityUnit velocity, TimeUnit period) {
+    return cache.combine(velocity, period);
+  }
+
+  @Override
+  public AngularAccelerationUnit getBaseUnit() {
+    return (AngularAccelerationUnit) super.getBaseUnit();
+  }
+
+  @Override
+  public AngularAcceleration of(double magnitude) {
+    return new ImmutableAngularAcceleration(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public AngularAcceleration ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableAngularAcceleration(
+        fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public AngularAcceleration zero() {
+    return (AngularAcceleration) super.zero();
+  }
+
+  @Override
+  public AngularAcceleration one() {
+    return (AngularAcceleration) super.one();
+  }
+
+  @Override
+  public MutAngularAcceleration mutable(double initialMagnitude) {
+    return new MutAngularAcceleration(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+
+  @Override
+  public VelocityUnit<AngularAccelerationUnit> per(TimeUnit time) {
+    return VelocityUnit.combine(this, time);
+  }
+
+  /**
+   * Creates a ratio unit between this unit and an arbitrary other unit.
+   *
+   * @param other the other unit
+   * @param <U> the type of the other unit
+   * @return the ratio unit
+   */
+  public <U extends Unit> PerUnit<AngularAccelerationUnit, U> per(U other) {
+    return PerUnit.combine(this, other);
+  }
+
+  /**
+   * Converts a measurement value in terms of another unit to this unit.
+   *
+   * @param magnitude the magnitude of the measurement in terms of the other unit
+   * @param otherUnit the other unit
+   * @return the value of the measurement in terms of this unit
+   */
+  public double convertFrom(double magnitude, AngularAccelerationUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
new file mode 100644
index 00000000000..be54a135046
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
@@ -0,0 +1,114 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units;
+
+import edu.wpi.first.units.measure.AngularMomentum;
+import edu.wpi.first.units.measure.ImmutableAngularMomentum;
+import edu.wpi.first.units.measure.MutAngularMomentum;
+
+/**
+ * A unit of angular momentum, modeled as linear momentum of an object rotating some distance away
+ * from the axis of rotation.
+ */
+public final class AngularMomentumUnit extends MultUnit<LinearMomentumUnit, DistanceUnit> {
+  private static final CombinatoryUnitCache<LinearMomentumUnit, DistanceUnit, AngularMomentumUnit>
+      cache = new CombinatoryUnitCache<>(AngularMomentumUnit::new);
+
+  AngularMomentumUnit(LinearMomentumUnit momentumUnit, DistanceUnit distanceUnit) {
+    super(
+        momentumUnit.isBaseUnit() && distanceUnit.isBaseUnit()
+            ? null
+            : combine(momentumUnit.getBaseUnit(), distanceUnit.getBaseUnit()),
+        momentumUnit,
+        distanceUnit);
+  }
+
+  AngularMomentumUnit(
+      AngularMomentumUnit baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  /**
+   * Combines a linear momentum and distance to create a unit of angular momentum.
+   *
+   * @param linear the linear momentum unit
+   * @param distance the unit of distance from the axis of rotation
+   * @return the combined angular momentum unit
+   */
+  public static AngularMomentumUnit combine(LinearMomentumUnit linear, DistanceUnit distance) {
+    return cache.combine(linear, distance);
+  }
+
+  @Override
+  public AngularMomentumUnit getBaseUnit() {
+    return (AngularMomentumUnit) super.getBaseUnit();
+  }
+
+  @Override
+  public AngularMomentum of(double magnitude) {
+    return new ImmutableAngularMomentum(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public AngularMomentum ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableAngularMomentum(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public AngularMomentum zero() {
+    return (AngularMomentum) super.zero();
+  }
+
+  @Override
+  public AngularMomentum one() {
+    return (AngularMomentum) super.one();
+  }
+
+  @Override
+  public MutAngularMomentum mutable(double magnitude) {
+    return new MutAngularMomentum(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public VelocityUnit<AngularMomentumUnit> per(TimeUnit time) {
+    return VelocityUnit.combine(this, time);
+  }
+
+  /**
+   * Creates a ratio unit between this unit and an arbitrary other unit.
+   *
+   * @param other the other unit
+   * @param <U> the type of the other unit
+   * @return the ratio unit
+   */
+  public <U extends Unit> PerUnit<AngularMomentumUnit, U> per(U other) {
+    return PerUnit.combine(this, other);
+  }
+
+  /**
+   * Converts a measurement value in terms of another unit to this unit.
+   *
+   * @param magnitude the magnitude of the measurement in terms of the other unit
+   * @param otherUnit the other unit
+   * @return the value of the measurement in terms of this unit
+   */
+  public double convertFrom(double magnitude, AngularMomentumUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+
+  /**
+   * Multiplies this angular momentum by an angular velocity to yield a unit of moment of inertia.
+   *
+   * @param omega the unit of angular velocity
+   * @return the moment of inertia unit
+   */
+  public MomentOfInertiaUnit mult(AngularVelocityUnit omega) {
+    return MomentOfInertiaUnit.combine(this, omega);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java
new file mode 100644
index 00000000000..5a2f81b7610
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java
@@ -0,0 +1,101 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units;
+
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.ImmutableAngularVelocity;
+import edu.wpi.first.units.measure.MutAngularVelocity;
+
+/** A unit of angular velocity like {@link Units#RadiansPerSecond}. */
+public final class AngularVelocityUnit extends PerUnit<AngleUnit, TimeUnit> {
+  private static final CombinatoryUnitCache<AngleUnit, TimeUnit, AngularVelocityUnit> cache =
+      new CombinatoryUnitCache<>(AngularVelocityUnit::new);
+
+  AngularVelocityUnit(AngleUnit numerator, TimeUnit denominator) {
+    super(
+        numerator.isBaseUnit() && denominator.isBaseUnit()
+            ? null
+            : combine(numerator.getBaseUnit(), denominator.getBaseUnit()),
+        numerator,
+        denominator);
+  }
+
+  AngularVelocityUnit(
+      AngularVelocityUnit baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  /**
+   * Combines an angle unit and a period of time into a unit of angular velocity.
+   *
+   * @param angle the unit of the changing angle
+   * @param time the period of the changing angle
+   * @return the combined angular velocity unit
+   */
+  public static AngularVelocityUnit combine(AngleUnit angle, TimeUnit time) {
+    return cache.combine(angle, time);
+  }
+
+  @Override
+  public AngularVelocityUnit getBaseUnit() {
+    return (AngularVelocityUnit) super.getBaseUnit();
+  }
+
+  @Override
+  public AngularVelocity of(double magnitude) {
+    return new ImmutableAngularVelocity(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public AngularVelocity ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableAngularVelocity(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public AngularVelocity zero() {
+    return (AngularVelocity) super.zero();
+  }
+
+  @Override
+  public AngularVelocity one() {
+    return (AngularVelocity) super.one();
+  }
+
+  @Override
+  public MutAngularVelocity mutable(double initialMagnitude) {
+    return new MutAngularVelocity(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+
+  @Override
+  public AngularAccelerationUnit per(TimeUnit period) {
+    return AngularAccelerationUnit.combine(this, period);
+  }
+
+  /**
+   * Creates a ratio unit between this unit and an arbitrary other unit.
+   *
+   * @param other the other unit
+   * @param <U> the type of the other unit
+   * @return the ratio unit
+   */
+  public <U extends Unit> PerUnit<AngularVelocityUnit, U> per(U other) {
+    return PerUnit.combine(this, other);
+  }
+
+  /**
+   * Converts a measurement value in terms of another unit to this unit.
+   *
+   * @param magnitude the magnitude of the measurement in terms of the other unit
+   * @param otherUnit the other unit
+   * @return the value of the measurement in terms of this unit
+   */
+  public double convertFrom(double magnitude, AngularVelocityUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/BaseUnits.java b/wpiunits/src/main/java/edu/wpi/first/units/BaseUnits.java
index ed10d0b3888..9794087d076 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/BaseUnits.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/BaseUnits.java
@@ -11,33 +11,30 @@ private BaseUnits() {
   }
 
   /** The standard unit of distance, meters. */
-  public static final Distance Distance = new Distance(null, 1, "Meter", "m");
+  public static final DistanceUnit DistanceUnit = new DistanceUnit(null, 1, "Meter", "m");
 
   /** The standard unit of time, seconds. */
-  public static final Time Time = new Time(null, 1, "Second", "s");
+  public static final TimeUnit TimeUnit = new TimeUnit(null, 1, "Second", "s");
 
   /** The standard unit of mass, kilograms. */
-  public static final Mass Mass = new Mass(null, 1, "Kilogram", "Kg");
+  public static final MassUnit MassUnit = new MassUnit(null, 1, "Kilogram", "Kg");
 
   /** The standard unit of angles, radians. */
-  public static final Angle Angle = new Angle(null, 1, "Radian", "rad");
+  public static final AngleUnit AngleUnit = new AngleUnit(null, 1, "Radian", "rad");
 
   /** The standard "unitless" unit. */
-  public static final Dimensionless Value = new Dimensionless(null, 1, "<?>", "<?>");
+  public static final DimensionlessUnit Value = new DimensionlessUnit(null, 1, "<?>", "<?>");
 
   /** The standard unit of voltage, volts. */
-  public static final Voltage Voltage = new Voltage(null, 1, "Volt", "V");
+  public static final VoltageUnit VoltageUnit = new VoltageUnit(null, 1, "Volt", "V");
 
   /** The standard unit of electric current, amperes. */
-  public static final Current Current = new Current(null, 1, "Amp", "A");
+  public static final CurrentUnit CurrentUnit = new CurrentUnit(null, 1, "Amp", "A");
 
   /** The standard unit of energy, joules. */
-  public static final Energy Energy = new Energy(null, 1, "Joule", "J");
-
-  /** The standard unit of power, watts. */
-  public static final Power Power = new Power(null, 1, "Watt", "W");
+  public static final EnergyUnit EnergyUnit = new EnergyUnit(null, 1, "Joule", "J");
 
   /** The standard unit of temperature, kelvin. */
-  public static final Temperature Temperature =
-      new Temperature(null, x -> x, x -> x, "Kelvin", "K");
+  public static final TemperatureUnit TemperatureUnit =
+      new TemperatureUnit(null, x -> x, x -> x, "Kelvin", "K");
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/CombinatoryUnitCache.java b/wpiunits/src/main/java/edu/wpi/first/units/CombinatoryUnitCache.java
new file mode 100644
index 00000000000..53dc51cb471
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/CombinatoryUnitCache.java
@@ -0,0 +1,60 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units;
+
+import edu.wpi.first.units.collections.LongToObjectHashMap;
+import java.util.Objects;
+import java.util.function.BiFunction;
+
+/**
+ * A helper class for creating and caching combined unit objects. This helps to reduce unnecessary
+ * object allocation by reusing already-created units.
+ *
+ * @param <A> the type of the first unit to be combined
+ * @param <B> the type of the second unit to be combined
+ * @param <Out> the type of the combinatorial unit
+ */
+public final class CombinatoryUnitCache<A extends Unit, B extends Unit, Out extends Unit> {
+  /**
+   * Keep a cache of created instances so expressions like Volts.per(Meter) don't do any allocations
+   * after the first.
+   */
+  private final LongToObjectHashMap<Out> m_cache = new LongToObjectHashMap<>();
+
+  private final BiFunction<? super A, ? super B, ? extends Out> m_constructor;
+
+  /**
+   * Creates a new combinatory unit cache. The cache is initially empty and is not shared across
+   * instances.
+   *
+   * @param constructor the constructor function to use to create new combined units
+   */
+  public CombinatoryUnitCache(BiFunction<? super A, ? super B, ? extends Out> constructor) {
+    this.m_constructor =
+        Objects.requireNonNull(constructor, "Cache unit constructor must be provided");
+  }
+
+  /**
+   * Combines two units together and returns the result. The resulting units are cached and will be
+   * returned on successive calls to avoid allocating many duplicate objects. The combination output
+   * type is determined by the factory function passed into the cache's constructor.
+   *
+   * @param a the first unit
+   * @param b the second unit
+   * @return the combined unit
+   */
+  public Out combine(A a, B b) {
+    final long key = ((long) a.hashCode()) << 32L | (b.hashCode() & 0xFFFFFFFFL);
+
+    var existing = m_cache.get(key);
+    if (existing != null) {
+      return existing;
+    }
+
+    var newUnit = m_constructor.apply(a, b);
+    m_cache.put(key, newUnit);
+    return newUnit;
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Current.java b/wpiunits/src/main/java/edu/wpi/first/units/Current.java
deleted file mode 100644
index 244144fb47e..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/Current.java
+++ /dev/null
@@ -1,46 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.units;
-
-import static edu.wpi.first.units.Units.Watts;
-
-/**
- * Unit of electric current dimension.
- *
- * <p>This is the base type for units of current dimension. It is also used to specify the dimension
- * for {@link Measure}: <code>Measure&lt;Current&gt;</code>.
- *
- * <p>Actual units (such as {@link Units#Amps} and {@link Units#Milliamps}) can be found in the
- * {@link Units} class.
- */
-public class Current extends Unit<Current> {
-  Current(Current baseUnit, double baseUnitEquivalent, String name, String symbol) {
-    super(baseUnit, baseUnitEquivalent, name, symbol);
-  }
-
-  Current(
-      Current baseUnit,
-      UnaryFunction toBaseConverter,
-      UnaryFunction fromBaseConverter,
-      String name,
-      String symbol) {
-    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
-  }
-
-  /**
-   * Constructs a unit of power equivalent to this unit of electrical current multiplied by another
-   * unit of voltage. For example, {@code Amps.times(Volts)} will return a unit of power equivalent
-   * to one Watt; {@code Amps.times(Millivolts)} will return a unit of power equivalent to a
-   * milliwatt, and so on.
-   *
-   * @param voltage the voltage unit to multiply by
-   * @param name the name of the resulting unit of power
-   * @param symbol the symbol used to represent the unit of power
-   * @return the power unit
-   */
-  public Power times(Unit<Voltage> voltage, String name, String symbol) {
-    return new Power(Watts, this.toBaseUnits(1) * voltage.toBaseUnits(1), name, symbol);
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
new file mode 100644
index 00000000000..e22ab54525f
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
@@ -0,0 +1,105 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units;
+
+import edu.wpi.first.units.measure.Current;
+import edu.wpi.first.units.measure.ImmutableCurrent;
+import edu.wpi.first.units.measure.MutCurrent;
+
+/**
+ * Unit of electric current dimension.
+ *
+ * <p>This is the base type for units of current dimension. It is also used to specify the dimension
+ * for {@link Measure}: <code>Measure&lt;CurrentUnit&gt;</code>.
+ *
+ * <p>Actual units (such as {@link Units#Amps} and {@link Units#Milliamps}) can be found in the
+ * {@link Units} class.
+ */
+public final class CurrentUnit extends Unit {
+  CurrentUnit(CurrentUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
+    super(baseUnit, baseUnitEquivalent, name, symbol);
+  }
+
+  CurrentUnit(
+      CurrentUnit baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  @Override
+  public CurrentUnit getBaseUnit() {
+    return (CurrentUnit) super.getBaseUnit();
+  }
+
+  /**
+   * Constructs a unit of power equivalent to this unit of electrical current multiplied by another
+   * unit of voltage. For example, {@code Amps.times(Volts)} will return a unit of power equivalent
+   * to one Watt; {@code Amps.times(Millivolts)} will return a unit of power equivalent to a
+   * milliwatt, and so on.
+   *
+   * @param voltage the voltage unit to multiply by
+   * @param name the name of the resulting unit of power
+   * @param symbol the symbol used to represent the unit of power
+   * @return the power unit
+   */
+  public PowerUnit mult(VoltageUnit voltage, String name, String symbol) {
+    return Units.derive(PowerUnit.combine(voltage, this)).named(name).symbol(symbol).make();
+  }
+
+  @Override
+  public Current of(double magnitude) {
+    return new ImmutableCurrent(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public Current ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableCurrent(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public Current zero() {
+    return (Current) super.zero();
+  }
+
+  @Override
+  public Current one() {
+    return (Current) super.one();
+  }
+
+  @Override
+  public MutCurrent mutable(double initialMagnitude) {
+    return new MutCurrent(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+
+  @Override
+  public VelocityUnit<CurrentUnit> per(TimeUnit time) {
+    return VelocityUnit.combine(this, time);
+  }
+
+  /**
+   * Creates a ratio unit between this unit and an arbitrary other unit.
+   *
+   * @param other the other unit
+   * @param <U> the type of the other unit
+   * @return the ratio unit
+   */
+  public <U extends Unit> PerUnit<CurrentUnit, U> per(U other) {
+    return PerUnit.combine(this, other);
+  }
+
+  /**
+   * Converts a measurement value in terms of another current unit to this unit.
+   *
+   * @param magnitude the magnitude of the measurement in terms of the other current unit
+   * @param otherUnit the other current unit
+   * @return the value of the measurement in terms of this unit
+   */
+  public double convertFrom(double magnitude, CurrentUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Dimensionless.java b/wpiunits/src/main/java/edu/wpi/first/units/Dimensionless.java
deleted file mode 100644
index 6a07f38e906..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/Dimensionless.java
+++ /dev/null
@@ -1,30 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.units;
-
-/**
- * A type of unit that corresponds to raw values and not any physical dimension, such as percentage.
- */
-public class Dimensionless extends Unit<Dimensionless> {
-  /**
-   * Creates a new unit with the given name and multiplier to the base unit.
-   *
-   * @param baseUnitEquivalent the multiplier to convert this unit to the base unit of this type.
-   * @param name the name of the unit
-   * @param symbol the symbol of the unit
-   */
-  Dimensionless(Dimensionless baseUnit, double baseUnitEquivalent, String name, String symbol) {
-    super(baseUnit, baseUnitEquivalent, name, symbol);
-  }
-
-  Dimensionless(
-      Dimensionless baseUnit,
-      UnaryFunction toBaseConverter,
-      UnaryFunction fromBaseConverter,
-      String name,
-      String symbol) {
-    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
new file mode 100644
index 00000000000..186476fb0b7
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
@@ -0,0 +1,99 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units;
+
+import edu.wpi.first.units.measure.Dimensionless;
+import edu.wpi.first.units.measure.ImmutableDimensionless;
+import edu.wpi.first.units.measure.MutDimensionless;
+
+/**
+ * A type of unit that corresponds to raw values and not any physical dimension, such as percentage.
+ */
+public final class DimensionlessUnit extends Unit {
+  /**
+   * Creates a new unit with the given name and multiplier to the base unit.
+   *
+   * @param baseUnitEquivalent the multiplier to convert this unit to the base unit of this type.
+   * @param name the name of the unit
+   * @param symbol the symbol of the unit
+   */
+  DimensionlessUnit(
+      DimensionlessUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
+    super(baseUnit, baseUnitEquivalent, name, symbol);
+  }
+
+  DimensionlessUnit(
+      DimensionlessUnit baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  @Override
+  public DimensionlessUnit getBaseUnit() {
+    return (DimensionlessUnit) super.getBaseUnit();
+  }
+
+  @Override
+  public Dimensionless of(double magnitude) {
+    return new ImmutableDimensionless(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public Dimensionless ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableDimensionless(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public Dimensionless zero() {
+    return (Dimensionless) super.zero();
+  }
+
+  @Override
+  public Dimensionless one() {
+    return (Dimensionless) super.one();
+  }
+
+  @Override
+  public MutDimensionless mutable(double initialMagnitude) {
+    return new MutDimensionless(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+
+  /**
+   * Converts a measurement value in terms of another dimensionless unit to this unit.
+   *
+   * @param magnitude the magnitude of the measurement in terms of the other dimensionless unit
+   * @param otherUnit the other dimensionless unit
+   * @return the value of the measurement in terms of this unit
+   */
+  public double convertFrom(double magnitude, DimensionlessUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+
+  /**
+   * Creates a frequency unit as the ratio of this dimensionless unit to the period of time in which
+   * a single cycle is made.
+   *
+   * @param period the cycle period
+   * @return the combined frequency unit
+   */
+  @Override
+  public FrequencyUnit per(TimeUnit period) {
+    return FrequencyUnit.combine(this, period);
+  }
+
+  /**
+   * Creates a ratio unit between this unit and an arbitrary other unit.
+   *
+   * @param other the other unit
+   * @param <U> the type of the other unit
+   * @return the ratio unit
+   */
+  public <U extends Unit> PerUnit<DimensionlessUnit, U> per(U other) {
+    return PerUnit.combine(this, other);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Distance.java b/wpiunits/src/main/java/edu/wpi/first/units/Distance.java
deleted file mode 100644
index b8859b3ca1a..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/Distance.java
+++ /dev/null
@@ -1,29 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.units;
-
-/**
- * Unit of linear dimension.
- *
- * <p>This is the base type for units of linear dimension. It is also used to specify the dimension
- * for {@link Measure}: <code>Measure&lt;Distance&gt;</code>.
- *
- * <p>Actual units (such as {@link Units#Meters} and {@link Units#Inches}) can be found in the
- * {@link Units} class.
- */
-public class Distance extends Unit<Distance> {
-  Distance(Distance baseUnit, double baseUnitEquivalent, String name, String symbol) {
-    super(baseUnit, baseUnitEquivalent, name, symbol);
-  }
-
-  Distance(
-      Distance baseUnit,
-      UnaryFunction toBaseConverter,
-      UnaryFunction fromBaseConverter,
-      String name,
-      String symbol) {
-    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
new file mode 100644
index 00000000000..df4c1ffee47
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
@@ -0,0 +1,102 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units;
+
+import edu.wpi.first.units.measure.Distance;
+import edu.wpi.first.units.measure.ImmutableDistance;
+import edu.wpi.first.units.measure.MutDistance;
+
+/**
+ * Unit of linear dimension.
+ *
+ * <p>This is the base type for units of linear dimension. It is also used to specify the dimension
+ * for {@link Measure}: <code>Measure&lt;DistanceUnit&gt;</code>.
+ *
+ * <p>Actual units (such as {@link Units#Meters} and {@link Units#Inches}) can be found in the
+ * {@link Units} class.
+ */
+public final class DistanceUnit extends Unit {
+  DistanceUnit(DistanceUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
+    super(baseUnit, baseUnitEquivalent, name, symbol);
+  }
+
+  DistanceUnit(
+      DistanceUnit baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  @Override
+  public DistanceUnit getBaseUnit() {
+    return (DistanceUnit) super.getBaseUnit();
+  }
+
+  @Override
+  public LinearVelocityUnit per(TimeUnit period) {
+    return LinearVelocityUnit.combine(this, period);
+  }
+
+  /**
+   * Creates a ratio unit between this unit and an arbitrary other unit.
+   *
+   * @param other the other unit
+   * @param <U> the type of the other unit
+   * @return the ratio unit
+   */
+  public <U extends Unit> PerUnit<DistanceUnit, U> per(U other) {
+    return PerUnit.combine(this, other);
+  }
+
+  /**
+   * Converts a measurement value in terms of another distance unit to this unit.
+   *
+   * @param magnitude the magnitude of the measurement in terms of the other distance unit
+   * @param otherUnit the other distance unit
+   * @return the value of the measurement in terms of this unit
+   */
+  public double convertFrom(double magnitude, DistanceUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+
+  @Override
+  public Distance of(double magnitude) {
+    return new ImmutableDistance(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public Distance ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableDistance(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public Distance zero() {
+    return (Distance) super.zero();
+  }
+
+  @Override
+  public Distance one() {
+    return (Distance) super.one();
+  }
+
+  @Override
+  public MutDistance mutable(double initialMagnitude) {
+    return new MutDistance(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+
+  /**
+   * Multiplies this distance unit by a unit of force to create a unit of torque.
+   *
+   * @param force the unit of force
+   * @return the combined torque unit
+   */
+  public TorqueUnit multAsTorque(ForceUnit force) {
+    return TorqueUnit.combine(this, force);
+  }
+
+  // TODO: Add a multAsEnergy equivalent
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Energy.java b/wpiunits/src/main/java/edu/wpi/first/units/Energy.java
deleted file mode 100644
index dc5be8de17f..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/Energy.java
+++ /dev/null
@@ -1,29 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.units;
-
-/**
- * Unit of energy dimension.
- *
- * <p>This is the base type for units of energy dimension. It is also used to specify the dimension
- * for {@link Measure}: <code>Measure&lt;Energy&gt;</code>.
- *
- * <p>Actual units (such as {@link Units#Joules} and {@link Units#Kilojoules}) can be found in the
- * {@link Units} class.
- */
-public class Energy extends Unit<Energy> {
-  Energy(
-      Energy baseUnit,
-      UnaryFunction toBaseConverter,
-      UnaryFunction fromBaseConverter,
-      String name,
-      String symbol) {
-    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
-  }
-
-  Energy(Energy baseUnit, double baseUnitEquivalent, String name, String symbol) {
-    super(baseUnit, baseUnitEquivalent, name, symbol);
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
new file mode 100644
index 00000000000..90a0be81efe
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
@@ -0,0 +1,96 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units;
+
+import edu.wpi.first.units.measure.Energy;
+import edu.wpi.first.units.measure.ImmutableEnergy;
+import edu.wpi.first.units.measure.MutEnergy;
+
+/**
+ * Unit of energy dimension.
+ *
+ * <p>This is the base type for units of energy dimension. It is also used to specify the dimension
+ * for {@link Measure}: <code>Measure&lt;EnergyUnit&gt;</code>.
+ *
+ * <p>Actual units (such as {@link Units#Joules} and {@link Units#Kilojoules}) can be found in the
+ * {@link Units} class.
+ */
+public final class EnergyUnit extends Unit {
+  EnergyUnit(
+      EnergyUnit baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  EnergyUnit(EnergyUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
+    super(baseUnit, baseUnitEquivalent, name, symbol);
+  }
+
+  @Override
+  public EnergyUnit getBaseUnit() {
+    return (EnergyUnit) super.getBaseUnit();
+  }
+
+  /**
+   * Combines this unit of energy with a unit of time to create a unit of power.
+   *
+   * @param period the period of the change in energy
+   * @return the combined unit of power
+   */
+  @Override
+  public PowerUnit per(TimeUnit period) {
+    return PowerUnit.combine(this, period);
+  }
+
+  /**
+   * Creates a ratio unit between this unit and an arbitrary other unit.
+   *
+   * @param other the other unit
+   * @param <U> the type of the other unit
+   * @return the ratio unit
+   */
+  public <U extends Unit> PerUnit<EnergyUnit, U> per(U other) {
+    return PerUnit.combine(this, other);
+  }
+
+  /**
+   * Converts a measurement value in terms of another unit to this unit.
+   *
+   * @param magnitude the magnitude of the measurement in terms of the other unit
+   * @param otherUnit the other unit
+   * @return the value of the measurement in terms of this unit
+   */
+  public double convertFrom(double magnitude, EnergyUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+
+  @Override
+  public Energy of(double magnitude) {
+    return new ImmutableEnergy(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public Energy ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableEnergy(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public Energy zero() {
+    return (Energy) super.zero();
+  }
+
+  @Override
+  public Energy one() {
+    return (Energy) super.one();
+  }
+
+  @Override
+  public MutEnergy mutable(double initialMagnitude) {
+    return new MutEnergy(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
new file mode 100644
index 00000000000..9fead01b377
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
@@ -0,0 +1,113 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units;
+
+import edu.wpi.first.units.measure.Force;
+import edu.wpi.first.units.measure.ImmutableForce;
+import edu.wpi.first.units.measure.MutForce;
+
+/** A unit of force like {@link Units#Newtons}. */
+public final class ForceUnit extends MultUnit<MassUnit, LinearAccelerationUnit> {
+  private static final CombinatoryUnitCache<MassUnit, LinearAccelerationUnit, ForceUnit> cache =
+      new CombinatoryUnitCache<>(ForceUnit::new);
+
+  ForceUnit(MassUnit mass, LinearAccelerationUnit acceleration) {
+    super(
+        mass.isBaseUnit() && acceleration.isBaseUnit()
+            ? null
+            : combine(mass.getBaseUnit(), acceleration.getBaseUnit()),
+        mass,
+        acceleration);
+  }
+
+  ForceUnit(
+      ForceUnit baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  /**
+   * Combines a mass and (linear) acceleration to form a unit of force.
+   *
+   * @param mass the unit of mass
+   * @param acceleration the unit of acceleration
+   * @return the combined unit of force
+   */
+  public static ForceUnit combine(MassUnit mass, LinearAccelerationUnit acceleration) {
+    return cache.combine(mass, acceleration);
+  }
+
+  @Override
+  public ForceUnit getBaseUnit() {
+    return (ForceUnit) super.getBaseUnit();
+  }
+
+  /**
+   * Multiplies this force unit by a unit of distance to create a unit of torque.
+   *
+   * @param distance the unit of distance
+   * @return the combined torque unit
+   */
+  public TorqueUnit multAsTorque(DistanceUnit distance) {
+    return TorqueUnit.combine(distance, this);
+  }
+
+  // TODO: Add a multAsEnergy equivalent
+
+  @Override
+  public Force of(double magnitude) {
+    return new ImmutableForce(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public Force ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableForce(toBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public Force zero() {
+    return (Force) super.zero();
+  }
+
+  @Override
+  public Force one() {
+    return (Force) super.one();
+  }
+
+  @Override
+  public MutForce mutable(double initialMagnitude) {
+    return new MutForce(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+
+  @Override
+  public VelocityUnit<ForceUnit> per(TimeUnit time) {
+    return VelocityUnit.combine(this, time);
+  }
+
+  /**
+   * Creates a ratio unit between this unit and an arbitrary other unit.
+   *
+   * @param other the other unit
+   * @param <U> the type of the other unit
+   * @return the ratio unit
+   */
+  public <U extends Unit> PerUnit<ForceUnit, U> per(U other) {
+    return PerUnit.combine(this, other);
+  }
+
+  /**
+   * Converts a measurement value in terms of another unit to this unit.
+   *
+   * @param magnitude the magnitude of the measurement in terms of the other unit
+   * @param otherUnit the other unit
+   * @return the value of the measurement in terms of this unit
+   */
+  public double convertFrom(double magnitude, ForceUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java
new file mode 100644
index 00000000000..b2989fb8833
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java
@@ -0,0 +1,114 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units;
+
+import static edu.wpi.first.units.Units.Value;
+
+import edu.wpi.first.units.measure.Frequency;
+import edu.wpi.first.units.measure.ImmutableFrequency;
+import edu.wpi.first.units.measure.MutFrequency;
+
+/** A unit of frequency like {@link edu.wpi.first.units.Units#Hertz}. */
+public final class FrequencyUnit extends PerUnit<DimensionlessUnit, TimeUnit> {
+  private static final CombinatoryUnitCache<DimensionlessUnit, TimeUnit, FrequencyUnit> cache =
+      new CombinatoryUnitCache<>(FrequencyUnit::new);
+
+  FrequencyUnit(DimensionlessUnit numerator, TimeUnit denominator) {
+    super(
+        numerator.isBaseUnit() && denominator.isBaseUnit()
+            ? null
+            : combine(numerator.getBaseUnit(), denominator.getBaseUnit()),
+        numerator,
+        denominator);
+  }
+
+  FrequencyUnit(
+      FrequencyUnit baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  /**
+   * Combines a dimensionless unit and a cycle period to create a frequency.
+   *
+   * @param dim the dimensionless unit
+   * @param period the unit of time
+   * @return the combined unit of frequency
+   */
+  public static FrequencyUnit combine(DimensionlessUnit dim, TimeUnit period) {
+    return cache.combine(dim, period);
+  }
+
+  @Override
+  public FrequencyUnit getBaseUnit() {
+    return (FrequencyUnit) super.getBaseUnit();
+  }
+
+  /**
+   * Inverts a unit of time to get its corresponding frequency (as if the unit of time is the period
+   * of the frequency).
+   *
+   * @param time period of the associated frequency
+   * @return the frequency associated with the period
+   */
+  public static FrequencyUnit inverse(TimeUnit time) {
+    return combine(Value, time);
+  }
+
+  @Override
+  public Frequency of(double magnitude) {
+    return new ImmutableFrequency(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public Frequency ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableFrequency(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public Frequency zero() {
+    return (Frequency) super.zero();
+  }
+
+  @Override
+  public Frequency one() {
+    return (Frequency) super.one();
+  }
+
+  @Override
+  public MutFrequency mutable(double initialMagnitude) {
+    return new MutFrequency(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+
+  @Override
+  public VelocityUnit<FrequencyUnit> per(TimeUnit time) {
+    return VelocityUnit.combine(this, time);
+  }
+
+  /**
+   * Creates a ratio unit between this unit and an arbitrary other unit.
+   *
+   * @param other the other unit
+   * @param <U> the type of the other unit
+   * @return the ratio unit
+   */
+  public <U extends Unit> PerUnit<FrequencyUnit, U> per(U other) {
+    return PerUnit.combine(this, other);
+  }
+
+  /**
+   * Converts a measurement value in terms of another unit to this unit.
+   *
+   * @param magnitude the magnitude of the measurement in terms of the other unit
+   * @param otherUnit the other unit
+   * @return the value of the measurement in terms of this unit
+   */
+  public double convertFrom(double magnitude, FrequencyUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/ImmutableMeasure.java b/wpiunits/src/main/java/edu/wpi/first/units/ImmutableMeasure.java
index 60e92e5715a..1abb789f991 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/ImmutableMeasure.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/ImmutableMeasure.java
@@ -4,7 +4,8 @@
 
 package edu.wpi.first.units;
 
-import java.util.Objects;
+import edu.wpi.first.units.measure.Dimensionless;
+import edu.wpi.first.units.mutable.GenericMutableMeasureImpl;
 
 /**
  * A measure holds the magnitude and unit of some dimension, such as distance, time, or speed. An
@@ -12,28 +13,13 @@
  * situations and gives compile-time safety. Two measures with the same <i>unit</i> and
  * <i>magnitude</i> are effectively equivalent objects.
  *
+ * @param magnitude the magnitude of the measure in terms of its unit
+ * @param baseUnitMagnitude the magnitude of the measure in terms of its base unit
+ * @param unit the unit of the measurement
  * @param <U> the unit type of the measure
  */
-public class ImmutableMeasure<U extends Unit<U>> implements Measure<U> {
-  private final double m_magnitude;
-  private final double m_baseUnitMagnitude;
-  private final U m_unit;
-
-  /**
-   * Creates a new immutable measure instance. This shouldn't be used directly; prefer one of the
-   * factory methods instead.
-   *
-   * @param magnitude the magnitude of this measure
-   * @param unit the unit of this measure.
-   */
-  @SuppressWarnings("unchecked")
-  ImmutableMeasure(double magnitude, double baseUnitMagnitude, Unit<U> unit) {
-    Objects.requireNonNull(unit, "Unit cannot be null");
-    m_magnitude = magnitude;
-    m_baseUnitMagnitude = baseUnitMagnitude;
-    m_unit = (U) unit;
-  }
-
+public record ImmutableMeasure<U extends Unit>(double magnitude, double baseUnitMagnitude, U unit)
+    implements Measure<U> {
   /**
    * Creates a new measure in the given unit with a magnitude equal to the given one in base units.
    *
@@ -42,8 +28,7 @@ public class ImmutableMeasure<U extends Unit<U>> implements Measure<U> {
    * @param unit the unit of measure
    * @return a new measure
    */
-  public static <U extends Unit<U>> ImmutableMeasure<U> ofBaseUnits(
-      double baseUnitMagnitude, Unit<U> unit) {
+  public static <U extends Unit> ImmutableMeasure<U> ofBaseUnits(double baseUnitMagnitude, U unit) {
     return new ImmutableMeasure<>(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
   }
 
@@ -55,51 +40,53 @@ public static <U extends Unit<U>> ImmutableMeasure<U> ofBaseUnits(
    * @param unit the unit of measure
    * @return a new measure
    */
-  public static <U extends Unit<U>> ImmutableMeasure<U> ofRelativeUnits(
-      double relativeMagnitude, Unit<U> unit) {
+  public static <U extends Unit> ImmutableMeasure<U> ofRelativeUnits(
+      double relativeMagnitude, U unit) {
     return new ImmutableMeasure<>(relativeMagnitude, unit.toBaseUnits(relativeMagnitude), unit);
   }
 
-  /** Gets the unitless magnitude of this measure. */
   @Override
-  public double magnitude() {
-    return m_magnitude;
+  public Measure<U> copy() {
+    return this; // already immutable, no need to allocate a new object
   }
 
   @Override
-  public double baseUnitMagnitude() {
-    return m_baseUnitMagnitude;
+  public MutableMeasure<U, ?, ?> mutableCopy() {
+    return new GenericMutableMeasureImpl<>(magnitude, baseUnitMagnitude, unit);
   }
 
-  /** Gets the units of this measure. */
   @Override
-  public U unit() {
-    return m_unit;
+  public Measure<U> unaryMinus() {
+    return ofBaseUnits(0 - baseUnitMagnitude, unit);
   }
 
-  /**
-   * Checks for <i>object equality</i>. To check if two measures are <i>equivalent</i>, use {@link
-   * #isEquivalent(Measure) isEquivalent}.
-   */
   @Override
-  public boolean equals(Object o) {
-    return o instanceof Measure<?> that
-        && Objects.equals(m_unit, that.unit())
-        && m_baseUnitMagnitude == that.baseUnitMagnitude();
+  public Measure<U> plus(Measure<? extends U> other) {
+    return ofBaseUnits(baseUnitMagnitude + other.baseUnitMagnitude(), unit);
   }
 
   @Override
-  public int hashCode() {
-    return Objects.hash(m_magnitude, m_unit);
+  public Measure<U> minus(Measure<? extends U> other) {
+    return ofBaseUnits(baseUnitMagnitude - other.baseUnitMagnitude(), unit);
   }
 
   @Override
-  public Measure<U> copy() {
-    return this; // already immutable, no need to allocate a new object
+  public Measure<U> times(double multiplier) {
+    return ofBaseUnits(baseUnitMagnitude * multiplier, unit);
+  }
+
+  @Override
+  public Measure<U> times(Dimensionless multiplier) {
+    return ofBaseUnits(baseUnitMagnitude * multiplier.baseUnitMagnitude(), unit);
+  }
+
+  @Override
+  public Measure<U> divide(double divisor) {
+    return ofBaseUnits(baseUnitMagnitude / divisor, unit);
   }
 
   @Override
-  public String toString() {
-    return toShortString();
+  public Measure<U> divide(Dimensionless divisor) {
+    return ofBaseUnits(baseUnitMagnitude / divisor.baseUnitMagnitude(), unit);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearAccelerationUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearAccelerationUnit.java
new file mode 100644
index 00000000000..9756ca6084a
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearAccelerationUnit.java
@@ -0,0 +1,125 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units;
+
+import edu.wpi.first.units.measure.ImmutableLinearAcceleration;
+import edu.wpi.first.units.measure.LinearAcceleration;
+import edu.wpi.first.units.measure.MutLinearAcceleration;
+
+/**
+ * A unit of linear acceleration like {@link edu.wpi.first.units.Units#MetersPerSecondPerSecond}.
+ */
+public final class LinearAccelerationUnit extends PerUnit<LinearVelocityUnit, TimeUnit> {
+  private static final CombinatoryUnitCache<LinearVelocityUnit, TimeUnit, LinearAccelerationUnit>
+      cache = new CombinatoryUnitCache<>(LinearAccelerationUnit::new);
+
+  LinearAccelerationUnit(LinearVelocityUnit numerator, TimeUnit denominator) {
+    super(
+        numerator.isBaseUnit() && denominator.isBaseUnit()
+            ? null
+            : combine(numerator.getBaseUnit(), denominator.getBaseUnit()),
+        numerator,
+        denominator);
+  }
+
+  LinearAccelerationUnit(
+      LinearAccelerationUnit baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  /**
+   * Combines a linear velocity and time unit to form a unit of linear acceleration.
+   *
+   * @param velocity the unit of linear velocity
+   * @param period the unit of time
+   * @return the combined unit of linear acceleration
+   */
+  public static LinearAccelerationUnit combine(LinearVelocityUnit velocity, TimeUnit period) {
+    return cache.combine(velocity, period);
+  }
+
+  @Override
+  public LinearAccelerationUnit getBaseUnit() {
+    return (LinearAccelerationUnit) super.getBaseUnit();
+  }
+
+  @Override
+  public LinearAcceleration of(double magnitude) {
+    return new ImmutableLinearAcceleration(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public LinearAcceleration ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableLinearAcceleration(
+        fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public LinearAcceleration zero() {
+    return (LinearAcceleration) super.zero();
+  }
+
+  @Override
+  public LinearAcceleration one() {
+    return (LinearAcceleration) super.one();
+  }
+
+  @Override
+  public MutLinearAcceleration mutable(double initialMagnitude) {
+    return new MutLinearAcceleration(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+
+  @Override
+  public VelocityUnit<LinearAccelerationUnit> per(TimeUnit time) {
+    return VelocityUnit.combine(this, time);
+  }
+
+  /**
+   * Creates a ratio unit between this unit and an arbitrary other unit.
+   *
+   * @param other the other unit
+   * @param <U> the type of the other unit
+   * @return the ratio unit
+   */
+  public <U extends Unit> PerUnit<LinearAccelerationUnit, U> per(U other) {
+    return PerUnit.combine(this, other);
+  }
+
+  /**
+   * Converts a measurement value in terms of another unit to this unit.
+   *
+   * @param magnitude the magnitude of the measurement in terms of the other unit
+   * @param otherUnit the other unit
+   * @return the value of the measurement in terms of this unit
+   */
+  public double convertFrom(double magnitude, LinearAccelerationUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+
+  /**
+   * Gets the unit of the changing velocity. This is equivalent to {@link #numerator()} and is left
+   * for historical purposes.
+   *
+   * @return the unit of the changing velocity
+   */
+  public LinearVelocityUnit getUnit() {
+    return numerator();
+  }
+
+  /**
+   * Gets the unit of the acceleration period (how long it takes for a measured velocity to change
+   * by one unit of velocity). This is equivalent to {@link #numerator()} and is left for historical
+   * purposes.
+   *
+   * @return the unit of the acceleration period
+   */
+  public TimeUnit getPeriod() {
+    return denominator();
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
new file mode 100644
index 00000000000..489955b3a6d
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
@@ -0,0 +1,111 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units;
+
+import edu.wpi.first.units.measure.ImmutableLinearMomentum;
+import edu.wpi.first.units.measure.LinearMomentum;
+import edu.wpi.first.units.measure.MutLinearMomentum;
+
+/** A unit of linear momentum like {@link edu.wpi.first.units.Units#KilogramMetersPerSecond}. */
+public final class LinearMomentumUnit extends MultUnit<MassUnit, LinearVelocityUnit> {
+  private static final CombinatoryUnitCache<MassUnit, LinearVelocityUnit, LinearMomentumUnit>
+      cache = new CombinatoryUnitCache<>(LinearMomentumUnit::new);
+
+  LinearMomentumUnit(MassUnit unit, LinearVelocityUnit linearVelocityUnit) {
+    super(
+        unit.isBaseUnit() && linearVelocityUnit.isBaseUnit()
+            ? null
+            : combine(unit.getBaseUnit(), linearVelocityUnit.getBaseUnit()),
+        unit,
+        linearVelocityUnit);
+  }
+
+  LinearMomentumUnit(
+      MultUnit<MassUnit, LinearVelocityUnit> baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  /**
+   * Combines a mass and linear velocity unit to form a combined linear momentum unit.
+   *
+   * @param mass the unit of mass
+   * @param velocity the unit of velocity
+   * @return the combined unit of momentum
+   */
+  public static LinearMomentumUnit combine(MassUnit mass, LinearVelocityUnit velocity) {
+    return cache.combine(mass, velocity);
+  }
+
+  @Override
+  public LinearMomentumUnit getBaseUnit() {
+    return (LinearMomentumUnit) super.getBaseUnit();
+  }
+
+  @Override
+  public LinearMomentum of(double magnitude) {
+    return new ImmutableLinearMomentum(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public LinearMomentum ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableLinearMomentum(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public LinearMomentum zero() {
+    return (LinearMomentum) super.zero();
+  }
+
+  @Override
+  public LinearMomentum one() {
+    return (LinearMomentum) super.one();
+  }
+
+  @Override
+  public MutLinearMomentum mutable(double initialMagnitude) {
+    return new MutLinearMomentum(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+
+  @Override
+  public VelocityUnit<LinearMomentumUnit> per(TimeUnit time) {
+    return VelocityUnit.combine(this, time);
+  }
+
+  /**
+   * Creates a ratio unit between this unit and an arbitrary other unit.
+   *
+   * @param other the other unit
+   * @param <U> the type of the other unit
+   * @return the ratio unit
+   */
+  public <U extends Unit> PerUnit<LinearMomentumUnit, U> per(U other) {
+    return PerUnit.combine(this, other);
+  }
+
+  /**
+   * Converts a measurement value in terms of another unit to this unit.
+   *
+   * @param magnitude the magnitude of the measurement in terms of the other unit
+   * @param otherUnit the other unit
+   * @return the value of the measurement in terms of this unit
+   */
+  public double convertFrom(double magnitude, LinearMomentumUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+
+  /**
+   * Multiplies this unit by distance to form a unit of angular momentum.
+   *
+   * @param distance the unit of distance
+   * @return the combined unit of angular momentum
+   */
+  public AngularMomentumUnit mult(DistanceUnit distance) {
+    return AngularMomentumUnit.combine(this, distance);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java
new file mode 100644
index 00000000000..ca155ce0cda
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java
@@ -0,0 +1,107 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units;
+
+import edu.wpi.first.units.measure.ImmutableLinearVelocity;
+import edu.wpi.first.units.measure.LinearVelocity;
+import edu.wpi.first.units.measure.MutLinearVelocity;
+
+/** A unit of linear velocity like {@link edu.wpi.first.units.Units#MetersPerSecond}. */
+public final class LinearVelocityUnit extends PerUnit<DistanceUnit, TimeUnit> {
+  private static final CombinatoryUnitCache<DistanceUnit, TimeUnit, LinearVelocityUnit> cache =
+      new CombinatoryUnitCache<>(LinearVelocityUnit::new);
+
+  LinearVelocityUnit(DistanceUnit unit, TimeUnit period) {
+    super(
+        unit.isBaseUnit() && period.isBaseUnit()
+            ? null
+            : combine(unit.getBaseUnit(), period.getBaseUnit()),
+        unit,
+        period);
+  }
+
+  LinearVelocityUnit(
+      PerUnit<DistanceUnit, TimeUnit> baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  /**
+   * Combines a distance and time unit for form a combined unit of velocity.
+   *
+   * @param distance the unit of distance
+   * @param period the unit of time
+   * @return the combined velocity unit
+   */
+  public static LinearVelocityUnit combine(DistanceUnit distance, TimeUnit period) {
+    return cache.combine(distance, period);
+  }
+
+  @Override
+  public LinearVelocityUnit getBaseUnit() {
+    return (LinearVelocityUnit) super.getBaseUnit();
+  }
+
+  @Override
+  public LinearVelocity of(double magnitude) {
+    return new ImmutableLinearVelocity(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public LinearVelocity ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableLinearVelocity(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public LinearVelocity zero() {
+    return (LinearVelocity) super.zero();
+  }
+
+  @Override
+  public LinearVelocity one() {
+    return (LinearVelocity) super.one();
+  }
+
+  @Override
+  public MutLinearVelocity mutable(double value) {
+    return new MutLinearVelocity(value, toBaseUnits(value), this);
+  }
+
+  /**
+   * Combines this velocity with a time period of change to form a unit of acceleration.
+   *
+   * @param period the period of change in the velocity
+   * @return the combined acceleration unit
+   */
+  @Override
+  public LinearAccelerationUnit per(TimeUnit period) {
+    return LinearAccelerationUnit.combine(this, period);
+  }
+
+  /**
+   * Creates a ratio unit between this unit and an arbitrary other unit.
+   *
+   * @param other the other unit
+   * @param <U> the type of the other unit
+   * @return the ratio unit
+   */
+  public <U extends Unit> PerUnit<LinearVelocityUnit, U> per(U other) {
+    return PerUnit.combine(this, other);
+  }
+
+  /**
+   * Converts a measurement value in terms of another unit to this unit.
+   *
+   * @param magnitude the magnitude of the measurement in terms of the other unit
+   * @param otherUnit the other unit
+   * @return the value of the measurement in terms of this unit
+   */
+  public double convertFrom(double magnitude, LinearVelocityUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Mass.java b/wpiunits/src/main/java/edu/wpi/first/units/Mass.java
deleted file mode 100644
index 5d41753603b..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/Mass.java
+++ /dev/null
@@ -1,30 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.units;
-
-/**
- * Unit of mass dimension.
- *
- * <p>This is the base type for units of mass dimension. It is also used to specify the dimension
- * for {@link Measure}: <code>Measure&lt;Mass&gt;</code>.
- *
- * <p>Actual units (such as {@link Units#Grams} and {@link Units#Pounds}) can be found in the {@link
- * Units} class.
- */
-public class Mass extends Unit<Mass> {
-  /** Creates a new unit with the given name and multiplier to the base unit. */
-  Mass(Mass baseUnit, double baseUnitEquivalent, String name, String symbol) {
-    super(baseUnit, baseUnitEquivalent, name, symbol);
-  }
-
-  Mass(
-      Mass baseUnit,
-      UnaryFunction toBaseConverter,
-      UnaryFunction fromBaseConverter,
-      String name,
-      String symbol) {
-    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
new file mode 100644
index 00000000000..dad3fd41489
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
@@ -0,0 +1,112 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units;
+
+import edu.wpi.first.units.measure.ImmutableMass;
+import edu.wpi.first.units.measure.Mass;
+import edu.wpi.first.units.measure.MutMass;
+
+/**
+ * Unit of mass dimension.
+ *
+ * <p>This is the base type for units of mass dimension. It is also used to specify the dimension
+ * for the mass-specific {@link Mass} measurement type.
+ *
+ * <p>Actual units (such as {@link Units#Grams} and {@link Units#Pounds}) can be found in the {@link
+ * Units} class.
+ */
+public final class MassUnit extends Unit {
+  /** Creates a new unit with the given name and multiplier to the base unit. */
+  MassUnit(MassUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
+    super(baseUnit, baseUnitEquivalent, name, symbol);
+  }
+
+  MassUnit(
+      MassUnit baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  @Override
+  public MassUnit getBaseUnit() {
+    return (MassUnit) super.getBaseUnit();
+  }
+
+  @Override
+  public Mass of(double magnitude) {
+    return new ImmutableMass(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public Mass ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableMass(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public Mass zero() {
+    return (Mass) super.zero();
+  }
+
+  @Override
+  public Mass one() {
+    return (Mass) super.one();
+  }
+
+  @Override
+  public MutMass mutable(double initialMagnitude) {
+    return new MutMass(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+
+  @Override
+  public VelocityUnit<MassUnit> per(TimeUnit period) {
+    return VelocityUnit.combine(this, period);
+  }
+
+  /**
+   * Creates a ratio unit between this unit and an arbitrary other unit.
+   *
+   * @param other the other unit
+   * @param <U> the type of the other unit
+   * @return the ratio unit
+   */
+  public <U extends Unit> PerUnit<MassUnit, U> per(U other) {
+    return PerUnit.combine(this, other);
+  }
+
+  /**
+   * Converts a measurement value in terms of another mass unit to this unit.
+   *
+   * @param magnitude the magnitude of the measurement in terms of the other mass unit
+   * @param otherUnit the other mass unit
+   * @return the value of the measurement in terms of this unit
+   */
+  public double convertFrom(double magnitude, MassUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+
+  /**
+   * Multiplies this mass unit by a unit of linear velocity to form a combined unit of linear
+   * momentum.
+   *
+   * @param velocity the unit of velocity
+   * @return the combined unit of momentum
+   */
+  public LinearMomentumUnit mult(LinearVelocityUnit velocity) {
+    return LinearMomentumUnit.combine(this, velocity);
+  }
+
+  /**
+   * Multiplies this mass unit by a unit of linear acceleration to form a combined unit of force.
+   *
+   * @param acceleration the unit of acceleration
+   * @return the combined unit of force
+   */
+  public ForceUnit mult(LinearAccelerationUnit acceleration) {
+    return ForceUnit.combine(this, acceleration);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Measure.java b/wpiunits/src/main/java/edu/wpi/first/units/Measure.java
index f71b80238f8..86c8de9a887 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Measure.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Measure.java
@@ -4,7 +4,32 @@
 
 package edu.wpi.first.units;
 
-import static edu.wpi.first.units.Units.Seconds;
+import static edu.wpi.first.units.Units.Value;
+
+import edu.wpi.first.units.measure.Acceleration;
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.AngularAcceleration;
+import edu.wpi.first.units.measure.AngularMomentum;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Current;
+import edu.wpi.first.units.measure.Dimensionless;
+import edu.wpi.first.units.measure.Distance;
+import edu.wpi.first.units.measure.Energy;
+import edu.wpi.first.units.measure.Force;
+import edu.wpi.first.units.measure.Frequency;
+import edu.wpi.first.units.measure.LinearAcceleration;
+import edu.wpi.first.units.measure.LinearMomentum;
+import edu.wpi.first.units.measure.LinearVelocity;
+import edu.wpi.first.units.measure.Mass;
+import edu.wpi.first.units.measure.MomentOfInertia;
+import edu.wpi.first.units.measure.Mult;
+import edu.wpi.first.units.measure.Per;
+import edu.wpi.first.units.measure.Power;
+import edu.wpi.first.units.measure.Temperature;
+import edu.wpi.first.units.measure.Time;
+import edu.wpi.first.units.measure.Torque;
+import edu.wpi.first.units.measure.Velocity;
+import edu.wpi.first.units.measure.Voltage;
 
 /**
  * A measure holds the magnitude and unit of some dimension, such as distance, time, or speed. Two
@@ -12,7 +37,7 @@
  *
  * @param <U> the unit type of the measure
  */
-public interface Measure<U extends Unit<U>> extends Comparable<Measure<U>> {
+public interface Measure<U extends Unit> extends Comparable<Measure<U>> {
   /**
    * The threshold for two measures to be considered equivalent if converted to the same unit. This
    * is only needed due to floating-point error.
@@ -53,7 +78,7 @@ public interface Measure<U extends Unit<U>> extends Comparable<Measure<U>> {
    * @param unit the unit to convert this measure to
    * @return the value of this measure in the given unit
    */
-  default double in(Unit<U> unit) {
+  default double in(U unit) {
     if (this.unit().equals(unit)) {
       return magnitude();
     } else {
@@ -62,18 +87,74 @@ default double in(Unit<U> unit) {
   }
 
   /**
-   * Multiplies this measurement by some constant multiplier and returns the result. The magnitude
-   * of the result will be the <i>base</i> magnitude multiplied by the scalar value. If the measure
-   * uses a unit with a non-linear relation to its base unit (such as Fahrenheit for temperature),
-   * then the result will only be a multiple <i>in terms of the base unit</i>.
+   * A convenience method to get the base unit of the measurement. Equivalent to {@code
+   * unit().getBaseUnit()}.
    *
-   * @param multiplier the constant to multiply by
-   * @return the resulting measure
+   * @return the base unit of measure.
    */
-  default Measure<U> times(double multiplier) {
-    return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude() * multiplier, unit());
+  @SuppressWarnings("unchecked")
+  default U baseUnit() {
+    return (U) unit().getBaseUnit();
   }
 
+  /**
+   * Returns an immutable copy of this measure. The copy can be used freely and is guaranteed never
+   * to change.
+   *
+   * @return the copied measure
+   */
+  Measure<U> copy();
+
+  /**
+   * Returns a mutable copy of this measure. It will be initialized to the current state of this
+   * measure, but can be changed over time without needing to allocate new measurement objects.
+   *
+   * @return the copied measure
+   */
+  MutableMeasure<U, ?, ?> mutableCopy();
+
+  /**
+   * Returns a measure equivalent to this one equal to zero minus its current value. For non-linear
+   * unit types like temperature, the zero point is treated as the zero value of the base unit (eg
+   * Kelvin). In effect, this means code like {@code Celsius.of(10).unaryMinus()} returns a value
+   * equivalent to -10 Kelvin, and <i>not</i> -10° Celsius.
+   *
+   * @return a measure equal to zero minus this measure
+   */
+  Measure<U> unaryMinus();
+
+  /**
+   * Adds another measure of the same unit type to this one.
+   *
+   * @param other the measurement to add
+   * @return a measure of the sum of both measures
+   */
+  Measure<U> plus(Measure<? extends U> other);
+
+  /**
+   * Subtracts another measure of the same unit type from this one.
+   *
+   * @param other the measurement to subtract
+   * @return a measure of the difference between the measures
+   */
+  Measure<U> minus(Measure<? extends U> other);
+
+  /**
+   * Multiplies this measure by a scalar unitless multiplier.
+   *
+   * @param multiplier the scalar multiplication factor
+   * @return the scaled result
+   */
+  Measure<U> times(double multiplier);
+
+  /**
+   * Multiplies this measure by a scalar dimensionless multiplier.
+   *
+   * @param multiplier the scalar multiplication factor
+   * @return the scaled result
+   */
+  Measure<U> times(Dimensionless multiplier);
+
   /**
    * Generates a new measure that is equal to this measure multiplied by another. Some dimensional
    * analysis is performed to reduce the units down somewhat; for example, multiplying a {@code
@@ -81,170 +162,825 @@ default Measure<U> times(double multiplier) {
    * Measure<Distance>} instead of the naive {@code Measure<Mult<Time, Velocity<Distance>>}. This is
    * not guaranteed to perform perfect dimensional analysis.
    *
-   * @param <U2> the type of the other measure to multiply by
-   * @param other the unit to multiply by
+   * @param multiplier the unit to multiply by
    * @return the multiplicative unit
    */
-  default <U2 extends Unit<U2>> Measure<?> times(Measure<U2> other) {
-    if (other.unit() instanceof Dimensionless) {
-      // scalar multiplication
-      return times(other.baseUnitMagnitude());
-    }
+  default Measure<?> times(Measure<?> multiplier) {
+    final double baseUnitResult = baseUnitMagnitude() * multiplier.baseUnitMagnitude();
 
-    if (unit() instanceof Per<?, ?> per
-        && other.unit().getBaseUnit().equals(per.denominator().getBaseUnit())) {
-      // denominator of the Per cancels out, return with just the units of the numerator
-      Unit<?> numerator = per.numerator();
-      return numerator.ofBaseUnits(baseUnitMagnitude() * other.baseUnitMagnitude());
-    } else if (unit() instanceof Velocity<?> v && other.unit().getBaseUnit().equals(Seconds)) {
-      // Multiplying a velocity by a time, return the scalar unit (eg Distance)
-      Unit<?> numerator = v.getUnit();
-      return numerator.ofBaseUnits(baseUnitMagnitude() * other.baseUnitMagnitude());
-    } else if (other.unit() instanceof Per<?, ?> per
-        && unit().getBaseUnit().equals(per.denominator().getBaseUnit())) {
-      Unit<?> numerator = per.numerator();
-      return numerator.ofBaseUnits(baseUnitMagnitude() * other.baseUnitMagnitude());
-    } else if (unit() instanceof Per<?, ?> per
-        && other.unit() instanceof Per<?, ?> otherPer
+    // First try to eliminate any common units
+    if (unit() instanceof PerUnit<?, ?> ratio
+        && multiplier.baseUnit().equals(ratio.denominator().getBaseUnit())) {
+      // Per<N, D> * D -> yield N
+      // Case 1: denominator of the Per cancels out, return with just the units of the numerator
+      return ratio.numerator().ofBaseUnits(baseUnitResult);
+    } else if (multiplier.baseUnit() instanceof PerUnit<?, ?> ratio
+        && baseUnit().equals(ratio.denominator().getBaseUnit())) {
+      // D * Per<N, D) -> yield N
+      // Case 2: Same as Case 1, just flipped between this and the multiplier
+      return ratio.numerator().ofBaseUnits(baseUnitResult);
+    } else if (unit() instanceof PerUnit<?, ?> per
+        && multiplier.unit() instanceof PerUnit<?, ?> otherPer
         && per.denominator().getBaseUnit().equals(otherPer.numerator().getBaseUnit())
         && per.numerator().getBaseUnit().equals(otherPer.denominator().getBaseUnit())) {
       // multiplying eg meters per second * milliseconds per foot
       // return a scalar
-      return Units.Value.of(baseUnitMagnitude() * other.baseUnitMagnitude());
+      return Value.of(baseUnitResult);
+    }
+
+    // No common units to eliminate, is one of them dimensionless?
+    // Note that this must come *after* the multiplier cases, otherwise
+    // Per<U, Dimensionless> * Dimensionless will not return a U
+    if (multiplier.unit() instanceof DimensionlessUnit) {
+      // scalar multiplication of this
+      return times(multiplier.baseUnitMagnitude());
+    } else if (unit() instanceof DimensionlessUnit) {
+      // scalar multiplication of multiplier
+      return multiplier.times(baseUnitMagnitude());
     }
 
-    // Dimensional analysis fallthrough, do a basic unit multiplication
-    return unit().mult(other.unit()).ofBaseUnits(baseUnitMagnitude() * other.baseUnitMagnitude());
+    if (multiplier instanceof Acceleration<?> acceleration) {
+      return times(acceleration);
+    } else if (multiplier instanceof Angle angle) {
+      return times(angle);
+    } else if (multiplier instanceof AngularAcceleration angularAcceleration) {
+      return times(angularAcceleration);
+    } else if (multiplier instanceof AngularMomentum angularMomentum) {
+      return times(angularMomentum);
+    } else if (multiplier instanceof AngularVelocity angularVelocity) {
+      return times(angularVelocity);
+    } else if (multiplier instanceof Current current) {
+      return times(current);
+    } else if (multiplier instanceof Dimensionless dimensionless) {
+      // n.b. this case should already be covered
+      return times(dimensionless);
+    } else if (multiplier instanceof Distance distance) {
+      return times(distance);
+    } else if (multiplier instanceof Energy energy) {
+      return times(energy);
+    } else if (multiplier instanceof Force force) {
+      return times(force);
+    } else if (multiplier instanceof Frequency frequency) {
+      return times(frequency);
+    } else if (multiplier instanceof LinearAcceleration linearAcceleration) {
+      return times(linearAcceleration);
+    } else if (multiplier instanceof LinearVelocity linearVelocity) {
+      return times(linearVelocity);
+    } else if (multiplier instanceof Mass mass) {
+      return times(mass);
+    } else if (multiplier instanceof MomentOfInertia momentOfInertia) {
+      return times(momentOfInertia);
+    } else if (multiplier instanceof Mult<?, ?> mult) {
+      return times(mult);
+    } else if (multiplier instanceof Per<?, ?> per) {
+      return times(per);
+    } else if (multiplier instanceof Power power) {
+      return times(power);
+    } else if (multiplier instanceof Temperature temperature) {
+      return times(temperature);
+    } else if (multiplier instanceof Time time) {
+      return times(time);
+    } else if (multiplier instanceof Torque torque) {
+      return times(torque);
+    } else if (multiplier instanceof Velocity<?> velocity) {
+      return times(velocity);
+    } else if (multiplier instanceof Voltage voltage) {
+      return times(voltage);
+    } else {
+      // Dimensional analysis fallthrough or a generic input measure type
+      // Do a basic unit multiplication
+      return MultUnit.combine(unit(), multiplier.unit()).ofBaseUnits(baseUnitResult);
+    }
   }
 
   /**
-   * Divides this measurement by some constant divisor and returns the result. This is equivalent to
-   * {@code times(1 / divisor)}
+   * Multiplies this measure by an acceleration and returns the resulting measure in the most
+   * appropriate unit.
    *
-   * @param divisor the constant to divide by
-   * @return the resulting measure
-   * @see #times(double)
+   * @param multiplier the measurement to multiply by.
+   * @return the multiplication result
+   */
+  default Measure<?> times(Acceleration<?> multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  /**
+   * Multiplies this measure by an angle and returns the resulting measure in the most appropriate
+   * unit.
+   *
+   * @param multiplier the measurement to multiply by.
+   * @return the multiplication result
+   */
+  default Measure<?> times(Angle multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  /**
+   * Multiplies this measure by an angular acceleration and returns the resulting measure in the
+   * most appropriate unit.
+   *
+   * @param multiplier the measurement to multiply by.
+   * @return the multiplication result
+   */
+  default Measure<?> times(AngularAcceleration multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  /**
+   * Multiplies this measure by an angular momentum and returns the resulting measure in the most
+   * appropriate unit.
+   *
+   * @param multiplier the measurement to multiply by.
+   * @return the multiplication result
+   */
+  default Measure<?> times(AngularMomentum multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  /**
+   * Multiplies this measure by an angular velocity and returns the resulting measure in the most
+   * appropriate unit.
+   *
+   * @param multiplier the measurement to multiply by.
+   * @return the multiplication result
+   */
+  default Measure<?> times(AngularVelocity multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  /**
+   * Multiplies this measure by an electric current and returns the resulting measure in the most
+   * appropriate unit.
+   *
+   * @param multiplier the measurement to multiply by.
+   * @return the multiplication result
+   */
+  default Measure<?> times(Current multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  /**
+   * Multiplies this measure by a distance and returns the resulting measure in the most appropriate
+   * unit.
+   *
+   * @param multiplier the measurement to multiply by.
+   * @return the multiplication result
+   */
+  default Measure<?> times(Distance multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  /**
+   * Multiplies this measure by an energy and returns the resulting measure in the most appropriate
+   * unit.
+   *
+   * @param multiplier the measurement to multiply by.
+   * @return the multiplication result
+   */
+  default Measure<?> times(Energy multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  /**
+   * Multiplies this measure by a force and returns the resulting measure in the most appropriate
+   * unit.
+   *
+   * @param multiplier the measurement to multiply by.
+   * @return the multiplication result
+   */
+  default Measure<?> times(Force multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  /**
+   * Multiplies this measure by a frequency and returns the resulting measure in the most
+   * appropriate unit. This often - but not always - means implementations return a variation of a
+   * {@link Per} measure.
+   *
+   * @param multiplier the measurement to multiply by.
+   * @return the multiplication result
+   */
+  default Measure<?> times(Frequency multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  /**
+   * Multiplies this measure by a linear acceleration and returns the resulting measure in the most
+   * appropriate unit.
+   *
+   * @param multiplier the measurement to multiply by.
+   * @return the multiplication result
+   */
+  default Measure<?> times(LinearAcceleration multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  /**
+   * Multiplies this measure by a linear momentum and returns the resulting measure in the most
+   * appropriate unit.
+   *
+   * @param multiplier the measurement to multiply by.
+   * @return the multiplication result
+   */
+  default Measure<?> times(LinearMomentum multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  /**
+   * Multiplies this measure by a linear velocity and returns the resulting measure in the most
+   * appropriate unit.
+   *
+   * @param multiplier the measurement to multiply by.
+   * @return the multiplication result
+   */
+  default Measure<?> times(LinearVelocity multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  /**
+   * Multiplies this measure by a mass and returns the resulting measure in the most appropriate
+   * unit.
+   *
+   * @param multiplier the measurement to multiply by.
+   * @return the multiplication result
+   */
+  default Measure<?> times(Mass multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  /**
+   * Multiplies this measure by a moment of intertia and returns the resulting measure in the most
+   * appropriate unit.
+   *
+   * @param multiplier the measurement to multiply by.
+   * @return the multiplication result
+   */
+  default Measure<?> times(MomentOfInertia multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  /**
+   * Multiplies this measure by a generic multiplied measure and returns the resulting measure in
+   * the most appropriate unit.
+   *
+   * @param multiplier the measurement to multiply by.
+   * @return the multiplication result
    */
-  default Measure<U> divide(double divisor) {
-    return times(1 / divisor);
+  default Measure<?> times(Mult<?, ?> multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
   }
 
+  /**
+   * Multiplies this measure by a power and returns the resulting measure in the most appropriate
+   * unit.
+   *
+   * @param multiplier the measurement to multiply by.
+   * @return the multiplication result
+   */
+  default Measure<?> times(Power multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  /**
+   * Multiplies this measure by a generic ratio measurement and returns the resulting measure in the
+   * most appropriate unit.
+   *
+   * @param multiplier the measurement to multiply by.
+   * @return the multiplication result
+   */
+  default Measure<?> times(Per<?, ?> multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  /**
+   * Multiplies this measure by a temperature and returns the resulting measure in the most
+   * appropriate unit.
+   *
+   * @param multiplier the measurement to multiply by.
+   * @return the multiplication result
+   */
+  default Measure<?> times(Temperature multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  /**
+   * Multiplies this measure by a time and returns the resulting measure in the most appropriate
+   * unit.
+   *
+   * @param multiplier the measurement to multiply by.
+   * @return the multiplication result
+   */
+  default Measure<?> times(Time multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  /**
+   * Multiplies this measure by a torque and returns the resulting measure in the most appropriate
+   * unit.
+   *
+   * @param multiplier the measurement to multiply by.
+   * @return the multiplication result
+   */
+  default Measure<?> times(Torque multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  /**
+   * Multiplies this measure by a generic velocity and returns the resulting measure in the most
+   * appropriate unit.
+   *
+   * @param multiplier the measurement to multiply by.
+   * @return the multiplication result
+   */
+  default Measure<?> times(Velocity<?> multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  /**
+   * Multiplies this measure by a voltage and returns the resulting measure in the most appropriate
+   * unit.
+   *
+   * @param multiplier the measurement to multiply by.
+   * @return the multiplication result
+   */
+  default Measure<?> times(Voltage multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  /**
+   * Multiplies this measure by a conversion factor, returning the converted measurement. Unlike
+   * {@link #times(Per)}, this allows for basic unit cancellation to return measurements of a known
+   * dimension.
+   *
+   * @param conversionFactor the conversion factor by which to multiply
+   * @param <Other> the unit type to convert to
+   * @param <M> the concrete return unit type. <strong>Note: the conversion factor's numerator unit
+   *     must return instances of this type from {@link Unit#ofBaseUnits(double)}}</strong>
+   * @return the converted result
+   */
+  @SuppressWarnings("unchecked")
+  default <Other extends Unit, M extends Measure<Other>> M timesConversionFactor(
+      Measure<? extends PerUnit<Other, U>> conversionFactor) {
+    return (M)
+        conversionFactor
+            .unit()
+            .getBaseUnit()
+            .numerator()
+            .ofBaseUnits(baseUnitMagnitude() * conversionFactor.baseUnitMagnitude());
+  }
+
+  /**
+   * Multiplies this measure by another measurement of the inverse unit type (eg Time multiplied by
+   * Frequency) and returns the resulting dimensionless measure.
+   *
+   * @param multiplier the measurement to multiply by.
+   * @return the multiplication result
+   */
+  default Dimensionless timesInverse(
+      Measure<? extends PerUnit<DimensionlessUnit, ? extends U>> multiplier) {
+    return Value.ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  /**
+   * Multiplies this measure by another measurement of something over the unit type (eg Time
+   * multiplied by LinearVelocity) and returns the resulting measure of the ratio's dividend unit.
+   *
+   * @param ratio the measurement to multiply by.
+   * @param <Other> other unit that the results are in terms of
+   * @return the multiplication result
+   */
+  default <Other extends Unit> Measure<Other> timesRatio(
+      Measure<? extends PerUnit<? extends Other, U>> ratio) {
+    return ImmutableMeasure.ofBaseUnits(
+        baseUnitMagnitude() * ratio.baseUnitMagnitude(), ratio.unit().numerator());
+  }
+
+  /**
+   * Divides this measure by a unitless scalar and returns the result.
+   *
+   * @param divisor the measurement to divide by.
+   * @return the division result
+   */
+  Measure<U> divide(double divisor);
+
+  /**
+   * Divides this measure by a dimensionless scalar and returns the result.
+   *
+   * @param divisor the measurement to divide by.
+   * @return the division result
+   */
+  Measure<U> divide(Dimensionless divisor);
+
   /**
    * Divides this measurement by another measure and performs some dimensional analysis to reduce
    * the units.
    *
-   * @param <U2> the type of the other measure to multiply by
-   * @param other the unit to multiply by
+   * @param divisor the unit to divide by
    * @return the resulting measure
    */
-  default <U2 extends Unit<U2>> Measure<?> divide(Measure<U2> other) {
-    if (unit().getBaseUnit().equals(other.unit().getBaseUnit())) {
-      return Units.Value.ofBaseUnits(baseUnitMagnitude() / other.baseUnitMagnitude());
+  default Measure<?> divide(Measure<?> divisor) {
+    final double baseUnitResult = baseUnitMagnitude() / divisor.baseUnitMagnitude();
+
+    if (unit().getBaseUnit().equals(divisor.unit().getBaseUnit())) {
+      // These are the same unit, return a dimensionless
+      return Value.ofBaseUnits(baseUnitResult);
     }
-    if (other.unit() instanceof Dimensionless) {
-      return divide(other.baseUnitMagnitude());
+
+    if (divisor instanceof Dimensionless) {
+      // Dividing by a dimensionless, do a scalar division
+      return unit().ofBaseUnits(baseUnitResult);
     }
-    if (other.unit() instanceof Velocity<?> velocity
-        && velocity.getUnit().getBaseUnit().equals(unit().getBaseUnit())) {
-      return times(velocity.reciprocal().ofBaseUnits(1 / other.baseUnitMagnitude()));
+
+    if (unit() instanceof DimensionlessUnit) {
+      // Numerator is a dimensionless
+      if (divisor.unit() instanceof PerUnit<?, ?> ratio) {
+        // Dividing by a ratio, return its reciprocal scaled by this
+        return ratio.reciprocal().ofBaseUnits(baseUnitResult);
+      }
+      if (divisor.unit() instanceof PerUnit<?, ?> ratio) {
+        // Dividing by a Per<Time, U>, return its reciprocal velocity scaled by this
+        // Note: Per<Time, U>.reciprocal() is coded to return a Velocity<U>
+        return ratio.reciprocal().ofBaseUnits(baseUnitResult);
+      }
     }
-    if (other.unit() instanceof Per<?, ?> per
-        && per.numerator().getBaseUnit().equals(unit().getBaseUnit())) {
-      return times(per.reciprocal().ofBaseUnits(1 / other.baseUnitMagnitude()));
+
+    if (divisor.unit() instanceof PerUnit<?, ?> ratio
+        && ratio.numerator().getBaseUnit().equals(baseUnit())) {
+      // Numerator of the ratio cancels out
+      // N / (N / D) -> N * D / N -> D
+      // Note: all Velocity and Acceleration units inherit from PerUnit
+      return ratio.denominator().ofBaseUnits(baseUnitResult);
+    }
+
+    if (divisor.unit() instanceof TimeUnit time) {
+      // Dividing by a time, return a Velocity
+      return VelocityUnit.combine(unit(), time).ofBaseUnits(baseUnitResult);
+    }
+
+    if (divisor instanceof Acceleration<?> acceleration) {
+      return divide(acceleration);
+    } else if (divisor instanceof Angle angle) {
+      return divide(angle);
+    } else if (divisor instanceof AngularAcceleration angularAcceleration) {
+      return divide(angularAcceleration);
+    } else if (divisor instanceof AngularMomentum angularMomentum) {
+      return divide(angularMomentum);
+    } else if (divisor instanceof AngularVelocity angularVelocity) {
+      return divide(angularVelocity);
+    } else if (divisor instanceof Current current) {
+      return divide(current);
+    } else if (divisor instanceof Dimensionless dimensionless) {
+      // n.b. this case should already be covered
+      return divide(dimensionless);
+    } else if (divisor instanceof Distance distance) {
+      return divide(distance);
+    } else if (divisor instanceof Energy energy) {
+      return divide(energy);
+    } else if (divisor instanceof Force force) {
+      return divide(force);
+    } else if (divisor instanceof Frequency frequency) {
+      return divide(frequency);
+    } else if (divisor instanceof LinearAcceleration linearAcceleration) {
+      return divide(linearAcceleration);
+    } else if (divisor instanceof LinearVelocity linearVelocity) {
+      return divide(linearVelocity);
+    } else if (divisor instanceof Mass mass) {
+      return divide(mass);
+    } else if (divisor instanceof MomentOfInertia momentOfInertia) {
+      return divide(momentOfInertia);
+    } else if (divisor instanceof Mult<?, ?> mult) {
+      return divide(mult);
+    } else if (divisor instanceof Per<?, ?> per) {
+      return divide(per);
+    } else if (divisor instanceof Power power) {
+      return divide(power);
+    } else if (divisor instanceof Temperature temperature) {
+      return divide(temperature);
+    } else if (divisor instanceof Time time) {
+      return divide(time);
+    } else if (divisor instanceof Torque torque) {
+      return divide(torque);
+    } else if (divisor instanceof Velocity<?> velocity) {
+      return divide(velocity);
+    } else if (divisor instanceof Voltage voltage) {
+      return divide(voltage);
+    } else {
+      // Dimensional analysis fallthrough or a generic input measure type
+      // Do a basic unit multiplication
+      return PerUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitResult);
     }
-    return unit().per(other.unit()).ofBaseUnits(baseUnitMagnitude() / other.baseUnitMagnitude());
   }
 
   /**
-   * Creates a velocity measure by dividing this one by a time period measure.
+   * Divides this measure by a generic acceleration and returns the result in the most appropriate
+   * unit.
    *
-   * <pre>
-   *   Meters.of(1).per(Second) // Measure&lt;Velocity&lt;Distance&gt;&gt;
-   * </pre>
+   * @param divisor the measurement to divide by.
+   * @return the division result
+   */
+  default Measure<?> divide(Acceleration<?> divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  /**
+   * Divides this measure by an angle and returns the result in the most appropriate unit.
    *
-   * @param period the time period to divide by.
-   * @return the velocity result
+   * @param divisor the measurement to divide by.
+   * @return the division result
    */
-  default Measure<Velocity<U>> per(Measure<Time> period) {
-    var newUnit = unit().per(period.unit());
-    return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude() / period.baseUnitMagnitude(), newUnit);
+  default Measure<?> divide(Angle divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
   }
 
   /**
-   * Creates a relational measure equivalent to this one per some other unit.
+   * Divides this measure by an angular acceleration and returns the result in the most appropriate
+   * unit.
    *
-   * <pre>
-   *   Volts.of(1.05).per(Meter) // V/m, potential PID constant
-   * </pre>
+   * @param divisor the measurement to divide by.
+   * @return the division result
+   */
+  default Measure<?> divide(AngularAcceleration divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  /**
+   * Divides this measure by an angular momentum and returns the result in the most appropriate
+   * unit.
    *
-   * @param <U2> the type of the denominator unit
-   * @param denominator the denominator unit being divided by
-   * @return the relational measure
+   * @param divisor the measurement to divide by.
+   * @return the division result
    */
-  default <U2 extends Unit<U2>> Measure<Per<U, U2>> per(U2 denominator) {
-    var newUnit = unit().per(denominator);
-    return newUnit.of(magnitude());
+  default Measure<?> divide(AngularMomentum divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
   }
 
   /**
-   * Creates a velocity measure equivalent to this one per a unit of time.
+   * Divides this measure by an angular velocity and returns the result in the most appropriate
+   * unit.
    *
-   * <pre>
-   *   Radians.of(3.14).per(Second) // Velocity&lt;Angle&gt; equivalent to RadiansPerSecond.of(3.14)
-   * </pre>
+   * @param divisor the measurement to divide by.
+   * @return the division result
+   */
+  default Measure<?> divide(AngularVelocity divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  /**
+   * Divides this measure by an electric current and returns the result in the most appropriate
+   * unit.
    *
-   * @param time the unit of time
-   * @return the velocity measure
+   * @param divisor the measurement to divide by.
+   * @return the division result
    */
-  default Measure<Velocity<U>> per(Time time) {
-    var newUnit = unit().per(time);
-    return newUnit.of(magnitude());
+  default Measure<?> divide(Current divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
   }
 
   /**
-   * Adds another measure to this one. The resulting measure has the same unit as this one.
+   * Divides this measure by a distance and returns the result in the most appropriate unit.
    *
-   * @param other the measure to add to this one
-   * @return a new measure containing the result
+   * @param divisor the measurement to divide by.
+   * @return the division result
    */
-  default Measure<U> plus(Measure<U> other) {
-    return unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
+  default Measure<?> divide(Distance divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
   }
 
   /**
-   * Subtracts another measure from this one. The resulting measure has the same unit as this one.
+   * Divides this measure by an energy and returns the result in the most appropriate unit.
    *
-   * @param other the measure to subtract from this one
-   * @return a new measure containing the result
+   * @param divisor the measurement to divide by.
+   * @return the division result
    */
-  default Measure<U> minus(Measure<U> other) {
-    return unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
+  default Measure<?> divide(Energy divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
   }
 
   /**
-   * Negates this measure and returns the result.
+   * Divides this measure by a force and returns the result in the most appropriate unit.
    *
-   * @return the resulting measure
+   * @param divisor the measurement to divide by.
+   * @return the division result
    */
-  default Measure<U> negate() {
-    return times(-1);
+  default Measure<?> divide(Force divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
   }
 
   /**
-   * Returns an immutable copy of this measure. The copy can be used freely and is guaranteed never
-   * to change.
+   * Divides this measure by a frequency and returns the result in the most appropriate unit.
    *
-   * @return the copied measure
+   * @param divisor the measurement to divide by.
+   * @return the division result
    */
-  Measure<U> copy();
+  default Measure<?> divide(Frequency divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  /**
+   * Divides this measure by a linear acceleration and returns the result in the most appropriate
+   * unit.
+   *
+   * @param divisor the measurement to divide by.
+   * @return the division result
+   */
+  default Measure<?> divide(LinearAcceleration divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  /**
+   * Divides this measure by a linear momentum and returns the result in the most appropriate unit.
+   *
+   * @param divisor the measurement to divide by.
+   * @return the division result
+   */
+  default Measure<?> divide(LinearMomentum divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  /**
+   * Divides this measure by a linear velocity and returns the result in the most appropriate unit.
+   *
+   * @param divisor the measurement to divide by.
+   * @return the division result
+   */
+  default Measure<?> divide(LinearVelocity divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  /**
+   * Divides this measure by a mass and returns the result in the most appropriate unit.
+   *
+   * @param divisor the measurement to divide by.
+   * @return the division result
+   */
+  default Measure<?> divide(Mass divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  /**
+   * Divides this measure by a moment of inertia and returns the result in the most appropriate
+   * unit.
+   *
+   * @param divisor the measurement to divide by.
+   * @return the division result
+   */
+  default Measure<?> divide(MomentOfInertia divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  /**
+   * Divides this measure by a generic multiplication and returns the result in the most appropriate
+   * unit.
+   *
+   * @param divisor the measurement to divide by.
+   * @return the division result
+   */
+  default Measure<?> divide(Mult<?, ?> divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  /**
+   * Divides this measure by a power and returns the result in the most appropriate unit.
+   *
+   * @param divisor the measurement to divide by.
+   * @return the division result
+   */
+  default Measure<?> divide(Power divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  /**
+   * Divides this measure by a generic ratio and returns the result in the most appropriate unit.
+   *
+   * @param divisor the measurement to divide by.
+   * @return the division result
+   */
+  default Measure<?> divide(Per<?, ?> divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  /**
+   * Divides this measure by a temperature and returns the result in the most appropriate unit.
+   *
+   * @param divisor the measurement to divide by.
+   * @return the division result
+   */
+  default Measure<?> divide(Temperature divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  /**
+   * Divides this measure by a time and returns the result in the most appropriate unit. This will
+   * often - but not always - result in a {@link Per} type like {@link LinearVelocity} or {@link
+   * Acceleration}.
+   *
+   * @param divisor the measurement to divide by.
+   * @return the division result
+   */
+  default Measure<?> divide(Time divisor) {
+    return VelocityUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  /**
+   * Divides this measure by a torque and returns the result in the most appropriate unit.
+   *
+   * @param divisor the measurement to divide by.
+   * @return the division result
+   */
+  default Measure<?> divide(Torque divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  /**
+   * Divides this measure by a generic velocity and returns the result in the most appropriate unit.
+   *
+   * @param divisor the measurement to divide by.
+   * @return the division result
+   */
+  default Measure<?> divide(Velocity<?> divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  /**
+   * Divides this measure by a voltage and returns the result in the most appropriate unit.
+   *
+   * @param divisor the measurement to divide by.
+   * @return the division result
+   */
+  default Measure<?> divide(Voltage divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  /**
+   * Divides this measure by a ratio in terms of this measurement's unit to another unit, returning
+   * a measurement in terms of the other unit.
+   *
+   * @param divisor the measurement to divide by.
+   * @param <Other> the other unit that results are in terms of
+   * @return the division result
+   */
+  // eg Dimensionless / (Dimensionless / Time) -> Time
+  default <Other extends Unit> Measure<Other> divideRatio(
+      Measure<? extends PerUnit<? extends U, Other>> divisor) {
+    return ImmutableMeasure.ofBaseUnits(
+        baseUnitMagnitude() / divisor.baseUnitMagnitude(), divisor.unit().denominator());
+  }
 
   /**
-   * Creates a new mutable copy of this measure.
+   * Divides this measure by a time period and returns the result in the most appropriate unit. This
+   * is equivalent to {@code divide(period.of(1))}.
    *
-   * @return a mutable measure initialized to be identical to this measure
+   * @param period the time period measurement to divide by.
+   * @return the division result
    */
-  default MutableMeasure<U> mutableCopy() {
-    return MutableMeasure.mutable(this);
+  default Measure<?> per(TimeUnit period) {
+    return divide(period.of(1));
   }
 
   /**
@@ -358,7 +1094,7 @@ default boolean lte(Measure<U> o) {
    * @return the measure with the greatest positive magnitude, or null if no measures were provided
    */
   @SafeVarargs
-  static <U extends Unit<U>> Measure<U> max(Measure<U>... measures) {
+  static <U extends Unit> Measure<U> max(Measure<U>... measures) {
     if (measures.length == 0) {
       return null; // nothing to compare
     }
@@ -381,7 +1117,7 @@ static <U extends Unit<U>> Measure<U> max(Measure<U>... measures) {
    * @return the measure with the greatest negative magnitude
    */
   @SafeVarargs
-  static <U extends Unit<U>> Measure<U> min(Measure<U>... measures) {
+  static <U extends Unit> Measure<U> min(Measure<U>... measures) {
     if (measures.length == 0) {
       return null; // nothing to compare
     }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java
new file mode 100644
index 00000000000..74362d9a9f1
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java
@@ -0,0 +1,107 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units;
+
+import edu.wpi.first.units.measure.ImmutableMomentOfInertia;
+import edu.wpi.first.units.measure.MomentOfInertia;
+import edu.wpi.first.units.measure.MutMomentOfInertia;
+
+/**
+ * A unit of moment of inertia, like {@link edu.wpi.first.units.Units#KilogramSquareMeters}. Moments
+ * of inertia describe how much an object resists being rotated, analogous to mass's resistance to
+ * being accelerated along a line.
+ */
+public final class MomentOfInertiaUnit extends PerUnit<AngularMomentumUnit, AngularVelocityUnit> {
+  private static final CombinatoryUnitCache<
+          AngularMomentumUnit, AngularVelocityUnit, MomentOfInertiaUnit>
+      cache = new CombinatoryUnitCache<>(MomentOfInertiaUnit::new);
+
+  MomentOfInertiaUnit(AngularMomentumUnit numerator, AngularVelocityUnit denominator) {
+    super(
+        numerator.isBaseUnit() && denominator.isBaseUnit()
+            ? null
+            : combine(numerator.getBaseUnit(), denominator.getBaseUnit()),
+        numerator,
+        denominator);
+  }
+
+  MomentOfInertiaUnit(
+      PerUnit<AngularMomentumUnit, AngularVelocityUnit> baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  /**
+   * Combines an angular momentum and angular velocity unit to form a moment of inertia unit.
+   *
+   * @param momentumUnit the unit of angular momentum
+   * @param velocityUnit the unit of angular velocity
+   * @return the combined moment of inertia unit
+   */
+  public static MomentOfInertiaUnit combine(
+      AngularMomentumUnit momentumUnit, AngularVelocityUnit velocityUnit) {
+    return cache.combine(momentumUnit, velocityUnit);
+  }
+
+  @Override
+  public MomentOfInertiaUnit getBaseUnit() {
+    return (MomentOfInertiaUnit) super.getBaseUnit();
+  }
+
+  @Override
+  public MomentOfInertia of(double magnitude) {
+    return new ImmutableMomentOfInertia(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public MomentOfInertia ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableMomentOfInertia(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public MomentOfInertia zero() {
+    return (MomentOfInertia) super.zero();
+  }
+
+  @Override
+  public MomentOfInertia one() {
+    return (MomentOfInertia) super.one();
+  }
+
+  @Override
+  public MutMomentOfInertia mutable(double initialMagnitude) {
+    return new MutMomentOfInertia(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+
+  @Override
+  public VelocityUnit<MomentOfInertiaUnit> per(TimeUnit time) {
+    return VelocityUnit.combine(this, time);
+  }
+
+  /**
+   * Creates a ratio unit between this unit and an arbitrary other unit.
+   *
+   * @param other the other unit
+   * @param <U> the type of the other unit
+   * @return the ratio unit
+   */
+  public <U extends Unit> PerUnit<MomentOfInertiaUnit, U> per(U other) {
+    return PerUnit.combine(this, other);
+  }
+
+  /**
+   * Converts a measurement value in terms of another unit to this unit.
+   *
+   * @param magnitude the magnitude of the measurement in terms of the other unit
+   * @param otherUnit the other unit
+   * @return the value of the measurement in terms of this unit
+   */
+  public double convertFrom(double magnitude, MomentOfInertiaUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Mult.java b/wpiunits/src/main/java/edu/wpi/first/units/Mult.java
deleted file mode 100644
index fa3570e4cc8..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/Mult.java
+++ /dev/null
@@ -1,123 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.units;
-
-import edu.wpi.first.units.collections.LongToObjectHashMap;
-import java.util.Objects;
-
-/**
- * A combinatory unit type that is equivalent to the product of two other others. Note that
- * algebraic reduction is not possible in Java's generic type system, so {@code Mult<A, B>} is not
- * type-compatible with {@code Mult<B, A>}!
- *
- * @param <A> the type of the first unit in the result
- * @param <B> the type of the second unit in the result
- */
-public class Mult<A extends Unit<A>, B extends Unit<B>> extends Unit<Mult<A, B>> {
-  private final A m_unitA;
-  private final B m_unitB;
-
-  @SuppressWarnings("rawtypes")
-  private static final LongToObjectHashMap<Mult> cache = new LongToObjectHashMap<>();
-
-  /**
-   * Creates a new product unit. Consider using {@link #combine} instead of manually calling this
-   * constructor.
-   *
-   * @param a the first unit of the product
-   * @param b the second unit of the product
-   */
-  protected Mult(A a, B b) {
-    super(
-        a.isBaseUnit() && b.isBaseUnit() ? null : combine(a.getBaseUnit(), b.getBaseUnit()),
-        a.toBaseUnits(1) * b.toBaseUnits(1),
-        a.name() + "-" + b.name(),
-        a.symbol() + "*" + b.symbol());
-    m_unitA = a;
-    m_unitB = b;
-  }
-
-  Mult(
-      Mult<A, B> baseUnit,
-      UnaryFunction toBaseConverter,
-      UnaryFunction fromBaseConverter,
-      String name,
-      String symbol) {
-    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
-    m_unitA = baseUnit.unitA();
-    m_unitB = baseUnit.unitB();
-  }
-
-  /**
-   * Creates a new Mult unit derived from two arbitrary units multiplied together.
-   *
-   * <pre>
-   *   Mult.combine(Volts, Meters) // Volt-Meters
-   * </pre>
-   *
-   * <p>It's recommended to use the convenience function {@link Unit#mult(Unit)} instead of calling
-   * this factory directly.
-   *
-   * @param <A> the type of the first unit
-   * @param <B> the type of the second unit
-   * @param a the first unit
-   * @param b the second unit
-   * @return the combined unit
-   */
-  @SuppressWarnings("unchecked")
-  public static <A extends Unit<A>, B extends Unit<B>> Mult<A, B> combine(A a, B b) {
-    final long key = ((long) a.hashCode()) << 32L | (b.hashCode() & 0xFFFFFFFFL);
-    if (cache.containsKey(key)) {
-      return cache.get(key);
-    }
-
-    var mult = new Mult<A, B>(a, b);
-    cache.put(key, mult);
-    return mult;
-  }
-
-  /**
-   * Gets the first unit of the product.
-   *
-   * @return the first unit
-   */
-  public A unitA() {
-    return m_unitA;
-  }
-
-  /**
-   * Gets the second unit of the product.
-   *
-   * @return the second unit
-   */
-  public B unitB() {
-    return m_unitB;
-  }
-
-  @Override
-  public String toString() {
-    return "(" + m_unitA.toString() + " * " + m_unitB.toString() + ")";
-  }
-
-  @Override
-  public boolean equals(Object o) {
-    if (this == o) {
-      return true;
-    }
-    if (o == null || getClass() != o.getClass()) {
-      return false;
-    }
-    if (!super.equals(o)) {
-      return false;
-    }
-    Mult<?, ?> mult = (Mult<?, ?>) o;
-    return Objects.equals(m_unitA, mult.m_unitA) && Objects.equals(m_unitB, mult.m_unitB);
-  }
-
-  @Override
-  public int hashCode() {
-    return Objects.hash(super.hashCode(), m_unitA, m_unitB);
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java
new file mode 100644
index 00000000000..2c6906c7178
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java
@@ -0,0 +1,229 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units;
+
+import edu.wpi.first.units.measure.ImmutableMult;
+import edu.wpi.first.units.measure.Mult;
+import edu.wpi.first.units.measure.MutMult;
+import java.util.Objects;
+
+/**
+ * A combinatory unit type that is equivalent to the product of two other others. Note that
+ * algebraic reduction is not possible in Java's generic type system, so {@code MultUnit<A, B>} is
+ * not type-compatible with {@code MultUnit<B, A>}!
+ *
+ * @param <A> the type of the first unit in the result
+ * @param <B> the type of the second unit in the result
+ */
+public class MultUnit<A extends Unit, B extends Unit> extends Unit {
+  private final A m_unitA;
+  private final B m_unitB;
+
+  @SuppressWarnings("rawtypes")
+  private static final CombinatoryUnitCache<Unit, Unit, MultUnit> cache =
+      new CombinatoryUnitCache<>(MultUnit::new);
+
+  /**
+   * Creates a new product unit. Consider using {@link #combine} instead of manually calling this
+   * constructor.
+   *
+   * @param a the first unit of the product
+   * @param b the second unit of the product
+   */
+  private MultUnit(A a, B b) {
+    super(
+        a.isBaseUnit() && b.isBaseUnit() ? null : combine(a.getBaseUnit(), b.getBaseUnit()),
+        a.toBaseUnits(1) * b.toBaseUnits(1),
+        a.name() + "-" + b.name(),
+        a.symbol() + "*" + b.symbol());
+    m_unitA = a;
+    m_unitB = b;
+  }
+
+  /**
+   * Creates a new product unit. Subclasses of {@code MultUnit} should use this constructor.
+   *
+   * @param baseUnit the base unit. Set this to null if the unit being constructed is its own base
+   *     unit
+   * @param a the first unit of the product
+   * @param b the second unit of the product
+   */
+  protected MultUnit(MultUnit<A, B> baseUnit, A a, B b) {
+    super(
+        baseUnit,
+        a.toBaseUnits(1) * b.toBaseUnits(1),
+        a.name() + "-" + b.name(),
+        a.symbol() + "*" + b.symbol());
+    m_unitA = a;
+    m_unitB = b;
+  }
+
+  MultUnit(
+      MultUnit<A, B> baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+    m_unitA = getBaseUnit().unitA();
+    m_unitB = getBaseUnit().unitB();
+  }
+
+  /**
+   * Creates a new MultUnit unit derived from two arbitrary units multiplied together.
+   *
+   * <pre>
+   *   MultUnit.combine(Volts, Meters) // Volt-Meters
+   * </pre>
+   *
+   * @param <A> the type of the first unit
+   * @param <B> the type of the second unit
+   * @param a the first unit
+   * @param b the second unit
+   * @return the combined unit
+   */
+  @SuppressWarnings("unchecked")
+  public static <A extends Unit, B extends Unit> MultUnit<A, B> combine(A a, B b) {
+    return cache.combine(a, b);
+  }
+
+  /**
+   * {@inheritDoc}
+   *
+   * <p>Note: When called on an object of type {@code MultUnit} (and <i>not</i> a subclass!), this
+   * method will always return a {@link edu.wpi.first.units.measure.Mult} instance. If you want to
+   * avoid casting, use {@link #ofNativeBaseUnits(double)} that returns a {@code Per} instance
+   * directly.
+   *
+   * @param magnitude the magnitude of the measure in terms of its base units.
+   * @return the measurement object
+   */
+  @Override
+  public Measure<? extends MultUnit<A, B>> of(double magnitude) {
+    return ofNative(magnitude);
+  }
+
+  /**
+   * {@inheritDoc}
+   *
+   * <p>Note: When called on an object of type {@code MultUnit} (and <i>not</i> a subclass!), this
+   * method will always return a {@link edu.wpi.first.units.measure.Mult} instance. If you want to
+   * avoid casting, use {@link #ofNativeBaseUnits(double)} that returns a {@code Per} instance
+   * directly.
+   *
+   * @param baseUnitMagnitude the magnitude of the measure in terms of its base units.
+   * @return the measurement object
+   */
+  @Override
+  public Measure<? extends MultUnit<A, B>> ofBaseUnits(double baseUnitMagnitude) {
+    return ofNativeBaseUnits(baseUnitMagnitude);
+  }
+
+  /**
+   * Creates a new immutable measurement of the given magnitude in terms of this unit. This will
+   * always return a {@code Mult} object and cannot be overridden by subclasses.
+   *
+   * @param magnitude the magnitude of the measurement.
+   * @return the measurement object
+   * @see #of(double)
+   */
+  public final Mult<A, B> ofNative(double magnitude) {
+    return new ImmutableMult<>(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  /**
+   * Creates a new immutable measurement of the given magnitude in terms of the unit's base unit.
+   * This will always return a {@code Mult} object and cannot be overridden by subclasses.
+   *
+   * @param baseUnitMagnitude the magnitude of the measure in terms of its base units.
+   * @return the measurement object
+   * @see #ofBaseUnits(double)
+   */
+  public final Mult<A, B> ofNativeBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableMult<>(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<? extends MultUnit<A, B>> zero() {
+    return (Measure<? extends MultUnit<A, B>>) super.zero();
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<? extends MultUnit<A, B>> one() {
+    return (Measure<? extends MultUnit<A, B>>) super.one();
+  }
+
+  @Override
+  public MutableMeasure<? extends MultUnit<A, B>, ?, ?> mutable(double initialMagnitude) {
+    return new MutMult<>(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+
+  @Override
+  public Unit per(TimeUnit time) {
+    return VelocityUnit.combine(this, time);
+  }
+
+  /**
+   * Converts a measurement value in terms of another unit to this unit.
+   *
+   * @param magnitude the magnitude of the measurement in terms of the other unit
+   * @param otherUnit the other unit
+   * @return the value of the measurement in terms of this unit
+   */
+  public double convertFrom(double magnitude, MultUnit<A, B> otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public MultUnit<A, B> getBaseUnit() {
+    return (MultUnit<A, B>) super.getBaseUnit();
+  }
+
+  /**
+   * Gets the first unit of the product.
+   *
+   * @return the first unit
+   */
+  public A unitA() {
+    return m_unitA;
+  }
+
+  /**
+   * Gets the second unit of the product.
+   *
+   * @return the second unit
+   */
+  public B unitB() {
+    return m_unitB;
+  }
+
+  @Override
+  public String toString() {
+    return "(" + m_unitA.toString() + " * " + m_unitB.toString() + ")";
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (this == o) {
+      return true;
+    }
+    if (o == null || getClass() != o.getClass()) {
+      return false;
+    }
+    if (!super.equals(o)) {
+      return false;
+    }
+    MultUnit<?, ?> multUnit = (MultUnit<?, ?>) o;
+    return Objects.equals(m_unitA, multUnit.m_unitA) && Objects.equals(m_unitB, multUnit.m_unitB);
+  }
+
+  @Override
+  public int hashCode() {
+    return Objects.hash(super.hashCode(), m_unitA, m_unitB);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java b/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
index f62433f174d..672dbe61f0f 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
@@ -4,111 +4,54 @@
 
 package edu.wpi.first.units;
 
-import java.util.Objects;
+import edu.wpi.first.units.measure.Dimensionless;
 
 /**
- * A specialization of {@link Measure} that allows for mutability. This is intended to be used for
- * memory use reasons (such as on the memory-restricted roboRIO 1 or 2 or SBC coprocessors) and
- * should NOT be exposed in the public API for a class that uses it.
+ * A mutable measurement can be used to keep a single object allocation and reference whose state is
+ * mutated or changed as it is used. This is helpful for optimizing memory usage to keep garbage
+ * collection time - and its associated loop overruns - to a minimum.
  *
- * <p>The advantage of using this class is to reuse one instance of a measurement object, as opposed
- * to instantiating a new immutable instance every time an operation is performed. This will reduce
- * memory pressure, but comes at the cost of increased code complexity and sensitivity to race
- * conditions if misused.
- *
- * <p>Any unsafe methods are prefixed with {@code mut_*}, such as {@link #mut_plus(Measure)} or
- * {@link #mut_replace(Measure)}. These methods will change the internal state of the measurement
- * object, and as such can be dangerous to use. They are primarily intended for use to track
- * internal state of things like sensors
- *
- * @param <U> the type of the unit of measure
+ * @param <U> The dimension of measurement.
+ * @param <Base> The base measure type.
+ * @param <MutSelf> The self type. This MUST inherit from the base measure type.
  */
-public final class MutableMeasure<U extends Unit<U>> implements Measure<U> {
-  private double m_magnitude;
-  private double m_baseUnitMagnitude;
-  private U m_unit;
-
-  private MutableMeasure(double initialMagnitude, double baseUnitMagnitude, U unit) {
-    m_magnitude = initialMagnitude;
-    m_baseUnitMagnitude = baseUnitMagnitude;
-    m_unit = unit;
-  }
-
-  /**
-   * Creates a new mutable measure that is a copy of the given one.
-   *
-   * @param <U> the type of the units of measure
-   * @param measure the measure to create a mutable copy of
-   * @return a new mutable measure with an initial state equal to the given measure
-   */
-  public static <U extends Unit<U>> MutableMeasure<U> mutable(Measure<U> measure) {
-    return new MutableMeasure<>(measure.magnitude(), measure.baseUnitMagnitude(), measure.unit());
-  }
-
-  /**
-   * Creates a new mutable measure with a magnitude of 0 in the given unit.
-   *
-   * @param <U> the type of the units of measure
-   * @param unit the unit of measure
-   * @return a new mutable measure
-   */
-  public static <U extends Unit<U>> MutableMeasure<U> zero(U unit) {
-    return mutable(unit.zero());
-  }
-
+public interface MutableMeasure<
+        U extends Unit, Base extends Measure<U>, MutSelf extends MutableMeasure<U, Base, MutSelf>>
+    extends Measure<U> {
   /**
-   * Creates a new mutable measure in the given unit with a magnitude equal to the given one in base
-   * units.
+   * Overwrites the state of this measure with new values.
    *
-   * @param <U> the type of the units of measure
-   * @param baseUnitMagnitude the magnitude of the measure, in terms of the base unit of measure
-   * @param unit the unit of measure
-   * @return a new mutable measure
+   * @param magnitude the new magnitude in terms of the new unit
+   * @param newUnit the new unit
+   * @return this measure
    */
-  public static <U extends Unit<U>> MutableMeasure<U> ofBaseUnits(
-      double baseUnitMagnitude, U unit) {
-    return new MutableMeasure<>(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
-  }
+  MutSelf mut_replace(double magnitude, U newUnit);
 
   /**
-   * Creates a new mutable measure in the given unit with a magnitude in terms of that unit.
+   * Overwrites the state of this measure and replaces it completely with values from the given one.
+   * The magnitude, base unit magnitude, and unit will all be copied. This is functionally the same
+   * as calling {@code other.mutableCopy()}, but copying to a pre-existing mutable measure instead
+   * of instantiating a new one.
    *
-   * @param <U> the type of the units of measure
-   * @param relativeMagnitude the magnitude of the measure
-   * @param unit the unit of measure
-   * @return a new mutable measure
+   * @param other the other measure to copy values from
+   * @return this measure
    */
-  public static <U extends Unit<U>> MutableMeasure<U> ofRelativeUnits(
-      double relativeMagnitude, U unit) {
-    return new MutableMeasure<>(relativeMagnitude, unit.toBaseUnits(relativeMagnitude), unit);
-  }
-
-  @Override
-  public double magnitude() {
-    return m_magnitude;
+  default MutSelf mut_replace(Base other) {
+    return mut_replace(other.magnitude(), other.unit());
   }
 
   @Override
-  public double baseUnitMagnitude() {
-    return m_baseUnitMagnitude;
-  }
-
-  @Override
-  public U unit() {
-    return m_unit;
-  }
-
-  // UNSAFE
+  Base copy();
 
   /**
    * Sets the new magnitude of the measurement. The magnitude must be in terms of the {@link
    * #unit()}.
    *
    * @param magnitude the new magnitude of the measurement
+   * @return this mutable measure
    */
-  public void mut_setMagnitude(double magnitude) {
-    m_magnitude = magnitude;
-    m_baseUnitMagnitude = m_unit.toBaseUnits(magnitude);
+  default MutSelf mut_setMagnitude(double magnitude) {
+    return mut_replace(magnitude, unit());
   }
 
   /**
@@ -116,37 +59,10 @@ public void mut_setMagnitude(double magnitude) {
    * the current unit.
    *
    * @param baseUnitMagnitude the new magnitude of the measurement
+   * @return this mutable measure
    */
-  public void mut_setBaseUnitMagnitude(double baseUnitMagnitude) {
-    m_baseUnitMagnitude = baseUnitMagnitude;
-    m_magnitude = m_unit.fromBaseUnits(baseUnitMagnitude);
-  }
-
-  /**
-   * Overwrites the state of this measure and replaces it with values from the given one.
-   *
-   * @param other the other measure to copy values from
-   * @return this measure
-   */
-  public MutableMeasure<U> mut_replace(Measure<U> other) {
-    m_magnitude = other.magnitude();
-    m_baseUnitMagnitude = other.baseUnitMagnitude();
-    m_unit = other.unit();
-    return this;
-  }
-
-  /**
-   * Overwrites the state of this measure with new values.
-   *
-   * @param magnitude the new magnitude in terms of the new unit
-   * @param unit the new unit
-   * @return this measure
-   */
-  public MutableMeasure<U> mut_replace(double magnitude, U unit) {
-    this.m_magnitude = magnitude;
-    this.m_baseUnitMagnitude = unit.toBaseUnits(magnitude);
-    this.m_unit = unit;
-    return this;
+  default MutSelf mut_setBaseUnitMagnitude(double baseUnitMagnitude) {
+    return mut_replace(unit().fromBaseUnits(baseUnitMagnitude), unit());
   }
 
   /**
@@ -156,29 +72,20 @@ public MutableMeasure<U> mut_replace(double magnitude, U unit) {
    * @param raw the raw value to accumulate by
    * @return the measure
    */
-  public MutableMeasure<U> mut_acc(double raw) {
-    this.m_magnitude += raw;
-    this.m_baseUnitMagnitude += m_unit.toBaseUnits(raw);
-    return this;
+  default MutSelf mut_acc(double raw) {
+    return mut_setBaseUnitMagnitude(magnitude() + raw);
   }
 
   /**
    * Increments the current magnitude of the measure by the amount of the given measure.
    *
    * @param other the measure whose value should be added to this one
-   * @return the measure
+   * @return this measure
    */
-  public MutableMeasure<U> mut_acc(Measure<U> other) {
-    m_baseUnitMagnitude += other.baseUnitMagnitude();
-
-    // can't naively use m_magnitude += other.in(m_unit) because the units may not
-    // be scalar multiples (eg adding 0C to 100K should result in 373.15K, not 100K)
-    m_magnitude = m_unit.fromBaseUnits(m_baseUnitMagnitude);
-    return this;
+  default MutSelf mut_acc(Base other) {
+    return mut_setMagnitude(magnitude() + unit().fromBaseUnits(other.baseUnitMagnitude()));
   }
 
-  // Math
-
   /**
    * Adds another measurement to this one. This will mutate the object instead of generating a new
    * measurement object.
@@ -186,8 +93,8 @@ public MutableMeasure<U> mut_acc(Measure<U> other) {
    * @param other the measurement to add
    * @return this measure
    */
-  public MutableMeasure<U> mut_plus(Measure<U> other) {
-    return mut_plus(other.magnitude(), other.unit());
+  default MutSelf mut_plus(Base other) {
+    return mut_acc(other);
   }
 
   /**
@@ -196,36 +103,35 @@ public MutableMeasure<U> mut_plus(Measure<U> other) {
    * having to wrap raw numbers in a {@code Measure} object and pay for an object allocation.
    *
    * @param magnitude the magnitude of the other measurement.
-   * @param unit the unit of the other measurement
+   * @param otherUnit the unit of the other measurement
    * @return this measure
    */
-  public MutableMeasure<U> mut_plus(double magnitude, U unit) {
-    mut_setBaseUnitMagnitude(m_baseUnitMagnitude + unit.toBaseUnits(magnitude));
-    return this;
+  default MutSelf mut_plus(double magnitude, U otherUnit) {
+    return mut_setBaseUnitMagnitude(magnitude() + otherUnit.toBaseUnits(magnitude));
   }
 
   /**
    * Subtracts another measurement to this one. This will mutate the object instead of generating a
    * new measurement object.
    *
-   * @param other the measurement to add
+   * @param other the measurement to subtract from this one
    * @return this measure
    */
-  public MutableMeasure<U> mut_minus(Measure<U> other) {
-    return mut_minus(other.magnitude(), other.unit());
+  default MutSelf mut_minus(Base other) {
+    return mut_setBaseUnitMagnitude(baseUnitMagnitude() - other.baseUnitMagnitude());
   }
 
   /**
-   * Subtracts another measurement to this one. This will mutate the object instead of generating a
-   * new measurement object. This is a denormalized version of {@link #mut_minus(Measure)} to avoid
-   * having to wrap raw numbers in a {@code Measure} object and pay for an object allocation.
+   * Subtracts another measurement from this one. This will mutate the object instead of generating
+   * a new measurement object. This is a denormalized version of {@link #mut_minus(Measure)} to
+   * avoid having to wrap raw numbers in a {@code Measure} object and pay for an object allocation.
    *
    * @param magnitude the magnitude of the other measurement.
-   * @param unit the unit of the other measurement
+   * @param otherUnit the unit of the other measurement
    * @return this measure
    */
-  public MutableMeasure<U> mut_minus(double magnitude, U unit) {
-    return mut_plus(-magnitude, unit);
+  default MutSelf mut_minus(double magnitude, U otherUnit) {
+    return mut_setBaseUnitMagnitude(baseUnitMagnitude() - otherUnit.toBaseUnits(magnitude));
   }
 
   /**
@@ -235,9 +141,8 @@ public MutableMeasure<U> mut_minus(double magnitude, U unit) {
    * @param multiplier the multiplier to scale the measurement by
    * @return this measure
    */
-  public MutableMeasure<U> mut_times(double multiplier) {
-    mut_setBaseUnitMagnitude(m_baseUnitMagnitude * multiplier);
-    return this;
+  default MutSelf mut_times(double multiplier) {
+    return mut_setBaseUnitMagnitude(baseUnitMagnitude() * multiplier);
   }
 
   /**
@@ -247,7 +152,7 @@ public MutableMeasure<U> mut_times(double multiplier) {
    * @param multiplier the multiplier to scale the measurement by
    * @return this measure
    */
-  public MutableMeasure<U> mut_times(Measure<? extends Dimensionless> multiplier) {
+  default MutSelf mut_times(Dimensionless multiplier) {
     return mut_times(multiplier.baseUnitMagnitude());
   }
 
@@ -258,9 +163,8 @@ public MutableMeasure<U> mut_times(Measure<? extends Dimensionless> multiplier)
    * @param divisor the divisor to scale the measurement by
    * @return this measure
    */
-  public MutableMeasure<U> mut_divide(double divisor) {
-    mut_setBaseUnitMagnitude(m_baseUnitMagnitude / divisor);
-    return this;
+  default MutSelf mut_divide(double divisor) {
+    return mut_times(1 / divisor);
   }
 
   /**
@@ -270,29 +174,7 @@ public MutableMeasure<U> mut_divide(double divisor) {
    * @param divisor the divisor to scale the measurement by
    * @return this measure
    */
-  public MutableMeasure<U> mut_divide(Measure<? extends Dimensionless> divisor) {
+  default MutSelf mut_divide(Dimensionless divisor) {
     return mut_divide(divisor.baseUnitMagnitude());
   }
-
-  @Override
-  public Measure<U> copy() {
-    return new ImmutableMeasure<>(m_magnitude, m_baseUnitMagnitude, m_unit);
-  }
-
-  @Override
-  public String toString() {
-    return toShortString();
-  }
-
-  @Override
-  public boolean equals(Object o) {
-    return o instanceof Measure<?> that
-        && Objects.equals(m_unit, that.unit())
-        && this.isEquivalent(that);
-  }
-
-  @Override
-  public int hashCode() {
-    return Objects.hash(m_magnitude, m_unit);
-  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Per.java b/wpiunits/src/main/java/edu/wpi/first/units/Per.java
deleted file mode 100644
index fe9131487e8..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/Per.java
+++ /dev/null
@@ -1,140 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.units;
-
-import edu.wpi.first.units.collections.LongToObjectHashMap;
-import java.util.Objects;
-
-/**
- * Generic combinatory unit type that represents the proportion of one unit to another, such as
- * Meters per Second or Radians per Celsius.
- *
- * <p>Note: {@link Velocity} is used to represent the velocity dimension, rather than {@code
- * Per<Distance, Time>}.
- *
- * @param <N> the type of the numerator unit
- * @param <D> the type of the denominator unit
- */
-public class Per<N extends Unit<N>, D extends Unit<D>> extends Unit<Per<N, D>> {
-  private final N m_numerator;
-  private final D m_denominator;
-
-  /**
-   * Keep a cache of created instances so expressions like Volts.per(Meter) don't do any allocations
-   * after the first.
-   */
-  @SuppressWarnings("rawtypes")
-  private static final LongToObjectHashMap<Per> cache = new LongToObjectHashMap<>();
-
-  /**
-   * Creates a new proportional unit derived from the ratio of one unit to another. Consider using
-   * {@link #combine} instead of manually calling this constructor.
-   *
-   * @param numerator the numerator unit
-   * @param denominator the denominator unit
-   */
-  protected Per(N numerator, D denominator) {
-    super(
-        numerator.isBaseUnit() && denominator.isBaseUnit()
-            ? null
-            : combine(numerator.getBaseUnit(), denominator.getBaseUnit()),
-        numerator.toBaseUnits(1) / denominator.toBaseUnits(1),
-        numerator.name() + " per " + denominator.name(),
-        numerator.symbol() + "/" + denominator.symbol());
-    m_numerator = numerator;
-    m_denominator = denominator;
-  }
-
-  Per(
-      Per<N, D> baseUnit,
-      UnaryFunction toBaseConverter,
-      UnaryFunction fromBaseConverter,
-      String name,
-      String symbol) {
-    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
-    m_numerator = baseUnit.numerator();
-    m_denominator = baseUnit.denominator();
-  }
-
-  /**
-   * Creates a new Per unit derived from an arbitrary numerator and time denominator units. Using a
-   * denominator with a unit of time is discouraged; use {@link Velocity} instead.
-   *
-   * <pre>
-   *   Per.combine(Volts, Meters) // possible PID constant
-   * </pre>
-   *
-   * <p>It's recommended to use the convenience function {@link Unit#per(Unit)} instead of calling
-   * this factory directly.
-   *
-   * @param <N> the type of the numerator unit
-   * @param <D> the type of the denominator unit
-   * @param numerator the numerator unit
-   * @param denominator the denominator for unit time
-   * @return the combined unit
-   */
-  @SuppressWarnings("unchecked")
-  public static <N extends Unit<N>, D extends Unit<D>> Per<N, D> combine(
-      N numerator, D denominator) {
-    final long key = ((long) numerator.hashCode()) << 32L | (denominator.hashCode() & 0xFFFFFFFFL);
-
-    var existing = cache.get(key);
-    if (existing != null) {
-      return existing;
-    }
-
-    var newUnit = new Per<>(numerator, denominator);
-    cache.put(key, newUnit);
-    return newUnit;
-  }
-
-  /**
-   * Gets the numerator unit. For a {@code Per<A, B>}, this will return the {@code A} unit.
-   *
-   * @return the numerator unit
-   */
-  public N numerator() {
-    return m_numerator;
-  }
-
-  /**
-   * Gets the denominator unit. For a {@code Per<A, B>}, this will return the {@code B} unit.
-   *
-   * @return the denominator unit
-   */
-  public D denominator() {
-    return m_denominator;
-  }
-
-  /**
-   * Returns the reciprocal of this Per.
-   *
-   * @return the reciprocal
-   */
-  public Per<D, N> reciprocal() {
-    return m_denominator.per(m_numerator);
-  }
-
-  @Override
-  public boolean equals(Object o) {
-    if (this == o) {
-      return true;
-    }
-    if (o == null || getClass() != o.getClass()) {
-      return false;
-    }
-    if (!super.equals(o)) {
-      return false;
-    }
-    Per<?, ?> per = (Per<?, ?>) o;
-    return Objects.equals(m_numerator, per.m_numerator)
-        && Objects.equals(m_denominator, per.m_denominator);
-  }
-
-  @Override
-  public int hashCode() {
-    return Objects.hash(super.hashCode(), m_numerator, m_denominator);
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
new file mode 100644
index 00000000000..3c7de4ad3cf
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
@@ -0,0 +1,287 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units;
+
+import edu.wpi.first.units.measure.ImmutablePer;
+import edu.wpi.first.units.measure.MutPer;
+import edu.wpi.first.units.measure.Per;
+import java.util.Objects;
+
+/**
+ * Generic combinatory unit type that represents the proportion of one unit to another, such as
+ * Meters per Second or Radians per Celsius.
+ *
+ * @param <N> the type of the numerator unit
+ * @param <D> the type of the denominator unit
+ */
+public class PerUnit<N extends Unit, D extends Unit> extends Unit {
+  private final N m_numerator;
+  private final D m_denominator;
+
+  /**
+   * Keep a cache of created instances so expressions like Volts.per(Meter) don't do any allocations
+   * after the first.
+   */
+  @SuppressWarnings("rawtypes")
+  private static final CombinatoryUnitCache<Unit, Unit, PerUnit> cache =
+      new CombinatoryUnitCache<>(PerUnit::new);
+
+  /**
+   * Creates a new proportional unit derived from the ratio of one unit to another. Consider using
+   * {@link #combine} instead of manually calling this constructor.
+   *
+   * @param numerator the numerator unit
+   * @param denominator the denominator unit
+   */
+  private PerUnit(N numerator, D denominator) {
+    super(
+        numerator.isBaseUnit() && denominator.isBaseUnit()
+            ? null
+            : combine(numerator.getBaseUnit(), denominator.getBaseUnit()),
+        numerator.toBaseUnits(1) / denominator.toBaseUnits(1),
+        numerator.name() + " per " + denominator.name(),
+        numerator.symbol() + "/" + denominator.symbol());
+    m_numerator = numerator;
+    m_denominator = denominator;
+  }
+
+  /**
+   * Creates a new proportional unit derived from the ratio of one unit to another. Subclasses of
+   * {@code PerUnit} should use this constructor.
+   *
+   * @param baseUnit the base unit. Set this to null if the unit being constructed is its own base
+   *     unit
+   * @param numerator the numerator unit
+   * @param denominator the denominator unit
+   */
+  protected PerUnit(PerUnit<N, D> baseUnit, N numerator, D denominator) {
+    super(
+        baseUnit,
+        numerator.toBaseUnits(1) / denominator.toBaseUnits(1),
+        numerator.name() + " per " + denominator.name(),
+        numerator.symbol() + "/" + denominator.symbol());
+    m_numerator = numerator;
+    m_denominator = denominator;
+  }
+
+  /** {@inheritDoc} */
+  PerUnit(
+      PerUnit<N, D> baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+    m_numerator = getBaseUnit().numerator();
+    m_denominator = getBaseUnit().denominator();
+  }
+
+  /**
+   * Creates a new PerUnit unit derived from an arbitrary numerator and time denominator units.
+   *
+   * <pre>
+   *   PerUnit.combine(Volts, Meters) // possible PID constant
+   * </pre>
+   *
+   * @param <N> the type of the numerator unit
+   * @param <D> the type of the denominator unit
+   * @param numerator the numerator unit
+   * @param denominator the denominator for unit time
+   * @return the combined unit
+   */
+  @SuppressWarnings("unchecked")
+  public static <N extends Unit, D extends Unit> PerUnit<N, D> combine(N numerator, D denominator) {
+    return cache.combine(numerator, denominator);
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public PerUnit<N, D> getBaseUnit() {
+    return (PerUnit<N, D>) super.getBaseUnit();
+  }
+
+  /**
+   * Gets the numerator unit. For a {@code PerUnit<A, B>}, this will return the {@code A} unit.
+   *
+   * @return the numerator unit
+   */
+  public N numerator() {
+    return m_numerator;
+  }
+
+  /**
+   * Gets the denominator unit. For a {@code PerUnit<A, B>}, this will return the {@code B} unit.
+   *
+   * @return the denominator unit
+   */
+  public D denominator() {
+    return m_denominator;
+  }
+
+  /**
+   * Returns the reciprocal of this PerUnit.
+   *
+   * @return the reciprocal
+   */
+  @SuppressWarnings("unchecked")
+  public PerUnit<D, N> reciprocal() {
+    if (m_numerator instanceof TimeUnit t) {
+      // Dividing by time, return a velocity
+      return (PerUnit<D, N>) VelocityUnit.combine(m_denominator, t);
+    } else {
+      // Generic case
+      return combine(m_denominator, m_numerator);
+    }
+  }
+
+  /**
+   * Multiplies this unit by a unit of its denominator.
+   *
+   * @param denom the denominator-typed unit to multiply by
+   * @return the result
+   */
+  public N mult(D denom) {
+    if (denom.equivalent(denominator())) {
+      return numerator();
+    }
+
+    return Units.derive(numerator())
+        .toBase(denom.getConverterToBase().div(denominator().getConverterToBase()))
+        .fromBase(denom.getConverterFromBase().div(denominator().getConverterFromBase()))
+        .named(name() + " " + denom.name())
+        .symbol(symbol() + "-" + denom.symbol())
+        .make();
+  }
+
+  /**
+   * {@inheritDoc}
+   *
+   * <p>Note: When called on an object of type {@code PerUnit} (and <i>not</i> a subclass!), this
+   * method will always return a {@link edu.wpi.first.units.measure.Per} instance. If you want to
+   * avoid casting, use {@link #ofNative(double)} that returns a {@code Per} instance directly.
+   *
+   * @param magnitude the magnitude of the measure
+   * @return the ratio measure
+   */
+  @Override
+  public Measure<? extends PerUnit<N, D>> of(double magnitude) {
+    return ofNative(magnitude);
+  }
+
+  /**
+   * {@inheritDoc}
+   *
+   * <p>Note: When called on an object of type {@code PerUnit} (and <i>not</i> a subclass!), this
+   * method will always return a {@link edu.wpi.first.units.measure.Per} instance. If you want to
+   * avoid casting, use {@link #ofNativeBaseUnits(double)} that returns a {@code Per} instance
+   * directly.
+   *
+   * @param baseUnitMagnitude the magnitude of the measure in terms of its base units.
+   * @return the ratio measure
+   */
+  @Override
+  public Measure<? extends PerUnit<N, D>> ofBaseUnits(double baseUnitMagnitude) {
+    return ofNativeBaseUnits(baseUnitMagnitude);
+  }
+
+  /**
+   * Creates a new immutable measurement of the given magnitude in terms of the ratio unit. This
+   * will always return a {@code Per} object and cannot be overridden by subclasses.
+   *
+   * @param magnitude the magnitude of the measurement.
+   * @return the measurement object
+   * @see #of(double)
+   */
+  public final Per<N, D> ofNative(double magnitude) {
+    return new ImmutablePer<>(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  /**
+   * Creates a new immutable measurement of the given magnitude in terms of the ratio unit's base
+   * unit. This will always return a {@code Per} object and cannot be overridden by subclasses.
+   *
+   * @param baseUnitMagnitude the magnitude of the measure in terms of its base units.
+   * @return the measurement object
+   * @see #ofBaseUnits(double)
+   */
+  public final Per<N, D> ofNativeBaseUnits(double baseUnitMagnitude) {
+    return new ImmutablePer<>(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<? extends PerUnit<N, D>> zero() {
+    return (Measure<? extends PerUnit<N, D>>) super.zero();
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<? extends PerUnit<N, D>> one() {
+    return (Measure<? extends PerUnit<N, D>>) super.one();
+  }
+
+  /**
+   * {@inheritDoc}
+   *
+   * <p>Note: When called on an object of type {@code PerUnit} (and <i>not</i> a subclass!), this
+   * method will always return a {@link edu.wpi.first.units.measure.MutPer} instance.
+   *
+   * @param initialMagnitude the starting magnitude of the measure
+   * @return the ratio measure
+   */
+  @Override
+  public MutableMeasure<? extends PerUnit<N, D>, ?, ?> mutable(double initialMagnitude) {
+    return mutableNative(initialMagnitude);
+  }
+
+  /**
+   * Creates a new mutable measurement of the given magnitude in terms of the ratio unit. This will
+   * always return a {@code Per} object and cannot be overridden by subclasses.
+   *
+   * @param initialMagnitude the starting magnitude of the measure
+   * @return the ratio measure
+   * @see #mutable(double)
+   */
+  public final MutPer<N, D> mutableNative(double initialMagnitude) {
+    return new MutPer<>(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+
+  @Override
+  public Unit per(TimeUnit time) {
+    return VelocityUnit.combine(this, time);
+  }
+
+  /**
+   * Converts a measurement value in terms of another unit to this unit.
+   *
+   * @param magnitude the magnitude of the measurement in terms of the other unit
+   * @param otherUnit the other unit
+   * @return the value of the measurement in terms of this unit
+   */
+  public double convertFrom(double magnitude, PerUnit<? extends N, ? extends D> otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (this == o) {
+      return true;
+    }
+    if (o == null || getClass() != o.getClass()) {
+      return false;
+    }
+    if (!super.equals(o)) {
+      return false;
+    }
+    PerUnit<?, ?> perUnit = (PerUnit<?, ?>) o;
+    return Objects.equals(m_numerator, perUnit.m_numerator)
+        && Objects.equals(m_denominator, perUnit.m_denominator);
+  }
+
+  @Override
+  public int hashCode() {
+    return Objects.hash(super.hashCode(), m_numerator, m_denominator);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Power.java b/wpiunits/src/main/java/edu/wpi/first/units/Power.java
deleted file mode 100644
index 5d43f144d66..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/Power.java
+++ /dev/null
@@ -1,29 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.units;
-
-/**
- * Unit of power dimension.
- *
- * <p>This is the base type for units of power dimension. It is also used to specify the dimension
- * for {@link Measure}: <code>Measure&lt;Power&gt;</code>.
- *
- * <p>Actual units (such as {@link Units#Watts} and {@link Units#Horsepower}) can be found in the
- * {@link Units} class.
- */
-public class Power extends Unit<Power> {
-  Power(Power baseUnit, double baseUnitEquivalent, String name, String symbol) {
-    super(baseUnit, baseUnitEquivalent, name, symbol);
-  }
-
-  Power(
-      Power baseUnit,
-      UnaryFunction toBaseConverter,
-      UnaryFunction fromBaseConverter,
-      String name,
-      String symbol) {
-    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
new file mode 100644
index 00000000000..4129b22177d
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
@@ -0,0 +1,164 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units;
+
+import static edu.wpi.first.units.Units.Joules;
+import static edu.wpi.first.units.Units.Seconds;
+
+import edu.wpi.first.units.measure.ImmutablePower;
+import edu.wpi.first.units.measure.MutPower;
+import edu.wpi.first.units.measure.Power;
+
+/**
+ * Unit of power dimension.
+ *
+ * <p>This is the base type for units of power dimension. It is also used to specify the dimension
+ * for {@link Measure}: <code>Measure&lt;PowerUnit&gt;</code>.
+ *
+ * <p>Actual units (such as {@link Units#Watts} and {@link Units#Horsepower}) can be found in the
+ * {@link Units} class.
+ */
+public final class PowerUnit extends PerUnit<EnergyUnit, TimeUnit> {
+  private static final CombinatoryUnitCache<EnergyUnit, TimeUnit, PowerUnit> cache =
+      new CombinatoryUnitCache<>(PowerUnit::new);
+
+  PowerUnit(EnergyUnit energy, TimeUnit time) {
+    super(
+        energy.isBaseUnit() && time.isBaseUnit()
+            ? null
+            : combine(energy.getBaseUnit(), time.getBaseUnit()),
+        energy,
+        time);
+  }
+
+  PowerUnit(
+      PowerUnit baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  /**
+   * Combines an energy and a time unit to form a unit of power.
+   *
+   * @param energy the unit of energy
+   * @param period the unit of time
+   * @return the combined unit of power
+   */
+  public static PowerUnit combine(EnergyUnit energy, TimeUnit period) {
+    return cache.combine(energy, period);
+  }
+
+  /**
+   * Combines voltage and current into power.
+   *
+   * @param voltage the unit of voltage
+   * @param current the unit of current
+   * @return the combined unit of power
+   */
+  public static PowerUnit combine(VoltageUnit voltage, CurrentUnit current) {
+    return combine(
+        new EnergyUnit(
+            Joules,
+            voltage.toBaseUnits(1) * current.toBaseUnits(1),
+            voltage.name() + "-" + current.name(),
+            voltage.symbol() + "*" + current.symbol()),
+        Seconds);
+  }
+
+  /**
+   * Combines voltage and current into power.
+   *
+   * @param current the unit of current
+   * @param voltage the unit of voltage
+   * @return the combined unit of power
+   */
+  public static PowerUnit combine(CurrentUnit current, VoltageUnit voltage) {
+    return combine(voltage, current);
+  }
+
+  /**
+   * Combines angular velocity and torque into power. Useful when dealing with motors and flywheels.
+   *
+   * @param angularVelocity the unit of angular velocity
+   * @param torque the unit of torque
+   * @return the combined unit of power
+   */
+  public static PowerUnit combine(AngularVelocityUnit angularVelocity, TorqueUnit torque) {
+    return combine(
+        new EnergyUnit(Joules, angularVelocity.toBaseUnits(1) * torque.toBaseUnits(1), "", ""),
+        Seconds);
+  }
+
+  /**
+   * Combines angular velocity and torque into power. Useful when dealing with motors and flywheels.
+   *
+   * @param torque the unit of torque
+   * @param angularVelocity the unit of angular velocity
+   * @return the combined unit of power
+   */
+  public static PowerUnit combine(TorqueUnit torque, AngularVelocityUnit angularVelocity) {
+    return combine(angularVelocity, torque);
+  }
+
+  @Override
+  public PowerUnit getBaseUnit() {
+    return (PowerUnit) super.getBaseUnit();
+  }
+
+  @Override
+  public Power of(double magnitude) {
+    return new ImmutablePower(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public Power ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutablePower(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public Power zero() {
+    return (Power) super.zero();
+  }
+
+  @Override
+  public Power one() {
+    return (Power) super.one();
+  }
+
+  @Override
+  public MutPower mutable(double initialMagnitude) {
+    return new MutPower(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+
+  @Override
+  public VelocityUnit<PowerUnit> per(TimeUnit time) {
+    return VelocityUnit.combine(this, time);
+  }
+
+  /**
+   * Creates a ratio unit between this unit and an arbitrary other unit.
+   *
+   * @param other the other unit
+   * @param <U> the type of the other unit
+   * @return the ratio unit
+   */
+  public <U extends Unit> PerUnit<PowerUnit, U> per(U other) {
+    return PerUnit.combine(this, other);
+  }
+
+  /**
+   * Converts a measurement value in terms of another power unit to this unit.
+   *
+   * @param magnitude the magnitude of the measurement in terms of the other power unit
+   * @param otherUnit the other power unit
+   * @return the value of the measurement in terms of this unit
+   */
+  public double convertFrom(double magnitude, PowerUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Temperature.java b/wpiunits/src/main/java/edu/wpi/first/units/Temperature.java
deleted file mode 100644
index 3138b1ac867..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/Temperature.java
+++ /dev/null
@@ -1,25 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.units;
-
-/**
- * Unit of temperature dimension.
- *
- * <p>This is the base type for units of temperature dimension. It is also used to specify the
- * dimension for {@link Measure}: <code>Measure&lt;Temperature&gt;</code>.
- *
- * <p>Actual units (such as {@link Units#Celsius} and {@link Units#Fahrenheit}) can be found in the
- * {@link Units} class.
- */
-public class Temperature extends Unit<Temperature> {
-  Temperature(
-      Temperature baseUnit,
-      UnaryFunction toBaseConverter,
-      UnaryFunction fromBaseConverter,
-      String name,
-      String symbol) {
-    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
new file mode 100644
index 00000000000..479c7e847a1
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
@@ -0,0 +1,86 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units;
+
+import edu.wpi.first.units.measure.ImmutableTemperature;
+import edu.wpi.first.units.measure.MutTemperature;
+import edu.wpi.first.units.measure.Temperature;
+
+/**
+ * Unit of temperature dimension.
+ *
+ * <p>This is the base type for units of temperature dimension. It is also used to specify the
+ * dimension for {@link Measure}: <code>Measure&lt;TemperatureUnit&gt;</code>.
+ *
+ * <p>Actual units (such as {@link Units#Celsius} and {@link Units#Fahrenheit}) can be found in the
+ * {@link Units} class.
+ */
+public final class TemperatureUnit extends Unit {
+  TemperatureUnit(
+      TemperatureUnit baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  @Override
+  public TemperatureUnit getBaseUnit() {
+    return (TemperatureUnit) super.getBaseUnit();
+  }
+
+  @Override
+  public Temperature of(double magnitude) {
+    return new ImmutableTemperature(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public Temperature ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableTemperature(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public Temperature zero() {
+    return (Temperature) super.zero();
+  }
+
+  @Override
+  public Temperature one() {
+    return (Temperature) super.one();
+  }
+
+  @Override
+  public MutTemperature mutable(double initialMagnitude) {
+    return new MutTemperature(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+
+  @Override
+  public VelocityUnit<TemperatureUnit> per(TimeUnit period) {
+    return VelocityUnit.combine(this, period);
+  }
+
+  /**
+   * Creates a ratio unit between this unit and an arbitrary other unit.
+   *
+   * @param other the other unit
+   * @param <U> the type of the other unit
+   * @return the ratio unit
+   */
+  public <U extends Unit> PerUnit<TemperatureUnit, U> per(U other) {
+    return PerUnit.combine(this, other);
+  }
+
+  /**
+   * Converts a measurement value in terms of another temperature unit to this unit.
+   *
+   * @param magnitude the magnitude of the measurement in terms of the other temperature unit
+   * @param otherUnit the other temperature unit
+   * @return the value of the measurement in terms of this unit
+   */
+  public double convertFrom(double magnitude, TemperatureUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Time.java b/wpiunits/src/main/java/edu/wpi/first/units/Time.java
deleted file mode 100644
index 5d1ec87e062..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/Time.java
+++ /dev/null
@@ -1,29 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.units;
-
-/**
- * Unit of time dimension.
- *
- * <p>This is the base type for units of time dimension. It is also used to specify the dimension
- * for {@link Measure}: <code>Measure&lt;Time&gt;</code>.
- *
- * <p>Actual units (such as {@link Units#Seconds} and {@link Units#Milliseconds}) can be found in
- * the {@link Units} class.
- */
-public class Time extends Unit<Time> {
-  Time(Time baseUnit, double baseUnitEquivalent, String name, String symbol) {
-    super(baseUnit, baseUnitEquivalent, name, symbol);
-  }
-
-  Time(
-      Time baseUnit,
-      UnaryFunction toBaseConverter,
-      UnaryFunction fromBaseConverter,
-      String name,
-      String symbol) {
-    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
new file mode 100644
index 00000000000..c8afa47098a
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
@@ -0,0 +1,102 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units;
+
+import edu.wpi.first.units.measure.ImmutableTime;
+import edu.wpi.first.units.measure.MutTime;
+import edu.wpi.first.units.measure.Time;
+
+/**
+ * Unit of time dimension.
+ *
+ * <p>This is the base type for units of time dimension. It is also used to specify the dimension
+ * for {@link Measure}: <code>Measure&lt;TimeUnit&gt;</code>.
+ *
+ * <p>Actual units (such as {@link Units#Seconds} and {@link Units#Milliseconds}) can be found in
+ * the {@link Units} class.
+ */
+public final class TimeUnit extends Unit {
+  TimeUnit(TimeUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
+    super(baseUnit, baseUnitEquivalent, name, symbol);
+  }
+
+  TimeUnit(
+      TimeUnit baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  @Override
+  public TimeUnit getBaseUnit() {
+    return (TimeUnit) super.getBaseUnit();
+  }
+
+  /**
+   * Creates a dimensionless unit corresponding to the scale factor between this and another unit of
+   * time.
+   *
+   * @param other the other unit of time
+   * @return the result
+   */
+  @Override
+  public DimensionlessUnit per(TimeUnit other) {
+    return Units.derive(Units.Value)
+        .toBase(this.getConverterToBase().div(other.getConverterToBase()))
+        .fromBase(other.getConverterFromBase().div(this.getConverterFromBase()))
+        .named(this.name() + " per " + other.name())
+        .symbol(this.symbol() + "/" + other.symbol())
+        .make();
+  }
+
+  /**
+   * Creates a ratio unit between this unit and an arbitrary other unit.
+   *
+   * @param other the other unit
+   * @param <U> the type of the other unit
+   * @return the ratio unit
+   */
+  public <U extends Unit> PerUnit<TimeUnit, U> per(U other) {
+    return PerUnit.combine(this, other);
+  }
+
+  /**
+   * Converts a measurement value in terms of another unit to this unit.
+   *
+   * @param magnitude the magnitude of the measurement in terms of the other unit
+   * @param otherUnit the other unit
+   * @return the value of the measurement in terms of this unit
+   */
+  public double convertFrom(double magnitude, TimeUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+
+  @Override
+  public Time of(double magnitude) {
+    return new ImmutableTime(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public Time ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableTime(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public Time zero() {
+    return (Time) super.zero();
+  }
+
+  @Override
+  public Time one() {
+    return (Time) super.one();
+  }
+
+  @Override
+  public MutTime mutable(double initialMagnitude) {
+    return new MutTime(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
new file mode 100644
index 00000000000..3aeef3b55d2
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
@@ -0,0 +1,101 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units;
+
+import edu.wpi.first.units.measure.ImmutableTorque;
+import edu.wpi.first.units.measure.MutTorque;
+import edu.wpi.first.units.measure.Torque;
+
+/** A unit of torque like {@link edu.wpi.first.units.Units#NewtonMeters}. */
+public final class TorqueUnit extends MultUnit<DistanceUnit, ForceUnit> {
+  private static final CombinatoryUnitCache<DistanceUnit, ForceUnit, TorqueUnit> cache =
+      new CombinatoryUnitCache<>(TorqueUnit::new);
+
+  TorqueUnit(DistanceUnit distanceUnit, ForceUnit forceUnit) {
+    super(
+        distanceUnit.isBaseUnit() && forceUnit.isBaseUnit()
+            ? null
+            : combine(distanceUnit.getBaseUnit(), forceUnit.getBaseUnit()),
+        distanceUnit,
+        forceUnit);
+  }
+
+  TorqueUnit(
+      MultUnit<DistanceUnit, ForceUnit> baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  /**
+   * Combines a unit of distance and force to create a unit of torque.
+   *
+   * @param distance the distance unit
+   * @param force the force unit
+   * @return the combined torque unit
+   */
+  public static TorqueUnit combine(DistanceUnit distance, ForceUnit force) {
+    return cache.combine(distance, force);
+  }
+
+  @Override
+  public TorqueUnit getBaseUnit() {
+    return (TorqueUnit) super.getBaseUnit();
+  }
+
+  @Override
+  public Torque of(double magnitude) {
+    return new ImmutableTorque(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public Torque ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableTorque(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public Torque zero() {
+    return (Torque) super.zero();
+  }
+
+  @Override
+  public Torque one() {
+    return (Torque) super.one();
+  }
+
+  @Override
+  public MutTorque mutable(double initialMagnitude) {
+    return new MutTorque(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+
+  @Override
+  public VelocityUnit<TorqueUnit> per(TimeUnit time) {
+    return VelocityUnit.combine(this, time);
+  }
+
+  /**
+   * Creates a ratio unit between this unit and an arbitrary other unit.
+   *
+   * @param other the other unit
+   * @param <U> the type of the other unit
+   * @return the ratio unit
+   */
+  public <U extends Unit> PerUnit<TorqueUnit, U> per(U other) {
+    return PerUnit.combine(this, other);
+  }
+
+  /**
+   * Converts a measurement value in terms of another unit to this unit.
+   *
+   * @param magnitude the magnitude of the measurement in terms of the other unit
+   * @param otherUnit the other unit
+   * @return the value of the measurement in terms of this unit
+   */
+  public double convertFrom(double magnitude, TorqueUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Unit.java b/wpiunits/src/main/java/edu/wpi/first/units/Unit.java
index 65339f87ce1..1dfc36f8ebf 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Unit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Unit.java
@@ -11,21 +11,19 @@
  *
  * <p>This is the base class for units. Actual units (such as {@link Units#Grams} and {@link
  * Units#Meters}) can be found in the {@link Units} class.
- *
- * @param <U> the self type, e.g. {@code class SomeUnit extends Unit<SomeUnit>}
  */
-public class Unit<U extends Unit<U>> {
+public abstract class Unit {
   private final UnaryFunction m_toBaseConverter;
   private final UnaryFunction m_fromBaseConverter;
 
-  private final U m_baseUnit;
-
-  private Measure<U> m_zero;
-  private Measure<U> m_one;
+  private final Unit m_baseUnit;
 
   private final String m_name;
   private final String m_symbol;
 
+  private final Measure<?> m_zero;
+  private final Measure<?> m_one;
+
   /**
    * Creates a new unit defined by its relationship to some base unit.
    *
@@ -36,18 +34,21 @@ public class Unit<U extends Unit<U>> {
    * @param name the name of the unit. This should be a singular noun (so "Meter", not "Meters")
    * @param symbol the short symbol for the unit, such as "m" for meters or "lb." for pounds
    */
-  @SuppressWarnings("unchecked")
+  @SuppressWarnings("this-escape")
   protected Unit(
-      U baseUnit,
+      Unit baseUnit,
       UnaryFunction toBaseConverter,
       UnaryFunction fromBaseConverter,
       String name,
       String symbol) {
-    m_baseUnit = baseUnit == null ? (U) this : baseUnit;
+    m_baseUnit = baseUnit == null ? this : baseUnit;
     m_toBaseConverter = Objects.requireNonNull(toBaseConverter);
     m_fromBaseConverter = Objects.requireNonNull(fromBaseConverter);
     m_name = Objects.requireNonNull(name);
     m_symbol = Objects.requireNonNull(symbol);
+
+    m_zero = of(0);
+    m_one = of(1);
   }
 
   /**
@@ -60,14 +61,79 @@ protected Unit(
    * @param name the name of the unit. This should be a singular noun (so "Meter", not "Meters")
    * @param symbol the short symbol for the unit, such as "m" for meters or "lb." for pounds
    */
-  protected Unit(U baseUnit, double baseUnitEquivalent, String name, String symbol) {
+  protected Unit(Unit baseUnit, double baseUnitEquivalent, String name, String symbol) {
     this(baseUnit, x -> x * baseUnitEquivalent, x -> x / baseUnitEquivalent, name, symbol);
   }
 
+  /**
+   * Creates a new immutable measurement of the given magnitude in terms of this unit.
+   * Implementations are <strong>strongly</strong> recommended to sharpen the return type to a
+   * unit-specific measurement implementation.
+   *
+   * @param magnitude the magnitude of the measurement.
+   * @return the measurement object
+   */
+  public abstract Measure<?> of(double magnitude);
+
+  /**
+   * Creates a new immutable measurement of the given magnitude in terms of this unit's base unit.
+   * Implementations are <strong>strongly</strong> recommended to sharpen the return type to a
+   * unit-specific measurement implementation.
+   *
+   * @param baseUnitMagnitude the magnitude in terms of the base unit
+   * @return the measurement object
+   */
+  public abstract Measure<?> ofBaseUnits(double baseUnitMagnitude);
+
+  /**
+   * Creates a new mutable measurement that is initialized to the given magnitude in terms of this
+   * unit. Implementations are <strong>strongly</strong> recommended to sharpen the return type to a
+   * unit-specific measurement implementation.
+   *
+   * @param initialMagnitude the initial magnitude of the mutable measurement
+   * @return the mutable measurement object
+   */
+  public abstract MutableMeasure<?, ?, ?> mutable(double initialMagnitude);
+
+  /**
+   * Gets a measure of zero magnitude in terms of this unit. The returned object is guaranteed to be
+   * of the same type returned by {@link #of(double)}. Subclasses are encouraged to override this
+   * method to sharpen the return type.
+   *
+   * @return a zero-magnitude measure of this unit
+   */
+  public Measure<?> zero() {
+    return m_zero;
+  }
+
+  /**
+   * Gets a measure with a magnitude of 1.0 in terms of this unit. The returned object is guaranteed
+   * to be of the same type returned by {@link #of(double)}. Subclasses are encouraged to override
+   * this method to sharpen the return type.
+   *
+   * @return a measure of magnitude 1.0 in terms of this unit
+   */
+  public Measure<?> one() {
+    return m_one;
+  }
+
+  /**
+   * Combines this unit with a unit of time. This often - but not always - results in a velocity.
+   * Subclasses should sharpen the return type to be unit-specific.
+   *
+   * @param time the unit of time
+   * @return the combined unit
+   */
+  public abstract Unit per(TimeUnit time);
+
   /**
    * Gets the base unit of measurement that this unit is derived from. If the unit is the base unit,
    * the unit will be returned.
    *
+   * <p><strong>NOTE:</strong> Subclasses <strong>must</strong> override this method to provide the
+   * correct return type. Failing to do say will make unit combinations that use it break at
+   * runtime!
+   *
    * <pre><code>
    *   Unit baseUnit = new Unit(null, ...);
    *   baseUnit.getBaseUnit(); // returns baseUnit
@@ -78,7 +144,7 @@ protected Unit(U baseUnit, double baseUnitEquivalent, String name, String symbol
    *
    * @return the base unit
    */
-  public U getBaseUnit() {
+  public Unit getBaseUnit() {
     return m_baseUnit;
   }
 
@@ -111,27 +177,6 @@ public double toBaseUnits(double valueInNativeUnits) {
     return m_toBaseConverter.apply(valueInNativeUnits);
   }
 
-  /**
-   * Converts a magnitude in terms of another unit of the same dimension to a magnitude in terms of
-   * this unit.
-   *
-   * <pre>
-   *   Inches.convertFrom(12, Feet) // 144.0
-   *   Kilograms.convertFrom(2.2, Pounds) // 0.9979024
-   * </pre>
-   *
-   * @param magnitude a magnitude measured in another unit
-   * @param otherUnit the unit to convert the magnitude to
-   * @return the corresponding value in terms of this unit.
-   */
-  public double convertFrom(double magnitude, Unit<U> otherUnit) {
-    if (this.equivalent(otherUnit)) {
-      // same unit, don't bother converting
-      return magnitude;
-    }
-    return this.fromBaseUnits(otherUnit.toBaseUnits(magnitude));
-  }
-
   /**
    * Gets the conversion function used to convert values to base unit terms. This generally
    * shouldn't need to be used directly; prefer {@link #toBaseUnits(double)} instead.
@@ -152,113 +197,6 @@ public UnaryFunction getConverterFromBase() {
     return m_fromBaseConverter;
   }
 
-  /**
-   * Creates a new measure of this unit with the given value. The resulting measure is
-   * <i>immutable</i> and cannot have its value modified.
-   *
-   * @param magnitude the magnitude of the measure to create
-   * @return the measure
-   */
-  public Measure<U> of(double magnitude) {
-    if (magnitude == 0) {
-      // reuse static object
-      return zero();
-    }
-    if (magnitude == 1) {
-      // reuse static object
-      return one();
-    }
-    return ImmutableMeasure.ofRelativeUnits(magnitude, this);
-  }
-
-  /**
-   * Creates a new measure with a magnitude equal to the given base unit magnitude, converted to be
-   * in terms of this unit.
-   *
-   * @param baseUnitMagnitude the magnitude of the measure in terms of the base unit
-   * @return the measure
-   */
-  public Measure<U> ofBaseUnits(double baseUnitMagnitude) {
-    return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude, this);
-  }
-
-  /**
-   * Gets a measure with a magnitude of 0 in terms of this unit.
-   *
-   * @return the zero-valued measure
-   */
-  public Measure<U> zero() {
-    // lazy init because 'this' is null in object initialization
-    if (m_zero == null) {
-      m_zero = ImmutableMeasure.ofRelativeUnits(0, this);
-    }
-    return m_zero;
-  }
-
-  /**
-   * Gets a measure with a magnitude of 1 in terms of this unit.
-   *
-   * @return the 1-valued measure
-   */
-  public Measure<U> one() {
-    // lazy init because 'this' is null in object initialization
-    if (m_one == null) {
-      m_one = ImmutableMeasure.ofRelativeUnits(1, this);
-    }
-    return m_one;
-  }
-
-  /**
-   * Creates a velocity unit derived from this one. Can be chained to denote velocity, acceleration,
-   * jerk, etc.
-   *
-   * <pre>
-   *   Meters.per(Second) // linear velocity
-   *   Kilograms.per(Second) // mass flow
-   *   Feet.per(Second).per(Second).of(32) // roughly 1G of acceleration
-   * </pre>
-   *
-   * @param period the time period of the velocity, such as seconds or milliseconds
-   * @return a velocity unit corresponding to the rate of change of this unit over time
-   */
-  public Velocity<U> per(Time period) {
-    return Velocity.combine(this, period);
-  }
-
-  /**
-   * Takes this unit and creates a new proportional unit where this unit is the numerator and the
-   * given denominator is the denominator.
-   *
-   * <pre>
-   *   Volts.per(Meter) // V/m
-   * </pre>
-   *
-   * @param <D> the type of the denominator units
-   * @param denominator the denominator of the proportional unit
-   * @return a combined proportional unit
-   */
-  @SuppressWarnings("unchecked")
-  public <D extends Unit<D>> Per<U, D> per(D denominator) {
-    return Per.combine((U) this, denominator);
-  }
-
-  /**
-   * Takes this unit and creates a new combinatory unit equivalent to this unit multiplied by
-   * another.
-   *
-   * <pre>
-   *   Volts.mult(Meter) // V*m
-   * </pre>
-   *
-   * @param <U2> the type of the unit to multiply by
-   * @param other the unit to multiply by
-   * @return a combined unit equivalent to this unit multiplied by the other
-   */
-  @SuppressWarnings("unchecked")
-  public <U2 extends Unit<U2>> Mult<U, U2> mult(U2 other) {
-    return Mult.combine((U) this, other);
-  }
-
   /**
    * Checks if this unit is equivalent to another one. Equivalence is determined by both units
    * having the same base type and treat the same base unit magnitude as the same magnitude in their
@@ -267,7 +205,7 @@ public <U2 extends Unit<U2>> Mult<U, U2> mult(U2 other) {
    * @param other the unit to compare to.
    * @return true if both units are equivalent, false if not
    */
-  public boolean equivalent(Unit<?> other) {
+  public boolean equivalent(Unit other) {
     if (!getClass().equals(other.getClass())) {
       // different unit types, not compatible
       return false;
@@ -287,7 +225,7 @@ public boolean equivalent(Unit<?> other) {
   @Override
   public boolean equals(Object o) {
     return this == o
-        || o instanceof Unit<?> that
+        || o instanceof Unit that
             && m_name.equals(that.m_name)
             && m_symbol.equals(that.m_symbol)
             && this.equivalent(that);
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/UnitBuilder.java b/wpiunits/src/main/java/edu/wpi/first/units/UnitBuilder.java
index 01e014f6d96..f3541b28744 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/UnitBuilder.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/UnitBuilder.java
@@ -18,7 +18,7 @@
  *
  * @param <U> the type of the unit
  */
-public final class UnitBuilder<U extends Unit<U>> {
+public final class UnitBuilder<U extends Unit> {
   private final U m_base;
   private UnaryFunction m_fromBase = UnaryFunction.IDENTITY;
   private UnaryFunction m_toBase = UnaryFunction.IDENTITY;
@@ -191,7 +191,7 @@ public UnitBuilder<U> aggregate(double aggregation) {
    * @param <U> the type of the unit
    */
   @FunctionalInterface
-  public interface UnitConstructorFunction<U extends Unit<U>> {
+  public interface UnitConstructorFunction<U extends Unit> {
     /**
      * Creates a new unit instance based on its relation to the base unit of measure.
      *
@@ -220,6 +220,7 @@ U create(
    * @return the new derived unit
    * @throws NullPointerException if the unit conversions, unit name, or unit symbol were not set
    */
+  @SuppressWarnings("unchecked")
   public U make(UnitConstructorFunction<U> constructor) {
     Objects.requireNonNull(m_fromBase, "fromBase function was not set");
     Objects.requireNonNull(m_toBase, "toBase function was not set");
@@ -227,7 +228,7 @@ public U make(UnitConstructorFunction<U> constructor) {
     Objects.requireNonNull(m_symbol, "new unit symbol was not set");
 
     return constructor.create(
-        m_base.getBaseUnit(),
+        (U) m_base.getBaseUnit(),
         m_toBase.pipeTo(m_base.getConverterToBase()),
         m_base.getConverterFromBase().pipeTo(m_fromBase),
         m_name,
@@ -242,7 +243,6 @@ public U make(UnitConstructorFunction<U> constructor) {
    * @throws RuntimeException if the base unit does not define a constructor accepting the
    *     conversion functions, unit name, and unit symbol - in that order
    */
-  @SuppressWarnings({"PMD.AvoidAccessibilityAlteration", "unchecked"})
   public U make() {
     return make(
         (baseUnit, toBaseUnits, fromBaseUnits, name, symbol) -> {
@@ -251,7 +251,7 @@ public U make() {
           try {
             var ctor = getConstructor(baseUnit);
 
-            return (U) ctor.newInstance(baseUnit, toBaseUnits, fromBaseUnits, name, symbol);
+            return ctor.newInstance(baseUnit, toBaseUnits, fromBaseUnits, name, symbol);
           } catch (InstantiationException e) {
             throw new RuntimeException("Could not instantiate class " + baseClass.getName(), e);
           } catch (IllegalAccessException e) {
@@ -272,7 +272,7 @@ public U make() {
   }
 
   @SuppressWarnings({"unchecked", "PMD.AvoidAccessibilityAlteration"})
-  private static <U extends Unit<U>> Constructor<? extends Unit<U>> getConstructor(U baseUnit)
+  private static <U extends Unit> Constructor<? extends U> getConstructor(U baseUnit)
       throws NoSuchMethodException {
     var baseClass = baseUnit.getClass();
 
@@ -288,6 +288,6 @@ private static <U extends Unit<U>> Constructor<? extends Unit<U>> getConstructor
     // and protected constructors
     ctor.setAccessible(true);
 
-    return (Constructor<? extends Unit<U>>) ctor;
+    return (Constructor<? extends U>) ctor;
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Units.java b/wpiunits/src/main/java/edu/wpi/first/units/Units.java
index b71a977ba94..cc2042c823e 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Units.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Units.java
@@ -14,365 +14,478 @@ private Units() {
 
   // Pseudo-classes describing the more common units of measure.
 
-  // Distance
+  // Unitless
+  /** A dimensionless unit that performs no scaling whatsoever. */
+  public static final DimensionlessUnit Value = BaseUnits.Value;
+
+  /**
+   * A dimensionless unit equal to to 1/100th of a {@link #Value}. A measurement of {@code
+   * Percent.of(42)} would be equivalent to {@code Value.of(0.42)}.
+   */
+  public static final DimensionlessUnit Percent =
+      derive(Value).splitInto(100).named("Percent").symbol("%").make();
+
+  // DistanceUnit
   /** The base unit of distance. */
-  public static final Distance Meters = BaseUnits.Distance;
+  public static final DistanceUnit Meters = BaseUnits.DistanceUnit;
 
   /** The base unit of distance. */
-  public static final Distance Meter = Meters; // alias
+  public static final DistanceUnit Meter = Meters; // alias
 
   /** 1/1000 of a {@link #Meter}. */
-  public static final Distance Millimeters = Milli(Meters, "Millimeter", "mm");
+  public static final DistanceUnit Millimeters = Milli(Meters, "Millimeter", "mm");
 
   /** 1/1000 of a {@link #Meter}. */
-  public static final Distance Millimeter = Millimeters; // alias
+  public static final DistanceUnit Millimeter = Millimeters; // alias
 
   /** 1/100 of a {@link #Meter}. */
-  public static final Distance Centimeters =
+  public static final DistanceUnit Centimeters =
       derive(Meters).splitInto(100).named("Centimeter").symbol("cm").make();
 
   /** 1/100 of a {@link #Meter}. */
-  public static final Distance Centimeter = Centimeters; // alias
+  public static final DistanceUnit Centimeter = Centimeters; // alias
 
   /** 25.4/1000 of a {@link #Meter} and 1/12 of a {@link #Foot}. */
-  public static final Distance Inches =
+  public static final DistanceUnit Inches =
       derive(Millimeters).aggregate(25.4).named("Inch").symbol("in").make();
 
   /** 25.4/1000 of a {@link #Meter} and 1/12 of a {@link #Foot}. */
-  public static final Distance Inch = Inches; // alias
+  public static final DistanceUnit Inch = Inches; // alias
 
   /** 304.8/1000 of a {@link #Meter}, or 12 {@link #Inches}. */
-  public static final Distance Feet =
+  public static final DistanceUnit Feet =
       derive(Inches).aggregate(12).named("Foot").symbol("ft").make();
 
   /** 304.8/1000 of a {@link #Meter}, or 12 {@link #Inches}. */
-  public static final Distance Foot = Feet; // alias
+  public static final DistanceUnit Foot = Feet; // alias
 
-  // Time
+  // TimeUnit
   /** The base unit of time. */
-  public static final Time Seconds = BaseUnits.Time;
+  public static final TimeUnit Seconds = BaseUnits.TimeUnit;
 
   /** Alias for {@link #Seconds} to make combined unit definitions read more smoothly. */
-  public static final Time Second = Seconds; // singularized alias
+  public static final TimeUnit Second = Seconds; // singularized alias
 
   /** 1/1000 of a {@link #Seconds Second}. */
-  public static final Time Milliseconds = Milli(Seconds);
+  public static final TimeUnit Milliseconds = Milli(Seconds);
 
   /** Alias for {@link #Milliseconds} to make combined unit definitions read more smoothly. */
-  public static final Time Millisecond = Milliseconds; // singularized alias
+  public static final TimeUnit Millisecond = Milliseconds; // singularized alias
 
   /** 1/1,000,000 of a {@link #Seconds Second}. */
-  public static final Time Microseconds = Micro(Seconds);
+  public static final TimeUnit Microseconds = Micro(Seconds);
 
   /** Alias for {@link #Microseconds} to make combined unit definitions read more smoothly. */
-  public static final Time Microsecond = Microseconds; // singularized alias
+  public static final TimeUnit Microsecond = Microseconds; // singularized alias
 
   /** 60 {@link #Seconds}. */
-  public static final Time Minutes =
+  public static final TimeUnit Minutes =
       derive(Seconds).aggregate(60).named("Minute").symbol("min").make();
 
   /** Alias for {@link #Minutes} to make combined unit definitions read more smoothly. */
-  public static final Time Minute = Minutes; // singularized alias
+  public static final TimeUnit Minute = Minutes; // singularized alias
 
-  // Angle
+  // AngleUnit
   /**
-   * The base SI unit of angle, represented by the distance that the radius of a unit circle can
+   * The standard SI unit of angle, represented by the distance that the radius of a unit circle can
    * wrap around its circumference.
    */
-  public static final Angle Radians = BaseUnits.Angle;
+  public static final AngleUnit Radians = BaseUnits.AngleUnit;
 
   /**
-   * The base SI unit of angle, represented by the distance that the radius of a unit circle can
+   * The standard SI unit of angle, represented by the distance that the radius of a unit circle can
    * wrap around its circumference.
    */
-  public static final Angle Radian = Radians; // alias
+  public static final AngleUnit Radian = Radians; // alias
 
   /**
    * A single turn of an object around an external axis. Numerically equivalent to {@link
    * #Rotations}, but may be semantically more expressive in certain scenarios.
    */
-  public static final Angle Revolutions =
+  public static final AngleUnit Revolutions =
       derive(Radians).aggregate(2 * Math.PI).named("Revolution").symbol("R").make();
 
   /**
    * A single turn of an object around an external axis. Numerically equivalent to a {@link
    * #Rotation}, but may be semantically more expressive in certain scenarios.
    */
-  public static final Angle Revolution = Revolutions; // alias
+  public static final AngleUnit Revolution = Revolutions; // alias
 
   /**
    * A single turn of an object around an internal axis. Numerically equivalent to {@link
    * #Revolutions}, but may be semantically more expressive in certain scenarios.
    */
-  public static final Angle Rotations = derive(Revolutions).named("Rotation").symbol("R").make();
+  public static final AngleUnit Rotations =
+      derive(Revolutions).named("Rotation").symbol("R").make();
 
   /**
    * A single turn of an object around an internal axis. Numerically equivalent to a {@link
    * #Revolution}, but may be semantically more expressive in certain scenarios.
    */
-  public static final Angle Rotation = Rotations; // alias
+  public static final AngleUnit Rotation = Rotations; // alias
 
   /** 1/360 of a turn around a circle, or 1/57.3 {@link #Radians}. */
-  public static final Angle Degrees =
+  public static final AngleUnit Degrees =
       derive(Revolutions).splitInto(360).named("Degree").symbol("°").make();
 
   /** 1/360 of a turn around a circle, or 1/57.3 {@link #Radians}. */
-  public static final Angle Degree = Degrees; // alias
+  public static final AngleUnit Degree = Degrees; // alias
 
-  // Velocity
+  // VelocityUnit
   /**
    * The standard SI unit of linear velocity, equivalent to travelling at a rate of one {@link
    * #Meters Meter} per {@link #Second}.
    */
-  public static final Velocity<Distance> MetersPerSecond = Meters.per(Second);
+  public static final LinearVelocityUnit MetersPerSecond = Meters.per(Second);
 
   /**
    * A unit of linear velocity equivalent to travelling at a rate one {@link #Feet Foot} per {@link
    * #Second}.
    */
-  public static final Velocity<Distance> FeetPerSecond = Feet.per(Second);
+  public static final LinearVelocityUnit FeetPerSecond = Feet.per(Second);
 
   /**
    * A unit of linear velocity equivalent to travelling at a rate of one {@link #Inches Inch} per
    * {@link #Second}.
    */
-  public static final Velocity<Distance> InchesPerSecond = Inches.per(Second);
+  public static final LinearVelocityUnit InchesPerSecond = Inches.per(Second);
 
   /**
    * A unit of angular velocity equivalent to spinning at a rate of one {@link #Revolutions
    * Revolution} per {@link #Second}.
    */
-  public static final Velocity<Angle> RevolutionsPerSecond = Revolutions.per(Second);
+  public static final AngularVelocityUnit RevolutionsPerSecond = Revolutions.per(Second);
 
   /**
    * A unit of angular velocity equivalent to spinning at a rate of one {@link #Rotations Rotation}
    * per {@link #Second}.
    */
-  public static final Velocity<Angle> RotationsPerSecond = Rotations.per(Second);
+  public static final AngularVelocityUnit RotationsPerSecond = Rotations.per(Second);
 
   /**
    * A unit of angular velocity equivalent to spinning at a rate of one {@link #Rotations Rotation}
    * per {@link #Minute}. Motor spec sheets often list maximum speeds in terms of RPM.
    */
-  public static final Velocity<Angle> RPM = Rotations.per(Minute);
+  public static final AngularVelocityUnit RPM = Rotations.per(Minute);
 
   /**
    * The standard SI unit of angular velocity, equivalent to spinning at a rate of one {@link
    * #Radians Radian} per {@link #Second}.
    */
-  public static final Velocity<Angle> RadiansPerSecond = Radians.per(Second);
+  public static final AngularVelocityUnit RadiansPerSecond = Radians.per(Second);
 
   /**
    * A unit of angular velocity equivalent to spinning at a rate of one {@link #Degrees Degree} per
    * {@link #Second}.
    */
-  public static final Velocity<Angle> DegreesPerSecond = Degrees.per(Second);
+  public static final AngularVelocityUnit DegreesPerSecond = Degrees.per(Second);
+
+  /**
+   * The standard SI unit of frequency, equivalent to a periodic signal repeating once every {@link
+   * #Second}.
+   */
+  public static final FrequencyUnit Hertz =
+      derive(Value.per(Second)).named("Hertz").symbol("hz").make();
+
+  /** 1/1000th of a {@link #Hertz}. */
+  public static final FrequencyUnit Millihertz = Milli(Hertz);
 
   // Acceleration
   /**
    * The standard SI unit of linear acceleration, equivalent to accelerating at a rate of one {@link
    * #Meters Meter} per {@link #Second} every second.
    */
-  public static final Velocity<Velocity<Distance>> MetersPerSecondPerSecond =
-      MetersPerSecond.per(Second);
+  public static final LinearAccelerationUnit MetersPerSecondPerSecond = MetersPerSecond.per(Second);
 
   /**
    * A unit of linear acceleration equivalent to accelerating at a rate of one {@link #Foot Foot}
    * per {@link #Second} every second.
    */
-  public static final Velocity<Velocity<Distance>> FeetPerSecondPerSecond =
-      FeetPerSecond.per(Second);
+  public static final LinearAccelerationUnit FeetPerSecondPerSecond = FeetPerSecond.per(Second);
 
   /**
    * A unit of angular acceleration equivalent to accelerating at a rate of one {@link #Rotations
    * Rotation} per {@link #Second} every second.
    */
-  public static final Velocity<Velocity<Angle>> RotationsPerSecondPerSecond =
+  public static final AngularAccelerationUnit RotationsPerSecondPerSecond =
       RotationsPerSecond.per(Second);
 
   /**
    * The standard SI unit of angular acceleration, equivalent to accelerating at a rate of one
    * {@link #Radians Radian} per {@link #Second} every second.
    */
-  public static final Velocity<Velocity<Angle>> RadiansPerSecondPerSecond =
+  public static final AngularAccelerationUnit RadiansPerSecondPerSecond =
       RadiansPerSecond.per(Second);
 
   /**
    * A unit of angular acceleration equivalent to accelerating at a rate of one {@link #Degrees
    * Degree} per {@link #Second} every second.
    */
-  public static final Velocity<Velocity<Angle>> DegreesPerSecondPerSecond =
+  public static final AngularAccelerationUnit DegreesPerSecondPerSecond =
       DegreesPerSecond.per(Second);
 
   /**
    * A unit of acceleration equivalent to the pull of gravity on an object at sea level on Earth.
    */
-  public static final Velocity<Velocity<Distance>> Gs =
+  public static final LinearAccelerationUnit Gs =
       derive(MetersPerSecondPerSecond).aggregate(9.80665).named("G").symbol("G").make();
 
-  // Mass
-  /** The base SI unit of mass. */
-  public static final Mass Kilograms = BaseUnits.Mass;
+  // MassUnit
+  /** The standard SI unit of mass. */
+  public static final MassUnit Kilograms = BaseUnits.MassUnit;
 
-  /** The base SI unit of mass. */
-  public static final Mass Kilogram = Kilograms; // alias
+  /** The standard SI unit of mass. */
+  public static final MassUnit Kilogram = Kilograms; // alias
 
   /** 1/1000 of a {@link #Kilogram}. */
-  public static final Mass Grams = Milli(Kilograms, "Gram", "g");
+  public static final MassUnit Grams = Milli(Kilograms, "Gram", "g");
 
   /** 1/1000 of a {@link #Kilogram}. */
-  public static final Mass Gram = Grams; // alias
+  public static final MassUnit Gram = Grams; // alias
 
   /**
    * A unit of mass equivalent to approximately 453 {@link #Grams}. This is <i>not</i> equivalent to
    * pounds-force, which is the amount of force required to accelerate an object with one pound of
    * mass at a rate of one {@link #Gs G}.
+   *
+   * @see #PoundsForce
    */
-  public static final Mass Pounds =
+  public static final MassUnit Pounds =
       derive(Grams).aggregate(453.592).named("Pound").symbol("lb.").make();
 
   /**
    * A unit of mass equivalent to approximately 453 {@link #Grams}. This is <i>not</i> equivalent to
    * pounds-force, which is the amount of force required to accelerate an object with one pound of
    * mass at a rate of one {@link #Gs G}.
+   *
+   * @see #PoundForce
    */
-  public static final Mass Pound = Pounds; // alias
+  public static final MassUnit Pound = Pounds; // alias
 
   /** 1/16 of a {@link #Pound}. */
-  public static final Mass Ounces =
+  public static final MassUnit Ounces =
       derive(Pounds).splitInto(16).named("Ounce").symbol("oz.").make();
 
   /** 1/16 of a {@link #Pound}. */
-  public static final Mass Ounce = Ounces; // alias
+  public static final MassUnit Ounce = Ounces; // alias
 
-  // Moment of Inertia
-  /** The base SI unit for moment of inertia. */
-  public static final Mult<Mult<Mass, Distance>, Distance> KilogramSquareMeters =
-      Kilograms.mult(Meters).mult(Meters);
+  // Force
 
-  // Unitless
-  /** A dimensionless unit that performs no scaling whatsoever. */
-  public static final Dimensionless Value = BaseUnits.Value;
+  /**
+   * The standard unit of force, equivalent to accelerating a mass of one {@link #Kilogram} at a
+   * rate of one {@link #MetersPerSecondPerSecond meter per second per second}.
+   */
+  public static final ForceUnit Newtons =
+      derive(Kilograms.mult(MetersPerSecondPerSecond)).named("Newton").symbol("N").make();
 
   /**
-   * A dimensionless unit equal to to 1/100th of a {@link #Value}. A measurement of {@code
-   * Percent.of(42)} would be equivalent to {@code Value.of(0.42)}.
+   * The standard unit of force, equivalent to the standard force of gravity applied to a one {@link
+   * #Kilogram} mass.
    */
-  public static final Dimensionless Percent =
-      derive(Value).splitInto(100).named("Percent").symbol("%").make();
+  public static final ForceUnit Newton = Newtons;
+
+  /**
+   * The standard Imperial unit of force, equivalent to the standard force of gravity applied to a
+   * one {@link #Pound} mass.
+   */
+  public static final ForceUnit PoundsForce =
+      derive(Pounds.mult(Gs)).named("Pound-force").symbol("lbsf.").make();
+
+  /**
+   * The standard Imperial unit of force, equivalent to the standard force of gravity applied to a
+   * one {@link #Pound} mass.
+   */
+  public static final ForceUnit PoundForce = PoundsForce;
+
+  /**
+   * 1/16th of {@link #PoundsForce}, equivalent to the standard force of gravity applied to a one
+   * {@link #Ounce} mass.
+   */
+  public static final ForceUnit OuncesForce =
+      derive(Ounces.mult(Gs)).named("Ounce-force").symbol("ozf").make();
+
+  /**
+   * 1/16th of {@link #PoundsForce}, equivalent to the standard force of gravity applied to a one
+   * {@link #Ounce} mass.
+   */
+  public static final ForceUnit OunceForce = OuncesForce;
+
+  // Torque
+
+  /** The standard SI unit for torque. */
+  public static final TorqueUnit NewtonMeters = Meters.multAsTorque(Newtons);
+
+  /** The standard SI unit for torque. */
+  public static final TorqueUnit NewtonMeter = NewtonMeters;
+
+  /**
+   * The equivalent of one {@link #PoundsForce pound of force} applied to an object one {@link
+   * #Foot} away from its center of rotation.
+   */
+  public static final TorqueUnit PoundFeet = Feet.multAsTorque(PoundsForce);
+
+  /**
+   * The equivalent of one {@link #PoundsForce pound of force} applied to an object one {@link
+   * #Foot} away from its center of rotation.
+   */
+  public static final TorqueUnit PoundFoot = PoundFeet;
+
+  /**
+   * The equivalent of one {@link #PoundsForce pound of force} applied to an object one {@link
+   * #Inch} away from its center of rotation.
+   */
+  public static final TorqueUnit PoundInches = Inches.multAsTorque(PoundsForce);
+
+  /**
+   * The equivalent of one {@link #PoundsForce pound of force} applied to an object one {@link
+   * #Inch} away from its center of rotation.
+   */
+  public static final TorqueUnit PoundInch = PoundInches;
+
+  /**
+   * The equivalent of one {@link #OunceForce ounce of force} applied to an object one {@link #Inch}
+   * away from its center of rotation.
+   */
+  public static final TorqueUnit OunceInches = Inches.multAsTorque(OuncesForce);
+
+  /**
+   * The equivalent of one {@link #OunceForce ounce of force} applied to an object one {@link #Inch}
+   * away from its center of rotation.
+   */
+  public static final TorqueUnit OunceInch = OunceInches;
+
+  // Linear momentum
+
+  /**
+   * The standard SI unit for linear momentum, equivalent to a one {@link #Kilogram} mass moving at
+   * one {@link #MetersPerSecond}.
+   */
+  public static final LinearMomentumUnit KilogramMetersPerSecond = Kilograms.mult(MetersPerSecond);
+
+  // Angular momentum
+
+  /** The standard SI unit for angular momentum. */
+  public static final AngularMomentumUnit KilogramMetersSquaredPerSecond =
+      KilogramMetersPerSecond.mult(Meters);
+
+  // Moment of Inertia
+
+  /** The standard SI unit for moment of inertia. */
+  public static final MomentOfInertiaUnit KilogramSquareMeters =
+      KilogramMetersSquaredPerSecond.mult(RadiansPerSecond);
 
-  // Voltage
+  // VoltageUnit
   /** The base unit of electric potential. */
-  public static final Voltage Volts = BaseUnits.Voltage;
+  public static final VoltageUnit Volts = BaseUnits.VoltageUnit;
 
   /** The base unit of electric potential. */
-  public static final Voltage Volt = Volts; // alias
+  public static final VoltageUnit Volt = Volts; // alias
 
   /**
    * 1/1000 of a {@link #Volt}. Useful when dealing with low-voltage applications like LED drivers
    * or low-power circuits.
    */
-  public static final Voltage Millivolts = Milli(Volts);
+  public static final VoltageUnit Millivolts = Milli(Volts);
 
   /**
    * 1/1000 of a {@link #Volt}. Useful when dealing with low-voltage applications like LED drivers
    * or low-power circuits.
    */
-  public static final Voltage Millivolt = Millivolts; // alias
+  public static final VoltageUnit Millivolt = Millivolts; // alias
 
-  // Current
+  // CurrentUnit
   /** The base unit of electrical current. */
-  public static final Current Amps = BaseUnits.Current;
+  public static final CurrentUnit Amps = BaseUnits.CurrentUnit;
 
   /** The base unit of electrical current. */
-  public static final Current Amp = Amps; // alias
+  public static final CurrentUnit Amp = Amps; // alias
 
   /**
    * A unit equal to 1/1000 of an {@link #Amp}. Useful when dealing with low-current applications
    * like LED drivers or low-power circuits.
    */
-  public static final Current Milliamps = Milli(Amps);
+  public static final CurrentUnit Milliamps = Milli(Amps);
 
   /**
    * A unit equal to 1/1000 of an {@link #Amp}. Useful when dealing with low-current applications
    * like LED drivers or low-power circuits.
    */
-  public static final Current Milliamp = Milliamps; // alias
+  public static final CurrentUnit Milliamp = Milliamps; // alias
 
-  // Energy
+  // EnergyUnit
   /** The base unit of energy. */
-  public static final Energy Joules = BaseUnits.Energy;
+  public static final EnergyUnit Joules = BaseUnits.EnergyUnit;
 
   /** The base unit of energy. */
-  public static final Energy Joule = Joules; // alias
+  public static final EnergyUnit Joule = Joules; // alias
 
   /**
    * A unit equal to 1/1000 of a {@link #Joule}. Useful when dealing with lower-power applications.
    */
-  public static final Energy Millijoules = Milli(Joules);
+  public static final EnergyUnit Millijoules = Milli(Joules);
 
   /**
    * A unit equal to 1/1000 of a {@link #Joule}. Useful when dealing with lower-power applications.
    */
-  public static final Energy Millijoule = Millijoules; // alias
+  public static final EnergyUnit Millijoule = Millijoules; // alias
 
   /**
    * A unit equal to 1,000 {@link #Joules}. Useful when dealing with higher-level robot energy
    * usage.
    */
-  public static final Energy Kilojoules = Kilo(Joules);
+  public static final EnergyUnit Kilojoules = Kilo(Joules);
 
   /**
    * A unit equal to 1,000 {@link #Joules}. Useful when dealing with higher-level robot energy
    * usage.
    */
-  public static final Energy Kilojoule = Kilojoules; // alias
+  public static final EnergyUnit Kilojoule = Kilojoules; // alias
 
-  // Power
+  // PowerUnit
   /** The base unit of power. Equivalent to one {@link #Joule} per {@link #Second}. */
-  public static final Power Watts = BaseUnits.Power;
+  public static final PowerUnit Watts = derive(Joules.per(Second)).named("Watt").symbol("W").make();
 
   /** The base unit of power. Equivalent to one {@link #Joule} per {@link #Second}. */
-  public static final Power Watt = Watts; // alias
+  public static final PowerUnit Watt = Watts; // alias
 
   /**
    * A unit equal to 1/1000 of a {@link #Watt}. Useful when dealing with lower-power applications.
    */
-  public static final Power Milliwatts = Milli(Watts);
+  public static final PowerUnit Milliwatts = Milli(Watts);
 
   /**
    * A unit equal to 1/1000 of a {@link #Watt}. Useful when dealing with lower-power applications.
    */
-  public static final Power Milliwatt = Milliwatts; // alias
+  public static final PowerUnit Milliwatt = Milliwatts; // alias
 
   /**
    * A unit equal to 745.7 {@link #Watts}. May be useful when dealing with high-power gearboxes and
    * motors.
    */
-  public static final Power Horsepower =
+  public static final PowerUnit Horsepower =
       derive(Watts).aggregate(745.7).named("Horsepower").symbol("HP").make();
 
-  // Temperature
+  // TemperatureUnit
   /**
    * The base unit of temperature, where a value of 0 corresponds with absolutely zero energy in the
    * measured system. Not particularly useful for robots unless you're cooling motors with liquid
    * helium.
    */
-  public static final Temperature Kelvin = BaseUnits.Temperature;
+  public static final TemperatureUnit Kelvin = BaseUnits.TemperatureUnit;
 
   /**
-   * The base SI unit of temperature, where a value of 0 roughly corresponds to the freezing point
-   * of water and a value of 100 corresponds to the boiling point. Electronics tend to exhibit
+   * The standard SI unit of temperature, where a value of 0 roughly corresponds to the freezing
+   * point of water and a value of 100 corresponds to the boiling point. Electronics tend to exhibit
    * degraded performance or damage above 90 degrees Celsius.
    */
-  public static final Temperature Celsius =
+  public static final TemperatureUnit Celsius =
       derive(Kelvin).offset(+273.15).named("Celsius").symbol("°C").make();
 
   /**
    * The base imperial (American) unit of temperature, where a value of 32 roughly corresponds to
    * the freezing point of water and a value of 212 corresponds to the boiling point.
    */
-  public static final Temperature Fahrenheit =
+  public static final TemperatureUnit Fahrenheit =
       derive(Celsius)
           .mappingInputRange(0, 100)
           .toOutputRange(32, 212)
@@ -386,28 +499,28 @@ private Units() {
    * A standard unit for measuring linear mechanisms' feedforward voltages based on a model of the
    * system and a desired commanded linear velocity.
    */
-  public static final Per<Voltage, Velocity<Distance>> VoltsPerMeterPerSecond =
+  public static final PerUnit<VoltageUnit, LinearVelocityUnit> VoltsPerMeterPerSecond =
       Volts.per(MetersPerSecond);
 
   /**
    * A standard unit for measuring linear mechanisms' feedforward voltages based on a model of the
    * system and a desired commanded linear acceleration.
    */
-  public static final Per<Voltage, Velocity<Velocity<Distance>>> VoltsPerMeterPerSecondSquared =
+  public static final PerUnit<VoltageUnit, LinearAccelerationUnit> VoltsPerMeterPerSecondSquared =
       Volts.per(MetersPerSecondPerSecond);
 
   /**
    * A standard unit for measuring angular mechanisms' feedforward voltages based on a model of the
    * system and a desired commanded angular velocity.
    */
-  public static final Per<Voltage, Velocity<Angle>> VoltsPerRadianPerSecond =
+  public static final PerUnit<VoltageUnit, AngularVelocityUnit> VoltsPerRadianPerSecond =
       Volts.per(RadiansPerSecond);
 
   /**
    * A standard unit for measuring angular mechanisms' feedforward voltages based on a model of the
    * system and a desired commanded angular acceleration.
    */
-  public static final Per<Voltage, Velocity<Velocity<Angle>>> VoltsPerRadianPerSecondSquared =
+  public static final PerUnit<VoltageUnit, AngularAccelerationUnit> VoltsPerRadianPerSecondSquared =
       Volts.per(RadiansPerSecond.per(Second));
 
   /**
@@ -420,7 +533,7 @@ private Units() {
    * @return the milli-unit
    */
   @SuppressWarnings("checkstyle:methodname")
-  public static <U extends Unit<U>> U Milli(Unit<U> baseUnit, String name, String symbol) {
+  public static <U extends Unit> U Milli(U baseUnit, String name, String symbol) {
     return derive(baseUnit).splitInto(1000).named(name).symbol(symbol).make();
   }
 
@@ -432,7 +545,7 @@ public static <U extends Unit<U>> U Milli(Unit<U> baseUnit, String name, String
    * @return the milli-unit
    */
   @SuppressWarnings("checkstyle:methodname")
-  public static <U extends Unit<U>> U Milli(Unit<U> baseUnit) {
+  public static <U extends Unit> U Milli(U baseUnit) {
     return Milli(
         baseUnit, "Milli" + baseUnit.name().toLowerCase(Locale.ROOT), "m" + baseUnit.symbol());
   }
@@ -448,7 +561,7 @@ public static <U extends Unit<U>> U Milli(Unit<U> baseUnit) {
    * @return the micro-unit
    */
   @SuppressWarnings("checkstyle:methodname")
-  public static <U extends Unit<U>> U Micro(Unit<U> baseUnit, String name, String symbol) {
+  public static <U extends Unit> U Micro(U baseUnit, String name, String symbol) {
     return derive(baseUnit).splitInto(1_000_000).named(name).symbol(symbol).make();
   }
 
@@ -460,7 +573,7 @@ public static <U extends Unit<U>> U Micro(Unit<U> baseUnit, String name, String
    * @return the micro-unit
    */
   @SuppressWarnings("checkstyle:methodname")
-  public static <U extends Unit<U>> U Micro(Unit<U> baseUnit) {
+  public static <U extends Unit> U Micro(U baseUnit) {
     return Micro(
         baseUnit, "Micro" + baseUnit.name().toLowerCase(Locale.ROOT), "u" + baseUnit.symbol());
   }
@@ -475,7 +588,7 @@ public static <U extends Unit<U>> U Micro(Unit<U> baseUnit) {
    * @return the kilo-unit
    */
   @SuppressWarnings("checkstyle:methodname")
-  public static <U extends Unit<U>> U Kilo(Unit<U> baseUnit, String name, String symbol) {
+  public static <U extends Unit> U Kilo(U baseUnit, String name, String symbol) {
     return derive(baseUnit).aggregate(1000).named(name).symbol(symbol).make();
   }
 
@@ -487,7 +600,7 @@ public static <U extends Unit<U>> U Kilo(Unit<U> baseUnit, String name, String s
    * @return the kilo-unit
    */
   @SuppressWarnings("checkstyle:methodname")
-  public static <U extends Unit<U>> U Kilo(Unit<U> baseUnit) {
+  public static <U extends Unit> U Kilo(U baseUnit) {
     return Kilo(
         baseUnit, "Kilo" + baseUnit.name().toLowerCase(Locale.ROOT), "K" + baseUnit.symbol());
   }
@@ -500,8 +613,7 @@ public static <U extends Unit<U>> U Kilo(Unit<U> baseUnit) {
    * @param <U> the dimension of the unit to derive
    * @return a builder object
    */
-  @SuppressWarnings("unchecked")
-  public static <U extends Unit<U>> UnitBuilder<U> derive(Unit<U> unit) {
-    return new UnitBuilder<>((U) unit);
+  public static <U extends Unit> UnitBuilder<U> derive(U unit) {
+    return new UnitBuilder<>(unit);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Velocity.java b/wpiunits/src/main/java/edu/wpi/first/units/Velocity.java
deleted file mode 100644
index 287c1601633..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/Velocity.java
+++ /dev/null
@@ -1,188 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.units;
-
-import edu.wpi.first.units.collections.LongToObjectHashMap;
-import java.util.Objects;
-
-/**
- * Unit of velocity dimension that is a combination of a distance unit (numerator) and a time unit
- * (denominator).
- *
- * <p>This is the base type for units of velocity dimension. It is also used in combination with a
- * distance dimension to specify the dimension for {@link Measure}. For example: <code>
- * Measure&lt;Velocity&lt;Distance&gt;&gt;</code>.
- *
- * <p>Actual units (such as {@link Units#MetersPerSecond} and {@link Units#RPM}) can be found in the
- * {@link Units} class.
- *
- * @param <D> the distance unit, such as {@link Angle} or {@link Distance}
- */
-public class Velocity<D extends Unit<D>> extends Unit<Velocity<D>> {
-  private final D m_unit;
-  private final Time m_period;
-
-  /**
-   * Stores velocity units that were created ad-hoc using {@link #combine(Unit, Time, String,
-   * String)}. Does not store objects created directly by constructors.
-   */
-  @SuppressWarnings("rawtypes")
-  private static final LongToObjectHashMap<Velocity> cache = new LongToObjectHashMap<>();
-
-  /** Generates a cache key used for cache lookups. */
-  private static long cacheKey(Unit<?> numerator, Unit<?> denominator) {
-    return ((long) numerator.hashCode()) << 32L | (denominator.hashCode() & 0xFFFFFFFFL);
-  }
-
-  /**
-   * Creates a new velocity unit derived from an arbitrary numerator and time period units.
-   *
-   * <p>Results of this method are cached so future invocations with the same arguments will return
-   * the pre-existing units instead of generating new identical ones.
-   *
-   * <pre>
-   *   Velocity.combine(Kilograms, Second) // mass flow
-   *   Velocity.combine(Feet, Millisecond) // linear speed
-   *   Velocity.combine(Radians, Second) // angular speed
-   *
-   *   Velocity.combine(Feet.per(Second), Second) // linear acceleration in ft/s/s
-   *   Velocity.combine(Radians.per(Second), Second) // angular acceleration
-   * </pre>
-   *
-   * <p>It's recommended to use the convenience function {@link Unit#per(Time)} instead of calling
-   * this factory directly.
-   *
-   * @param <D> the type of the numerator unit
-   * @param numerator the numerator unit
-   * @param period the period for unit time
-   * @param name the name of the new velocity unit
-   * @param symbol the symbol of the new velocity unit
-   * @return the new unit
-   */
-  @SuppressWarnings("unchecked")
-  public static <D extends Unit<D>> Velocity<D> combine(
-      Unit<D> numerator, Time period, String name, String symbol) {
-    long key = cacheKey(numerator, period);
-    if (cache.containsKey(key)) {
-      return cache.get(key);
-    }
-
-    Velocity<D> velocity = new Velocity<>((D) numerator, period, name, symbol);
-    cache.put(key, velocity);
-    return velocity;
-  }
-
-  /**
-   * Creates a new velocity unit derived from an arbitrary numerator and time period units.
-   *
-   * <p>Results of this method are cached so future invocations with the same arguments will return
-   * the pre-existing units instead of generating new identical ones.
-   *
-   * <p>This method automatically generates a new name and symbol for the new velocity unit.
-   *
-   * <pre>
-   *   Velocity.combine(Kilograms, Second) // mass flow
-   *   Velocity.combine(Feet, Millisecond) // linear speed
-   *   Velocity.combine(Radians, Second) // angular speed
-   *
-   *   Velocity.combine(Feet.per(Second), Second) // linear acceleration in ft/s/s
-   *   Velocity.combine(Radians.per(Second), Second) // angular acceleration
-   * </pre>
-   *
-   * <p>It's recommended to use the convenience function {@link Unit#per(Time)} instead of calling
-   * this factory directly.
-   *
-   * @param <D> the type of the numerator unit
-   * @param numerator the numerator unit
-   * @param period the period for unit time
-   * @return the new unit
-   */
-  @SuppressWarnings("unchecked")
-  public static <D extends Unit<D>> Velocity<D> combine(Unit<D> numerator, Time period) {
-    long key = cacheKey(numerator, period);
-    if (cache.containsKey(key)) {
-      return cache.get(key);
-    }
-
-    var name = numerator.name() + " per " + period.name();
-    var symbol = numerator.symbol() + "/" + period.symbol();
-
-    Velocity<D> velocity = new Velocity<>((D) numerator, period, name, symbol);
-    cache.put(key, velocity);
-    return velocity;
-  }
-
-  @SuppressWarnings({"unchecked", "rawtypes"})
-  Velocity(D unit, Time period, String name, String symbol) {
-    super(
-        unit.isBaseUnit() && period.isBaseUnit()
-            ? null
-            : combine(unit.getBaseUnit(), period.getBaseUnit()),
-        unit.toBaseUnits(1) / period.toBaseUnits(1),
-        name,
-        symbol);
-    this.m_unit = unit;
-    this.m_period = period;
-  }
-
-  @SuppressWarnings({"unchecked", "rawtypes"})
-  Velocity(
-      Velocity<D> baseUnit,
-      UnaryFunction toBaseConverter,
-      UnaryFunction fromBaseConverter,
-      String name,
-      String symbol) {
-    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
-    this.m_unit = baseUnit.getUnit();
-    this.m_period = baseUnit.getPeriod();
-  }
-
-  /**
-   * Gets the major unit being measured (eg Meters for Meters per Second).
-   *
-   * @return the major unit
-   */
-  public D getUnit() {
-    return m_unit;
-  }
-
-  /**
-   * Gets the period unit of the velocity, eg Seconds or Milliseconds.
-   *
-   * @return the period unit
-   */
-  public Time getPeriod() {
-    return m_period;
-  }
-
-  /**
-   * Returns the reciprocal of this velocity.
-   *
-   * @return the reciprocal
-   */
-  public Per<Time, D> reciprocal() {
-    return m_period.per(m_unit);
-  }
-
-  @Override
-  public boolean equals(Object o) {
-    if (this == o) {
-      return true;
-    }
-    if (o == null || getClass() != o.getClass()) {
-      return false;
-    }
-    if (!super.equals(o)) {
-      return false;
-    }
-    Velocity<?> velocity = (Velocity<?>) o;
-    return m_unit.equals(velocity.m_unit) && m_period.equals(velocity.m_period);
-  }
-
-  @Override
-  public int hashCode() {
-    return Objects.hash(super.hashCode(), m_unit, m_period);
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
new file mode 100644
index 00000000000..d954166db4d
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
@@ -0,0 +1,140 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units;
+
+import edu.wpi.first.units.measure.ImmutableVelocity;
+import edu.wpi.first.units.measure.MutVelocity;
+import edu.wpi.first.units.measure.Velocity;
+
+/**
+ * Unit of velocity dimension that is a combination of a distance unit (numerator) and a time unit
+ * (denominator).
+ *
+ * <p>This is a generic velocity type for units that do not have discrete velocity units (eg {@link
+ * DistanceUnit} has {@link LinearVelocityUnit}, and so would not use this class).
+ *
+ * @param <D> the unit of the changing quantity, such as {@link VoltageUnit} or {@link
+ *     TemperatureUnit}
+ */
+public final class VelocityUnit<D extends Unit> extends PerUnit<D, TimeUnit> {
+  @SuppressWarnings("rawtypes")
+  private static final CombinatoryUnitCache<Unit, TimeUnit, VelocityUnit> cache =
+      new CombinatoryUnitCache<>(VelocityUnit::new);
+
+  @SuppressWarnings("unchecked")
+  VelocityUnit(D numerator, TimeUnit denominator) {
+    super(
+        numerator.isBaseUnit() && denominator.isBaseUnit()
+            ? null
+            : combine((D) numerator.getBaseUnit(), denominator.getBaseUnit()),
+        numerator,
+        denominator);
+  }
+
+  VelocityUnit(
+      VelocityUnit<D> baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  /**
+   * Combines a dimension unit and a unit of the period of change to create a unit of velocity.
+   *
+   * @param unit the unit of the changing dimension
+   * @param period the unit of the period of change in the velocity
+   * @param <D> the unit of the changing dimension
+   * @return the combined velocity unit
+   */
+  @SuppressWarnings("unchecked")
+  public static <D extends Unit> VelocityUnit<D> combine(D unit, TimeUnit period) {
+    return cache.combine(unit, period);
+  }
+
+  @Override
+  public VelocityUnit<D> getBaseUnit() {
+    return (VelocityUnit<D>) super.getBaseUnit();
+  }
+
+  /**
+   * Gets the major unit being measured (eg Meters for Meters per Second).
+   *
+   * @return the major unit
+   */
+  public D getUnit() {
+    return numerator();
+  }
+
+  /**
+   * Gets the period unit of the velocity, eg Seconds or Milliseconds.
+   *
+   * @return the period unit
+   */
+  public TimeUnit getPeriod() {
+    return denominator();
+  }
+
+  @Override
+  public Velocity<D> of(double magnitude) {
+    return new ImmutableVelocity<>(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public Velocity<D> ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableVelocity<>(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<? extends VelocityUnit<D>> zero() {
+    return (Measure<? extends VelocityUnit<D>>) super.zero();
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<? extends VelocityUnit<D>> one() {
+    return (Measure<? extends VelocityUnit<D>>) super.one();
+  }
+
+  @Override
+  public MutableMeasure<VelocityUnit<D>, ?, ?> mutable(double initialMagnitude) {
+    return new MutVelocity<>(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+
+  /**
+   * Combines this velocity unit with a unit of a period of change to create an acceleration unit.
+   *
+   * @param period the unit of the period of change
+   * @return the acceleration unit
+   */
+  @Override
+  public AccelerationUnit<D> per(TimeUnit period) {
+    return AccelerationUnit.combine(this, period);
+  }
+
+  /**
+   * Creates a ratio unit between this unit and an arbitrary other unit.
+   *
+   * @param other the other unit
+   * @param <U> the type of the other unit
+   * @return the ratio unit
+   */
+  public <U extends Unit> PerUnit<VelocityUnit<D>, U> per(U other) {
+    return PerUnit.combine(this, other);
+  }
+
+  /**
+   * Converts a measurement value in terms of another velocity unit to this unit.
+   *
+   * @param magnitude the magnitude of the measurement in terms of the other velocity unit
+   * @param otherUnit the other velocity unit
+   * @return the value of the measurement in terms of this unit
+   */
+  public double convertFrom(double magnitude, VelocityUnit<? extends D> otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Voltage.java b/wpiunits/src/main/java/edu/wpi/first/units/Voltage.java
deleted file mode 100644
index 6867121ae12..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/Voltage.java
+++ /dev/null
@@ -1,46 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.units;
-
-import static edu.wpi.first.units.Units.Watts;
-
-/**
- * Unit of electric voltage dimension.
- *
- * <p>This is the base type for units of voltage dimension. It is also used to specify the dimension
- * for {@link Measure}: <code>Measure&lt;Voltage&gt;</code>.
- *
- * <p>Actual units (such as {@link Units#Volts} and {@link Units#Millivolts}) can be found in the
- * {@link Units} class.
- */
-public class Voltage extends Unit<Voltage> {
-  Voltage(Voltage baseUnit, double baseUnitEquivalent, String name, String symbol) {
-    super(baseUnit, baseUnitEquivalent, name, symbol);
-  }
-
-  Voltage(
-      Voltage baseUnit,
-      UnaryFunction toBaseConverter,
-      UnaryFunction fromBaseConverter,
-      String name,
-      String symbol) {
-    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
-  }
-
-  /**
-   * Constructs a unit of power equivalent to this unit of voltage multiplied by another unit of
-   * electrical current. For example, {@code Volts.times(Amps)} will return a unit of power
-   * equivalent to one Watt; {@code Volts.times(Milliams)} will return a unit of power equivalent to
-   * a milliwatt, and so on.
-   *
-   * @param current the current unit to multiply by
-   * @param name the name of the resulting unit of power
-   * @param symbol the symbol used to represent the unit of power
-   * @return the power unit
-   */
-  public Power times(Unit<Current> current, String name, String symbol) {
-    return new Power(Watts, toBaseUnits(1) * current.toBaseUnits(1), name, symbol);
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
new file mode 100644
index 00000000000..07774031b0c
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
@@ -0,0 +1,105 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units;
+
+import edu.wpi.first.units.measure.ImmutableVoltage;
+import edu.wpi.first.units.measure.MutVoltage;
+import edu.wpi.first.units.measure.Voltage;
+
+/**
+ * Unit of electric voltage dimension.
+ *
+ * <p>This is the base type for units of voltage dimension. It is also used to specify the dimension
+ * for {@link Measure}: <code>Measure&lt;VoltageUnit&gt;</code>.
+ *
+ * <p>Actual units (such as {@link Units#Volts} and {@link Units#Millivolts}) can be found in the
+ * {@link Units} class.
+ */
+public final class VoltageUnit extends Unit {
+  VoltageUnit(VoltageUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
+    super(baseUnit, baseUnitEquivalent, name, symbol);
+  }
+
+  VoltageUnit(
+      VoltageUnit baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  @Override
+  public VoltageUnit getBaseUnit() {
+    return (VoltageUnit) super.getBaseUnit();
+  }
+
+  /**
+   * Constructs a unit of power equivalent to this unit of voltage multiplied by another unit of
+   * electrical current. For example, {@code Volts.times(Amps)} will return a unit of power
+   * equivalent to one Watt; {@code Volts.times(Milliamps)} will return a unit of power equivalent
+   * to a milliwatt, and so on.
+   *
+   * @param current the current unit to multiply by
+   * @param name the name of the resulting unit of power
+   * @param symbol the symbol used to represent the unit of power
+   * @return the power unit
+   */
+  public PowerUnit mult(CurrentUnit current, String name, String symbol) {
+    return Units.derive(PowerUnit.combine(this, current)).named(name).symbol(symbol).make();
+  }
+
+  @Override
+  public Voltage of(double magnitude) {
+    return new ImmutableVoltage(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public Voltage ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableVoltage(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public Voltage zero() {
+    return (Voltage) super.zero();
+  }
+
+  @Override
+  public Voltage one() {
+    return (Voltage) super.one();
+  }
+
+  @Override
+  public MutVoltage mutable(double magnitude) {
+    return new MutVoltage(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public VelocityUnit<VoltageUnit> per(TimeUnit period) {
+    return VelocityUnit.combine(this, period);
+  }
+
+  /**
+   * Creates a generic ratio unit of this voltage to a different unit type.
+   *
+   * @param other the other unit type
+   * @param <U> the type of the other unit
+   * @return the combined ratio type
+   */
+  public <U extends Unit> PerUnit<VoltageUnit, U> per(U other) {
+    return PerUnit.combine(this, other);
+  }
+
+  /**
+   * Converts a measurement value in terms of another voltage unit to this unit.
+   *
+   * @param magnitude the magnitude of the measurement in terms of the other voltage unit
+   * @param otherUnit the other voltage unit
+   * @return the value of the measurement in terms of this unit
+   */
+  public double convertFrom(double magnitude, VoltageUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/GenericMutableMeasureImpl.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/GenericMutableMeasureImpl.java
new file mode 100644
index 00000000000..c5ae7916504
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/GenericMutableMeasureImpl.java
@@ -0,0 +1,79 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units.mutable;
+
+import edu.wpi.first.units.ImmutableMeasure;
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.MutableMeasure;
+import edu.wpi.first.units.Unit;
+import edu.wpi.first.units.measure.Dimensionless;
+
+/**
+ * A generic implementation of a mutable measure. This is used in scenarios no unit-specific mutable
+ * implementation can be determined.
+ *
+ * @param <U> the unit of measure
+ */
+public final class GenericMutableMeasureImpl<U extends Unit>
+    extends MutableMeasureBase<U, Measure<U>, GenericMutableMeasureImpl<U>> {
+  /**
+   * Initializes the mutable measure with initial conditions. Both relative and base unit magnitudes
+   * are required to avoid unnecessary calculations. It is up to the caller to ensure they are
+   * correct.
+   *
+   * @param initialValue the initial magnitude of the measure, in terms of the unit
+   * @param baseUnitMagnitude the initial magnitude of the measure, in terms of the base unit
+   * @param unit the initial unit of measure
+   */
+  public GenericMutableMeasureImpl(double initialValue, double baseUnitMagnitude, U unit) {
+    super(initialValue, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public Measure<U> copy() {
+    return ImmutableMeasure.ofBaseUnits(m_baseUnitMagnitude, m_unit);
+  }
+
+  @Override
+  public MutableMeasure<U, ?, ?> mutableCopy() {
+    return new GenericMutableMeasureImpl<>(m_magnitude, m_baseUnitMagnitude, m_unit);
+  }
+
+  @Override
+  public Measure<U> unaryMinus() {
+    return ImmutableMeasure.ofBaseUnits(0 - m_baseUnitMagnitude, m_unit);
+  }
+
+  @Override
+  public Measure<U> plus(Measure<? extends U> other) {
+    return ImmutableMeasure.ofBaseUnits(m_baseUnitMagnitude + other.baseUnitMagnitude(), m_unit);
+  }
+
+  @Override
+  public Measure<U> minus(Measure<? extends U> other) {
+    return ImmutableMeasure.ofBaseUnits(m_baseUnitMagnitude - other.baseUnitMagnitude(), m_unit);
+  }
+
+  @Override
+  public Measure<U> times(double multiplier) {
+    return ImmutableMeasure.ofBaseUnits(m_baseUnitMagnitude * multiplier, m_unit);
+  }
+
+  @Override
+  public Measure<U> times(Dimensionless multiplier) {
+    return ImmutableMeasure.ofBaseUnits(
+        m_baseUnitMagnitude * multiplier.baseUnitMagnitude(), m_unit);
+  }
+
+  @Override
+  public Measure<U> divide(double divisor) {
+    return ImmutableMeasure.ofBaseUnits(m_baseUnitMagnitude / divisor, m_unit);
+  }
+
+  @Override
+  public Measure<U> divide(Dimensionless divisor) {
+    return ImmutableMeasure.ofBaseUnits(m_baseUnitMagnitude / divisor.baseUnitMagnitude(), m_unit);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutableMeasureBase.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutableMeasureBase.java
new file mode 100644
index 00000000000..3314e809b2b
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutableMeasureBase.java
@@ -0,0 +1,86 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units.mutable;
+
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.MutableMeasure;
+import edu.wpi.first.units.Unit;
+import java.util.Objects;
+
+/**
+ * A partial implementation of {@link MutableMeasure} to handle most of the state and Java object-
+ * related implementations.
+ *
+ * @param <U> The dimension of measurement.
+ * @param <Base> The base measure type.
+ * @param <MutSelf> The self type. This MUST inherit from the base measure type.
+ */
+public abstract class MutableMeasureBase<
+        U extends Unit, Base extends Measure<U>, MutSelf extends MutableMeasure<U, Base, MutSelf>>
+    implements Measure<U>, MutableMeasure<U, Base, MutSelf> {
+  /** The magnitude of the measurement, in terms of {@link #m_unit}. */
+  protected double m_magnitude;
+
+  /** The magnitude of the measurement, in terms of {@link #m_unit}'s base unit. */
+  protected double m_baseUnitMagnitude;
+
+  /** The unit of measurement. */
+  protected U m_unit;
+
+  /**
+   * Initializes the mutable measure with initial conditions. Both relative and base unit magnitudes
+   * are required to avoid unnecessary calculations. It is up to the caller to ensure they are
+   * correct.
+   *
+   * @param magnitude the initial magnitude of the measure, in terms of the unit
+   * @param baseUnitMagnitude the initial magnitude of the measure, in terms of the base unit
+   * @param unit the initial unit of measure
+   */
+  protected MutableMeasureBase(double magnitude, double baseUnitMagnitude, U unit) {
+    this.m_magnitude = magnitude;
+    this.m_baseUnitMagnitude = baseUnitMagnitude;
+    this.m_unit = Objects.requireNonNull(unit, "Unit cannot be null");
+  }
+
+  @Override
+  public double magnitude() {
+    return m_magnitude;
+  }
+
+  @Override
+  public double baseUnitMagnitude() {
+    return m_baseUnitMagnitude;
+  }
+
+  @Override
+  public U unit() {
+    return m_unit;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    return this == o || o instanceof Measure<?> m && isEquivalent(m);
+  }
+
+  @Override
+  public int hashCode() {
+    return Objects.hash(m_magnitude, m_baseUnitMagnitude, m_unit);
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public MutSelf mut_replace(double magnitude, U newUnit) {
+    this.m_unit = Objects.requireNonNull(newUnit, "New unit cannot be null");
+    this.m_magnitude = magnitude;
+    this.m_baseUnitMagnitude = m_unit.toBaseUnits(magnitude);
+
+    return (MutSelf) this;
+  }
+}
diff --git a/wpiunits/src/test/java/edu/wpi/first/units/CurrentTest.java b/wpiunits/src/test/java/edu/wpi/first/units/CurrentUnitTest.java
similarity index 52%
rename from wpiunits/src/test/java/edu/wpi/first/units/CurrentTest.java
rename to wpiunits/src/test/java/edu/wpi/first/units/CurrentUnitTest.java
index d383094cbab..5c215f7bf35 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/CurrentTest.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/CurrentUnitTest.java
@@ -4,14 +4,15 @@
 
 package edu.wpi.first.units;
 
+import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import org.junit.jupiter.api.Test;
 
-class CurrentTest {
+class CurrentUnitTest {
   @Test
   void testAmpsTimesVolts() {
-    Power combined = Units.Amps.times(Units.Volts, "Watt", "w");
+    PowerUnit combined = Units.Amps.mult(Units.Volts, "Watt", "w");
 
     assertTrue(combined.equivalent(Units.Watts));
   }
@@ -19,8 +20,11 @@ void testAmpsTimesVolts() {
   @Test
   void testMilliAmpsTimesMilliVolts() {
     // results in microwatts
-    assertTrue(
-        Units.Milliamps.times(Units.Millivolts, "Microwatt", "uW")
-            .equivalent(Units.Milli(Units.Milliwatts)));
+    PowerUnit times = Units.Milliamps.mult(Units.Millivolts, "Microwatt", "uW");
+    PowerUnit millimilli = Units.Milli(Units.Milliwatts);
+
+    assertEquals(1, times.convertFrom(1e-6, Units.Watts));
+    assertEquals(1, millimilli.convertFrom(1e-6, Units.Watts));
+    assertTrue(times.equivalent(millimilli));
   }
 }
diff --git a/wpiunits/src/test/java/edu/wpi/first/units/DistanceTest.java b/wpiunits/src/test/java/edu/wpi/first/units/DistanceUnitTest.java
similarity index 83%
rename from wpiunits/src/test/java/edu/wpi/first/units/DistanceTest.java
rename to wpiunits/src/test/java/edu/wpi/first/units/DistanceUnitTest.java
index 2ce9cf33853..08a6612172b 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/DistanceTest.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/DistanceUnitTest.java
@@ -9,18 +9,18 @@
 
 import org.junit.jupiter.api.Test;
 
-class DistanceTest {
+class DistanceUnitTest {
   @Test
   void testBaseUnitDistancePerTime() {
-    Velocity<Distance> anonBaseUnit =
-        new Distance(null, 1, "D", "d").per(new Time(null, 1, "T", "t"));
+    LinearVelocityUnit anonBaseUnit =
+        new DistanceUnit(null, 1, "D", "d").per(new TimeUnit(null, 1, "T", "t"));
 
     assertTrue(Units.MetersPerSecond.equivalent(anonBaseUnit));
   }
 
   @Test
   void testFeetPerSecond() {
-    Velocity<Distance> feetPerMillisecond = Units.Feet.per(Units.Milliseconds);
+    LinearVelocityUnit feetPerMillisecond = Units.Feet.per(Units.Milliseconds);
 
     // one foot per millisecond
     // = (1 / 3.28084) meters per (1 / 1000) seconds
diff --git a/wpiunits/src/test/java/edu/wpi/first/units/EncoderTest.java b/wpiunits/src/test/java/edu/wpi/first/units/EncoderTest.java
deleted file mode 100644
index b78a4af6d7f..00000000000
--- a/wpiunits/src/test/java/edu/wpi/first/units/EncoderTest.java
+++ /dev/null
@@ -1,91 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.units;
-
-import static edu.wpi.first.units.Units.Inches;
-import static edu.wpi.first.units.Units.Revolutions;
-import static edu.wpi.first.units.Units.Second;
-import static org.junit.jupiter.api.Assertions.assertEquals;
-
-import org.junit.jupiter.api.Test;
-
-class EncoderTest {
-  static class Encoder<U extends Unit<U>> {
-    int m_ticks; // = 0
-    private Measure<U> m_distancePerPulse;
-    private MutableMeasure<U> m_distance;
-    private MutableMeasure<Velocity<U>> m_rate;
-
-    void setDistancePerPulse(Measure<U> distancePerPulse) {
-      m_distancePerPulse = distancePerPulse;
-      m_distance = MutableMeasure.zero(distancePerPulse.unit());
-      m_rate = MutableMeasure.zero(distancePerPulse.unit().per(Second));
-    }
-
-    Measure<U> getDistance() {
-      return m_distance;
-    }
-
-    Measure<Velocity<U>> getRate() {
-      return m_rate;
-    }
-
-    void setTicks(int ticks) {
-      // pretend we read from JNI here instead of being passed a specific value
-      var change = ticks - m_ticks;
-      m_ticks = ticks;
-      m_distance.mut_setMagnitude(m_distancePerPulse.magnitude() * ticks);
-
-      // assumes the last update was 1 second ago - fine for tests
-      m_rate.mut_setMagnitude(m_distancePerPulse.magnitude() * change);
-    }
-  }
-
-  @Test
-  void testAsDistance() {
-    double ticksPerRevolution = 2048;
-
-    var encoder = new Encoder<Distance>();
-
-    // distance per rotation = (wheel circumference / gear ratio)
-    // distance per tick = distance per rotation / ticks per rotation
-    var wheelDiameter = Inches.of(6);
-    double gearRatio = 10; // 10:1 ratio
-    Measure<Distance> distancePerPulse =
-        wheelDiameter.times(Math.PI).divide(gearRatio).divide(ticksPerRevolution);
-    encoder.setDistancePerPulse(distancePerPulse);
-
-    encoder.m_ticks = 0;
-    assertEquals(0, encoder.getDistance().in(Inches), Measure.EQUIVALENCE_THRESHOLD);
-    assertEquals(0, encoder.getRate().in(Inches.per(Second)), Measure.EQUIVALENCE_THRESHOLD);
-
-    // one full encoder turn, 1/10th of a wheel rotation
-    encoder.setTicks(2048);
-    assertEquals(6 * Math.PI / 10, encoder.getDistance().in(Inches), Measure.EQUIVALENCE_THRESHOLD);
-
-    // one full encoder turn back, 1/10th of a wheel rotation - rate should be negative
-    encoder.setTicks(0);
-    assertEquals(
-        -6 * Math.PI / 10, encoder.getRate().in(Inches.per(Second)), Measure.EQUIVALENCE_THRESHOLD);
-  }
-
-  @Test
-  void testAsRevolutions() {
-    double ticksPerRevolution = 2048;
-
-    var encoder = new Encoder<Angle>();
-
-    Measure<Angle> distancePerPulse = Revolutions.of(1).divide(ticksPerRevolution);
-    encoder.setDistancePerPulse(distancePerPulse);
-
-    encoder.m_ticks = 0;
-    assertEquals(0, encoder.getDistance().in(Revolutions), Measure.EQUIVALENCE_THRESHOLD);
-    assertEquals(0, encoder.getRate().in(Revolutions.per(Second)), Measure.EQUIVALENCE_THRESHOLD);
-
-    encoder.setTicks(2048); // one full encoder turn, 1/10th of a wheel rotation
-    assertEquals(1, encoder.getDistance().in(Revolutions), Measure.EQUIVALENCE_THRESHOLD);
-    assertEquals(1, encoder.getRate().in(Revolutions.per(Second)), Measure.EQUIVALENCE_THRESHOLD);
-  }
-}
diff --git a/wpiunits/src/test/java/edu/wpi/first/units/ExampleUnit.java b/wpiunits/src/test/java/edu/wpi/first/units/ExampleUnit.java
index d03bb640603..cc4b272f88a 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/ExampleUnit.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/ExampleUnit.java
@@ -4,7 +4,9 @@
 
 package edu.wpi.first.units;
 
-class ExampleUnit extends Unit<ExampleUnit> {
+import edu.wpi.first.units.mutable.GenericMutableMeasureImpl;
+
+class ExampleUnit extends Unit {
   ExampleUnit(double baseUnitEquivalent) {
     this(baseUnitEquivalent, "Example", "ex");
   }
@@ -21,4 +23,28 @@ class ExampleUnit extends Unit<ExampleUnit> {
   ExampleUnit(double baseUnitEquivalent, String name, String symbol) {
     super(null, baseUnitEquivalent, name, symbol);
   }
+
+  public double convertFrom(double magnitude, ExampleUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+
+  @Override
+  public Measure<ExampleUnit> of(double magnitude) {
+    return ImmutableMeasure.ofRelativeUnits(magnitude, this);
+  }
+
+  @Override
+  public Measure<ExampleUnit> ofBaseUnits(double baseUnitMagnitude) {
+    return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude, this);
+  }
+
+  @Override
+  public MutableMeasure<ExampleUnit, ?, ?> mutable(double initialMagnitude) {
+    return new GenericMutableMeasureImpl<>(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+
+  @Override
+  public VelocityUnit<ExampleUnit> per(TimeUnit time) {
+    return VelocityUnit.combine(this, time);
+  }
 }
diff --git a/wpiunits/src/test/java/edu/wpi/first/units/MeasureTest.java b/wpiunits/src/test/java/edu/wpi/first/units/MeasureTest.java
index 05f63985200..2454aa75aa2 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/MeasureTest.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/MeasureTest.java
@@ -11,69 +11,106 @@
 import static org.junit.jupiter.api.Assertions.assertSame;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.AngularMomentum;
+import edu.wpi.first.units.measure.Distance;
+import edu.wpi.first.units.measure.LinearVelocity;
+import edu.wpi.first.units.measure.Per;
+import edu.wpi.first.units.measure.Time;
 import org.junit.jupiter.api.Test;
 
 class MeasureTest {
   @Test
   void testBasics() {
-    Unit<Distance> unit = Units.Feet;
+    DistanceUnit unit = Units.Feet;
     double magnitude = 10;
-    Measure<Distance> m = unit.of(magnitude);
+    Distance m = unit.of(magnitude);
     assertEquals(unit, m.unit(), "Wrong units");
     assertEquals(magnitude, m.magnitude(), 0, "Wrong magnitude");
   }
 
   @Test
   void testMultiply() {
-    Measure<Distance> m = Units.Feet.of(1);
-    Measure<Distance> m2 = m.times(10);
-    assertEquals(10, m2.magnitude(), 1e-12);
+    Distance m = Units.Feet.of(1);
+    Distance m2 = m.times(10);
+    assertEquals(10, m2.in(Units.Feet), 1e-12);
     assertNotSame(m2, m); // make sure state wasn't changed
   }
 
+  @Test
+  void testTimesConversionFactor() {
+    Distance m = Units.Feet.of(10);
+
+    Per<AngleUnit, DistanceUnit> conversion = Units.Degrees.of(10).divide(Units.Feet.of(1));
+    Angle result = m.timesConversionFactor(conversion);
+    assertEquals(Units.Degrees.of(100), result);
+  }
+
+  @Test
+  void testTimesConversionFactorComplex() {
+    Distance m = Units.Feet.of(1);
+
+    // Using a complex compound unit here
+    // (Per<Mult<Mult<Mass, Per<Distance, Time>>, Distance>, Distance>)
+    Per<AngularMomentumUnit, DistanceUnit> conversion =
+        Units.KilogramMetersSquaredPerSecond.of(1).divide(Units.Foot.one());
+
+    AngularMomentum result = m.timesConversionFactor(conversion);
+    assertEquals(Units.KilogramMetersSquaredPerSecond.of(1), result);
+  }
+
+  @Test
+  void testTimesVelocityConversionFactor() {
+    Time m = Units.Seconds.of(10);
+
+    LinearVelocity conversion = Units.MetersPerSecond.of(10);
+    Distance result = m.timesConversionFactor(conversion);
+    assertEquals(Units.Meters.of(100), result);
+  }
+
   @Test
   void testDivide() {
-    Measure<Distance> m = Units.Meters.of(1);
-    Measure<Distance> m2 = m.divide(10);
+    Distance m = Units.Meters.of(1);
+    Distance m2 = m.divide(10);
     assertEquals(0.1, m2.magnitude(), 0);
     assertNotSame(m2, m);
   }
 
   @Test
   void testAdd() {
-    Measure<Distance> m1 = Units.Feet.of(1);
-    Measure<Distance> m2 = Units.Inches.of(2);
+    Distance m1 = Units.Feet.of(1);
+    Distance m2 = Units.Inches.of(2);
     assertTrue(m1.plus(m2).isEquivalent(Units.Feet.of(1 + 2 / 12d)));
     assertTrue(m2.plus(m1).isEquivalent(Units.Inches.of(14)));
   }
 
   @Test
   void testSubtract() {
-    Measure<Distance> m1 = Units.Feet.of(1);
-    Measure<Distance> m2 = Units.Inches.of(2);
+    Distance m1 = Units.Feet.of(1);
+    Distance m2 = Units.Inches.of(2);
     assertTrue(m1.minus(m2).isEquivalent(Units.Feet.of(1 - 2 / 12d)));
     assertTrue(m2.minus(m1).isEquivalent(Units.Inches.of(-10)));
   }
 
   @Test
-  void testNegate() {
-    Measure<Distance> m = Units.Feet.of(123);
-    Measure<Distance> n = m.negate();
-    assertEquals(-m.magnitude(), n.magnitude(), 1e-12);
-    assertEquals(m.unit(), n.unit());
+  void testUnaryMinus() {
+    Distance m = Units.Feet.of(123);
+    Distance negated = m.unaryMinus();
+    assertEquals(-123, negated.in(Units.Feet), 1e-12);
+    assertEquals(Units.Feet, negated.unit());
   }
 
   @Test
   void testEquivalency() {
-    Measure<Distance> inches = Units.Inches.of(12);
-    Measure<Distance> feet = Units.Feet.of(1);
+    Distance inches = Units.Inches.of(12);
+    Distance feet = Units.Feet.of(1);
     assertTrue(inches.isEquivalent(feet));
     assertTrue(feet.isEquivalent(inches));
   }
 
   @Test
   void testAs() {
-    Measure<Distance> m = Units.Inches.of(12);
+    Distance m = Units.Inches.of(12);
     assertEquals(1, m.in(Units.Feet), Measure.EQUIVALENCE_THRESHOLD);
   }
 
@@ -84,7 +121,7 @@ void testPerMeasureTime() {
 
     // 144 Kg / (53 ms) = (1000 / 53) * 144 Kg/s = (144,000 / 53) Kg/s
 
-    var result = measure.per(dt);
+    var result = measure.divide(dt);
     assertEquals(144_000.0 / 53, result.baseUnitMagnitude(), 1e-5);
     assertEquals(Units.Kilograms.per(Units.Milliseconds), result.unit());
   }
@@ -94,106 +131,33 @@ void testPerUnitTime() {
     var measure = Units.Kilograms.of(144);
     var result = measure.per(Units.Millisecond);
 
-    assertEquals(Velocity.class, result.unit().getClass());
+    assertEquals(VelocityUnit.class, result.unit().getClass());
     assertEquals(144_000.0, result.baseUnitMagnitude(), 1e-5);
     assertEquals(Units.Kilograms.per(Units.Milliseconds), result.unit());
   }
 
-  @Test
-  void testTimesMeasure() {
-    var m1 = Units.Volts.of(1.567);
-    var m2 = Units.Kilograms.of(8.4e-5);
-
-    assertEquals(Units.Volts.mult(Units.Kilograms).of(1.567 * 8.4e-5), m1.times(m2));
-  }
-
-  @Test
-  void testTimesUnitless() {
-    var unit = new ExampleUnit(6);
-    var measure = unit.of(2.5);
-    var multiplier = Units.Percent.of(125); // 125% or 1.25x
-    Measure<?> result = measure.times(multiplier);
-    assertSame(unit, result.unit());
-
-    assertEquals(2.5 * 1.25, result.magnitude());
-    assertEquals(2.5 * 1.25 * 6, result.baseUnitMagnitude());
-  }
-
-  @Test
-  void testTimesPerWithDimensionalAnalysis() {
-    var measureA = Units.Feet.of(62); // 62 feet
-    var measureB = Units.Radians.of(6).per(Units.Inches); // 6 radians per inch
-    Measure<?> aTimesB = measureA.times(measureB); // (62 feet) * (6 rad/inch) = 4464 rad
-    assertEquals(Units.Radians, aTimesB.unit());
-    assertEquals(4464, aTimesB.magnitude(), 1e-12);
-
-    Measure<?> bTimesA = measureB.times(measureA); // should be identical to the above
-    assertTrue(bTimesA.isEquivalent(aTimesB));
-    assertTrue(aTimesB.isEquivalent(bTimesA));
-  }
-
-  @Test
-  void testPerTimesPerWithDimensionalAnalysis() {
-    var measureA = Units.Inches.of(16).per(Units.Volts);
-    var measureB = Units.Millivolts.of(14).per(Units.Meters);
-    Measure<?> aTimesB = measureA.times(measureB);
-    assertEquals(Units.Value, aTimesB.unit());
-    assertEquals((16 * 25.4 / 1000) * (14 / 1000.0), aTimesB.magnitude());
-    assertEquals((16 * 25.4 / 1000) * (14 / 1000.0), aTimesB.baseUnitMagnitude());
-
-    Measure<?> bTimesA = measureB.times(measureA); // should be identical to the above
-    assertTrue(bTimesA.isEquivalent(aTimesB));
-    assertTrue(aTimesB.isEquivalent(bTimesA));
-  }
-
-  @Test
-  void testPerTimesMeasure() {
-    var m1 = Units.Feet.per(Units.Milliseconds).of(19);
-    var m2 = Units.Seconds.of(44);
-
-    // 19 ft/ms = 19,000 ft/s
-    // 19,000 ft/s * 44s = 836,000 ft
-    assertTrue(Units.Feet.of(836_000).isNear(m1.times(m2), 1e-12));
-
-    // 42 ex per foot * 17mm = 42 ex * 17mm / (304.8mm/ft) = 42 * 17 / 304.8 = 2.34252
-    var exampleUnit = new ExampleUnit(1);
-    var m3 = exampleUnit.per(Units.Feet).of(42);
-    var m4 = Units.Millimeters.of(17);
-    assertEquals(exampleUnit.of(42 * 17 / (12 * 25.4)), m3.times(m4));
-  }
-
   @Test
   void testDivideMeasure() {
     // Dimensionless divide
     var m1 = Units.Meters.of(6);
     var m2 = Units.Value.of(3);
     var result = m1.divide(m2);
-    assertEquals(m1.divide(m2).magnitude(), 2);
-    assertEquals(result.unit(), Units.Meters);
+    assertEquals(2, m1.divide(m2).magnitude());
+    assertEquals(Units.Meters, result.unit());
     // Velocity divide
     var m3 = Units.Meters.of(8);
     var m4 = Units.Meters.per(Units.Second).of(4);
-    result = m3.divide(m4);
-    assertEquals(result.magnitude(), 2);
-    assertEquals(result.unit(), Units.Second);
-    // Per divide
+    var time = m3.divide(m4);
+    assertEquals(2, time.magnitude());
+    assertEquals(Units.Second, time.unit());
+    // PerUnit divide
     var m5 = Units.Volts.of(6);
     var m6 = Units.Volts.per(Units.Meter).of(2);
-    result = m5.divide(m6);
-    assertEquals(result.magnitude(), 3);
-    assertEquals(result.unit(), Units.Meter);
-    // Fallthrough divide
-    var m7 = Units.Seconds.of(10);
-    var m8 = Units.Amps.of(2);
-    result = m7.divide(m8);
-    assertEquals(result.magnitude(), 5);
-    assertEquals(result.unit(), Units.Seconds.per(Units.Amps));
-    // Same base unit divide
-    var m9 = Units.Meters.of(8);
-    var m10 = Units.Meters.of(4);
-    result = m9.divide(m10);
-    assertEquals(result.magnitude(), 2);
-    assertEquals(result.unit(), Units.Value);
+
+    // Voltage/(Voltage/Distance) -> Voltage * Distance/Voltage -> Distance
+    var dist = m5.divide(m6);
+    assertEquals(3, dist.magnitude());
+    assertEquals(Units.Meter, dist.unit());
   }
 
   @Test
@@ -249,57 +213,6 @@ void testCompare() {
     assertFalse(base.gt(base));
   }
 
-  @Test
-  void testTimesScalar() {
-    var unit = new ExampleUnit(42);
-    var measure = unit.of(4.2);
-    var scalar = 18;
-    var result = measure.times(scalar);
-    assertNotSame(measure, result);
-    assertSame(unit, result.unit());
-    assertEquals(4.2 * 18, result.magnitude());
-    assertEquals(4.2 * 42 * 18, result.baseUnitMagnitude());
-  }
-
-  @Test
-  void testPerUnit() {
-    var unitA = new ExampleUnit(10);
-    var unitB = new ExampleUnit(12);
-    var measure = unitA.of(1.2);
-    var result = measure.per(unitB);
-    assertEquals(Per.combine(unitA, unitB), result.unit()); // A/B has base equivalent of 10/12
-    assertEquals(1, result.baseUnitMagnitude()); // 10/12 * 12/10 = 1
-    assertEquals(measure.magnitude(), result.magnitude());
-  }
-
-  @Test
-  void testAddMeasureSameUnit() {
-    var unit = new ExampleUnit(8.2);
-    var measureA = unit.of(3.1);
-    var measureB = unit.of(91.6);
-    var result = measureA.plus(measureB);
-    assertEquals(unit, result.unit());
-    assertEquals(94.7, result.magnitude(), 1e-12);
-  }
-
-  @Test
-  void testAddMeasuresDifferentUnits() {
-    var unitA = new ExampleUnit(8.2);
-    var unitB = new ExampleUnit(7.3);
-    var measureA = unitA.of(5);
-    var measureB = unitB.of(16);
-    var aPlusB = measureA.plus(measureB);
-
-    assertEquals(unitA, aPlusB.unit());
-    assertEquals(8.2 * 5 + 7.3 * 16, aPlusB.baseUnitMagnitude(), 1e-12);
-    assertEquals(5 + (16 * 7.3 / 8.2), aPlusB.magnitude(), 1e-12);
-
-    var bPlusA = measureB.plus(measureA);
-    assertEquals(unitB, bPlusA.unit());
-    assertEquals(8.2 * 5 + 7.3 * 16, bPlusA.baseUnitMagnitude(), 1e-12);
-    assertEquals(16 + (5 * 8.2 / 7.3), bPlusA.magnitude(), 1e-12);
-  }
-
   @Test
   void testMinNoArgs() {
     var min = Measure.min();
@@ -388,29 +301,29 @@ void testIsNearMeasureTolerance() {
     assertTrue(measureCompared.isNear(measureComparing, Units.Millimeters.of(300)));
     assertFalse(measureCompared.isNear(measureComparing, Units.Centimeters.of(10)));
 
-    measureCompared = measureCompared.negate();
-    measureComparing = measureComparing.negate();
+    measureCompared = measureCompared.unaryMinus();
+    measureComparing = measureComparing.unaryMinus();
 
     // Negative value with positive tolerance
     assertTrue(measureCompared.isNear(measureComparing, Units.Millimeters.of(300)));
     assertFalse(measureCompared.isNear(measureComparing, Units.Centimeters.of(10)));
 
-    measureCompared = measureCompared.negate();
-    measureComparing = measureComparing.negate();
+    measureCompared = measureCompared.unaryMinus();
+    measureComparing = measureComparing.unaryMinus();
 
     // Positive value with negative tolerance
     assertTrue(measureCompared.isNear(measureComparing, Units.Millimeters.of(-300)));
     assertFalse(measureCompared.isNear(measureComparing, Units.Centimeters.of(-10)));
 
-    measureCompared = measureCompared.negate();
-    measureComparing = measureComparing.negate();
+    measureCompared = measureCompared.unaryMinus();
+    measureComparing = measureComparing.unaryMinus();
 
     // Negative value with negative tolerance.
     assertTrue(measureCompared.isNear(measureComparing, Units.Millimeters.of(-300)));
     assertFalse(measureCompared.isNear(measureComparing, Units.Centimeters.of(-10)));
 
-    measureCompared = measureCompared.negate();
-    measureComparing = measureComparing.negate();
+    measureCompared = measureCompared.unaryMinus();
+    measureComparing = measureComparing.unaryMinus();
 
     // Tolerance exact difference between measures.
     assertTrue(measureCompared.isNear(measureComparing, Units.Millimeters.of(200)));
diff --git a/wpiunits/src/test/java/edu/wpi/first/units/MultTest.java b/wpiunits/src/test/java/edu/wpi/first/units/MultUnitTest.java
similarity index 80%
rename from wpiunits/src/test/java/edu/wpi/first/units/MultTest.java
rename to wpiunits/src/test/java/edu/wpi/first/units/MultUnitTest.java
index 383ea1665a9..8815e81d50e 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/MultTest.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/MultUnitTest.java
@@ -9,12 +9,12 @@
 
 import org.junit.jupiter.api.Test;
 
-class MultTest {
+class MultUnitTest {
   @Test
   void testAutomaticNames() {
     var unitA = new ExampleUnit(1, "Ay", "a");
     var unitB = new ExampleUnit(1, "Bee", "b");
-    var mult = Mult.combine(unitA, unitB);
+    var mult = MultUnit.combine(unitA, unitB);
     assertEquals("Ay-Bee", mult.name());
     assertEquals("a*b", mult.symbol());
   }
@@ -23,7 +23,7 @@ void testAutomaticNames() {
   void testCombine() {
     var unitA = new ExampleUnit(100);
     var unitB = new ExampleUnit(0.912);
-    var mult = Mult.combine(unitA, unitB);
+    var mult = MultUnit.combine(unitA, unitB);
     assertEquals(91.2, mult.toBaseUnits(1));
   }
 
@@ -31,7 +31,7 @@ void testCombine() {
   void testCaches() {
     var unitA = new ExampleUnit(1);
     var unitB = new ExampleUnit(2);
-    var mult = Mult.combine(unitA, unitB);
-    assertSame(mult, Mult.combine(unitA, unitB));
+    var mult = MultUnit.combine(unitA, unitB);
+    assertSame(mult, MultUnit.combine(unitA, unitB));
   }
 }
diff --git a/wpiunits/src/test/java/edu/wpi/first/units/MutableMeasureTest.java b/wpiunits/src/test/java/edu/wpi/first/units/MutableMeasureTest.java
deleted file mode 100644
index 50088849395..00000000000
--- a/wpiunits/src/test/java/edu/wpi/first/units/MutableMeasureTest.java
+++ /dev/null
@@ -1,133 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.units;
-
-import static edu.wpi.first.units.Units.Centimeters;
-import static edu.wpi.first.units.Units.FeetPerSecond;
-import static edu.wpi.first.units.Units.InchesPerSecond;
-import static edu.wpi.first.units.Units.Meters;
-import static edu.wpi.first.units.Units.Millisecond;
-import static edu.wpi.first.units.Units.Millivolts;
-import static edu.wpi.first.units.Units.Second;
-import static edu.wpi.first.units.Units.Volts;
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.api.Assertions.assertSame;
-
-import org.junit.jupiter.api.Test;
-
-class MutableMeasureTest {
-  @Test
-  void testWrapper() {
-    var unit = new ExampleUnit(1);
-    var measure = unit.of(1234);
-    var mutable = MutableMeasure.mutable(measure);
-    assertEquals(measure.magnitude(), mutable.magnitude(), 0);
-    assertEquals(measure.unit(), mutable.unit());
-  }
-
-  @Test
-  void testSetMagnitude() {
-    var measure = MutableMeasure.ofRelativeUnits(0, FeetPerSecond);
-    double newMagnitude = 48.123;
-    measure.mut_setMagnitude(newMagnitude);
-    assertEquals(newMagnitude, measure.magnitude(), 0); // should be an exact match
-    double feetToMeters = 0.3048;
-    assertEquals(newMagnitude * feetToMeters, measure.baseUnitMagnitude(), 1e-12);
-  }
-
-  @Test
-  void testMut_times() {
-    var measure = MutableMeasure.ofRelativeUnits(18, FeetPerSecond);
-    double scalar = Math.PI;
-    var result = measure.mut_times(scalar);
-    assertSame(measure, result, "mut_times should return the same object");
-    assertEquals(18 * Math.PI, measure.magnitude(), 1e-12);
-  }
-
-  @Test
-  void testMut_divide() {
-    var measure = MutableMeasure.ofRelativeUnits(18, FeetPerSecond);
-    double scalar = Math.PI;
-    var result = measure.mut_divide(scalar);
-    assertSame(measure, result, "mut_times should return the same object");
-    assertEquals(18 / Math.PI, measure.magnitude(), 1e-12);
-  }
-
-  @Test
-  void testReplaceMeasure() {
-    var measure = MutableMeasure.ofRelativeUnits(17.6, FeetPerSecond);
-    var replacer = Meters.per(Millisecond).of(94.872);
-    var result = measure.mut_replace(replacer);
-    assertSame(measure, result, "Replacing should return the mutable measure");
-    assertSame(replacer.unit(), measure.unit());
-    assertEquals(replacer.magnitude(), measure.magnitude(), 0);
-  }
-
-  @Test
-  void testReplaceRaw() {
-    var measure = MutableMeasure.ofRelativeUnits(-542, FeetPerSecond);
-    var result = measure.mut_replace(62, Meters.per(Millisecond));
-    assertSame(measure, result, "Replacing should return the mutable measure");
-    assertSame(Meters.per(Millisecond), measure.unit());
-    assertEquals(62, measure.magnitude(), 0);
-  }
-
-  @Test
-  void testAccMeasure() {
-    var measure = MutableMeasure.ofRelativeUnits(8.5431, FeetPerSecond);
-    var acc = Meters.per(Millisecond).of(-23.62);
-    var result = measure.mut_acc(acc);
-    assertSame(measure, result, "Acc should return the mutable measure");
-    assertSame(FeetPerSecond, measure.unit(), "Unit shouldn't change");
-    assertEquals(8.5431 - (23.62 * (1 / 0.3048) * 1000), measure.magnitude(), 1e-10);
-  }
-
-  @Test
-  void testAccRaw() {
-    var measure = MutableMeasure.ofRelativeUnits(99.999999, FeetPerSecond);
-    var result = measure.mut_acc(22.981);
-    assertSame(measure, result);
-    assertSame(FeetPerSecond, measure.unit());
-    assertEquals(122.980999, measure.magnitude(), 0);
-  }
-
-  @Test
-  void testMutPlusMeasure() {
-    var measure = MutableMeasure.ofRelativeUnits(400, InchesPerSecond);
-    var other = Centimeters.per(Second).of(41.312);
-    var result = measure.mut_plus(other);
-    assertSame(measure, result);
-    assertSame(InchesPerSecond, result.unit());
-    assertEquals(416.2645669291339, measure.magnitude(), 1e-12);
-  }
-
-  @Test
-  void testMutPlusRaw() {
-    var measure = MutableMeasure.ofRelativeUnits(31.51, Volts);
-    var result = measure.mut_plus(66.641, Millivolts);
-    assertSame(measure, result);
-    assertSame(Volts, result.unit());
-    assertEquals(31.576641, result.magnitude(), 1e-10);
-  }
-
-  @Test
-  void testMutMinusMeasure() {
-    var measure = MutableMeasure.ofRelativeUnits(400, InchesPerSecond);
-    var other = Centimeters.per(Second).of(41.312);
-    var result = measure.mut_minus(other);
-    assertSame(measure, result);
-    assertSame(InchesPerSecond, result.unit());
-    assertEquals(383.7354330708662, measure.magnitude(), 1e-12);
-  }
-
-  @Test
-  void testMutMinusRaw() {
-    var measure = MutableMeasure.ofRelativeUnits(31.51, Volts);
-    var result = measure.mut_minus(66.641, Millivolts);
-    assertSame(measure, result);
-    assertSame(Volts, result.unit());
-    assertEquals(31.443359, result.magnitude(), 1e-10);
-  }
-}
diff --git a/wpiunits/src/test/java/edu/wpi/first/units/PerUnitTest.java b/wpiunits/src/test/java/edu/wpi/first/units/PerUnitTest.java
new file mode 100644
index 00000000000..c964684c51d
--- /dev/null
+++ b/wpiunits/src/test/java/edu/wpi/first/units/PerUnitTest.java
@@ -0,0 +1,56 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units;
+
+import static edu.wpi.first.units.Units.Degrees;
+import static edu.wpi.first.units.Units.Foot;
+import static edu.wpi.first.units.Units.Inches;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertInstanceOf;
+import static org.junit.jupiter.api.Assertions.assertSame;
+
+import org.junit.jupiter.api.Test;
+
+class PerUnitTest {
+  @Test
+  void ofNative() {
+    ExampleUnit part = new ExampleUnit(1);
+    var unit = PerUnit.combine(part, part);
+    assertEquals(10, unit.ofNative(10).in(unit));
+
+    // Does not compile:
+    // unit.of(10).in(unit);
+    //
+    // error: incompatible types: PerUnit<ExampleUnit,ExampleUnit> cannot be converted to CAP#1
+    //    unit.of(10).in(unit);
+    //                   ^
+    //  where CAP#1 is a fresh type-variable:
+    //    CAP#1 extends PerUnit<ExampleUnit,ExampleUnit>
+    //    from capture of ? extends PerUnit<ExampleUnit,ExampleUnit>
+    // This is because `of` returns a `Measure<? extends PerUnit<ExampleUnit, ExampleUnit>>`,
+    // and a `Per<ExampleUnit, ExampleUnit>` object isn't a subtype of that anonymous wildcard bound
+  }
+
+  @Test
+  void multSameDenom() {
+    var unit = Degrees.per(Foot);
+    var result = unit.mult(Foot);
+
+    // Multiplying by the same unit as the divisor should return the dividend unit
+    assertSame(Degrees, result);
+  }
+
+  @Test
+  void multOtherDenom() {
+    var unit = Degrees.per(Foot);
+
+    // (Degrees / Foot) x Inches, or 1/12 of a degree
+    var result = unit.mult(Inches);
+    assertInstanceOf(AngleUnit.class, result);
+    assertEquals(1 / 12.0, result.of(1).in(Degrees), 1e-9);
+    assertEquals("Degree per Foot Inch", result.name());
+    assertEquals("°/ft-in", result.symbol());
+  }
+}
diff --git a/wpiunits/src/test/java/edu/wpi/first/units/UnitsTest.java b/wpiunits/src/test/java/edu/wpi/first/units/UnitsTest.java
index 988c2ac3879..723b1db78ed 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/UnitsTest.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/UnitsTest.java
@@ -42,27 +42,28 @@
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import java.util.function.DoubleFunction;
 import org.junit.jupiter.api.Test;
 
 class UnitsTest {
   // Be accurate to 0.01%
   private static final double thresh = 1e-5;
 
-  void testBaseUnit(Unit<?> baseUnit) {
-    assertEquals(0, baseUnit.of(0).baseUnitMagnitude(), 0);
-    assertEquals(1, baseUnit.of(1).baseUnitMagnitude(), 0);
-    assertEquals(-1, baseUnit.of(-1).baseUnitMagnitude(), 0);
-    assertEquals(100, baseUnit.of(100).baseUnitMagnitude(), 0);
-    assertEquals(8.281723, baseUnit.of(8.281723).baseUnitMagnitude(), 0);
-    assertEquals(Float.MAX_VALUE, baseUnit.of(Float.MAX_VALUE).baseUnitMagnitude(), 0);
-    assertEquals(Float.MIN_VALUE, baseUnit.of(Float.MIN_VALUE).baseUnitMagnitude(), 0);
+  void testBaseUnit(DoubleFunction<Measure<?>> baseUnit) {
+    assertEquals(0, baseUnit.apply(0).baseUnitMagnitude(), 0);
+    assertEquals(1, baseUnit.apply(1).baseUnitMagnitude(), 0);
+    assertEquals(-1, baseUnit.apply(-1).baseUnitMagnitude(), 0);
+    assertEquals(100, baseUnit.apply(100).baseUnitMagnitude(), 0);
+    assertEquals(8.281723, baseUnit.apply(8.281723).baseUnitMagnitude(), 0);
+    assertEquals(Float.MAX_VALUE, baseUnit.apply(Float.MAX_VALUE).baseUnitMagnitude(), 0);
+    assertEquals(Float.MIN_VALUE, baseUnit.apply(Float.MIN_VALUE).baseUnitMagnitude(), 0);
   }
 
   // Distances
 
   @Test
   void testMeters() {
-    testBaseUnit(Meters);
+    testBaseUnit(Meters::of);
     assertEquals("Meter", Meters.name());
     assertEquals("m", Meters.symbol());
   }
@@ -105,7 +106,7 @@ void testFeet() {
 
   @Test
   void testMetersPerSecond() {
-    testBaseUnit(MetersPerSecond);
+    testBaseUnit(MetersPerSecond::of);
     assertEquals("Meter per Second", MetersPerSecond.name());
     assertEquals("m/s", MetersPerSecond.symbol());
   }
@@ -122,7 +123,7 @@ void testFeetPerSecond() {
 
   @Test
   void testMetersPerSecondPerSecond() {
-    testBaseUnit(MetersPerSecondPerSecond);
+    testBaseUnit(MetersPerSecondPerSecond::of);
     assertEquals("Meter per Second per Second", MetersPerSecondPerSecond.name());
     assertEquals("m/s/s", MetersPerSecondPerSecond.symbol());
     assertEquals(MetersPerSecond, MetersPerSecondPerSecond.getUnit());
@@ -143,7 +144,7 @@ void testGs() {
 
   @Test
   void testSeconds() {
-    testBaseUnit(Seconds);
+    testBaseUnit(Seconds::of);
     assertEquals("Second", Seconds.name());
     assertEquals("s", Seconds.symbol());
   }
@@ -173,7 +174,7 @@ void testMinutes() {
 
   @Test
   void testKilograms() {
-    testBaseUnit(Kilograms);
+    testBaseUnit(Kilograms::of);
     assertEquals("Kilogram", Kilograms.name());
     assertEquals("Kg", Kilograms.symbol());
   }
@@ -210,7 +211,7 @@ void testRevolutions() {
 
   @Test
   void testRadians() {
-    testBaseUnit(Radians);
+    testBaseUnit(Radians::of);
     assertEquals(2 * Math.PI, Radians.convertFrom(1, Revolutions), thresh);
     assertEquals(2 * Math.PI, Radians.convertFrom(360, Degrees), thresh);
     assertEquals("Radian", Radians.name());
@@ -229,7 +230,7 @@ void testDegrees() {
 
   @Test
   void testValue() {
-    testBaseUnit(Value);
+    testBaseUnit(Value::of);
     assertEquals("<?>", Value.name());
     assertEquals("<?>", Value.symbol());
   }
@@ -245,7 +246,7 @@ void testPercent() {
 
   @Test
   void testVolts() {
-    testBaseUnit(Volts);
+    testBaseUnit(Volts::of);
     assertEquals("Volt", Volts.name());
     assertEquals("V", Volts.symbol());
   }
@@ -261,7 +262,7 @@ void testMillivolts() {
 
   @Test
   void testAmps() {
-    testBaseUnit(Amps);
+    testBaseUnit(Amps::of);
     assertEquals("Amp", Amps.name());
     assertEquals("A", Amps.symbol());
   }
@@ -277,7 +278,7 @@ void testMilliamps() {
 
   @Test
   void testWatts() {
-    testBaseUnit(Watts);
+    testBaseUnit(Watts::of);
     assertEquals("Watt", Watts.name());
     assertEquals("W", Watts.symbol());
   }
@@ -300,7 +301,7 @@ void testHorsepower() {
 
   @Test
   void testKelvin() {
-    testBaseUnit(Kelvin);
+    testBaseUnit(Kelvin::of);
     assertEquals("Kelvin", Kelvin.name());
     assertEquals("K", Kelvin.symbol()); // note: there's no degree symbol for Kelvin!
   }
diff --git a/wpiunits/src/test/java/edu/wpi/first/units/VelocityTest.java b/wpiunits/src/test/java/edu/wpi/first/units/VelocityUnitTest.java
similarity index 72%
rename from wpiunits/src/test/java/edu/wpi/first/units/VelocityTest.java
rename to wpiunits/src/test/java/edu/wpi/first/units/VelocityUnitTest.java
index c7f745c5be8..f392ceca37c 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/VelocityTest.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/VelocityUnitTest.java
@@ -10,14 +10,17 @@
 import static edu.wpi.first.units.Units.MetersPerSecond;
 import static edu.wpi.first.units.Units.MetersPerSecondPerSecond;
 import static edu.wpi.first.units.Units.Millisecond;
+import static edu.wpi.first.units.Units.Minute;
+import static edu.wpi.first.units.Units.Radians;
 import static edu.wpi.first.units.Units.Second;
+import static edu.wpi.first.units.Units.Seconds;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertSame;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import org.junit.jupiter.api.Test;
 
-class VelocityTest {
+class VelocityUnitTest {
   @Test
   void testBaseUnit() {
     assertTrue(MetersPerSecond.equivalent(MetersPerSecond));
@@ -26,7 +29,7 @@ void testBaseUnit() {
 
   @Test
   void testToAcceleration() {
-    Velocity<Velocity<Distance>> metersPerSecondPerMillisecond = MetersPerSecond.per(Millisecond);
+    LinearAccelerationUnit metersPerSecondPerMillisecond = MetersPerSecond.per(Millisecond);
 
     assertEquals(1000, metersPerSecondPerMillisecond.of(1).in(MetersPerSecondPerSecond), 0);
     assertEquals(0, metersPerSecondPerMillisecond.of(0).in(MetersPerSecondPerSecond), 0);
@@ -38,8 +41,8 @@ void testCache() {
         FeetPerSecond, Feet.per(Second), "Feet.per(Second) should return a cached object instance");
 
     // completely arbitrary units chosen because they won't have already been cached
-    var someDistance = new ExampleUnit(5);
-    var someTime = new ExampleUnit(600);
+    var someDistance = new AngleUnit(Radians, 123, "a", "a");
+    var someTime = new TimeUnit(Seconds, 123, "t", "t");
     var firstInvocation = someDistance.per(someTime);
     var secondInvocation = someDistance.per(someTime);
     assertSame(
@@ -50,9 +53,11 @@ void testCache() {
 
   @Test
   void testMult() {
+    // 92 per millisecond => 92,000 per second (base unit equivalent) => 5,520,000 per minute
     var baseUnit = new ExampleUnit(92);
-    var vel = baseUnit.per(Millisecond);
-    var mult = vel.mult(Second);
-    assertEquals(92_000, mult.toBaseUnits(1), 1e-5);
+    var vel = VelocityUnit.combine(baseUnit, Millisecond);
+    var mult = vel.mult(Minute);
+    assertEquals(1 / 92000.0, mult.fromBaseUnits(1), 1e-5);
+    assertEquals(5_520_000, mult.toBaseUnits(1), 1e-5);
   }
 }
diff --git a/wpiunits/src/test/java/edu/wpi/first/units/VoltageTest.java b/wpiunits/src/test/java/edu/wpi/first/units/VoltageUnitTest.java
similarity index 67%
rename from wpiunits/src/test/java/edu/wpi/first/units/VoltageTest.java
rename to wpiunits/src/test/java/edu/wpi/first/units/VoltageUnitTest.java
index d3d1ef3293d..3696b06cda4 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/VoltageTest.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/VoltageUnitTest.java
@@ -8,16 +8,15 @@
 
 import org.junit.jupiter.api.Test;
 
-class VoltageTest {
+class VoltageUnitTest {
   @Test
   void testVoltsTimesAmps() {
-    assertTrue(Units.Volts.times(Units.Amps, "", "").equivalent(Units.Watts));
+    assertTrue(Units.Volts.mult(Units.Amps, "", "").equivalent(Units.Watts));
   }
 
   @Test
   void testMilliVoltsTimesMilliAmps() {
     // results in microwatts
-    assertTrue(
-        Units.Millivolts.times(Units.Milliamps, "", "").equivalent(Units.Milli(Units.Milliwatts)));
+    assertTrue(Units.Millivolts.mult(Units.Milliamps, "", "").equivalent(Units.Micro(Units.Watts)));
   }
 }