From 5112c361f11edcdebf78d15e7e64f634f0c76e69 Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Thu, 13 Jun 2024 21:36:40 -0400
Subject: [PATCH 01/46] Rename unit classes to end in *Unit

---
 .../wpi/first/wpilibj2/command/Command.java   |   4 +-
 .../wpi/first/wpilibj2/command/Commands.java  |   4 +-
 .../first/wpilibj2/command/WaitCommand.java   |   4 +-
 .../wpilibj2/command/sysid/SysIdRoutine.java  |  30 +--
 .../command/sysid/SysIdRoutineTest.java       |   4 +-
 .../edu/wpi/first/wpilibj/LEDPattern.java     |  22 +--
 .../edu/wpi/first/wpilibj/TimedRobot.java     |   7 +-
 .../first/wpilibj/simulation/FlywheelSim.java |  12 +-
 .../first/wpilibj/sysid/SysIdRoutineLog.java  |  28 +--
 .../examples/addressableled/Robot.java        |   4 +-
 .../examples/sysid/subsystems/Drive.java      |  15 +-
 .../examples/sysid/subsystems/Shooter.java    |  15 +-
 .../edu/wpi/first/math/geometry/Pose2d.java   |   4 +-
 .../wpi/first/math/geometry/Rotation2d.java   |   6 +-
 .../wpi/first/math/geometry/Transform2d.java  |   4 +-
 .../first/math/geometry/Translation2d.java    |   4 +-
 .../first/math/geometry/Translation3d.java    |   4 +-
 .../first/math/kinematics/ChassisSpeeds.java  |  34 ++--
 .../DifferentialDriveKinematics.java          |   4 +-
 .../kinematics/DifferentialDriveOdometry.java |  14 +-
 .../DifferentialDriveWheelPositions.java      |   4 +-
 .../DifferentialDriveWheelSpeeds.java         |   8 +-
 .../MecanumDriveWheelPositions.java           |  10 +-
 .../kinematics/MecanumDriveWheelSpeeds.java   |  14 +-
 .../kinematics/SwerveDriveKinematics.java     |  14 +-
 .../math/kinematics/SwerveModulePosition.java |   4 +-
 .../math/kinematics/SwerveModuleState.java    |   6 +-
 .../math/trajectory/TrajectoryConfig.java     |  12 +-
 .../math/trajectory/TrapezoidProfile.java     |   7 +-
 .../units/{Angle.java => AngleUnit.java}      |  15 +-
 .../java/edu/wpi/first/units/BaseUnits.java   |  22 +--
 .../units/{Current.java => CurrentUnit.java}  |  14 +-
 ...ensionless.java => DimensionlessUnit.java} |   9 +-
 .../{Distance.java => DistanceUnit.java}      |  10 +-
 .../units/{Energy.java => EnergyUnit.java}    |  10 +-
 .../first/units/{Mass.java => MassUnit.java}  |  10 +-
 .../java/edu/wpi/first/units/Measure.java     |  24 +--
 .../edu/wpi/first/units/MutableMeasure.java   |   4 +-
 .../main/java/edu/wpi/first/units/Per.java    |   6 +-
 .../units/{Power.java => PowerUnit.java}      |  10 +-
 ...{Temperature.java => TemperatureUnit.java} |   8 +-
 .../first/units/{Time.java => TimeUnit.java}  |  10 +-
 .../main/java/edu/wpi/first/units/Unit.java   |   4 +-
 .../main/java/edu/wpi/first/units/Units.java  | 179 +++++++++---------
 .../{Velocity.java => VelocityUnit.java}      |  62 +++---
 .../units/{Voltage.java => VoltageUnit.java}  |  14 +-
 ...{CurrentTest.java => CurrentUnitTest.java} |   4 +-
 ...istanceTest.java => DistanceUnitTest.java} |   8 +-
 .../java/edu/wpi/first/units/EncoderTest.java |  12 +-
 .../java/edu/wpi/first/units/MeasureTest.java |  36 ++--
 ...elocityTest.java => VelocityUnitTest.java} |   5 +-
 ...{VoltageTest.java => VoltageUnitTest.java} |   2 +-
 52 files changed, 397 insertions(+), 383 deletions(-)
 rename wpiunits/src/main/java/edu/wpi/first/units/{Angle.java => AngleUnit.java} (63%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{Current.java => CurrentUnit.java} (75%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{Dimensionless.java => DimensionlessUnit.java} (78%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{Distance.java => DistanceUnit.java} (74%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{Energy.java => EnergyUnit.java} (75%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{Mass.java => MassUnit.java} (77%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{Power.java => PowerUnit.java} (75%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{Temperature.java => TemperatureUnit.java} (78%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{Time.java => TimeUnit.java} (76%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{Velocity.java => VelocityUnit.java} (70%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{Voltage.java => VoltageUnit.java} (76%)
 rename wpiunits/src/test/java/edu/wpi/first/units/{CurrentTest.java => CurrentUnitTest.java} (87%)
 rename wpiunits/src/test/java/edu/wpi/first/units/{DistanceTest.java => DistanceUnitTest.java} (81%)
 rename wpiunits/src/test/java/edu/wpi/first/units/{VelocityTest.java => VelocityUnitTest.java} (93%)
 rename wpiunits/src/test/java/edu/wpi/first/units/{VoltageTest.java => VoltageUnitTest.java} (96%)

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..be778d6c149 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
@@ -8,7 +8,7 @@
 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.TimeUnit;
 import edu.wpi.first.util.function.BooleanConsumer;
 import edu.wpi.first.util.sendable.Sendable;
 import edu.wpi.first.util.sendable.SendableBuilder;
@@ -179,7 +179,7 @@ public ParallelRaceGroup withTimeout(double seconds) {
    * @param time the timeout duration
    * @return the command with the timeout added
    */
-  public ParallelRaceGroup withTimeout(Measure<Time> time) {
+  public ParallelRaceGroup withTimeout(Measure<TimeUnit> time) {
     return withTimeout(time.in(Second));
   }
 
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..3d3127d7bb0 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
@@ -7,7 +7,7 @@
 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.TimeUnit;
 import java.util.Map;
 import java.util.Set;
 import java.util.function.BooleanSupplier;
@@ -137,7 +137,7 @@ public static Command waitSeconds(double seconds) {
    * @return the command
    * @see WaitCommand
    */
-  public static Command waitTime(Measure<Time> time) {
+  public static Command waitTime(Measure<TimeUnit> time) {
     return new WaitCommand(time);
   }
 
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..efa26211e85 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
@@ -7,7 +7,7 @@
 import static edu.wpi.first.units.Units.Second;
 
 import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Time;
+import edu.wpi.first.units.TimeUnit;
 import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.util.sendable.SendableRegistry;
 import edu.wpi.first.wpilibj.Timer;
@@ -39,7 +39,7 @@ public WaitCommand(double seconds) {
    *
    * @param time the time to wait
    */
-  public WaitCommand(Measure<Time> time) {
+  public WaitCommand(Measure<TimeUnit> time) {
     this(time.in(Second));
   }
 
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..5c7c98c95ad 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
@@ -12,9 +12,9 @@
 
 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.TimeUnit;
+import edu.wpi.first.units.VelocityUnit;
+import edu.wpi.first.units.VoltageUnit;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.sysid.SysIdRoutineLog;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -43,7 +43,7 @@
 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 MutableMeasure<VoltageUnit> m_outputVolts = mutable(Volts.of(0));
   private final Consumer<State> m_recordState;
 
   /**
@@ -62,13 +62,13 @@ 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 Measure<VelocityUnit<VoltageUnit>> m_rampRate;
 
     /** The step voltage output used for dynamic test routines. */
-    public final Measure<Voltage> m_stepVoltage;
+    public final Measure<VoltageUnit> m_stepVoltage;
 
     /** Safety timeout for the test routine commands. */
-    public final Measure<Time> m_timeout;
+    public final Measure<TimeUnit> m_timeout;
 
     /** Optional handle for recording test state in a third-party logging solution. */
     public final Consumer<State> m_recordState;
@@ -87,9 +87,9 @@ public static class Config {
      *     logged in WPILog.
      */
     public Config(
-        Measure<Velocity<Voltage>> rampRate,
-        Measure<Voltage> stepVoltage,
-        Measure<Time> timeout,
+        Measure<VelocityUnit<VoltageUnit>> rampRate,
+        Measure<VoltageUnit> stepVoltage,
+        Measure<TimeUnit> timeout,
         Consumer<State> recordState) {
       m_rampRate = rampRate != null ? rampRate : Volts.of(1).per(Seconds.of(1));
       m_stepVoltage = stepVoltage != null ? stepVoltage : Volts.of(7);
@@ -108,7 +108,9 @@ public Config(
      *     null.
      */
     public Config(
-        Measure<Velocity<Voltage>> rampRate, Measure<Voltage> stepVoltage, Measure<Time> timeout) {
+        Measure<VelocityUnit<VoltageUnit>> rampRate,
+        Measure<VoltageUnit> stepVoltage,
+        Measure<TimeUnit> timeout) {
       this(rampRate, stepVoltage, timeout, null);
     }
 
@@ -132,7 +134,7 @@ 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<Measure<VoltageUnit>> m_drive;
 
     /**
      * Returns measured data (voltages, positions, velocities) of the mechanism motors during test
@@ -163,7 +165,7 @@ public static class Mechanism {
      *     the subsystem if left null.
      */
     public Mechanism(
-        Consumer<Measure<Voltage>> drive,
+        Consumer<Measure<VoltageUnit>> drive,
         Consumer<SysIdRoutineLog> log,
         Subsystem subsystem,
         String name) {
@@ -190,7 +192,7 @@ public Mechanism(
      *     "sysid-test-state-subsystem".
      */
     public Mechanism(
-        Consumer<Measure<Voltage>> drive, Consumer<SysIdRoutineLog> log, Subsystem subsystem) {
+        Consumer<Measure<VoltageUnit>> 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..4067668e4e2 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
@@ -15,7 +15,7 @@
 
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Voltage;
+import edu.wpi.first.units.VoltageUnit;
 import edu.wpi.first.wpilibj.simulation.SimHooks;
 import edu.wpi.first.wpilibj.sysid.SysIdRoutineLog;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -28,7 +28,7 @@ class SysIdRoutineTest {
   interface Mechanism extends Subsystem {
     void recordState(SysIdRoutineLog.State state);
 
-    void drive(Measure<Voltage> voltage);
+    void drive(Measure<VoltageUnit> 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..e42d04148cf 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java
@@ -10,11 +10,11 @@
 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.DimensionlessUnit;
+import edu.wpi.first.units.DistanceUnit;
 import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Time;
-import edu.wpi.first.units.Velocity;
+import edu.wpi.first.units.TimeUnit;
+import edu.wpi.first.units.VelocityUnit;
 import edu.wpi.first.units.collections.LongToObjectHashMap;
 import edu.wpi.first.util.WPIUtilJNI;
 import edu.wpi.first.wpilibj.util.Color;
@@ -186,7 +186,7 @@ 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) {
+  default LEDPattern scrollAtRelativeSpeed(Measure<VelocityUnit<DimensionlessUnit>> velocity) {
     final double periodMicros = 1 / velocity.in(Value.per(Microsecond));
 
     return (reader, writer) -> {
@@ -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);
+   *   Measure&lt;DistanceUnit&gt; LED_SPACING = Meters.of(1.0 / 60);
    *
    *   LEDPattern rainbow = LEDPattern.rainbow();
    *   LEDPattern scrollingRainbow =
@@ -233,7 +233,7 @@ default LEDPattern scrollAtRelativeSpeed(Measure<Velocity<Dimensionless>> veloci
    * @return the scrolling pattern
    */
   default LEDPattern scrollAtAbsoluteSpeed(
-      Measure<Velocity<Distance>> velocity, Measure<Distance> ledSpacing) {
+      Measure<VelocityUnit<DistanceUnit>> velocity, Measure<DistanceUnit> 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 +267,7 @@ 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(Measure<TimeUnit> onTime, Measure<TimeUnit> offTime) {
     final long totalTimeMicros = (long) (onTime.in(Microseconds) + offTime.in(Microseconds));
     final long onTimeMicros = (long) onTime.in(Microseconds);
 
@@ -287,7 +287,7 @@ default LEDPattern blink(Measure<Time> onTime, Measure<Time> offTime) {
    * @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(Measure<TimeUnit> onTime) {
     return blink(onTime, onTime);
   }
 
@@ -316,7 +316,7 @@ 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(Measure<TimeUnit> period) {
     final long periodMicros = (long) period.in(Microseconds);
 
     return (reader, writer) -> {
@@ -444,7 +444,7 @@ 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(Measure<DimensionlessUnit> 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..7ed94867c9c 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
@@ -12,7 +12,7 @@
 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.TimeUnit;
 import java.util.PriorityQueue;
 
 /**
@@ -199,7 +199,7 @@ 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, Measure<TimeUnit> period) {
     addPeriodic(callback, period.in(Seconds));
   }
 
@@ -214,7 +214,8 @@ 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, Measure<TimeUnit> period, Measure<TimeUnit> offset) {
     addPeriodic(callback, period.in(Seconds), offset.in(Seconds));
   }
 }
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..326fe23818b 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.AngleUnit;
 import edu.wpi.first.units.Measure;
 import edu.wpi.first.units.MutableMeasure;
-import edu.wpi.first.units.Velocity;
+import edu.wpi.first.units.VelocityUnit;
 import edu.wpi.first.wpilibj.RobotController;
 
 /** Represents a simulated flywheel mechanism. */
@@ -31,11 +31,11 @@ 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 =
+  private final MutableMeasure<VelocityUnit<AngleUnit>> m_angularVelocity =
       MutableMeasure.zero(RadiansPerSecond);
 
   // The angular acceleration of the system.
-  private final MutableMeasure<Velocity<Velocity<Angle>>> m_angularAcceleration =
+  private final MutableMeasure<VelocityUnit<VelocityUnit<AngleUnit>>> m_angularAcceleration =
       MutableMeasure.zero(RadiansPerSecondPerSecond);
 
   /**
@@ -133,7 +133,7 @@ public double getAngularVelocityRPM() {
    *
    * @return The flywheel's velocity
    */
-  public Measure<Velocity<Angle>> getAngularVelocity() {
+  public Measure<VelocityUnit<AngleUnit>> getAngularVelocity() {
     m_angularVelocity.mut_setMagnitude(getAngularVelocityRadPerSec());
     return m_angularVelocity;
   }
@@ -153,7 +153,7 @@ public double getAngularAccelerationRadPerSecSq() {
    *
    * @return The flywheel's acceleration.
    */
-  public Measure<Velocity<Velocity<Angle>>> getAngularAcceleration() {
+  public Measure<VelocityUnit<VelocityUnit<AngleUnit>>> 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..599b80427d0 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 +12,12 @@
 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.AngleUnit;
+import edu.wpi.first.units.CurrentUnit;
+import edu.wpi.first.units.DistanceUnit;
 import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Velocity;
-import edu.wpi.first.units.Voltage;
+import edu.wpi.first.units.VelocityUnit;
+import edu.wpi.first.units.VoltageUnit;
 import edu.wpi.first.util.datalog.DoubleLogEntry;
 import edu.wpi.first.util.datalog.StringLogEntry;
 import edu.wpi.first.wpilibj.DataLogManager;
@@ -114,7 +114,7 @@ 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(Measure<VoltageUnit> voltage) {
       return value("voltage", voltage.in(Volts), Volts.name());
     }
 
@@ -124,7 +124,7 @@ 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(Measure<DistanceUnit> position) {
       return value("position", position.in(Meters), Meters.name());
     }
 
@@ -134,7 +134,7 @@ 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(Measure<AngleUnit> position) {
       return value("position", position.in(Rotations), Rotations.name());
     }
 
@@ -144,7 +144,7 @@ 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(Measure<VelocityUnit<DistanceUnit>> velocity) {
       return value("velocity", velocity.in(MetersPerSecond), MetersPerSecond.name());
     }
 
@@ -154,7 +154,7 @@ 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(Measure<VelocityUnit<AngleUnit>> velocity) {
       return value("velocity", velocity.in(RotationsPerSecond), RotationsPerSecond.name());
     }
 
@@ -166,7 +166,8 @@ 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(
+        Measure<VelocityUnit<VelocityUnit<DistanceUnit>>> acceleration) {
       return value(
           "acceleration",
           acceleration.in(MetersPerSecond.per(Second)),
@@ -181,7 +182,8 @@ 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(
+        Measure<VelocityUnit<VelocityUnit<AngleUnit>>> 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(Measure<CurrentUnit> current) {
       value("current", current.in(Amps), Amps.name());
       return this;
     }
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..5f81b35d345 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
@@ -7,7 +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.DistanceUnit;
 import edu.wpi.first.units.Measure;
 import edu.wpi.first.wpilibj.AddressableLED;
 import edu.wpi.first.wpilibj.AddressableLEDBuffer;
@@ -23,7 +23,7 @@ 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 Measure<DistanceUnit> 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..253755b4959 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
@@ -9,11 +9,11 @@
 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.DistanceUnit;
 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.VelocityUnit;
+import edu.wpi.first.units.VoltageUnit;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -50,11 +50,12 @@ 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 MutableMeasure<VoltageUnit> m_appliedVoltage = mutable(Volts.of(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 MutableMeasure<DistanceUnit> m_distance = mutable(Meters.of(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 MutableMeasure<VelocityUnit<DistanceUnit>> m_velocity =
+      mutable(MetersPerSecond.of(0));
 
   // Create a new SysId routine for characterizing the drive.
   private final SysIdRoutine m_sysIdRoutine =
@@ -63,7 +64,7 @@ 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) -> {
+              (Measure<VoltageUnit> volts) -> {
                 m_leftMotor.setVoltage(volts.in(Volts));
                 m_rightMotor.setVoltage(volts.in(Volts));
               },
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..50eddd234e5 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
@@ -11,11 +11,11 @@
 
 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.AngleUnit;
 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.VelocityUnit;
+import edu.wpi.first.units.VoltageUnit;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.examples.sysid.Constants.ShooterConstants;
@@ -40,11 +40,12 @@ 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 MutableMeasure<VoltageUnit> m_appliedVoltage = mutable(Volts.of(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 MutableMeasure<AngleUnit> m_angle = mutable(Rotations.of(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 MutableMeasure<VelocityUnit<AngleUnit>> m_velocity =
+      mutable(RotationsPerSecond.of(0));
 
   // Create a new SysId routine for characterizing the shooter.
   private final SysIdRoutine m_sysIdRoutine =
@@ -53,7 +54,7 @@ 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) -> {
+              (Measure<VoltageUnit> volts) -> {
                 m_shooterMotor.setVoltage(volts.in(Volts));
               },
               // Tell SysId how to record a frame of data for each motor on the mechanism being
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..e961d0de097 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
@@ -13,7 +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.DistanceUnit;
 import edu.wpi.first.units.Measure;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
@@ -76,7 +76,7 @@ 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(Measure<DistanceUnit> x, Measure<DistanceUnit> 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..397b56cb7c1 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
@@ -16,7 +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.AngleUnit;
 import edu.wpi.first.units.Measure;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
@@ -130,7 +130,7 @@ public Rotation2d(double x, double y) {
    *
    * @param angle The angle of the rotation.
    */
-  public Rotation2d(Measure<Angle> angle) {
+  public Rotation2d(Measure<AngleUnit> angle) {
     this(angle.in(Radians));
   }
 
@@ -244,7 +244,7 @@ public Rotation2d rotateBy(Rotation2d other) {
    *
    * @return The measure of the Rotation2d.
    */
-  public Measure<Angle> getMeasure() {
+  public Measure<AngleUnit> 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..984904fc30f 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
@@ -8,7 +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.DistanceUnit;
 import edu.wpi.first.units.Measure;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
@@ -75,7 +75,7 @@ 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(Measure<DistanceUnit> x, Measure<DistanceUnit> 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..481bb633645 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
@@ -17,7 +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.DistanceUnit;
 import edu.wpi.first.units.Measure;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
@@ -84,7 +84,7 @@ 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(Measure<DistanceUnit> x, Measure<DistanceUnit> 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..a19dbac35b4 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
@@ -17,7 +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.DistanceUnit;
 import edu.wpi.first.units.Measure;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
@@ -89,7 +89,7 @@ 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(Measure<DistanceUnit> x, Measure<DistanceUnit> y, Measure<DistanceUnit> 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..9a81cd52e34 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 +14,11 @@
 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.AngleUnit;
+import edu.wpi.first.units.DistanceUnit;
 import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Time;
-import edu.wpi.first.units.Velocity;
+import edu.wpi.first.units.TimeUnit;
+import edu.wpi.first.units.VelocityUnit;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
@@ -73,9 +73,9 @@ public ChassisSpeeds(
    * @param omega Angular velocity.
    */
   public ChassisSpeeds(
-      Measure<Velocity<Distance>> vx,
-      Measure<Velocity<Distance>> vy,
-      Measure<Velocity<Angle>> omega) {
+      Measure<VelocityUnit<DistanceUnit>> vx,
+      Measure<VelocityUnit<DistanceUnit>> vy,
+      Measure<VelocityUnit<AngleUnit>> omega) {
     this(vx.in(MetersPerSecond), vy.in(MetersPerSecond), omega.in(RadiansPerSecond));
   }
 
@@ -148,10 +148,10 @@ 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) {
+      Measure<VelocityUnit<DistanceUnit>> vx,
+      Measure<VelocityUnit<DistanceUnit>> vy,
+      Measure<VelocityUnit<AngleUnit>> omega,
+      Measure<TimeUnit> dt) {
     return discretize(
         vx.in(MetersPerSecond), vy.in(MetersPerSecond), omega.in(RadiansPerSecond), dt.in(Seconds));
   }
@@ -219,9 +219,9 @@ 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,
+      Measure<VelocityUnit<DistanceUnit>> vx,
+      Measure<VelocityUnit<DistanceUnit>> vy,
+      Measure<VelocityUnit<AngleUnit>> omega,
       Rotation2d robotAngle) {
     return fromFieldRelativeSpeeds(
         vx.in(MetersPerSecond), vy.in(MetersPerSecond), omega.in(RadiansPerSecond), robotAngle);
@@ -287,9 +287,9 @@ 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,
+      Measure<VelocityUnit<DistanceUnit>> vx,
+      Measure<VelocityUnit<DistanceUnit>> vy,
+      Measure<VelocityUnit<AngleUnit>> 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..e27b87ba0e5 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
@@ -11,7 +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.DistanceUnit;
 import edu.wpi.first.units.Measure;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
@@ -58,7 +58,7 @@ 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(Measure<DistanceUnit> 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..5aae1015bf4 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
@@ -10,7 +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.DistanceUnit;
 import edu.wpi.first.units.Measure;
 
 /**
@@ -55,8 +55,8 @@ public DifferentialDriveOdometry(
    */
   public DifferentialDriveOdometry(
       Rotation2d gyroAngle,
-      Measure<Distance> leftDistance,
-      Measure<Distance> rightDistance,
+      Measure<DistanceUnit> leftDistance,
+      Measure<DistanceUnit> rightDistance,
       Pose2d initialPoseMeters) {
     this(gyroAngle, leftDistance.in(Meters), rightDistance.in(Meters), initialPoseMeters);
   }
@@ -81,7 +81,9 @@ public DifferentialDriveOdometry(
    * @param rightDistance The distance traveled by the right encoder.
    */
   public DifferentialDriveOdometry(
-      Rotation2d gyroAngle, Measure<Distance> leftDistance, Measure<Distance> rightDistance) {
+      Rotation2d gyroAngle,
+      Measure<DistanceUnit> leftDistance,
+      Measure<DistanceUnit> rightDistance) {
     this(gyroAngle, leftDistance, rightDistance, Pose2d.kZero);
   }
 
@@ -120,8 +122,8 @@ public void resetPosition(
    */
   public void resetPosition(
       Rotation2d gyroAngle,
-      Measure<Distance> leftDistance,
-      Measure<Distance> rightDistance,
+      Measure<DistanceUnit> leftDistance,
+      Measure<DistanceUnit> 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..6f9dea8ce2d 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
@@ -10,7 +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.DistanceUnit;
 import edu.wpi.first.units.Measure;
 import java.util.Objects;
 
@@ -48,7 +48,7 @@ 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(Measure<DistanceUnit> left, Measure<DistanceUnit> 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..51eb3cf9bd1 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 +8,9 @@
 
 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.DistanceUnit;
 import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Velocity;
+import edu.wpi.first.units.VelocityUnit;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 
@@ -51,7 +51,7 @@ public DifferentialDriveWheelSpeeds(double leftMetersPerSecond, double rightMete
    * @param right The right speed.
    */
   public DifferentialDriveWheelSpeeds(
-      Measure<Velocity<Distance>> left, Measure<Velocity<Distance>> right) {
+      Measure<VelocityUnit<DistanceUnit>> left, Measure<VelocityUnit<DistanceUnit>> right) {
     this(left.in(MetersPerSecond), right.in(MetersPerSecond));
   }
 
@@ -85,7 +85,7 @@ 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(Measure<VelocityUnit<DistanceUnit>> 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..4d45c00153e 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
@@ -10,7 +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.DistanceUnit;
 import edu.wpi.first.units.Measure;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
@@ -71,10 +71,10 @@ 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) {
+      Measure<DistanceUnit> frontLeft,
+      Measure<DistanceUnit> frontRight,
+      Measure<DistanceUnit> rearLeft,
+      Measure<DistanceUnit> 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..894f2669591 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 +8,9 @@
 
 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.DistanceUnit;
 import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Velocity;
+import edu.wpi.first.units.VelocityUnit;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 
@@ -65,10 +65,10 @@ 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) {
+      Measure<VelocityUnit<DistanceUnit>> frontLeft,
+      Measure<VelocityUnit<DistanceUnit>> frontRight,
+      Measure<VelocityUnit<DistanceUnit>> rearLeft,
+      Measure<VelocityUnit<DistanceUnit>> rearRight) {
     this(
         frontLeft.in(MetersPerSecond),
         frontRight.in(MetersPerSecond),
@@ -114,7 +114,7 @@ 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(Measure<VelocityUnit<DistanceUnit>> 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..c282a04e631 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 +14,10 @@
 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.AngleUnit;
+import edu.wpi.first.units.DistanceUnit;
 import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Velocity;
+import edu.wpi.first.units.VelocityUnit;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.Struct;
 import edu.wpi.first.util.struct.StructSerializable;
@@ -307,7 +307,7 @@ 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, Measure<VelocityUnit<DistanceUnit>> attainableMaxSpeed) {
     desaturateWheelSpeeds(moduleStates, attainableMaxSpeed.in(MetersPerSecond));
   }
 
@@ -379,9 +379,9 @@ public static void desaturateWheelSpeeds(
   public static void desaturateWheelSpeeds(
       SwerveModuleState[] moduleStates,
       ChassisSpeeds desiredChassisSpeed,
-      Measure<Velocity<Distance>> attainableMaxModuleSpeed,
-      Measure<Velocity<Distance>> attainableMaxTranslationalSpeed,
-      Measure<Velocity<Angle>> attainableMaxRotationalVelocity) {
+      Measure<VelocityUnit<DistanceUnit>> attainableMaxModuleSpeed,
+      Measure<VelocityUnit<DistanceUnit>> attainableMaxTranslationalSpeed,
+      Measure<VelocityUnit<AngleUnit>> 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..7a82b03bdda 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
@@ -11,7 +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.DistanceUnit;
 import edu.wpi.first.units.Measure;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
@@ -55,7 +55,7 @@ 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(Measure<DistanceUnit> 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..eb473775540 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 +9,9 @@
 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.DistanceUnit;
 import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Velocity;
+import edu.wpi.first.units.VelocityUnit;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
@@ -51,7 +51,7 @@ 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(Measure<VelocityUnit<DistanceUnit>> 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..2173b652ac4 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 +14,9 @@
 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.DistanceUnit;
 import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Velocity;
+import edu.wpi.first.units.VelocityUnit;
 import java.util.ArrayList;
 import java.util.List;
 
@@ -56,8 +56,8 @@ public TrajectoryConfig(
    * @param maxAcceleration The max acceleration for the trajectory.
    */
   public TrajectoryConfig(
-      Measure<Velocity<Distance>> maxVelocity,
-      Measure<Velocity<Velocity<Distance>>> maxAcceleration) {
+      Measure<VelocityUnit<DistanceUnit>> maxVelocity,
+      Measure<VelocityUnit<VelocityUnit<DistanceUnit>>> maxAcceleration) {
     this(maxVelocity.in(MetersPerSecond), maxAcceleration.in(MetersPerSecondPerSecond));
   }
 
@@ -145,7 +145,7 @@ 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(Measure<VelocityUnit<DistanceUnit>> startVelocity) {
     return setStartVelocity(startVelocity.in(MetersPerSecond));
   }
 
@@ -175,7 +175,7 @@ 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(Measure<VelocityUnit<DistanceUnit>> 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..f94fdbcabc2 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
@@ -8,7 +8,7 @@
 import edu.wpi.first.math.MathUsageId;
 import edu.wpi.first.units.Measure;
 import edu.wpi.first.units.Unit;
-import edu.wpi.first.units.Velocity;
+import edu.wpi.first.units.VelocityUnit;
 import java.util.Objects;
 
 /**
@@ -80,7 +80,8 @@ public Constraints(double maxVelocity, double maxAcceleration) {
      * @param maxAcceleration maximum acceleration
      */
     public <U extends Unit<U>> Constraints(
-        Measure<Velocity<U>> maxVelocity, Measure<Velocity<Velocity<U>>> maxAcceleration) {
+        Measure<VelocityUnit<U>> maxVelocity,
+        Measure<VelocityUnit<VelocityUnit<U>>> maxAcceleration) {
       this(maxVelocity.baseUnitMagnitude(), maxAcceleration.baseUnitMagnitude());
     }
   }
@@ -114,7 +115,7 @@ 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<U>> State(Measure<U> position, Measure<VelocityUnit<U>> velocity) {
       this(position.baseUnitMagnitude(), velocity.baseUnitMagnitude());
     }
 
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Angle.java b/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
similarity index 63%
rename from wpiunits/src/main/java/edu/wpi/first/units/Angle.java
rename to wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
index f20d98e7025..c8b7db470cd 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Angle.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
@@ -8,21 +8,22 @@
  * 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>.
+ * 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 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) {
+// eg MassUnit * DistanceUnit * VelocityUnit<AngleUnit> is equivalent to (MassUnit * DistanceUnit) /
+// TimeUnit - otherwise known
+// as PowerUnit - in other words, VelocityUnit<AngleUnit> is /actually/ Frequency
+public class AngleUnit extends Unit<AngleUnit> {
+  AngleUnit(AngleUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
     super(baseUnit, baseUnitEquivalent, name, symbol);
   }
 
-  Angle(
-      Angle baseUnit,
+  AngleUnit(
+      AngleUnit baseUnit,
       UnaryFunction toBaseConverter,
       UnaryFunction fromBaseConverter,
       String name,
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..95fd4b5602a 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 +11,33 @@ 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");
+  public static final EnergyUnit EnergyUnit = new EnergyUnit(null, 1, "Joule", "J");
 
   /** The standard unit of power, watts. */
-  public static final Power Power = new Power(null, 1, "Watt", "W");
+  public static final PowerUnit PowerUnit = new PowerUnit(null, 1, "Watt", "W");
 
   /** 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/Current.java b/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
similarity index 75%
rename from wpiunits/src/main/java/edu/wpi/first/units/Current.java
rename to wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
index 244144fb47e..e6235db85b6 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Current.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
@@ -10,18 +10,18 @@
  * 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>.
+ * 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 class Current extends Unit<Current> {
-  Current(Current baseUnit, double baseUnitEquivalent, String name, String symbol) {
+public class CurrentUnit extends Unit<CurrentUnit> {
+  CurrentUnit(CurrentUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
     super(baseUnit, baseUnitEquivalent, name, symbol);
   }
 
-  Current(
-      Current baseUnit,
+  CurrentUnit(
+      CurrentUnit baseUnit,
       UnaryFunction toBaseConverter,
       UnaryFunction fromBaseConverter,
       String name,
@@ -40,7 +40,7 @@ public class Current extends Unit<Current> {
    * @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);
+  public PowerUnit times(Unit<VoltageUnit> voltage, String name, String symbol) {
+    return new PowerUnit(Watts, this.toBaseUnits(1) * voltage.toBaseUnits(1), name, symbol);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Dimensionless.java b/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
similarity index 78%
rename from wpiunits/src/main/java/edu/wpi/first/units/Dimensionless.java
rename to wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
index 6a07f38e906..8a120d124cd 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Dimensionless.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
@@ -7,7 +7,7 @@
 /**
  * A type of unit that corresponds to raw values and not any physical dimension, such as percentage.
  */
-public class Dimensionless extends Unit<Dimensionless> {
+public class DimensionlessUnit extends Unit<DimensionlessUnit> {
   /**
    * Creates a new unit with the given name and multiplier to the base unit.
    *
@@ -15,12 +15,13 @@ public class Dimensionless extends Unit<Dimensionless> {
    * @param name the name of the unit
    * @param symbol the symbol of the unit
    */
-  Dimensionless(Dimensionless baseUnit, double baseUnitEquivalent, String name, String symbol) {
+  DimensionlessUnit(
+      DimensionlessUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
     super(baseUnit, baseUnitEquivalent, name, symbol);
   }
 
-  Dimensionless(
-      Dimensionless baseUnit,
+  DimensionlessUnit(
+      DimensionlessUnit baseUnit,
       UnaryFunction toBaseConverter,
       UnaryFunction fromBaseConverter,
       String name,
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Distance.java b/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
similarity index 74%
rename from wpiunits/src/main/java/edu/wpi/first/units/Distance.java
rename to wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
index b8859b3ca1a..98e11d0f42c 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Distance.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
@@ -8,18 +8,18 @@
  * 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>.
+ * 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 class Distance extends Unit<Distance> {
-  Distance(Distance baseUnit, double baseUnitEquivalent, String name, String symbol) {
+public class DistanceUnit extends Unit<DistanceUnit> {
+  DistanceUnit(DistanceUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
     super(baseUnit, baseUnitEquivalent, name, symbol);
   }
 
-  Distance(
-      Distance baseUnit,
+  DistanceUnit(
+      DistanceUnit baseUnit,
       UnaryFunction toBaseConverter,
       UnaryFunction fromBaseConverter,
       String name,
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Energy.java b/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
similarity index 75%
rename from wpiunits/src/main/java/edu/wpi/first/units/Energy.java
rename to wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
index dc5be8de17f..e434f3b92c6 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Energy.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
@@ -8,14 +8,14 @@
  * 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>.
+ * 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 class Energy extends Unit<Energy> {
-  Energy(
-      Energy baseUnit,
+public class EnergyUnit extends Unit<EnergyUnit> {
+  EnergyUnit(
+      EnergyUnit baseUnit,
       UnaryFunction toBaseConverter,
       UnaryFunction fromBaseConverter,
       String name,
@@ -23,7 +23,7 @@ public class Energy extends Unit<Energy> {
     super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
   }
 
-  Energy(Energy baseUnit, double baseUnitEquivalent, String name, String symbol) {
+  EnergyUnit(EnergyUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
     super(baseUnit, baseUnitEquivalent, name, symbol);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Mass.java b/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
similarity index 77%
rename from wpiunits/src/main/java/edu/wpi/first/units/Mass.java
rename to wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
index 5d41753603b..e191ae02043 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Mass.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
@@ -8,19 +8,19 @@
  * 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>.
+ * for {@link Measure}: <code>Measure&lt;MassUnit&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> {
+public class MassUnit extends Unit<MassUnit> {
   /** Creates a new unit with the given name and multiplier to the base unit. */
-  Mass(Mass baseUnit, double baseUnitEquivalent, String name, String symbol) {
+  MassUnit(MassUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
     super(baseUnit, baseUnitEquivalent, name, symbol);
   }
 
-  Mass(
-      Mass baseUnit,
+  MassUnit(
+      MassUnit baseUnit,
       UnaryFunction toBaseConverter,
       UnaryFunction fromBaseConverter,
       String name,
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..c83027b4c4a 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Measure.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Measure.java
@@ -77,16 +77,16 @@ default Measure<U> times(double 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
-   * Measure<Time>} by a {@code Measure<Velocity<Distance>>} will return just a {@code
-   * Measure<Distance>} instead of the naive {@code Measure<Mult<Time, Velocity<Distance>>}. This is
-   * not guaranteed to perform perfect dimensional analysis.
+   * Measure<TimeUnit>} by a {@code Measure<VelocityUnit<DistanceUnit>>} will return just a {@code
+   * Measure<DistanceUnit>} instead of the naive {@code Measure<Mult<TimeUnit,
+   * VelocityUnit<DistanceUnit>>}. 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
    * @return the multiplicative unit
    */
   default <U2 extends Unit<U2>> Measure<?> times(Measure<U2> other) {
-    if (other.unit() instanceof Dimensionless) {
+    if (other.unit() instanceof DimensionlessUnit) {
       // scalar multiplication
       return times(other.baseUnitMagnitude());
     }
@@ -96,8 +96,8 @@ default <U2 extends Unit<U2>> Measure<?> times(Measure<U2> other) {
       // 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)
+    } else if (unit() instanceof VelocityUnit<?> v && other.unit().getBaseUnit().equals(Seconds)) {
+      // Multiplying a velocity by a time, return the scalar unit (eg DistanceUnit)
       Unit<?> numerator = v.getUnit();
       return numerator.ofBaseUnits(baseUnitMagnitude() * other.baseUnitMagnitude());
     } else if (other.unit() instanceof Per<?, ?> per
@@ -141,10 +141,10 @@ default <U2 extends Unit<U2>> Measure<?> divide(Measure<U2> other) {
     if (unit().getBaseUnit().equals(other.unit().getBaseUnit())) {
       return Units.Value.ofBaseUnits(baseUnitMagnitude() / other.baseUnitMagnitude());
     }
-    if (other.unit() instanceof Dimensionless) {
+    if (other.unit() instanceof DimensionlessUnit) {
       return divide(other.baseUnitMagnitude());
     }
-    if (other.unit() instanceof Velocity<?> velocity
+    if (other.unit() instanceof VelocityUnit<?> velocity
         && velocity.getUnit().getBaseUnit().equals(unit().getBaseUnit())) {
       return times(velocity.reciprocal().ofBaseUnits(1 / other.baseUnitMagnitude()));
     }
@@ -159,13 +159,13 @@ default <U2 extends Unit<U2>> Measure<?> divide(Measure<U2> other) {
    * Creates a velocity measure by dividing this one by a time period measure.
    *
    * <pre>
-   *   Meters.of(1).per(Second) // Measure&lt;Velocity&lt;Distance&gt;&gt;
+   *   Meters.of(1).per(Second) // Measure&lt;VelocityUnit&lt;DistanceUnit&gt;&gt;
    * </pre>
    *
    * @param period the time period to divide by.
    * @return the velocity result
    */
-  default Measure<Velocity<U>> per(Measure<Time> period) {
+  default Measure<VelocityUnit<U>> per(Measure<TimeUnit> period) {
     var newUnit = unit().per(period.unit());
     return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude() / period.baseUnitMagnitude(), newUnit);
   }
@@ -190,13 +190,13 @@ default <U2 extends Unit<U2>> Measure<Per<U, U2>> per(U2 denominator) {
    * Creates a velocity measure equivalent to this one per a unit of time.
    *
    * <pre>
-   *   Radians.of(3.14).per(Second) // Velocity&lt;Angle&gt; equivalent to RadiansPerSecond.of(3.14)
+   *   Radians.of(3.14).per(Second) // VelocityUnit&lt;AngleUnit&gt; equivalent to RadiansPerSecond.of(3.14)
    * </pre>
    *
    * @param time the unit of time
    * @return the velocity measure
    */
-  default Measure<Velocity<U>> per(Time time) {
+  default Measure<VelocityUnit<U>> per(TimeUnit time) {
     var newUnit = unit().per(time);
     return newUnit.of(magnitude());
   }
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..50b27e7b6bc 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
@@ -247,7 +247,7 @@ 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) {
+  public MutableMeasure<U> mut_times(Measure<? extends DimensionlessUnit> multiplier) {
     return mut_times(multiplier.baseUnitMagnitude());
   }
 
@@ -270,7 +270,7 @@ 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) {
+  public MutableMeasure<U> mut_divide(Measure<? extends DimensionlessUnit> divisor) {
     return mut_divide(divisor.baseUnitMagnitude());
   }
 
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Per.java b/wpiunits/src/main/java/edu/wpi/first/units/Per.java
index fe9131487e8..5d7a21ee18c 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Per.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Per.java
@@ -11,8 +11,8 @@
  * 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>}.
+ * <p>Note: {@link VelocityUnit} is used to represent the velocity dimension, rather than {@code
+ * Per<DistanceUnit, TimeUnit>}.
  *
  * @param <N> the type of the numerator unit
  * @param <D> the type of the denominator unit
@@ -60,7 +60,7 @@ protected Per(N numerator, D 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.
+   * denominator with a unit of time is discouraged; use {@link VelocityUnit} instead.
    *
    * <pre>
    *   Per.combine(Volts, Meters) // possible PID constant
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Power.java b/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
similarity index 75%
rename from wpiunits/src/main/java/edu/wpi/first/units/Power.java
rename to wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
index 5d43f144d66..5d7d3ad9399 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Power.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
@@ -8,18 +8,18 @@
  * 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>.
+ * 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 class Power extends Unit<Power> {
-  Power(Power baseUnit, double baseUnitEquivalent, String name, String symbol) {
+public class PowerUnit extends Unit<PowerUnit> {
+  PowerUnit(PowerUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
     super(baseUnit, baseUnitEquivalent, name, symbol);
   }
 
-  Power(
-      Power baseUnit,
+  PowerUnit(
+      PowerUnit baseUnit,
       UnaryFunction toBaseConverter,
       UnaryFunction fromBaseConverter,
       String name,
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Temperature.java b/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
similarity index 78%
rename from wpiunits/src/main/java/edu/wpi/first/units/Temperature.java
rename to wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
index 3138b1ac867..5653a647a96 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Temperature.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
@@ -8,14 +8,14 @@
  * 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>.
+ * 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 class Temperature extends Unit<Temperature> {
-  Temperature(
-      Temperature baseUnit,
+public class TemperatureUnit extends Unit<TemperatureUnit> {
+  TemperatureUnit(
+      TemperatureUnit baseUnit,
       UnaryFunction toBaseConverter,
       UnaryFunction fromBaseConverter,
       String name,
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Time.java b/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
similarity index 76%
rename from wpiunits/src/main/java/edu/wpi/first/units/Time.java
rename to wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
index 5d1ec87e062..ba85dcdf9f5 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Time.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
@@ -8,18 +8,18 @@
  * 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>.
+ * 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 class Time extends Unit<Time> {
-  Time(Time baseUnit, double baseUnitEquivalent, String name, String symbol) {
+public class TimeUnit extends Unit<TimeUnit> {
+  TimeUnit(TimeUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
     super(baseUnit, baseUnitEquivalent, name, symbol);
   }
 
-  Time(
-      Time baseUnit,
+  TimeUnit(
+      TimeUnit baseUnit,
       UnaryFunction toBaseConverter,
       UnaryFunction fromBaseConverter,
       String name,
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..58eb0abacfa 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Unit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Unit.java
@@ -221,8 +221,8 @@ public Measure<U> one() {
    * @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);
+  public VelocityUnit<U> per(TimeUnit period) {
+    return VelocityUnit.combine(this, period);
   }
 
   /**
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..5d49374f9ac 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Units.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Units.java
@@ -14,221 +14,222 @@ private Units() {
 
   // Pseudo-classes describing the more common units of measure.
 
-  // Distance
+  // 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
    * 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
    * 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 VelocityUnit<DistanceUnit> 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 VelocityUnit<DistanceUnit> 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 VelocityUnit<DistanceUnit> 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 VelocityUnit<AngleUnit> 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 VelocityUnit<AngleUnit> 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 VelocityUnit<AngleUnit> 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 VelocityUnit<AngleUnit> 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 VelocityUnit<AngleUnit> DegreesPerSecond = Degrees.per(Second);
 
   // 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 =
+  public static final VelocityUnit<VelocityUnit<DistanceUnit>> 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 =
+  public static final VelocityUnit<VelocityUnit<DistanceUnit>> 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 VelocityUnit<VelocityUnit<AngleUnit>> 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 VelocityUnit<VelocityUnit<AngleUnit>> 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 VelocityUnit<VelocityUnit<AngleUnit>> 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 VelocityUnit<VelocityUnit<DistanceUnit>> Gs =
       derive(MetersPerSecondPerSecond).aggregate(9.80665).named("G").symbol("G").make();
 
-  // Mass
+  // MassUnit
   /** The base SI unit of mass. */
-  public static final Mass Kilograms = BaseUnits.Mass;
+  public static final MassUnit Kilograms = BaseUnits.MassUnit;
 
   /** The base SI unit of mass. */
-  public static final Mass Kilogram = Kilograms; // alias
+  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}.
    */
-  public static final Mass Pounds =
+  public static final MassUnit Pounds =
       derive(Grams).aggregate(453.592).named("Pound").symbol("lb.").make();
 
   /**
@@ -236,143 +237,143 @@ private Units() {
    * 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}.
    */
-  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 =
+  public static final Mult<Mult<MassUnit, DistanceUnit>, DistanceUnit> KilogramSquareMeters =
       Kilograms.mult(Meters).mult(Meters);
 
   // Unitless
   /** A dimensionless unit that performs no scaling whatsoever. */
-  public static final Dimensionless Value = BaseUnits.Value;
+  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 Dimensionless Percent =
+  public static final DimensionlessUnit Percent =
       derive(Value).splitInto(100).named("Percent").symbol("%").make();
 
-  // 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 = BaseUnits.PowerUnit;
 
   /** 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
    * 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)
@@ -386,29 +387,29 @@ 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 Per<VoltageUnit, VelocityUnit<DistanceUnit>> 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 =
-      Volts.per(MetersPerSecondPerSecond);
+  public static final Per<VoltageUnit, VelocityUnit<VelocityUnit<DistanceUnit>>>
+      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 Per<VoltageUnit, VelocityUnit<AngleUnit>> 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 =
-      Volts.per(RadiansPerSecond.per(Second));
+  public static final Per<VoltageUnit, VelocityUnit<VelocityUnit<AngleUnit>>>
+      VoltsPerRadianPerSecondSquared = Volts.per(RadiansPerSecond.per(Second));
 
   /**
    * Creates a unit equal to a thousandth of the base unit, eg Milliseconds = Milli(Units.Seconds).
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Velocity.java b/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
similarity index 70%
rename from wpiunits/src/main/java/edu/wpi/first/units/Velocity.java
rename to wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
index 287c1601633..3d265fe4342 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Velocity.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
@@ -13,23 +13,23 @@
  *
  * <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>.
+ * Measure&lt;VelocityUnit&lt;DistanceUnit&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}
+ * @param <D> the distance unit, such as {@link AngleUnit} or {@link DistanceUnit}
  */
-public class Velocity<D extends Unit<D>> extends Unit<Velocity<D>> {
+public class VelocityUnit<D extends Unit<D>> extends Unit<VelocityUnit<D>> {
   private final D m_unit;
-  private final Time m_period;
+  private final TimeUnit m_period;
 
   /**
-   * Stores velocity units that were created ad-hoc using {@link #combine(Unit, Time, String,
+   * Stores velocity units that were created ad-hoc using {@link #combine(Unit, TimeUnit, String,
    * String)}. Does not store objects created directly by constructors.
    */
   @SuppressWarnings("rawtypes")
-  private static final LongToObjectHashMap<Velocity> cache = new LongToObjectHashMap<>();
+  private static final LongToObjectHashMap<VelocityUnit> cache = new LongToObjectHashMap<>();
 
   /** Generates a cache key used for cache lookups. */
   private static long cacheKey(Unit<?> numerator, Unit<?> denominator) {
@@ -43,16 +43,16 @@ private static long cacheKey(Unit<?> numerator, Unit<?> denominator) {
    * 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
+   *   VelocityUnit.combine(Kilograms, Second) // mass flow
+   *   VelocityUnit.combine(Feet, Millisecond) // linear speed
+   *   VelocityUnit.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
+   *   VelocityUnit.combine(Feet.per(Second), Second) // linear acceleration in ft/s/s
+   *   VelocityUnit.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.
+   * <p>It's recommended to use the convenience function {@link Unit#per(TimeUnit)} instead of
+   * calling this factory directly.
    *
    * @param <D> the type of the numerator unit
    * @param numerator the numerator unit
@@ -62,14 +62,14 @@ private static long cacheKey(Unit<?> numerator, Unit<?> denominator) {
    * @return the new unit
    */
   @SuppressWarnings("unchecked")
-  public static <D extends Unit<D>> Velocity<D> combine(
-      Unit<D> numerator, Time period, String name, String symbol) {
+  public static <D extends Unit<D>> VelocityUnit<D> combine(
+      Unit<D> numerator, TimeUnit 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);
+    VelocityUnit<D> velocity = new VelocityUnit<>((D) numerator, period, name, symbol);
     cache.put(key, velocity);
     return velocity;
   }
@@ -83,16 +83,16 @@ public static <D extends Unit<D>> Velocity<D> combine(
    * <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
+   *   VelocityUnit.combine(Kilograms, Second) // mass flow
+   *   VelocityUnit.combine(Feet, Millisecond) // linear speed
+   *   VelocityUnit.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
+   *   VelocityUnit.combine(Feet.per(Second), Second) // linear acceleration in ft/s/s
+   *   VelocityUnit.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.
+   * <p>It's recommended to use the convenience function {@link Unit#per(TimeUnit)} instead of
+   * calling this factory directly.
    *
    * @param <D> the type of the numerator unit
    * @param numerator the numerator unit
@@ -100,7 +100,7 @@ public static <D extends Unit<D>> Velocity<D> combine(
    * @return the new unit
    */
   @SuppressWarnings("unchecked")
-  public static <D extends Unit<D>> Velocity<D> combine(Unit<D> numerator, Time period) {
+  public static <D extends Unit<D>> VelocityUnit<D> combine(Unit<D> numerator, TimeUnit period) {
     long key = cacheKey(numerator, period);
     if (cache.containsKey(key)) {
       return cache.get(key);
@@ -109,13 +109,13 @@ public static <D extends Unit<D>> Velocity<D> combine(Unit<D> numerator, Time pe
     var name = numerator.name() + " per " + period.name();
     var symbol = numerator.symbol() + "/" + period.symbol();
 
-    Velocity<D> velocity = new Velocity<>((D) numerator, period, name, symbol);
+    VelocityUnit<D> velocity = new VelocityUnit<>((D) numerator, period, name, symbol);
     cache.put(key, velocity);
     return velocity;
   }
 
   @SuppressWarnings({"unchecked", "rawtypes"})
-  Velocity(D unit, Time period, String name, String symbol) {
+  VelocityUnit(D unit, TimeUnit period, String name, String symbol) {
     super(
         unit.isBaseUnit() && period.isBaseUnit()
             ? null
@@ -128,8 +128,8 @@ public static <D extends Unit<D>> Velocity<D> combine(Unit<D> numerator, Time pe
   }
 
   @SuppressWarnings({"unchecked", "rawtypes"})
-  Velocity(
-      Velocity<D> baseUnit,
+  VelocityUnit(
+      VelocityUnit<D> baseUnit,
       UnaryFunction toBaseConverter,
       UnaryFunction fromBaseConverter,
       String name,
@@ -153,7 +153,7 @@ public D getUnit() {
    *
    * @return the period unit
    */
-  public Time getPeriod() {
+  public TimeUnit getPeriod() {
     return m_period;
   }
 
@@ -162,7 +162,7 @@ public Time getPeriod() {
    *
    * @return the reciprocal
    */
-  public Per<Time, D> reciprocal() {
+  public Per<TimeUnit, D> reciprocal() {
     return m_period.per(m_unit);
   }
 
@@ -177,7 +177,7 @@ public boolean equals(Object o) {
     if (!super.equals(o)) {
       return false;
     }
-    Velocity<?> velocity = (Velocity<?>) o;
+    VelocityUnit<?> velocity = (VelocityUnit<?>) o;
     return m_unit.equals(velocity.m_unit) && m_period.equals(velocity.m_period);
   }
 
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Voltage.java b/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
similarity index 76%
rename from wpiunits/src/main/java/edu/wpi/first/units/Voltage.java
rename to wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
index 6867121ae12..dbc8d0babf2 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Voltage.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
@@ -10,18 +10,18 @@
  * 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>.
+ * 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 class Voltage extends Unit<Voltage> {
-  Voltage(Voltage baseUnit, double baseUnitEquivalent, String name, String symbol) {
+public class VoltageUnit extends Unit<VoltageUnit> {
+  VoltageUnit(VoltageUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
     super(baseUnit, baseUnitEquivalent, name, symbol);
   }
 
-  Voltage(
-      Voltage baseUnit,
+  VoltageUnit(
+      VoltageUnit baseUnit,
       UnaryFunction toBaseConverter,
       UnaryFunction fromBaseConverter,
       String name,
@@ -40,7 +40,7 @@ public class Voltage extends Unit<Voltage> {
    * @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);
+  public PowerUnit times(CurrentUnit current, String name, String symbol) {
+    return new PowerUnit(Watts, toBaseUnits(1) * current.toBaseUnits(1), name, symbol);
   }
 }
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 87%
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..8d427db5bff 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/CurrentTest.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/CurrentUnitTest.java
@@ -8,10 +8,10 @@
 
 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.times(Units.Volts, "Watt", "w");
 
     assertTrue(combined.equivalent(Units.Watts));
   }
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 81%
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..061ddaaba8a 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"));
+    VelocityUnit<DistanceUnit> 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);
+    VelocityUnit<DistanceUnit> 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
index b78a4af6d7f..aa3e73deefc 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/EncoderTest.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/EncoderTest.java
@@ -16,7 +16,7 @@ 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;
+    private MutableMeasure<VelocityUnit<U>> m_rate;
 
     void setDistancePerPulse(Measure<U> distancePerPulse) {
       m_distancePerPulse = distancePerPulse;
@@ -28,7 +28,7 @@ Measure<U> getDistance() {
       return m_distance;
     }
 
-    Measure<Velocity<U>> getRate() {
+    Measure<VelocityUnit<U>> getRate() {
       return m_rate;
     }
 
@@ -47,13 +47,13 @@ void setTicks(int ticks) {
   void testAsDistance() {
     double ticksPerRevolution = 2048;
 
-    var encoder = new Encoder<Distance>();
+    var encoder = new Encoder<DistanceUnit>();
 
     // 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 =
+    Measure<DistanceUnit> distancePerPulse =
         wheelDiameter.times(Math.PI).divide(gearRatio).divide(ticksPerRevolution);
     encoder.setDistancePerPulse(distancePerPulse);
 
@@ -75,9 +75,9 @@ void testAsDistance() {
   void testAsRevolutions() {
     double ticksPerRevolution = 2048;
 
-    var encoder = new Encoder<Angle>();
+    var encoder = new Encoder<AngleUnit>();
 
-    Measure<Angle> distancePerPulse = Revolutions.of(1).divide(ticksPerRevolution);
+    Measure<AngleUnit> distancePerPulse = Revolutions.of(1).divide(ticksPerRevolution);
     encoder.setDistancePerPulse(distancePerPulse);
 
     encoder.m_ticks = 0;
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..4897abe3abd 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/MeasureTest.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/MeasureTest.java
@@ -16,64 +16,64 @@
 class MeasureTest {
   @Test
   void testBasics() {
-    Unit<Distance> unit = Units.Feet;
+    Unit<DistanceUnit> unit = Units.Feet;
     double magnitude = 10;
-    Measure<Distance> m = unit.of(magnitude);
+    Measure<DistanceUnit> 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);
+    Measure<DistanceUnit> m = Units.Feet.of(1);
+    Measure<DistanceUnit> m2 = m.times(10);
     assertEquals(10, m2.magnitude(), 1e-12);
     assertNotSame(m2, m); // make sure state wasn't changed
   }
 
   @Test
   void testDivide() {
-    Measure<Distance> m = Units.Meters.of(1);
-    Measure<Distance> m2 = m.divide(10);
+    Measure<DistanceUnit> m = Units.Meters.of(1);
+    Measure<DistanceUnit> 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);
+    Measure<DistanceUnit> m1 = Units.Feet.of(1);
+    Measure<DistanceUnit> 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);
+    Measure<DistanceUnit> m1 = Units.Feet.of(1);
+    Measure<DistanceUnit> 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();
+    Measure<DistanceUnit> m = Units.Feet.of(123);
+    Measure<DistanceUnit> n = m.negate();
     assertEquals(-m.magnitude(), n.magnitude(), 1e-12);
     assertEquals(m.unit(), n.unit());
   }
 
   @Test
   void testEquivalency() {
-    Measure<Distance> inches = Units.Inches.of(12);
-    Measure<Distance> feet = Units.Feet.of(1);
+    Measure<DistanceUnit> inches = Units.Inches.of(12);
+    Measure<DistanceUnit> feet = Units.Feet.of(1);
     assertTrue(inches.isEquivalent(feet));
     assertTrue(feet.isEquivalent(inches));
   }
 
   @Test
   void testAs() {
-    Measure<Distance> m = Units.Inches.of(12);
+    Measure<DistanceUnit> m = Units.Inches.of(12);
     assertEquals(1, m.in(Units.Feet), Measure.EQUIVALENCE_THRESHOLD);
   }
 
@@ -94,7 +94,7 @@ 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());
   }
@@ -164,13 +164,13 @@ void testPerTimesMeasure() {
 
   @Test
   void testDivideMeasure() {
-    // Dimensionless divide
+    // DimensionlessUnit 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);
-    // Velocity divide
+    // VelocityUnit divide
     var m3 = Units.Meters.of(8);
     var m4 = Units.Meters.per(Units.Second).of(4);
     result = m3.divide(m4);
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 93%
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..3781af8cb21 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/VelocityTest.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/VelocityUnitTest.java
@@ -17,7 +17,7 @@
 
 import org.junit.jupiter.api.Test;
 
-class VelocityTest {
+class VelocityUnitTest {
   @Test
   void testBaseUnit() {
     assertTrue(MetersPerSecond.equivalent(MetersPerSecond));
@@ -26,7 +26,8 @@ void testBaseUnit() {
 
   @Test
   void testToAcceleration() {
-    Velocity<Velocity<Distance>> metersPerSecondPerMillisecond = MetersPerSecond.per(Millisecond);
+    VelocityUnit<VelocityUnit<DistanceUnit>> metersPerSecondPerMillisecond =
+        MetersPerSecond.per(Millisecond);
 
     assertEquals(1000, metersPerSecondPerMillisecond.of(1).in(MetersPerSecondPerSecond), 0);
     assertEquals(0, metersPerSecondPerMillisecond.of(0).in(MetersPerSecondPerSecond), 0);
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 96%
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..0240686c698 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/VoltageTest.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/VoltageUnitTest.java
@@ -8,7 +8,7 @@
 
 import org.junit.jupiter.api.Test;
 
-class VoltageTest {
+class VoltageUnitTest {
   @Test
   void testVoltsTimesAmps() {
     assertTrue(Units.Volts.times(Units.Amps, "", "").equivalent(Units.Watts));

From 869a2c4ecd8c6bdcd8d66c9383e7a0b2c8c76e1f Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Sat, 15 Jun 2024 17:40:38 -0400
Subject: [PATCH 02/46] Flatten units into discrete types

Java's type system is incapable of handling these with generics, so we need to write all the discrete cases ourselves
---
 .../wpi/first/wpilibj2/command/Command.java   |   9 +-
 .../wpi/first/wpilibj2/command/Commands.java  |   4 +-
 .../first/wpilibj2/command/WaitCommand.java   |   9 +-
 .../wpilibj2/command/sysid/SysIdRoutine.java  |  39 +--
 .../edu/wpi/first/wpilibj/LEDPattern.java     |  24 +-
 .../edu/wpi/first/wpilibj/TimedRobot.java     |   8 +-
 .../wpilibj/motorcontrol/MotorController.java |  20 +-
 .../first/wpilibj/simulation/FlywheelSim.java |  17 +-
 .../first/wpilibj/sysid/SysIdRoutineLog.java  |  32 +-
 .../edu/wpi/first/wpilibj/LEDPatternTest.java |   2 +-
 .../examples/addressableled/Robot.java        |   5 +-
 .../examples/sysid/subsystems/Drive.java      |  22 +-
 .../examples/sysid/subsystems/Shooter.java    |  22 +-
 .../edu/wpi/first/math/geometry/Pose2d.java   |   5 +-
 .../wpi/first/math/geometry/Transform2d.java  |   5 +-
 .../first/math/geometry/Translation2d.java    |   5 +-
 .../first/math/geometry/Translation3d.java    |   5 +-
 .../first/math/kinematics/ChassisSpeeds.java  |  28 +-
 .../DifferentialDriveKinematics.java          |   5 +-
 .../kinematics/DifferentialDriveOdometry.java |  16 +-
 .../DifferentialDriveWheelPositions.java      |   5 +-
 .../DifferentialDriveWheelSpeeds.java         |   9 +-
 .../MecanumDriveWheelPositions.java           |   8 +-
 .../kinematics/MecanumDriveWheelSpeeds.java   |  14 +-
 .../kinematics/SwerveDriveKinematics.java     |  14 +-
 .../math/kinematics/SwerveModulePosition.java |   5 +-
 .../math/kinematics/SwerveModuleState.java    |   6 +-
 .../math/trajectory/TrajectoryConfig.java     |  13 +-
 .../math/trajectory/TrapezoidProfile.java     |   9 +-
 .../math/kinematics/ChassisSpeedsTest.java    |   2 +-
 .../edu/wpi/first/units/Acceleration.java     |  69 ++++
 .../edu/wpi/first/units/AccelerationUnit.java |  34 ++
 .../main/java/edu/wpi/first/units/Angle.java  | 121 +++++++
 .../java/edu/wpi/first/units/AngleUnit.java   |  18 +-
 .../wpi/first/units/AngularAcceleration.java  |  87 +++++
 .../first/units/AngularAccelerationUnit.java  |  36 +++
 .../edu/wpi/first/units/AngularMomentum.java  |  13 +
 .../wpi/first/units/AngularMomentumUnit.java  |  35 ++
 .../edu/wpi/first/units/AngularVelocity.java  |  69 ++++
 .../wpi/first/units/AngularVelocityUnit.java  |  42 +++
 .../java/edu/wpi/first/units/BaseUnits.java   |   3 -
 .../wpi/first/units/CombinatoryUnitCache.java |  35 ++
 .../java/edu/wpi/first/units/Current.java     |  94 ++++++
 .../java/edu/wpi/first/units/CurrentUnit.java |  20 +-
 .../edu/wpi/first/units/Dimensionless.java    |  18 ++
 .../wpi/first/units/DimensionlessUnit.java    |  22 +-
 .../java/edu/wpi/first/units/Distance.java    | 146 +++++++++
 .../edu/wpi/first/units/DistanceUnit.java     |  33 +-
 .../main/java/edu/wpi/first/units/Energy.java |  34 ++
 .../java/edu/wpi/first/units/EnergyUnit.java  |  15 +-
 .../main/java/edu/wpi/first/units/Force.java  |  47 +++
 .../java/edu/wpi/first/units/ForceUnit.java   |  50 +++
 .../java/edu/wpi/first/units/Frequency.java   |  27 ++
 .../edu/wpi/first/units/FrequencyUnit.java    |  38 +++
 .../java/edu/wpi/first/units/IMutable.java    |  65 ++++
 .../edu/wpi/first/units/ImmutableMeasure.java |  14 +-
 .../wpi/first/units/LinearAcceleration.java   |  45 +++
 .../first/units/LinearAccelerationUnit.java   |  45 +++
 .../edu/wpi/first/units/LinearMomentum.java   |  13 +
 .../wpi/first/units/LinearMomentumUnit.java   |  35 ++
 .../edu/wpi/first/units/LinearVelocity.java   |  65 ++++
 .../wpi/first/units/LinearVelocityUnit.java   |  42 +++
 .../main/java/edu/wpi/first/units/Mass.java   |  27 ++
 .../java/edu/wpi/first/units/MassUnit.java    |  27 +-
 .../java/edu/wpi/first/units/MathHelper.java  |  69 ++++
 .../java/edu/wpi/first/units/Measure.java     | 189 +----------
 .../wpi/first/units/MomentOfInertiaUnit.java  |  29 ++
 .../main/java/edu/wpi/first/units/Mult.java   |  28 +-
 .../edu/wpi/first/units/MutableMeasure.java   | 298 ------------------
 .../main/java/edu/wpi/first/units/Per.java    |  54 ++--
 .../main/java/edu/wpi/first/units/Power.java  |  17 +
 .../java/edu/wpi/first/units/PowerUnit.java   |  56 +++-
 .../java/edu/wpi/first/units/Temperature.java |  21 ++
 .../edu/wpi/first/units/TemperatureUnit.java  |  14 +-
 .../main/java/edu/wpi/first/units/Time.java   |  34 ++
 .../java/edu/wpi/first/units/TimeUnit.java    |  28 +-
 .../main/java/edu/wpi/first/units/Torque.java |  13 +
 .../java/edu/wpi/first/units/TorqueUnit.java  |  31 ++
 .../main/java/edu/wpi/first/units/Unit.java   | 148 +--------
 .../java/edu/wpi/first/units/UnitBuilder.java |  11 +-
 .../main/java/edu/wpi/first/units/Units.java  | 134 +++++---
 .../java/edu/wpi/first/units/Velocity.java    |  88 ++++++
 .../edu/wpi/first/units/VelocityUnit.java     | 156 ++-------
 .../java/edu/wpi/first/units/Voltage.java     |  68 ++++
 .../java/edu/wpi/first/units/VoltageUnit.java |  30 +-
 .../edu/wpi/first/units/CurrentUnitTest.java  |  10 +-
 .../java/edu/wpi/first/units/EncoderTest.java |  91 ------
 .../java/edu/wpi/first/units/ExampleUnit.java |  14 +-
 .../java/edu/wpi/first/units/MeasureTest.java | 178 ++---------
 .../wpi/first/units/MutableMeasureTest.java   | 133 --------
 .../java/edu/wpi/first/units/UnitsTest.java   |  39 +--
 .../edu/wpi/first/units/VelocityUnitTest.java |  18 +-
 .../edu/wpi/first/units/VoltageUnitTest.java  |   2 +-
 93 files changed, 2363 insertions(+), 1489 deletions(-)
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/Acceleration.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/Angle.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/AngularAcceleration.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/AngularMomentum.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/AngularVelocity.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/CombinatoryUnitCache.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/Current.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/Dimensionless.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/Distance.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/Energy.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/Force.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/Frequency.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/IMutable.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/LinearAcceleration.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/LinearAccelerationUnit.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/LinearMomentum.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/LinearVelocity.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/Mass.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/MathHelper.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/Power.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/Temperature.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/Time.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/Torque.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/Velocity.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/Voltage.java
 delete mode 100644 wpiunits/src/test/java/edu/wpi/first/units/EncoderTest.java
 delete mode 100644 wpiunits/src/test/java/edu/wpi/first/units/MutableMeasureTest.java

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 be778d6c149..1ab1595480f 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.TimeUnit;
+import edu.wpi.first.units.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<TimeUnit> 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 3d3127d7bb0..ca6736a2489 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 +6,6 @@
 
 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.TimeUnit;
 import java.util.Map;
 import java.util.Set;
 import java.util.function.BooleanSupplier;
@@ -137,7 +135,7 @@ public static Command waitSeconds(double seconds) {
    * @return the command
    * @see WaitCommand
    */
-  public static Command waitTime(Measure<TimeUnit> time) {
+  public static Command waitTime(Time time) {
     return new WaitCommand(time);
   }
 
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 efa26211e85..011da9def9f 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.TimeUnit;
+import edu.wpi.first.units.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<TimeUnit> 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 5c7c98c95ad..3f8bc2961be 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
@@ -4,16 +4,14 @@
 
 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.TimeUnit;
-import edu.wpi.first.units.VelocityUnit;
+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.wpilibj.Timer;
 import edu.wpi.first.wpilibj.sysid.SysIdRoutineLog;
@@ -43,7 +41,7 @@
 public class SysIdRoutine extends SysIdRoutineLog {
   private final Config m_config;
   private final Mechanism m_mechanism;
-  private final MutableMeasure<VoltageUnit> m_outputVolts = mutable(Volts.of(0));
+  private final Voltage.Mutable m_outputVolts = Volts.mutable(0);
   private final Consumer<State> m_recordState;
 
   /**
@@ -62,13 +60,13 @@ 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<VelocityUnit<VoltageUnit>> m_rampRate;
+    public final Velocity<VoltageUnit> m_rampRate;
 
     /** The step voltage output used for dynamic test routines. */
-    public final Measure<VoltageUnit> m_stepVoltage;
+    public final Voltage m_stepVoltage;
 
     /** Safety timeout for the test routine commands. */
-    public final Measure<TimeUnit> 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 +85,11 @@ public static class Config {
      *     logged in WPILog.
      */
     public Config(
-        Measure<VelocityUnit<VoltageUnit>> rampRate,
-        Measure<VoltageUnit> stepVoltage,
-        Measure<TimeUnit> 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;
@@ -107,10 +105,7 @@ public Config(
      * @param timeout Safety timeout for the test routine commands. Defaults to 10 seconds if left
      *     null.
      */
-    public Config(
-        Measure<VelocityUnit<VoltageUnit>> rampRate,
-        Measure<VoltageUnit> stepVoltage,
-        Measure<TimeUnit> timeout) {
+    public Config(Velocity<VoltageUnit> rampRate, Voltage stepVoltage, Time timeout) {
       this(rampRate, stepVoltage, timeout, null);
     }
 
@@ -134,7 +129,7 @@ public Config() {
    */
   public static class Mechanism {
     /** Sends the SysId-specified drive signal to the mechanism motors during test routines. */
-    public final Consumer<Measure<VoltageUnit>> m_drive;
+    public final Consumer<? super Voltage> m_drive;
 
     /**
      * Returns measured data (voltages, positions, velocities) of the mechanism motors during test
@@ -165,10 +160,7 @@ public static class Mechanism {
      *     the subsystem if left null.
      */
     public Mechanism(
-        Consumer<Measure<VoltageUnit>> 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;
@@ -191,8 +183,7 @@ 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<VoltageUnit>> drive, Consumer<SysIdRoutineLog> log, Subsystem subsystem) {
+    public Mechanism(Consumer<Voltage> drive, Consumer<SysIdRoutineLog> log, Subsystem subsystem) {
       this(drive, log, subsystem, null);
     }
   }
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 e42d04148cf..efb57e37b24 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java
@@ -10,11 +10,12 @@
 import static edu.wpi.first.units.Units.Value;
 
 import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.units.DimensionlessUnit;
-import edu.wpi.first.units.DistanceUnit;
+import edu.wpi.first.units.Dimensionless;
+import edu.wpi.first.units.Distance;
+import edu.wpi.first.units.Frequency;
+import edu.wpi.first.units.LinearVelocity;
 import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.TimeUnit;
-import edu.wpi.first.units.VelocityUnit;
+import edu.wpi.first.units.Time;
 import edu.wpi.first.units.collections.LongToObjectHashMap;
 import edu.wpi.first.util.WPIUtilJNI;
 import edu.wpi.first.wpilibj.util.Color;
@@ -99,7 +100,7 @@ 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
+   * #scrollAtRelativeSpeed(Frequency) scroll}, {@link #blink(Measure, Measure) blink}, or {@link
    * #breathe(Measure) breathe} by intercepting the data writes to transform their behavior to
    * whatever we like.
    *
@@ -186,7 +187,7 @@ 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<VelocityUnit<DimensionlessUnit>> velocity) {
+  default LEDPattern scrollAtRelativeSpeed(Frequency velocity) {
     final double periodMicros = 1 / velocity.in(Value.per(Microsecond));
 
     return (reader, writer) -> {
@@ -232,8 +233,7 @@ default LEDPattern scrollAtRelativeSpeed(Measure<VelocityUnit<DimensionlessUnit>
    * @param ledSpacing the distance between adjacent LEDs on the physical LED strip
    * @return the scrolling pattern
    */
-  default LEDPattern scrollAtAbsoluteSpeed(
-      Measure<VelocityUnit<DistanceUnit>> velocity, Measure<DistanceUnit> 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 +267,7 @@ default LEDPattern scrollAtAbsoluteSpeed(
    * @param offTime how long the pattern should be turned off for, per cycle
    * @return the blinking pattern
    */
-  default LEDPattern blink(Measure<TimeUnit> onTime, Measure<TimeUnit> 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);
 
@@ -287,7 +287,7 @@ default LEDPattern blink(Measure<TimeUnit> onTime, Measure<TimeUnit> offTime) {
    * @param onTime how long the pattern should play for (and be turned off for), per cycle
    * @return the blinking pattern
    */
-  default LEDPattern blink(Measure<TimeUnit> onTime) {
+  default LEDPattern blink(Time onTime) {
     return blink(onTime, onTime);
   }
 
@@ -316,7 +316,7 @@ 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<TimeUnit> period) {
+  default LEDPattern breathe(Time period) {
     final long periodMicros = (long) period.in(Microseconds);
 
     return (reader, writer) -> {
@@ -444,7 +444,7 @@ 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<DimensionlessUnit> 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 7ed94867c9c..5bc1cfeee12 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.TimeUnit;
+import edu.wpi.first.units.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<TimeUnit> period) {
+  public final void addPeriodic(Runnable callback, Time period) {
     addPeriodic(callback, period.in(Seconds));
   }
 
@@ -214,8 +213,7 @@ public final void addPeriodic(Runnable callback, Measure<TimeUnit> 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<TimeUnit> period, Measure<TimeUnit> 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..0f44ac67ab8 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.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 326fe23818b..9e57bcefa90 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 +13,8 @@
 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.AngleUnit;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.MutableMeasure;
-import edu.wpi.first.units.VelocityUnit;
+import edu.wpi.first.units.AngularAcceleration;
+import edu.wpi.first.units.AngularVelocity;
 import edu.wpi.first.wpilibj.RobotController;
 
 /** Represents a simulated flywheel mechanism. */
@@ -31,12 +29,11 @@ public class FlywheelSim extends LinearSystemSim<N1, N1, N1> {
   private final double m_jKgMetersSquared;
 
   // The angular velocity of the system.
-  private final MutableMeasure<VelocityUnit<AngleUnit>> m_angularVelocity =
-      MutableMeasure.zero(RadiansPerSecond);
+  private final AngularVelocity.Mutable m_angularVelocity = RadiansPerSecond.mutable(0);
 
   // The angular acceleration of the system.
-  private final MutableMeasure<VelocityUnit<VelocityUnit<AngleUnit>>> m_angularAcceleration =
-      MutableMeasure.zero(RadiansPerSecondPerSecond);
+  private final AngularAcceleration.Mutable m_angularAcceleration =
+      RadiansPerSecondPerSecond.mutable(0);
 
   /**
    * Creates a simulated flywheel mechanism.
@@ -133,7 +130,7 @@ public double getAngularVelocityRPM() {
    *
    * @return The flywheel's velocity
    */
-  public Measure<VelocityUnit<AngleUnit>> getAngularVelocity() {
+  public AngularVelocity getAngularVelocity() {
     m_angularVelocity.mut_setMagnitude(getAngularVelocityRadPerSec());
     return m_angularVelocity;
   }
@@ -153,7 +150,7 @@ public double getAngularAccelerationRadPerSecSq() {
    *
    * @return The flywheel's acceleration.
    */
-  public Measure<VelocityUnit<VelocityUnit<AngleUnit>>> 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 599b80427d0..3e5e444d1e4 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.AngleUnit;
-import edu.wpi.first.units.CurrentUnit;
-import edu.wpi.first.units.DistanceUnit;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.VelocityUnit;
-import edu.wpi.first.units.VoltageUnit;
+import edu.wpi.first.units.Angle;
+import edu.wpi.first.units.AngularAcceleration;
+import edu.wpi.first.units.AngularVelocity;
+import edu.wpi.first.units.Current;
+import edu.wpi.first.units.Distance;
+import edu.wpi.first.units.LinearAcceleration;
+import edu.wpi.first.units.LinearVelocity;
+import edu.wpi.first.units.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<VoltageUnit> voltage) {
+    public MotorLog voltage(Voltage voltage) {
       return value("voltage", voltage.in(Volts), Volts.name());
     }
 
@@ -124,7 +126,7 @@ public MotorLog voltage(Measure<VoltageUnit> voltage) {
      * @param position The linear position to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog linearPosition(Measure<DistanceUnit> position) {
+    public MotorLog linearPosition(Distance position) {
       return value("position", position.in(Meters), Meters.name());
     }
 
@@ -134,7 +136,7 @@ public MotorLog linearPosition(Measure<DistanceUnit> position) {
      * @param position The angular position to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog angularPosition(Measure<AngleUnit> position) {
+    public MotorLog angularPosition(Angle position) {
       return value("position", position.in(Rotations), Rotations.name());
     }
 
@@ -144,7 +146,7 @@ public MotorLog angularPosition(Measure<AngleUnit> position) {
      * @param velocity The linear velocity to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog linearVelocity(Measure<VelocityUnit<DistanceUnit>> velocity) {
+    public MotorLog linearVelocity(LinearVelocity velocity) {
       return value("velocity", velocity.in(MetersPerSecond), MetersPerSecond.name());
     }
 
@@ -154,7 +156,7 @@ public MotorLog linearVelocity(Measure<VelocityUnit<DistanceUnit>> velocity) {
      * @param velocity The angular velocity to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog angularVelocity(Measure<VelocityUnit<AngleUnit>> velocity) {
+    public MotorLog angularVelocity(AngularVelocity velocity) {
       return value("velocity", velocity.in(RotationsPerSecond), RotationsPerSecond.name());
     }
 
@@ -166,8 +168,7 @@ public MotorLog angularVelocity(Measure<VelocityUnit<AngleUnit>> velocity) {
      * @param acceleration The linear acceleration to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog linearAcceleration(
-        Measure<VelocityUnit<VelocityUnit<DistanceUnit>>> acceleration) {
+    public MotorLog linearAcceleration(LinearAcceleration acceleration) {
       return value(
           "acceleration",
           acceleration.in(MetersPerSecond.per(Second)),
@@ -182,8 +183,7 @@ public MotorLog linearAcceleration(
      * @param acceleration The angular acceleration to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog angularAcceleration(
-        Measure<VelocityUnit<VelocityUnit<AngleUnit>>> acceleration) {
+    public MotorLog angularAcceleration(AngularAcceleration acceleration) {
       return value(
           "acceleration",
           acceleration.in(RotationsPerSecond.per(Second)),
@@ -198,7 +198,7 @@ public MotorLog angularAcceleration(
      * @param current The current to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog current(Measure<CurrentUnit> 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 5f81b35d345..95fa2f3e018 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.DistanceUnit;
-import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.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<DistanceUnit> 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 253755b4959..431a346c80a 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.DistanceUnit;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.MutableMeasure;
-import edu.wpi.first.units.VelocityUnit;
-import edu.wpi.first.units.VoltageUnit;
+import edu.wpi.first.units.Distance;
+import edu.wpi.first.units.LinearVelocity;
+import edu.wpi.first.units.Voltage;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -50,12 +47,11 @@ public class Drive extends SubsystemBase {
           DriveConstants.kRightEncoderReversed);
 
   // Mutable holder for unit-safe voltage values, persisted to avoid reallocation.
-  private final MutableMeasure<VoltageUnit> m_appliedVoltage = mutable(Volts.of(0));
+  private final Voltage.Mutable m_appliedVoltage = Volts.mutable(0);
   // Mutable holder for unit-safe linear distance values, persisted to avoid reallocation.
-  private final MutableMeasure<DistanceUnit> m_distance = mutable(Meters.of(0));
+  private final Distance.Mutable m_distance = Meters.mutable(0);
   // Mutable holder for unit-safe linear velocity values, persisted to avoid reallocation.
-  private final MutableMeasure<VelocityUnit<DistanceUnit>> m_velocity =
-      mutable(MetersPerSecond.of(0));
+  private final LinearVelocity.Mutable m_velocity = MetersPerSecond.mutable(0);
 
   // Create a new SysId routine for characterizing the drive.
   private final SysIdRoutine m_sysIdRoutine =
@@ -64,9 +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<VoltageUnit> volts) -> {
-                m_leftMotor.setVoltage(volts.in(Volts));
-                m_rightMotor.setVoltage(volts.in(Volts));
+              (voltage) -> {
+                m_leftMotor.setVoltage(voltage.in(Volts));
+                m_rightMotor.setVoltage(voltage.in(Volts));
               },
               // 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 50eddd234e5..40e5eb04ff8 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.AngleUnit;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.MutableMeasure;
-import edu.wpi.first.units.VelocityUnit;
-import edu.wpi.first.units.VoltageUnit;
+import edu.wpi.first.units.Angle;
+import edu.wpi.first.units.AngularVelocity;
+import edu.wpi.first.units.Voltage;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.examples.sysid.Constants.ShooterConstants;
@@ -40,12 +39,11 @@ public class Shooter extends SubsystemBase {
           ShooterConstants.kEncoderReversed);
 
   // Mutable holder for unit-safe voltage values, persisted to avoid reallocation.
-  private final MutableMeasure<VoltageUnit> m_appliedVoltage = mutable(Volts.of(0));
+  private final Voltage.Mutable m_appliedVoltage = Volts.mutable(0);
   // Mutable holder for unit-safe linear distance values, persisted to avoid reallocation.
-  private final MutableMeasure<AngleUnit> m_angle = mutable(Rotations.of(0));
+  private final Angle.Mutable m_angle = Radians.mutable(0);
   // Mutable holder for unit-safe linear velocity values, persisted to avoid reallocation.
-  private final MutableMeasure<VelocityUnit<AngleUnit>> m_velocity =
-      mutable(RotationsPerSecond.of(0));
+  private final AngularVelocity.Mutable m_velocity = RadiansPerSecond.mutable(0);
 
   // Create a new SysId routine for characterizing the shooter.
   private final SysIdRoutine m_sysIdRoutine =
@@ -54,9 +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<VoltageUnit> 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/geometry/Pose2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java
index e961d0de097..e3c7ae03225 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.DistanceUnit;
-import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.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<DistanceUnit> x, Measure<DistanceUnit> 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/Transform2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java
index 984904fc30f..b375b84c701 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.DistanceUnit;
-import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.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<DistanceUnit> x, Measure<DistanceUnit> 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 481bb633645..465d7de6fb3 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.DistanceUnit;
-import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.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<DistanceUnit> x, Measure<DistanceUnit> 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 a19dbac35b4..ac757ee350a 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.DistanceUnit;
-import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.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<DistanceUnit> x, Measure<DistanceUnit> y, Measure<DistanceUnit> 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 9a81cd52e34..3526db9b9da 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.AngleUnit;
-import edu.wpi.first.units.DistanceUnit;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.TimeUnit;
-import edu.wpi.first.units.VelocityUnit;
+import edu.wpi.first.units.AngularVelocity;
+import edu.wpi.first.units.LinearVelocity;
+import edu.wpi.first.units.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<VelocityUnit<DistanceUnit>> vx,
-      Measure<VelocityUnit<DistanceUnit>> vy,
-      Measure<VelocityUnit<AngleUnit>> 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<VelocityUnit<DistanceUnit>> vx,
-      Measure<VelocityUnit<DistanceUnit>> vy,
-      Measure<VelocityUnit<AngleUnit>> omega,
-      Measure<TimeUnit> 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<VelocityUnit<DistanceUnit>> vx,
-      Measure<VelocityUnit<DistanceUnit>> vy,
-      Measure<VelocityUnit<AngleUnit>> 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<VelocityUnit<DistanceUnit>> vx,
-      Measure<VelocityUnit<DistanceUnit>> vy,
-      Measure<VelocityUnit<AngleUnit>> 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 e27b87ba0e5..d562554e62f 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.DistanceUnit;
-import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.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<DistanceUnit> 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 5aae1015bf4..eb4787efec6 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.DistanceUnit;
-import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.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<DistanceUnit> leftDistance,
-      Measure<DistanceUnit> rightDistance,
+      Distance leftDistance,
+      Distance rightDistance,
       Pose2d initialPoseMeters) {
     this(gyroAngle, leftDistance.in(Meters), rightDistance.in(Meters), initialPoseMeters);
   }
@@ -81,9 +80,7 @@ public DifferentialDriveOdometry(
    * @param rightDistance The distance traveled by the right encoder.
    */
   public DifferentialDriveOdometry(
-      Rotation2d gyroAngle,
-      Measure<DistanceUnit> leftDistance,
-      Measure<DistanceUnit> rightDistance) {
+      Rotation2d gyroAngle, Distance leftDistance, Distance rightDistance) {
     this(gyroAngle, leftDistance, rightDistance, Pose2d.kZero);
   }
 
@@ -121,10 +118,7 @@ public void resetPosition(
    * @param poseMeters The position on the field that your robot is at.
    */
   public void resetPosition(
-      Rotation2d gyroAngle,
-      Measure<DistanceUnit> leftDistance,
-      Measure<DistanceUnit> 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 6f9dea8ce2d..f8aa2c18b6c 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.DistanceUnit;
-import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.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<DistanceUnit> left, Measure<DistanceUnit> 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 51eb3cf9bd1..c2c2383360b 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.DistanceUnit;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.VelocityUnit;
+import edu.wpi.first.units.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<VelocityUnit<DistanceUnit>> left, Measure<VelocityUnit<DistanceUnit>> 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<VelocityUnit<DistanceUnit>> 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 4d45c00153e..6eef212e1a8 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.DistanceUnit;
-import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.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<DistanceUnit> frontLeft,
-      Measure<DistanceUnit> frontRight,
-      Measure<DistanceUnit> rearLeft,
-      Measure<DistanceUnit> 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 894f2669591..934d6ab870e 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.DistanceUnit;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.VelocityUnit;
+import edu.wpi.first.units.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<VelocityUnit<DistanceUnit>> frontLeft,
-      Measure<VelocityUnit<DistanceUnit>> frontRight,
-      Measure<VelocityUnit<DistanceUnit>> rearLeft,
-      Measure<VelocityUnit<DistanceUnit>> 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<VelocityUnit<DistanceUnit>> 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 c282a04e631..17fbfdea787 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.AngleUnit;
-import edu.wpi.first.units.DistanceUnit;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.VelocityUnit;
+import edu.wpi.first.units.AngularVelocity;
+import edu.wpi.first.units.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<VelocityUnit<DistanceUnit>> 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<VelocityUnit<DistanceUnit>> attainableMaxModuleSpeed,
-      Measure<VelocityUnit<DistanceUnit>> attainableMaxTranslationalSpeed,
-      Measure<VelocityUnit<AngleUnit>> 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 7a82b03bdda..f54cd471baf 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.DistanceUnit;
-import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.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<DistanceUnit> 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 eb473775540..d24ff9ddd93 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.DistanceUnit;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.VelocityUnit;
+import edu.wpi.first.units.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<VelocityUnit<DistanceUnit>> 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 2173b652ac4..bd5fdbd458d 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.DistanceUnit;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.VelocityUnit;
+import edu.wpi.first.units.LinearAcceleration;
+import edu.wpi.first.units.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<VelocityUnit<DistanceUnit>> maxVelocity,
-      Measure<VelocityUnit<VelocityUnit<DistanceUnit>>> 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<VelocityUnit<DistanceUnit>> 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<VelocityUnit<DistanceUnit>> 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 f94fdbcabc2..e9833874434 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
@@ -6,9 +6,10 @@
 
 import edu.wpi.first.math.MathSharedStore;
 import edu.wpi.first.math.MathUsageId;
+import edu.wpi.first.units.Acceleration;
 import edu.wpi.first.units.Measure;
 import edu.wpi.first.units.Unit;
-import edu.wpi.first.units.VelocityUnit;
+import edu.wpi.first.units.Velocity;
 import java.util.Objects;
 
 /**
@@ -79,9 +80,7 @@ public Constraints(double maxVelocity, double maxAcceleration) {
      * @param maxVelocity maximum velocity
      * @param maxAcceleration maximum acceleration
      */
-    public <U extends Unit<U>> Constraints(
-        Measure<VelocityUnit<U>> maxVelocity,
-        Measure<VelocityUnit<VelocityUnit<U>>> maxAcceleration) {
+    public <U extends Unit> Constraints(Velocity<U> maxVelocity, Acceleration<U> maxAcceleration) {
       this(maxVelocity.baseUnitMagnitude(), maxAcceleration.baseUnitMagnitude());
     }
   }
@@ -115,7 +114,7 @@ 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<VelocityUnit<U>> velocity) {
+    public <U extends Unit> State(Measure<U> position, Velocity<U> velocity) {
       this(position.baseUnitMagnitude(), velocity.baseUnitMagnitude());
     }
 
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/wpiunits/src/main/java/edu/wpi/first/units/Acceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/Acceleration.java
new file mode 100644
index 00000000000..6d22ab945ee
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Acceleration.java
@@ -0,0 +1,69 @@
+// 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 java.util.Objects;
+
+public class Acceleration<D extends Unit> implements Measure<AccelerationUnit<D>> {
+  protected double magnitude;
+  protected double baseUnitMagnitude;
+  protected AccelerationUnit<D> unit;
+
+  public Acceleration(double magnitude, double baseUnitMagnitude, AccelerationUnit<D> unit) {
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = baseUnitMagnitude;
+    this.unit = unit;
+  }
+
+  @Override
+  public Acceleration<D> copy() {
+    return this;
+  }
+
+  @Override
+  public double magnitude() {
+    return magnitude;
+  }
+
+  @Override
+  public double baseUnitMagnitude() {
+    return baseUnitMagnitude;
+  }
+
+  @Override
+  public AccelerationUnit<D> unit() {
+    return unit;
+  }
+
+  @Override
+  public boolean equals(Object obj) {
+    if (obj == this) return true;
+    if (obj == null || obj.getClass() != this.getClass()) return false;
+    var that = (Acceleration<?>) obj;
+    return Double.doubleToLongBits(this.magnitude) == Double.doubleToLongBits(that.magnitude)
+        && Double.doubleToLongBits(this.baseUnitMagnitude)
+            == Double.doubleToLongBits(that.baseUnitMagnitude)
+        && Objects.equals(this.unit, that.unit);
+  }
+
+  @Override
+  public int hashCode() {
+    return Objects.hash(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public String toString() {
+    return "Acceleration["
+        + "magnitude="
+        + magnitude
+        + ", "
+        + "baseUnitMagnitude="
+        + baseUnitMagnitude
+        + ", "
+        + "unit="
+        + unit
+        + ']';
+  }
+}
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..9eb6971a84e
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
@@ -0,0 +1,34 @@
+// 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;
+
+public class AccelerationUnit<D extends Unit> extends Per<VelocityUnit<D>, TimeUnit> {
+  @SuppressWarnings({"rawtypes", "unchecked"})
+  private static final CombinatoryUnitCache<VelocityUnit, TimeUnit, AccelerationUnit> cache =
+      new CombinatoryUnitCache<>(AccelerationUnit::new);
+
+  protected AccelerationUnit(VelocityUnit<D> velocity, TimeUnit period) {
+    super(velocity, period);
+  }
+
+  protected AccelerationUnit(
+      AccelerationUnit<D> baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  public Acceleration<D> of(double magnitude) {
+    return new Acceleration<>(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @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
new file mode 100644
index 00000000000..4b00c4e6977
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Angle.java
@@ -0,0 +1,121 @@
+// 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.Radians;
+import static edu.wpi.first.units.Units.RadiansPerSecond;
+import static edu.wpi.first.units.Units.Value;
+
+import java.util.Objects;
+
+public class Angle implements Measure<AngleUnit> {
+  private static final MathHelper<AngleUnit, Angle> mathHelper = new MathHelper<>(Radians::of);
+  protected double magnitude;
+  protected double baseUnitMagnitude;
+  protected AngleUnit unit;
+
+  public Angle(double magnitude, double baseUnitMagnitude, AngleUnit unit) {
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = baseUnitMagnitude;
+    this.unit = unit;
+  }
+
+  @Override
+  public Angle copy() {
+    return this;
+  }
+
+  public Dimensionless divide(Angle other) {
+    return mathHelper.divide(this, other);
+  }
+
+  public Angle plus(Angle other) {
+    return mathHelper.add(this, other);
+  }
+
+  public Angle minus(Angle other) {
+    return mathHelper.minus(this, other);
+  }
+
+  public Angle divide(double divisor) {
+    return mathHelper.divide(this, divisor);
+  }
+
+  public AngularVelocity divide(Time period) {
+    return mathHelper.divide(this, period, RadiansPerSecond::of);
+  }
+
+  public AngularVelocity per(TimeUnit unit) {
+    return mathHelper.divide(this, unit.of(1), RadiansPerSecond::of);
+  }
+
+  public Dimensionless per(AngleUnit unit) {
+    return mathHelper.divide(this, unit.of(1), Value::of);
+  }
+
+  @SuppressWarnings("unchecked")
+  public <Divisor extends Unit> Measure<? extends Per<AngleUnit, Divisor>> per(Divisor divisor) {
+    return Per.combine(this.baseUnit(), (Divisor) divisor.getBaseUnit())
+        .of(baseUnitMagnitude / divisor.fromBaseUnits(1));
+  }
+
+  @Override
+  public double magnitude() {
+    return magnitude;
+  }
+
+  @Override
+  public double baseUnitMagnitude() {
+    return baseUnitMagnitude;
+  }
+
+  @Override
+  public AngleUnit unit() {
+    return unit;
+  }
+
+  @Override
+  public boolean equals(Object obj) {
+    if (obj == this) return true;
+    if (obj == null || obj.getClass() != this.getClass()) return false;
+    var that = (Angle) obj;
+    return Double.doubleToLongBits(this.magnitude) == Double.doubleToLongBits(that.magnitude)
+        && Double.doubleToLongBits(this.baseUnitMagnitude)
+            == Double.doubleToLongBits(that.baseUnitMagnitude)
+        && Objects.equals(this.unit, that.unit);
+  }
+
+  @Override
+  public int hashCode() {
+    return Objects.hash(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public String toString() {
+    return "Angle["
+        + "magnitude="
+        + magnitude
+        + ", "
+        + "baseUnitMagnitude="
+        + baseUnitMagnitude
+        + ", "
+        + "unit="
+        + unit
+        + ']';
+  }
+
+  public static class Mutable extends Angle {
+    public Mutable(double magnitude, double baseUnitMagnitude, AngleUnit unit) {
+      super(magnitude, baseUnitMagnitude, unit);
+    }
+
+    public Mutable mut_replace(double value, AngleUnit newUnit) {
+      this.unit = newUnit;
+      this.magnitude = value;
+      this.baseUnitMagnitude = newUnit.toBaseUnits(value);
+      return this;
+    }
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
index c8b7db470cd..e099c174aef 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
@@ -17,7 +17,7 @@
 // eg MassUnit * DistanceUnit * VelocityUnit<AngleUnit> is equivalent to (MassUnit * DistanceUnit) /
 // TimeUnit - otherwise known
 // as PowerUnit - in other words, VelocityUnit<AngleUnit> is /actually/ Frequency
-public class AngleUnit extends Unit<AngleUnit> {
+public class AngleUnit extends Unit {
   AngleUnit(AngleUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
     super(baseUnit, baseUnitEquivalent, name, symbol);
   }
@@ -30,4 +30,20 @@ public class AngleUnit extends Unit<AngleUnit> {
       String symbol) {
     super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
   }
+
+  public Angle of(double magnitude) {
+    return new Angle(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  public AngularVelocityUnit per(TimeUnit second) {
+    return AngularVelocityUnit.combine(this, second);
+  }
+
+  public double convertFrom(double magnitude, AngleUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+
+  public Angle.Mutable mutable(double initialMagnitude) {
+    return new Angle.Mutable(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularAcceleration.java
new file mode 100644
index 00000000000..f92e102fe1b
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularAcceleration.java
@@ -0,0 +1,87 @@
+// 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.RadiansPerSecond;
+import static edu.wpi.first.units.Units.RadiansPerSecondPerSecond;
+
+import java.util.Objects;
+
+public class AngularAcceleration extends Acceleration<AngleUnit> {
+  private static final MathHelper<AccelerationUnit<AngleUnit>, AngularAcceleration> mathHelper =
+      new MathHelper<>(RadiansPerSecondPerSecond::of);
+
+  public AngularAcceleration(
+      double magnitude, double baseUnitMagnitude, AngularAccelerationUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public AngularAcceleration copy() {
+    return this;
+  }
+
+  public Dimensionless divide(AngularAcceleration other) {
+    return mathHelper.divide(this, other);
+  }
+
+  public AngularVelocity times(Time period) {
+    return mathHelper.multiply(this, period, RadiansPerSecond::of);
+  }
+
+  @Override
+  public AngularAccelerationUnit unit() {
+    return (AngularAccelerationUnit) unit;
+  }
+
+  @Override
+  public boolean equals(Object obj) {
+    if (obj == this) return true;
+    if (obj == null || obj.getClass() != this.getClass()) return false;
+    var that = (AngularAcceleration) obj;
+    return Double.doubleToLongBits(this.magnitude) == Double.doubleToLongBits(that.magnitude)
+        && Double.doubleToLongBits(this.baseUnitMagnitude)
+            == Double.doubleToLongBits(that.baseUnitMagnitude)
+        && Objects.equals(this.unit, that.unit);
+  }
+
+  @Override
+  public int hashCode() {
+    return Objects.hash(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public String toString() {
+    return "AngularAcceleration["
+        + "magnitude="
+        + magnitude
+        + ", "
+        + "baseUnitMagnitude="
+        + baseUnitMagnitude
+        + ", "
+        + "unit="
+        + unit
+        + ']';
+  }
+
+  public double in(AngularAccelerationUnit otherUnit) {
+    return otherUnit.fromBaseUnits(baseUnitMagnitude);
+  }
+
+  public static class Mutable extends AngularAcceleration
+      implements IMutable<AccelerationUnit<AngleUnit>, AngularAcceleration, Mutable> {
+    public Mutable(double magnitude, double baseUnitMagnitude, AngularAccelerationUnit unit) {
+      super(magnitude, baseUnitMagnitude, unit);
+    }
+
+    @Override
+    public Mutable mut_replace(double magnitude, AccelerationUnit<AngleUnit> newUnit) {
+      this.unit = newUnit;
+      this.magnitude = magnitude;
+      this.baseUnitMagnitude = newUnit.toBaseUnits(magnitude);
+      return this;
+    }
+  }
+}
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..5fd8156c44e
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java
@@ -0,0 +1,36 @@
+// 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;
+
+public class AngularAccelerationUnit extends AccelerationUnit<AngleUnit> {
+  private static final CombinatoryUnitCache<
+          VelocityUnit<AngleUnit>, TimeUnit, AngularAccelerationUnit>
+      cache = new CombinatoryUnitCache<>(AngularAccelerationUnit::new);
+
+  protected AngularAccelerationUnit(VelocityUnit<AngleUnit> velocity, TimeUnit period) {
+    super(velocity, period);
+  }
+
+  protected AngularAccelerationUnit(
+      AccelerationUnit<AngleUnit> baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  public static AngularAccelerationUnit combine(AngularVelocityUnit velocity, TimeUnit period) {
+    return cache.combine(velocity, period);
+  }
+
+  public AngularAcceleration of(double magnitude) {
+    return new AngularAcceleration(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  public AngularAcceleration.Mutable mutable(double initialMagnitude) {
+    return new AngularAcceleration.Mutable(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentum.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentum.java
new file mode 100644
index 00000000000..bb646312d04
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentum.java
@@ -0,0 +1,13 @@
+// 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;
+
+public record AngularMomentum(double magnitude, double baseUnitMagnitude, AngularMomentumUnit unit)
+    implements Measure<AngularMomentumUnit> {
+  @Override
+  public AngularMomentum copy() {
+    return this;
+  }
+}
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..2b25ec13022
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
@@ -0,0 +1,35 @@
+// 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;
+
+public class AngularMomentumUnit extends Mult<LinearMomentumUnit, DistanceUnit> {
+  private static final CombinatoryUnitCache<LinearMomentumUnit, DistanceUnit, AngularMomentumUnit>
+      cache = new CombinatoryUnitCache<>(AngularMomentumUnit::new);
+
+  protected AngularMomentumUnit(LinearMomentumUnit momentumUnit, DistanceUnit distanceUnit) {
+    super(momentumUnit, distanceUnit);
+  }
+
+  AngularMomentumUnit(
+      AngularMomentumUnit baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  public static AngularMomentumUnit combine(LinearMomentumUnit linear, DistanceUnit distance) {
+    return cache.combine(linear, distance);
+  }
+
+  public AngularMomentum of(double magnitude) {
+    return new AngularMomentum(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  public MomentOfInertiaUnit mult(AngularVelocityUnit omega) {
+    return MomentOfInertiaUnit.combine(this, omega);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocity.java
new file mode 100644
index 00000000000..01ff037f98d
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocity.java
@@ -0,0 +1,69 @@
+// 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.Hertz;
+import static edu.wpi.first.units.Units.RadiansPerSecond;
+import static edu.wpi.first.units.Units.RadiansPerSecondPerSecond;
+
+public class AngularVelocity extends Velocity<AngleUnit> {
+  private static final MathHelper<VelocityUnit<AngleUnit>, AngularVelocity> mathHelper =
+      new MathHelper<>(RadiansPerSecond::of);
+
+  public AngularVelocity(double magnitude, double baseUnitMagnitude, AngularVelocityUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public AngularVelocity copy() {
+    return this;
+  }
+
+  public double in(AngularVelocityUnit otherUnit) {
+    return otherUnit.fromBaseUnits(baseUnitMagnitude);
+  }
+
+  public AngularAcceleration divide(Time period) {
+    return mathHelper.divide(this, period, RadiansPerSecondPerSecond::of);
+  }
+
+  public Frequency asFrequency() {
+    return Hertz.of(baseUnitMagnitude);
+  }
+
+  @Override
+  public AngularVelocityUnit unit() {
+    return (AngularVelocityUnit) unit;
+  }
+
+  @Override
+  public String toString() {
+    return "AngularVelocity["
+        + "magnitude="
+        + magnitude
+        + ", "
+        + "baseUnitMagnitude="
+        + baseUnitMagnitude
+        + ", "
+        + "unit="
+        + unit
+        + ']';
+  }
+
+  public static class Mutable extends AngularVelocity
+      implements IMutable<VelocityUnit<AngleUnit>, AngularVelocity, Mutable> {
+    public Mutable(double magnitude, double baseUnitMagnitude, AngularVelocityUnit unit) {
+      super(magnitude, baseUnitMagnitude, unit);
+    }
+
+    @Override
+    public AngularVelocity.Mutable mut_replace(double magnitude, VelocityUnit<AngleUnit> newUnit) {
+      this.unit = newUnit;
+      this.magnitude = magnitude;
+      this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
+      return null;
+    }
+  }
+}
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..668edabbf26
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java
@@ -0,0 +1,42 @@
+// 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;
+
+public class AngularVelocityUnit extends VelocityUnit<AngleUnit> {
+  private static final CombinatoryUnitCache<AngleUnit, TimeUnit, AngularVelocityUnit> cache =
+      new CombinatoryUnitCache<>(AngularVelocityUnit::new);
+
+  protected AngularVelocityUnit(AngleUnit numerator, TimeUnit denominator) {
+    super(numerator, denominator);
+  }
+
+  AngularVelocityUnit(
+      AngularVelocityUnit baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  public static AngularVelocityUnit combine(AngleUnit angle, TimeUnit time) {
+    return cache.combine(angle, time);
+  }
+
+  @Override
+  public AngularVelocity of(double magnitude) {
+    return new AngularVelocity(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public AngularAccelerationUnit per(TimeUnit period) {
+    return AngularAccelerationUnit.combine(this, period);
+  }
+
+  @Override
+  public AngularVelocity.Mutable mutable(double initialMagnitude) {
+    return new AngularVelocity.Mutable(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+}
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 95fd4b5602a..9794087d076 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/BaseUnits.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/BaseUnits.java
@@ -34,9 +34,6 @@ private BaseUnits() {
   /** The standard unit of energy, joules. */
   public static final EnergyUnit EnergyUnit = new EnergyUnit(null, 1, "Joule", "J");
 
-  /** The standard unit of power, watts. */
-  public static final PowerUnit PowerUnit = new PowerUnit(null, 1, "Watt", "W");
-
   /** The standard unit of temperature, kelvin. */
   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..267d8124c96
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/CombinatoryUnitCache.java
@@ -0,0 +1,35 @@
+// 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.function.BiFunction;
+
+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> cache = new LongToObjectHashMap<>();
+
+  private final BiFunction<? super A, ? super B, ? extends Out> constructor;
+
+  public CombinatoryUnitCache(BiFunction<? super A, ? super B, ? extends Out> constructor) {
+    this.constructor = constructor;
+  }
+
+  public Out combine(A a, B b) {
+    final long key = ((long) a.hashCode()) << 32L | (b.hashCode() & 0xFFFFFFFFL);
+
+    var existing = cache.get(key);
+    if (existing != null) {
+      return existing;
+    }
+
+    var newUnit = constructor.apply(a, b);
+    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
new file mode 100644
index 00000000000..07ff2edce64
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Current.java
@@ -0,0 +1,94 @@
+// 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;
+
+import java.util.Objects;
+
+public class Current implements Measure<CurrentUnit> {
+  protected double magnitude;
+  protected double baseUnitMagnitude;
+  protected CurrentUnit unit;
+
+  public Current(double magnitude, double baseUnitMagnitude, CurrentUnit unit) {
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = baseUnitMagnitude;
+    this.unit = unit;
+  }
+
+  @Override
+  public Current copy() {
+    return this;
+  }
+
+  public Power times(Voltage voltage) {
+    return Watts.of(this.baseUnitMagnitude * voltage.baseUnitMagnitude());
+  }
+
+  @Override
+  public double magnitude() {
+    return magnitude;
+  }
+
+  @Override
+  public double baseUnitMagnitude() {
+    return baseUnitMagnitude;
+  }
+
+  @Override
+  public CurrentUnit unit() {
+    return unit;
+  }
+
+  @Override
+  public boolean equals(Object obj) {
+    if (obj == this) return true;
+    if (obj == null || obj.getClass() != this.getClass()) return false;
+    var that = (Current) obj;
+    return Double.doubleToLongBits(this.magnitude) == Double.doubleToLongBits(that.magnitude)
+        && Double.doubleToLongBits(this.baseUnitMagnitude)
+            == Double.doubleToLongBits(that.baseUnitMagnitude)
+        && Objects.equals(this.unit, that.unit);
+  }
+
+  @Override
+  public int hashCode() {
+    return Objects.hash(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public String toString() {
+    return "Current["
+        + "magnitude="
+        + magnitude
+        + ", "
+        + "baseUnitMagnitude="
+        + baseUnitMagnitude
+        + ", "
+        + "unit="
+        + unit
+        + ']';
+  }
+
+  public static class Mutable extends Current implements IMutable<CurrentUnit, Current, Mutable> {
+    public Mutable(double magnitude, double baseUnitMagnitude, CurrentUnit unit) {
+      super(magnitude, baseUnitMagnitude, unit);
+    }
+
+    @Override
+    public Current copy() {
+      return new Current(magnitude, baseUnitMagnitude, unit);
+    }
+
+    @Override
+    public Mutable mut_replace(double magnitude, CurrentUnit newUnit) {
+      this.unit = newUnit;
+      this.magnitude = magnitude;
+      this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
+      return this;
+    }
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
index e6235db85b6..48355ec5130 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
@@ -4,8 +4,6 @@
 
 package edu.wpi.first.units;
 
-import static edu.wpi.first.units.Units.Watts;
-
 /**
  * Unit of electric current dimension.
  *
@@ -15,7 +13,7 @@
  * <p>Actual units (such as {@link Units#Amps} and {@link Units#Milliamps}) can be found in the
  * {@link Units} class.
  */
-public class CurrentUnit extends Unit<CurrentUnit> {
+public class CurrentUnit extends Unit {
   CurrentUnit(CurrentUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
     super(baseUnit, baseUnitEquivalent, name, symbol);
   }
@@ -40,7 +38,19 @@ public class CurrentUnit extends Unit<CurrentUnit> {
    * @param symbol the symbol used to represent the unit of power
    * @return the power unit
    */
-  public PowerUnit times(Unit<VoltageUnit> voltage, String name, String symbol) {
-    return new PowerUnit(Watts, this.toBaseUnits(1) * voltage.toBaseUnits(1), name, symbol);
+  public PowerUnit times(VoltageUnit voltage, String name, String symbol) {
+    return Units.derive(PowerUnit.combine(voltage, this)).named(name).symbol(symbol).make();
+  }
+
+  public Current of(double magnitude) {
+    return new Current(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  public Current ofBaseUnits(double baseUnitMagnitude) {
+    return new Current(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  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
new file mode 100644
index 00000000000..9dc5aac2fb8
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Dimensionless.java
@@ -0,0 +1,18 @@
+// 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;
+
+public record Dimensionless(double magnitude, double baseUnitMagnitude, DimensionlessUnit unit)
+    implements Measure<DimensionlessUnit> {
+  @Override
+  public Dimensionless copy() {
+    return this;
+  }
+
+  public <U extends Unit> Measure<U> mult(Measure<U> other) {
+    // TODO
+    return other;
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
index 8a120d124cd..d312c2b3d6d 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
@@ -7,7 +7,7 @@
 /**
  * A type of unit that corresponds to raw values and not any physical dimension, such as percentage.
  */
-public class DimensionlessUnit extends Unit<DimensionlessUnit> {
+public class DimensionlessUnit extends Unit {
   /**
    * Creates a new unit with the given name and multiplier to the base unit.
    *
@@ -28,4 +28,24 @@ public class DimensionlessUnit extends Unit<DimensionlessUnit> {
       String symbol) {
     super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
   }
+
+  public Dimensionless of(double magnitude) {
+    return new Dimensionless(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  public <U extends Unit> U mult(U other) {
+    return Units.derive(other)
+        .toBase(other.getConverterToBase().mult(this.getConverterToBase()))
+        .fromBase(other.getConverterFromBase().mult(this.getConverterFromBase()))
+        // TODO: name, symbol
+        .make();
+  }
+
+  public double convertFrom(double magnitude, DimensionlessUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+
+  public FrequencyUnit per(TimeUnit period) {
+    return FrequencyUnit.combine(this, period);
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Distance.java b/wpiunits/src/main/java/edu/wpi/first/units/Distance.java
new file mode 100644
index 00000000000..f4688bb1e13
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Distance.java
@@ -0,0 +1,146 @@
+// 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.Meters;
+import static edu.wpi.first.units.Units.MetersPerSecond;
+import static edu.wpi.first.units.Units.Seconds;
+
+import java.util.Objects;
+
+public class Distance implements Measure<DistanceUnit> {
+  private static final MathHelper<DistanceUnit, Distance> mathHelper = new MathHelper<>(Meters::of);
+
+  protected double magnitude;
+  protected double baseUnitMagnitude;
+  protected DistanceUnit unit;
+
+  public Distance(double magnitude, double baseUnitMagnitude, DistanceUnit unit) {
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = baseUnitMagnitude;
+    this.unit = unit;
+  }
+
+  @Override
+  public Distance copy() {
+    return this;
+  }
+
+  public LinearVelocity per(Time period) {
+    return new LinearVelocity(
+        magnitude / period.magnitude(),
+        baseUnitMagnitude / period.baseUnitMagnitude(),
+        this.unit.per(period.unit()));
+  }
+
+  public LinearVelocity per(TimeUnit period) {
+    return new LinearVelocity(
+        magnitude / period.fromBaseUnits(1),
+        baseUnitMagnitude / period.toBaseUnits(1),
+        this.unit.per(period));
+  }
+
+  @Override
+  public double magnitude() {
+    return magnitude;
+  }
+
+  @Override
+  public double baseUnitMagnitude() {
+    return baseUnitMagnitude;
+  }
+
+  @Override
+  public DistanceUnit unit() {
+    return unit;
+  }
+
+  public Distance plus(Distance other) {
+    return mathHelper.add(this, other);
+  }
+
+  public Distance minus(Distance other) {
+    return mathHelper.minus(this, other);
+  }
+
+  @Override
+  public boolean equals(Object obj) {
+    if (obj == this) return true;
+    if (obj == null || obj.getClass() != this.getClass()) return false;
+    var that = (Distance) obj;
+    return Double.doubleToLongBits(this.magnitude) == Double.doubleToLongBits(that.magnitude)
+        && Double.doubleToLongBits(this.baseUnitMagnitude)
+            == Double.doubleToLongBits(that.baseUnitMagnitude)
+        && Objects.equals(this.unit, that.unit);
+  }
+
+  @Override
+  public int hashCode() {
+    return Objects.hash(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public String toString() {
+    return "Distance["
+        + "magnitude="
+        + magnitude
+        + ", "
+        + "baseUnitMagnitude="
+        + baseUnitMagnitude
+        + ", "
+        + "unit="
+        + unit
+        + ']';
+  }
+
+  public Distance times(double scalar) {
+    return mathHelper.multiply(this, scalar);
+  }
+
+  public <U extends Unit> Measure<U> times(Measure<? extends Per<U, DistanceUnit>> term) {
+    return mathHelper.multiply(
+        this,
+        term,
+        mag -> {
+          var u = term.baseUnit().numerator();
+          return ImmutableMeasure.ofBaseUnits(mag, u);
+        });
+  }
+
+  public LinearVelocity times(Frequency frequency) {
+    return mathHelper.multiply(this, frequency, MetersPerSecond::of);
+  }
+
+  public Distance divide(double divisor) {
+    return mathHelper.divide(this, divisor);
+  }
+
+  public Distance negate() {
+    return mathHelper.negate(this);
+  }
+
+  public Distance divide(Dimensionless divisor) {
+    return mathHelper.divide(this, divisor);
+  }
+
+  public Time divide(LinearVelocity velocity) {
+    return mathHelper.divide(this, velocity, Seconds::of);
+  }
+
+  public static class Mutable extends Distance
+      implements IMutable<DistanceUnit, Distance, Mutable> {
+    public Mutable(double magnitude, double baseUnitMagnitude, DistanceUnit unit) {
+      super(magnitude, baseUnitMagnitude, unit);
+    }
+
+    @Override
+    public Mutable mut_replace(double magnitude, DistanceUnit newUnit) {
+      this.unit = newUnit;
+      this.magnitude = magnitude;
+      this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
+      return this;
+    }
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
index 98e11d0f42c..42617200a62 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
@@ -13,7 +13,7 @@
  * <p>Actual units (such as {@link Units#Meters} and {@link Units#Inches}) can be found in the
  * {@link Units} class.
  */
-public class DistanceUnit extends Unit<DistanceUnit> {
+public class DistanceUnit extends Unit {
   DistanceUnit(DistanceUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
     super(baseUnit, baseUnitEquivalent, name, symbol);
   }
@@ -26,4 +26,35 @@ public class DistanceUnit extends Unit<DistanceUnit> {
       String symbol) {
     super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
   }
+
+  @Override
+  public DistanceUnit getBaseUnit() {
+    return (DistanceUnit) super.getBaseUnit();
+  }
+
+  public LinearVelocityUnit per(TimeUnit period) {
+    return LinearVelocityUnit.combine(this, period);
+  }
+
+  public double convertFrom(double magnitude, DistanceUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+
+  public Distance of(double magnitude) {
+    return new Distance(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  // distance times force = torque
+  // force times distance = energy
+  public TorqueUnit mult(ForceUnit force) {
+    return TorqueUnit.combine(this, force);
+  }
+
+  public Distance.Mutable mutable(double initialMagnitude) {
+    return new Distance.Mutable(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+
+  public Distance zero() {
+    return of(0);
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Energy.java b/wpiunits/src/main/java/edu/wpi/first/units/Energy.java
new file mode 100644
index 00000000000..61fdca59470
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Energy.java
@@ -0,0 +1,34 @@
+// 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.Watts;
+
+public record Energy(double magnitude, double baseUnitMagnitude, EnergyUnit unit)
+    implements Measure<EnergyUnit> {
+  private static final MathHelper<EnergyUnit, Energy> mathHelper = new MathHelper<>(Joules::of);
+
+  @Override
+  public Energy copy() {
+    return this;
+  }
+
+  public Energy plus(Energy other) {
+    return mathHelper.add(this, other);
+  }
+
+  public Energy minus(Energy other) {
+    return mathHelper.minus(this, other);
+  }
+
+  public Dimensionless divide(Energy other) {
+    return mathHelper.divide(this, other);
+  }
+
+  public Power divide(Time period) {
+    return mathHelper.divide(this, period, Watts::of);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
index e434f3b92c6..7e6543c5a27 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
@@ -13,7 +13,7 @@
  * <p>Actual units (such as {@link Units#Joules} and {@link Units#Kilojoules}) can be found in the
  * {@link Units} class.
  */
-public class EnergyUnit extends Unit<EnergyUnit> {
+public class EnergyUnit extends Unit {
   EnergyUnit(
       EnergyUnit baseUnit,
       UnaryFunction toBaseConverter,
@@ -26,4 +26,17 @@ public class EnergyUnit extends Unit<EnergyUnit> {
   EnergyUnit(EnergyUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
     super(baseUnit, baseUnitEquivalent, name, symbol);
   }
+
+  @Override
+  public EnergyUnit getBaseUnit() {
+    return (EnergyUnit) super.getBaseUnit();
+  }
+
+  public PowerUnit per(TimeUnit period) {
+    return PowerUnit.combine(this, period);
+  }
+
+  public Energy of(double magnitude) {
+    return new Energy(magnitude, toBaseUnits(magnitude), this);
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Force.java b/wpiunits/src/main/java/edu/wpi/first/units/Force.java
new file mode 100644
index 00000000000..d3715ea4eaa
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Force.java
@@ -0,0 +1,47 @@
+// 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.Newtons;
+import static edu.wpi.first.units.Units.Seconds;
+
+public record Force(double magnitude, double baseUnitMagnitude, ForceUnit unit)
+    implements Measure<ForceUnit> {
+  private static final MathHelper<ForceUnit, Force> mathHelper = new MathHelper<>(Newtons::of);
+
+  @Override
+  public Force copy() {
+    return this;
+  }
+
+  public Force plus(Force other) {
+    return mathHelper.add(this, other);
+  }
+
+  public Force minus(Force other) {
+    return mathHelper.minus(this, other);
+  }
+
+  public Dimensionless divide(Force other) {
+    return mathHelper.divide(this, other);
+  }
+
+  public Velocity<ForceUnit> divide(Time time) {
+    return mathHelper.divide(this, time, VelocityUnit.combine(baseUnit(), Seconds)::of);
+  }
+
+  public Velocity<ForceUnit> per(TimeUnit time) {
+    return divide(time.of(1));
+  }
+
+  public Energy mult(Distance distance) {
+    return mathHelper.multiply(this, distance, Joules::of);
+  }
+
+  public Energy mult(DistanceUnit distance) {
+    return mult(distance.of(1));
+  }
+}
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..586fdc49fb1
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
@@ -0,0 +1,50 @@
+// 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;
+
+public class ForceUnit extends Mult<MassUnit, LinearAccelerationUnit> {
+  private static final CombinatoryUnitCache<MassUnit, LinearAccelerationUnit, ForceUnit> cache =
+      new CombinatoryUnitCache<>(ForceUnit::new);
+
+  protected ForceUnit(MassUnit mass, LinearAccelerationUnit acceleration) {
+    this(
+        mass.isBaseUnit() && acceleration.isBaseUnit()
+            ? null
+            : combine(mass.getBaseUnit(), acceleration.getBaseUnit()),
+        mass.getConverterToBase().div(acceleration.getConverterToBase()),
+        mass.getConverterFromBase().div(acceleration.getConverterFromBase()),
+        mass.name() + "-" + acceleration.name(),
+        mass.symbol() + "-" + acceleration.symbol());
+  }
+
+  ForceUnit(
+      ForceUnit baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  public static ForceUnit combine(MassUnit mass, LinearAccelerationUnit acceleration) {
+    return cache.combine(mass, acceleration);
+  }
+
+  @Override
+  public ForceUnit getBaseUnit() {
+    return (ForceUnit) super.getBaseUnit();
+  }
+
+  // force times distance = energy
+  // distance times force = torque
+  public EnergyUnit mult(DistanceUnit distance) {
+    // TODO
+    throw new UnsupportedOperationException();
+  }
+
+  public Force of(double magnitude) {
+    return new Force(magnitude, toBaseUnits(magnitude), this);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Frequency.java b/wpiunits/src/main/java/edu/wpi/first/units/Frequency.java
new file mode 100644
index 00000000000..2ae9b55e060
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Frequency.java
@@ -0,0 +1,27 @@
+// 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.Hertz;
+import static edu.wpi.first.units.Units.Seconds;
+
+public record Frequency(double magnitude, double baseUnitMagnitude, FrequencyUnit unit)
+    implements Measure<FrequencyUnit> {
+  private static final MathHelper<FrequencyUnit, Frequency> mathHelper =
+      new MathHelper<>(Hertz::of);
+
+  @Override
+  public Frequency copy() {
+    return this;
+  }
+
+  public Dimensionless divide(Frequency other) {
+    return mathHelper.divide(this, other);
+  }
+
+  public Time inverse() {
+    return Seconds.of(1 / baseUnitMagnitude);
+  }
+}
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..f1ef36234b9
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java
@@ -0,0 +1,38 @@
+// 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;
+
+public class FrequencyUnit extends Per<DimensionlessUnit, TimeUnit> {
+  private static final CombinatoryUnitCache<DimensionlessUnit, TimeUnit, FrequencyUnit> cache =
+      new CombinatoryUnitCache<>(FrequencyUnit::new);
+
+  protected FrequencyUnit(DimensionlessUnit numerator, TimeUnit denominator) {
+    super(numerator, denominator);
+  }
+
+  FrequencyUnit(
+      FrequencyUnit baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  public static FrequencyUnit combine(DimensionlessUnit dim, TimeUnit time) {
+    return cache.combine(dim, time);
+  }
+
+  public static FrequencyUnit inverse(TimeUnit time) {
+    return combine(Value, time);
+  }
+
+  @Override
+  public Frequency of(double magnitude) {
+    return new Frequency(magnitude, toBaseUnits(magnitude), this);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/IMutable.java b/wpiunits/src/main/java/edu/wpi/first/units/IMutable.java
new file mode 100644
index 00000000000..c01851f2d89
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/IMutable.java
@@ -0,0 +1,65 @@
+// 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;
+
+public interface IMutable<
+        U extends Unit, Base extends Measure<U>, MutSelf extends IMutable<U, Base, MutSelf>>
+    extends Measure<U> {
+  MutSelf mut_replace(double magnitude, U newUnit);
+
+  Base copy();
+
+  default MutSelf mut_setMagnitude(double magnitude) {
+    return mut_replace(magnitude, unit());
+  }
+
+  default MutSelf mut_setBaseUnitMagnitude(double baseUnitMagnitude) {
+    return mut_replace(unit().fromBaseUnits(baseUnitMagnitude), unit());
+  }
+
+  default MutSelf mut_replace(Base other) {
+    return mut_replace(other.magnitude(), other.unit());
+  }
+
+  default MutSelf mut_acc(double raw) {
+    return mut_setBaseUnitMagnitude(magnitude() + raw);
+  }
+
+  default MutSelf mut_acc(Base other) {
+    return mut_setMagnitude(magnitude() + unit().fromBaseUnits(other.baseUnitMagnitude()));
+  }
+
+  default MutSelf mut_plus(Base other) {
+    return mut_acc(other);
+  }
+
+  default MutSelf mut_plus(double magnitude, U otherUnit) {
+    return mut_setBaseUnitMagnitude(magnitude() + otherUnit.toBaseUnits(magnitude));
+  }
+
+  default MutSelf mut_minus(Base other) {
+    return mut_setBaseUnitMagnitude(baseUnitMagnitude() - other.baseUnitMagnitude());
+  }
+
+  default MutSelf mut_minus(double magnitude, U otherUnit) {
+    return mut_setBaseUnitMagnitude(baseUnitMagnitude() - otherUnit.toBaseUnits(magnitude));
+  }
+
+  default MutSelf mut_times(double multiplier) {
+    return mut_setBaseUnitMagnitude(baseUnitMagnitude() * multiplier);
+  }
+
+  default MutSelf mut_times(Dimensionless scalar) {
+    return mut_times(scalar.baseUnitMagnitude());
+  }
+
+  default MutSelf mut_divide(double divisor) {
+    return mut_times(1 / divisor);
+  }
+
+  default MutSelf mut_divide(Dimensionless divisor) {
+    return mut_divide(divisor.baseUnitMagnitude());
+  }
+}
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..b9d46b2e1b4 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/ImmutableMeasure.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/ImmutableMeasure.java
@@ -14,7 +14,7 @@
  *
  * @param <U> the unit type of the measure
  */
-public class ImmutableMeasure<U extends Unit<U>> implements Measure<U> {
+public class ImmutableMeasure<U extends Unit> implements Measure<U> {
   private final double m_magnitude;
   private final double m_baseUnitMagnitude;
   private final U m_unit;
@@ -26,12 +26,11 @@ public class ImmutableMeasure<U extends Unit<U>> implements Measure<U> {
    * @param magnitude the magnitude of this measure
    * @param unit the unit of this measure.
    */
-  @SuppressWarnings("unchecked")
-  ImmutableMeasure(double magnitude, double baseUnitMagnitude, Unit<U> unit) {
+  ImmutableMeasure(double magnitude, double baseUnitMagnitude, U unit) {
     Objects.requireNonNull(unit, "Unit cannot be null");
     m_magnitude = magnitude;
     m_baseUnitMagnitude = baseUnitMagnitude;
-    m_unit = (U) unit;
+    m_unit = unit;
   }
 
   /**
@@ -42,8 +41,7 @@ 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);
   }
 
@@ -55,8 +53,8 @@ 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);
   }
 
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearAcceleration.java
new file mode 100644
index 00000000000..9faeb2f7ff7
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearAcceleration.java
@@ -0,0 +1,45 @@
+// 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.MetersPerSecondPerSecond;
+
+public class LinearAcceleration extends Acceleration<DistanceUnit> {
+  private static final MathHelper<AccelerationUnit<DistanceUnit>, LinearAcceleration> mathHelper =
+      new MathHelper<>(MetersPerSecondPerSecond::of);
+
+  public LinearAcceleration(
+      double magnitude, double baseUnitMagnitude, LinearAccelerationUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public LinearAcceleration copy() {
+    return this;
+  }
+
+  public double in(LinearAccelerationUnit otherUnit) {
+    return otherUnit.fromBaseUnits(baseUnitMagnitude);
+  }
+
+  @Override
+  public LinearAccelerationUnit unit() {
+    return (LinearAccelerationUnit) unit;
+  }
+
+  @Override
+  public String toString() {
+    return "LinearAcceleration["
+        + "magnitude="
+        + magnitude
+        + ", "
+        + "baseUnitMagnitude="
+        + baseUnitMagnitude
+        + ", "
+        + "unit="
+        + 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..22016967e63
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearAccelerationUnit.java
@@ -0,0 +1,45 @@
+// 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;
+
+public class LinearAccelerationUnit extends AccelerationUnit<DistanceUnit> {
+  private static final CombinatoryUnitCache<LinearVelocityUnit, TimeUnit, LinearAccelerationUnit>
+      cache = new CombinatoryUnitCache<>(LinearAccelerationUnit::new);
+
+  protected LinearAccelerationUnit(LinearVelocityUnit numerator, TimeUnit denominator) {
+    super(numerator, denominator);
+  }
+
+  LinearAccelerationUnit(
+      LinearAccelerationUnit baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  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 LinearAcceleration(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  public LinearVelocityUnit getUnit() {
+    return (LinearVelocityUnit) numerator();
+  }
+
+  public TimeUnit getPeriod() {
+    return denominator();
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentum.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentum.java
new file mode 100644
index 00000000000..f5b147a703e
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentum.java
@@ -0,0 +1,13 @@
+// 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;
+
+public record LinearMomentum(double magnitude, double baseUnitMagnitude, LinearMomentumUnit unit)
+    implements Measure<LinearMomentumUnit> {
+  @Override
+  public LinearMomentum copy() {
+    return this;
+  }
+}
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..d01b67f864a
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
@@ -0,0 +1,35 @@
+// 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;
+
+public class LinearMomentumUnit extends Mult<MassUnit, LinearVelocityUnit> {
+  private static final CombinatoryUnitCache<MassUnit, LinearVelocityUnit, LinearMomentumUnit>
+      cache = new CombinatoryUnitCache<>(LinearMomentumUnit::new);
+
+  protected LinearMomentumUnit(MassUnit unit, LinearVelocityUnit linearVelocityUnit) {
+    super(unit, linearVelocityUnit);
+  }
+
+  LinearMomentumUnit(
+      Mult<MassUnit, LinearVelocityUnit> baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  public static LinearMomentumUnit combine(MassUnit mass, LinearVelocityUnit velocity) {
+    return cache.combine(mass, velocity);
+  }
+
+  public LinearMomentum of(double magnitude) {
+    return new LinearMomentum(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  public AngularMomentumUnit mult(DistanceUnit distance) {
+    return AngularMomentumUnit.combine(this, distance);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocity.java
new file mode 100644
index 00000000000..4d6e563bd4c
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocity.java
@@ -0,0 +1,65 @@
+// 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.MetersPerSecond;
+
+public class LinearVelocity extends Velocity<DistanceUnit> {
+  private static final MathHelper<VelocityUnit<DistanceUnit>, LinearVelocity> mathHelper =
+      new MathHelper<>(MetersPerSecond::of);
+
+  public LinearVelocity(double magnitude, double baseUnitMagnitude, LinearVelocityUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public LinearVelocity copy() {
+    return this;
+  }
+
+  public double in(LinearVelocityUnit otherUnit) {
+    return otherUnit.fromBaseUnits(baseUnitMagnitude);
+  }
+
+  public Distance times(Time period) {
+    // TODO
+    throw new UnsupportedOperationException();
+  }
+
+  @Override
+  public LinearVelocityUnit unit() {
+    return (LinearVelocityUnit) unit;
+  }
+
+  @Override
+  public String toString() {
+    return "LinearVelocity["
+        + "magnitude="
+        + magnitude
+        + ", "
+        + "baseUnitMagnitude="
+        + baseUnitMagnitude
+        + ", "
+        + "unit="
+        + unit
+        + ']';
+  }
+
+  public static class Mutable extends LinearVelocity
+      implements IMutable<VelocityUnit<DistanceUnit>, LinearVelocity, Mutable> {
+    public Mutable(double magnitude, double baseUnitMagnitude, LinearVelocityUnit unit) {
+      super(magnitude, baseUnitMagnitude, unit);
+    }
+
+    @Override
+    public LinearVelocity.Mutable mut_replace(
+        double magnitude, VelocityUnit<DistanceUnit> newUnit) {
+      this.unit = newUnit;
+      this.magnitude = magnitude;
+      this.baseUnitMagnitude = newUnit.toBaseUnits(magnitude);
+      return this;
+    }
+  }
+}
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..8a815ec51ed
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java
@@ -0,0 +1,42 @@
+// 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;
+
+public class LinearVelocityUnit extends VelocityUnit<DistanceUnit> {
+  private static final CombinatoryUnitCache<DistanceUnit, TimeUnit, LinearVelocityUnit> cache =
+      new CombinatoryUnitCache<>(LinearVelocityUnit::new);
+
+  LinearVelocityUnit(DistanceUnit unit, TimeUnit period) {
+    super(unit, period);
+  }
+
+  LinearVelocityUnit(
+      VelocityUnit<DistanceUnit> baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  public static LinearVelocityUnit combine(DistanceUnit distance, TimeUnit period) {
+    return cache.combine(distance, period);
+  }
+
+  @Override
+  public LinearVelocity of(double magnitude) {
+    return new LinearVelocity(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public LinearAccelerationUnit per(TimeUnit period) {
+    return LinearAccelerationUnit.combine(this, period);
+  }
+
+  @Override
+  public LinearVelocity.Mutable mutable(double value) {
+    return new LinearVelocity.Mutable(value, toBaseUnits(value), this);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Mass.java b/wpiunits/src/main/java/edu/wpi/first/units/Mass.java
new file mode 100644
index 00000000000..842c9f334ee
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Mass.java
@@ -0,0 +1,27 @@
+// 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;
+
+public record Mass(double magnitude, double baseUnitMagnitude, MassUnit unit)
+    implements Measure<MassUnit> {
+  @Override
+  public Mass copy() {
+    return this;
+  }
+
+  public Velocity<MassUnit> per(Time period) {
+    return new Velocity<>(
+        magnitude / period.magnitude(),
+        baseUnitMagnitude / period.baseUnitMagnitude(),
+        unit.per(period.unit()));
+  }
+
+  public Velocity<MassUnit> per(TimeUnit period) {
+    return new Velocity<>(
+        magnitude / period.fromBaseUnits(1),
+        baseUnitMagnitude / period.toBaseUnits(1),
+        unit.per(period));
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
index e191ae02043..fca705bb53d 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
@@ -13,7 +13,7 @@
  * <p>Actual units (such as {@link Units#Grams} and {@link Units#Pounds}) can be found in the {@link
  * Units} class.
  */
-public class MassUnit extends Unit<MassUnit> {
+public 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);
@@ -27,4 +27,29 @@ public class MassUnit extends Unit<MassUnit> {
       String symbol) {
     super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
   }
+
+  @Override
+  public MassUnit getBaseUnit() {
+    return (MassUnit) super.getBaseUnit();
+  }
+
+  public Mass of(double magnitude) {
+    return new Mass(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  public VelocityUnit<MassUnit> per(TimeUnit period) {
+    return VelocityUnit.combine(this, period);
+  }
+
+  public double convertFrom(double magnitude, MassUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+
+  public LinearMomentumUnit mult(LinearVelocityUnit velocity) {
+    return LinearMomentumUnit.combine(this, velocity);
+  }
+
+  public ForceUnit mult(LinearAccelerationUnit acceleration) {
+    return ForceUnit.combine(this, acceleration);
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MathHelper.java b/wpiunits/src/main/java/edu/wpi/first/units/MathHelper.java
new file mode 100644
index 00000000000..71b6600e161
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MathHelper.java
@@ -0,0 +1,69 @@
+// 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 java.util.function.DoubleFunction;
+
+public class MathHelper<U extends Unit, M extends Measure<U>> {
+  private final DoubleFunction<M> constructor;
+
+  public MathHelper(DoubleFunction<M> constructor) {
+    this.constructor = constructor;
+  }
+
+  public M zero() {
+    return constructor.apply(0);
+  }
+
+  public M negate(M measure) {
+    // 0 minus to avoid negative zero
+    return constructor.apply(0 - measure.baseUnitMagnitude());
+  }
+
+  public M add(M first, M second) {
+    return constructor.apply(first.baseUnitMagnitude() + second.baseUnitMagnitude());
+  }
+
+  public M minus(M first, M second) {
+    return constructor.apply(first.baseUnitMagnitude() - second.baseUnitMagnitude());
+  }
+
+  public M divide(M measure, double divisor) {
+    return constructor.apply(measure.baseUnitMagnitude() / divisor);
+  }
+
+  public M divide(M measure, Dimensionless divisor) {
+    return constructor.apply(measure.baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  public Dimensionless divide(M dividend, M divisor) {
+    return divide(dividend, divisor, Value::of);
+  }
+
+  public <VU extends Unit, VM extends Measure<VU>> VM divide(
+      M dividend, Time divisor, DoubleFunction<? extends VM> ctor) {
+    return ctor.apply(dividend.baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  public <ResultUnit extends Unit, Result extends Measure<ResultUnit>> Result divide(
+      M dividend, Measure<?> divisor, DoubleFunction<? extends Result> ctor) {
+    return ctor.apply(dividend.baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  public <ResultUnit extends Unit, Result extends Measure<ResultUnit>> Result multiply(
+      M first, Measure<?> second, DoubleFunction<? extends Result> ctor) {
+    return ctor.apply(first.baseUnitMagnitude() * second.baseUnitMagnitude());
+  }
+
+  public M multiply(M measure, double scalar) {
+    return constructor.apply(measure.baseUnitMagnitude() * scalar);
+  }
+
+  public M multiply(M measure, Dimensionless scalar) {
+    return constructor.apply(measure.baseUnitMagnitude() * scalar.baseUnitMagnitude());
+  }
+}
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 c83027b4c4a..28facf473a0 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Measure.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Measure.java
@@ -4,15 +4,13 @@
 
 package edu.wpi.first.units;
 
-import static edu.wpi.first.units.Units.Seconds;
-
 /**
  * A measure holds the magnitude and unit of some dimension, such as distance, time, or speed. Two
  * measures with the same <i>unit</i> and <i>magnitude</i> are effectively equivalent objects.
  *
  * @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 +51,7 @@ 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 {
@@ -61,173 +59,9 @@ 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>.
-   *
-   * @param multiplier the constant to multiply by
-   * @return the resulting measure
-   */
-  default Measure<U> times(double multiplier) {
-    return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude() * multiplier, unit());
-  }
-
-  /**
-   * 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
-   * Measure<TimeUnit>} by a {@code Measure<VelocityUnit<DistanceUnit>>} will return just a {@code
-   * Measure<DistanceUnit>} instead of the naive {@code Measure<Mult<TimeUnit,
-   * VelocityUnit<DistanceUnit>>}. 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
-   * @return the multiplicative unit
-   */
-  default <U2 extends Unit<U2>> Measure<?> times(Measure<U2> other) {
-    if (other.unit() instanceof DimensionlessUnit) {
-      // scalar multiplication
-      return times(other.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 VelocityUnit<?> v && other.unit().getBaseUnit().equals(Seconds)) {
-      // Multiplying a velocity by a time, return the scalar unit (eg DistanceUnit)
-      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
-        && 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());
-    }
-
-    // Dimensional analysis fallthrough, do a basic unit multiplication
-    return unit().mult(other.unit()).ofBaseUnits(baseUnitMagnitude() * other.baseUnitMagnitude());
-  }
-
-  /**
-   * Divides this measurement by some constant divisor and returns the result. This is equivalent to
-   * {@code times(1 / divisor)}
-   *
-   * @param divisor the constant to divide by
-   * @return the resulting measure
-   * @see #times(double)
-   */
-  default Measure<U> divide(double divisor) {
-    return times(1 / 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
-   * @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());
-    }
-    if (other.unit() instanceof DimensionlessUnit) {
-      return divide(other.baseUnitMagnitude());
-    }
-    if (other.unit() instanceof VelocityUnit<?> velocity
-        && velocity.getUnit().getBaseUnit().equals(unit().getBaseUnit())) {
-      return times(velocity.reciprocal().ofBaseUnits(1 / other.baseUnitMagnitude()));
-    }
-    if (other.unit() instanceof Per<?, ?> per
-        && per.numerator().getBaseUnit().equals(unit().getBaseUnit())) {
-      return times(per.reciprocal().ofBaseUnits(1 / other.baseUnitMagnitude()));
-    }
-    return unit().per(other.unit()).ofBaseUnits(baseUnitMagnitude() / other.baseUnitMagnitude());
-  }
-
-  /**
-   * Creates a velocity measure by dividing this one by a time period measure.
-   *
-   * <pre>
-   *   Meters.of(1).per(Second) // Measure&lt;VelocityUnit&lt;DistanceUnit&gt;&gt;
-   * </pre>
-   *
-   * @param period the time period to divide by.
-   * @return the velocity result
-   */
-  default Measure<VelocityUnit<U>> per(Measure<TimeUnit> period) {
-    var newUnit = unit().per(period.unit());
-    return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude() / period.baseUnitMagnitude(), newUnit);
-  }
-
-  /**
-   * Creates a relational measure equivalent to this one per some other unit.
-   *
-   * <pre>
-   *   Volts.of(1.05).per(Meter) // V/m, potential PID constant
-   * </pre>
-   *
-   * @param <U2> the type of the denominator unit
-   * @param denominator the denominator unit being divided by
-   * @return the relational measure
-   */
-  default <U2 extends Unit<U2>> Measure<Per<U, U2>> per(U2 denominator) {
-    var newUnit = unit().per(denominator);
-    return newUnit.of(magnitude());
-  }
-
-  /**
-   * Creates a velocity measure equivalent to this one per a unit of time.
-   *
-   * <pre>
-   *   Radians.of(3.14).per(Second) // VelocityUnit&lt;AngleUnit&gt; equivalent to RadiansPerSecond.of(3.14)
-   * </pre>
-   *
-   * @param time the unit of time
-   * @return the velocity measure
-   */
-  default Measure<VelocityUnit<U>> per(TimeUnit time) {
-    var newUnit = unit().per(time);
-    return newUnit.of(magnitude());
-  }
-
-  /**
-   * Adds another measure to this one. The resulting measure has the same unit as this one.
-   *
-   * @param other the measure to add to this one
-   * @return a new measure containing the result
-   */
-  default Measure<U> plus(Measure<U> other) {
-    return unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
-  }
-
-  /**
-   * Subtracts another measure from this one. The resulting measure has the same unit as this one.
-   *
-   * @param other the measure to subtract from this one
-   * @return a new measure containing the result
-   */
-  default Measure<U> minus(Measure<U> other) {
-    return unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
-  }
-
-  /**
-   * Negates this measure and returns the result.
-   *
-   * @return the resulting measure
-   */
-  default Measure<U> negate() {
-    return times(-1);
+  @SuppressWarnings("unchecked")
+  default U baseUnit() {
+    return (U) unit().getBaseUnit();
   }
 
   /**
@@ -238,15 +72,6 @@ default Measure<U> negate() {
    */
   Measure<U> copy();
 
-  /**
-   * Creates a new mutable copy of this measure.
-   *
-   * @return a mutable measure initialized to be identical to this measure
-   */
-  default MutableMeasure<U> mutableCopy() {
-    return MutableMeasure.mutable(this);
-  }
-
   /**
    * Checks if this measure is near another measure of the same unit. Provide a variance threshold
    * for use for a +/- scalar, such as 0.05 for +/- 5%.
@@ -358,7 +183,7 @@ 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 +206,7 @@ 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..81e3ef4a600
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java
@@ -0,0 +1,29 @@
+// 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;
+
+public class MomentOfInertiaUnit extends Per<AngularMomentumUnit, AngularVelocityUnit> {
+  private static final CombinatoryUnitCache<
+          AngularMomentumUnit, AngularVelocityUnit, MomentOfInertiaUnit>
+      cache = new CombinatoryUnitCache<>(MomentOfInertiaUnit::new);
+
+  protected MomentOfInertiaUnit(AngularMomentumUnit numerator, AngularVelocityUnit denominator) {
+    super(numerator, denominator);
+  }
+
+  MomentOfInertiaUnit(
+      Per<AngularMomentumUnit, AngularVelocityUnit> baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  public static MomentOfInertiaUnit combine(
+      AngularMomentumUnit momentumUnit, AngularVelocityUnit velocityUnit) {
+    return cache.combine(momentumUnit, velocityUnit);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Mult.java b/wpiunits/src/main/java/edu/wpi/first/units/Mult.java
index fa3570e4cc8..25bfd308fce 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Mult.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Mult.java
@@ -4,7 +4,6 @@
 
 package edu.wpi.first.units;
 
-import edu.wpi.first.units.collections.LongToObjectHashMap;
 import java.util.Objects;
 
 /**
@@ -15,12 +14,13 @@
  * @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>> {
+public class Mult<A extends Unit, B extends Unit> extends Unit {
   private final A m_unitA;
   private final B m_unitB;
 
   @SuppressWarnings("rawtypes")
-  private static final LongToObjectHashMap<Mult> cache = new LongToObjectHashMap<>();
+  private static final CombinatoryUnitCache<Unit, Unit, Mult> cache =
+      new CombinatoryUnitCache<>(Mult::new);
 
   /**
    * Creates a new product unit. Consider using {@link #combine} instead of manually calling this
@@ -46,8 +46,8 @@ protected Mult(A a, B b) {
       String name,
       String symbol) {
     super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
-    m_unitA = baseUnit.unitA();
-    m_unitB = baseUnit.unitB();
+    m_unitA = getBaseUnit().unitA();
+    m_unitB = getBaseUnit().unitB();
   }
 
   /**
@@ -57,9 +57,6 @@ protected Mult(A a, B b) {
    *   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
@@ -67,15 +64,14 @@ protected Mult(A a, B b) {
    * @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);
-    }
+  public static <A extends Unit, B extends Unit> Mult<A, B> combine(A a, B b) {
+    return cache.combine(a, b);
+  }
 
-    var mult = new Mult<A, B>(a, b);
-    cache.put(key, mult);
-    return mult;
+  @Override
+  @SuppressWarnings("unchecked")
+  public Mult<A, B> getBaseUnit() {
+    return (Mult<A, B>) super.getBaseUnit();
   }
 
   /**
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java b/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
deleted file mode 100644
index 50b27e7b6bc..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
+++ /dev/null
@@ -1,298 +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 java.util.Objects;
-
-/**
- * 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.
- *
- * <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
- */
-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());
-  }
-
-  /**
-   * Creates a new mutable measure in the given unit with a magnitude equal to the given one in base
-   * units.
-   *
-   * @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
-   */
-  public static <U extends Unit<U>> MutableMeasure<U> ofBaseUnits(
-      double baseUnitMagnitude, U unit) {
-    return new MutableMeasure<>(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
-  }
-
-  /**
-   * Creates a new mutable measure in the given unit with a magnitude in terms of that unit.
-   *
-   * @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
-   */
-  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;
-  }
-
-  @Override
-  public double baseUnitMagnitude() {
-    return m_baseUnitMagnitude;
-  }
-
-  @Override
-  public U unit() {
-    return m_unit;
-  }
-
-  // UNSAFE
-
-  /**
-   * 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
-   */
-  public void mut_setMagnitude(double magnitude) {
-    m_magnitude = magnitude;
-    m_baseUnitMagnitude = m_unit.toBaseUnits(magnitude);
-  }
-
-  /**
-   * Sets the new magnitude of the measurement. The magnitude must be in terms of the base unit of
-   * the current unit.
-   *
-   * @param baseUnitMagnitude the new magnitude of the measurement
-   */
-  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;
-  }
-
-  /**
-   * Increments the current magnitude of the measure by the given value. The value must be in terms
-   * of the current {@link #unit() 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;
-  }
-
-  /**
-   * 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
-   */
-  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;
-  }
-
-  // Math
-
-  /**
-   * Adds another measurement to this one. This will mutate the object instead of generating a new
-   * measurement object.
-   *
-   * @param other the measurement to add
-   * @return this measure
-   */
-  public MutableMeasure<U> mut_plus(Measure<U> other) {
-    return mut_plus(other.magnitude(), other.unit());
-  }
-
-  /**
-   * Adds 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_plus(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
-   * @return this measure
-   */
-  public MutableMeasure<U> mut_plus(double magnitude, U unit) {
-    mut_setBaseUnitMagnitude(m_baseUnitMagnitude + unit.toBaseUnits(magnitude));
-    return this;
-  }
-
-  /**
-   * Subtracts another measurement to this one. This will mutate the object instead of generating a
-   * new measurement object.
-   *
-   * @param other the measurement to add
-   * @return this measure
-   */
-  public MutableMeasure<U> mut_minus(Measure<U> other) {
-    return mut_minus(other.magnitude(), other.unit());
-  }
-
-  /**
-   * 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.
-   *
-   * @param magnitude the magnitude of the other measurement.
-   * @param unit the unit of the other measurement
-   * @return this measure
-   */
-  public MutableMeasure<U> mut_minus(double magnitude, U unit) {
-    return mut_plus(-magnitude, unit);
-  }
-
-  /**
-   * Multiplies this measurement by some constant value. This will mutate the object instead of
-   * generating a new measurement object.
-   *
-   * @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;
-  }
-
-  /**
-   * Multiplies this measurement by some constant value. This will mutate the object instead of
-   * generating a new measurement object.
-   *
-   * @param multiplier the multiplier to scale the measurement by
-   * @return this measure
-   */
-  public MutableMeasure<U> mut_times(Measure<? extends DimensionlessUnit> multiplier) {
-    return mut_times(multiplier.baseUnitMagnitude());
-  }
-
-  /**
-   * Divides this measurement by some constant value. This will mutate the object instead of
-   * generating a new measurement object.
-   *
-   * @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;
-  }
-
-  /**
-   * Divides this measurement by some constant value. This will mutate the object instead of
-   * generating a new measurement object.
-   *
-   * @param divisor the divisor to scale the measurement by
-   * @return this measure
-   */
-  public MutableMeasure<U> mut_divide(Measure<? extends DimensionlessUnit> 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
index 5d7a21ee18c..f6b8773f003 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Per.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Per.java
@@ -4,7 +4,6 @@
 
 package edu.wpi.first.units;
 
-import edu.wpi.first.units.collections.LongToObjectHashMap;
 import java.util.Objects;
 
 /**
@@ -17,7 +16,7 @@
  * @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>> {
+public class Per<N extends Unit, D extends Unit> extends Unit {
   private final N m_numerator;
   private final D m_denominator;
 
@@ -26,7 +25,8 @@ public class Per<N extends Unit<N>, D extends Unit<D>> extends Unit<Per<N, D>> {
    * after the first.
    */
   @SuppressWarnings("rawtypes")
-  private static final LongToObjectHashMap<Per> cache = new LongToObjectHashMap<>();
+  private static final CombinatoryUnitCache<Unit, Unit, Per> cache =
+      new CombinatoryUnitCache<>(Per::new);
 
   /**
    * Creates a new proportional unit derived from the ratio of one unit to another. Consider using
@@ -54,8 +54,8 @@ protected Per(N numerator, D denominator) {
       String name,
       String symbol) {
     super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
-    m_numerator = baseUnit.numerator();
-    m_denominator = baseUnit.denominator();
+    m_numerator = getBaseUnit().numerator();
+    m_denominator = getBaseUnit().denominator();
   }
 
   /**
@@ -66,9 +66,6 @@ protected Per(N numerator, D denominator) {
    *   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
@@ -76,18 +73,14 @@ protected Per(N numerator, D denominator) {
    * @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;
-    }
+  public static <N extends Unit, D extends Unit> Per<N, D> combine(N numerator, D denominator) {
+    return cache.combine(numerator, denominator);
+  }
 
-    var newUnit = new Per<>(numerator, denominator);
-    cache.put(key, newUnit);
-    return newUnit;
+  @Override
+  @SuppressWarnings("unchecked")
+  public Per<N, D> getBaseUnit() {
+    return (Per<N, D>) super.getBaseUnit();
   }
 
   /**
@@ -114,7 +107,28 @@ public D denominator() {
    * @return the reciprocal
    */
   public Per<D, N> reciprocal() {
-    return m_denominator.per(m_numerator);
+    return combine(m_denominator, m_numerator);
+  }
+
+  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() + " per " + denom.name())
+        .symbol(symbol() + "/" + denom.symbol())
+        .make();
+  }
+
+  public Measure<? extends Per<N, D>> of(double magnitude) {
+    return ImmutableMeasure.ofRelativeUnits(magnitude, this);
+  }
+
+  public double convertFrom(double magnitude, Per<? extends N, ? extends D> otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
   }
 
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Power.java b/wpiunits/src/main/java/edu/wpi/first/units/Power.java
new file mode 100644
index 00000000000..b13adf37fb3
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Power.java
@@ -0,0 +1,17 @@
+// 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;
+
+public record Power(double magnitude, double baseUnitMagnitude, PowerUnit unit)
+    implements Measure<PowerUnit> {
+  @Override
+  public Power copy() {
+    return this;
+  }
+
+  public double in(Per<EnergyUnit, TimeUnit> otherUnit) {
+    return otherUnit.fromBaseUnits(baseUnitMagnitude);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
index 5d7d3ad9399..86f03d1a54b 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
@@ -4,6 +4,9 @@
 
 package edu.wpi.first.units;
 
+import static edu.wpi.first.units.Units.Joules;
+import static edu.wpi.first.units.Units.Seconds;
+
 /**
  * Unit of power dimension.
  *
@@ -13,9 +16,19 @@
  * <p>Actual units (such as {@link Units#Watts} and {@link Units#Horsepower}) can be found in the
  * {@link Units} class.
  */
-public class PowerUnit extends Unit<PowerUnit> {
-  PowerUnit(PowerUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
-    super(baseUnit, baseUnitEquivalent, name, symbol);
+public class PowerUnit extends Per<EnergyUnit, TimeUnit> {
+  private static final CombinatoryUnitCache<EnergyUnit, TimeUnit, PowerUnit> cache =
+      new CombinatoryUnitCache<>(PowerUnit::new);
+
+  protected PowerUnit(EnergyUnit energy, TimeUnit time) {
+    this(
+        energy.isBaseUnit() && time.isBaseUnit()
+            ? null
+            : combine(energy.getBaseUnit(), time.getBaseUnit()),
+        (x) -> x * energy.toBaseUnits(1) / time.toBaseUnits(1),
+        (x) -> x * time.toBaseUnits(1) / energy.toBaseUnits(1),
+        energy.name() + " per " + time.name(),
+        energy.symbol() + "/" + time.symbol());
   }
 
   PowerUnit(
@@ -26,4 +39,41 @@ public class PowerUnit extends Unit<PowerUnit> {
       String symbol) {
     super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
   }
+
+  public static PowerUnit combine(EnergyUnit energy, TimeUnit period) {
+    return cache.combine(energy, period);
+  }
+
+  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);
+  }
+
+  public static PowerUnit combine(CurrentUnit current, VoltageUnit voltage) {
+    return combine(voltage, current);
+  }
+
+  public static PowerUnit combine(AngularVelocityUnit angularVelocity, TorqueUnit torque) {
+    return combine(
+        new EnergyUnit(Joules, angularVelocity.toBaseUnits(1) * torque.toBaseUnits(1), "", ""),
+        Seconds);
+  }
+
+  public static PowerUnit combine(TorqueUnit torque, AngularVelocityUnit angularVelocity) {
+    return combine(angularVelocity, torque);
+  }
+
+  @Override
+  public Power of(double magnitude) {
+    return new Power(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  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
new file mode 100644
index 00000000000..936b5dfd63c
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Temperature.java
@@ -0,0 +1,21 @@
+// 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;
+
+public record Temperature(double magnitude, double baseUnitMagnitude, TemperatureUnit unit)
+    implements Measure<TemperatureUnit> {
+  @Override
+  public Temperature copy() {
+    return this;
+  }
+
+  public Velocity<TemperatureUnit> per(Time period) {
+    return unit.per(period.unit()).of(this.magnitude / period.magnitude());
+  }
+
+  public Velocity<TemperatureUnit> per(TimeUnit period) {
+    return unit.per(period).of(this.magnitude / period.fromBaseUnits(1));
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
index 5653a647a96..b9b6a53c9e7 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
@@ -13,7 +13,7 @@
  * <p>Actual units (such as {@link Units#Celsius} and {@link Units#Fahrenheit}) can be found in the
  * {@link Units} class.
  */
-public class TemperatureUnit extends Unit<TemperatureUnit> {
+public class TemperatureUnit extends Unit {
   TemperatureUnit(
       TemperatureUnit baseUnit,
       UnaryFunction toBaseConverter,
@@ -22,4 +22,16 @@ public class TemperatureUnit extends Unit<TemperatureUnit> {
       String symbol) {
     super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
   }
+
+  public VelocityUnit<TemperatureUnit> per(TimeUnit period) {
+    return VelocityUnit.combine(this, period);
+  }
+
+  public Temperature of(double magnitude) {
+    return new Temperature(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  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
new file mode 100644
index 00000000000..c60037e220b
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Time.java
@@ -0,0 +1,34 @@
+// 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.Hertz;
+import static edu.wpi.first.units.Units.Seconds;
+
+public record Time(double magnitude, double baseUnitMagnitude, TimeUnit unit)
+    implements Measure<TimeUnit> {
+  private static final MathHelper<TimeUnit, Time> mathHelper = new MathHelper<>(Seconds::of);
+
+  @Override
+  public Time copy() {
+    return this;
+  }
+
+  public Frequency inverse() {
+    return Hertz.of(1 / baseUnitMagnitude);
+  }
+
+  public Dimensionless divide(Time other) {
+    return mathHelper.divide(this, other);
+  }
+
+  public Time plus(Time other) {
+    return mathHelper.add(this, other);
+  }
+
+  public Time minus(Time other) {
+    return mathHelper.minus(this, other);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
index ba85dcdf9f5..63a583e1eb5 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
@@ -13,7 +13,7 @@
  * <p>Actual units (such as {@link Units#Seconds} and {@link Units#Milliseconds}) can be found in
  * the {@link Units} class.
  */
-public class TimeUnit extends Unit<TimeUnit> {
+public class TimeUnit extends Unit {
   TimeUnit(TimeUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
     super(baseUnit, baseUnitEquivalent, name, symbol);
   }
@@ -26,4 +26,30 @@ public class TimeUnit extends Unit<TimeUnit> {
       String symbol) {
     super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
   }
+
+  @Override
+  public TimeUnit getBaseUnit() {
+    return (TimeUnit) super.getBaseUnit();
+  }
+
+  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();
+  }
+
+  public <U extends Unit> Per<TimeUnit, U> per(U other) {
+    return Per.combine(this, other);
+  }
+
+  public double convertFrom(double magnitude, TimeUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+
+  public Time of(double magnitude) {
+    return new Time(magnitude, toBaseUnits(magnitude), this);
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Torque.java b/wpiunits/src/main/java/edu/wpi/first/units/Torque.java
new file mode 100644
index 00000000000..ba4a10d987b
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Torque.java
@@ -0,0 +1,13 @@
+// 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;
+
+public record Torque(double magnitude, double baseUnitMagnitude, TorqueUnit unit)
+    implements Measure<TorqueUnit> {
+  @Override
+  public Torque copy() {
+    return 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..627b1ae136f
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
@@ -0,0 +1,31 @@
+// 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;
+
+public class TorqueUnit extends Mult<DistanceUnit, ForceUnit> {
+  private static final CombinatoryUnitCache<DistanceUnit, ForceUnit, TorqueUnit> cache =
+      new CombinatoryUnitCache<>(TorqueUnit::new);
+
+  protected TorqueUnit(DistanceUnit distanceUnit, ForceUnit forceUnit) {
+    super(distanceUnit, forceUnit);
+  }
+
+  TorqueUnit(
+      Mult<DistanceUnit, ForceUnit> baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  public static TorqueUnit combine(DistanceUnit distance, ForceUnit force) {
+    return cache.combine(distance, force);
+  }
+
+  public Torque of(double magnitude) {
+    return new Torque(magnitude, toBaseUnits(magnitude), this);
+  }
+}
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 58eb0abacfa..fb467686dfc 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Unit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Unit.java
@@ -14,14 +14,11 @@
  *
  * @param <U> the self type, e.g. {@code class SomeUnit extends Unit<SomeUnit>}
  */
-public class Unit<U extends Unit<U>> {
+public 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;
@@ -36,14 +33,13 @@ 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")
   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);
@@ -60,7 +56,7 @@ 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);
   }
 
@@ -78,7 +74,7 @@ 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 +107,6 @@ 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 +127,6 @@ 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 VelocityUnit<U> per(TimeUnit period) {
-    return VelocityUnit.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 +135,7 @@ 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 +155,7 @@ 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..613db3fbaf5 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,
@@ -272,7 +273,7 @@ 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 +289,6 @@ 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 5d49374f9ac..b1b7a036f5b 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Units.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Units.java
@@ -14,6 +14,17 @@ private Units() {
 
   // Pseudo-classes describing the more common units of measure.
 
+  // 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 DistanceUnit Meters = BaseUnits.DistanceUnit;
@@ -125,90 +136,93 @@ private Units() {
    * The standard SI unit of linear velocity, equivalent to travelling at a rate of one {@link
    * #Meters Meter} per {@link #Second}.
    */
-  public static final VelocityUnit<DistanceUnit> 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 VelocityUnit<DistanceUnit> 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 VelocityUnit<DistanceUnit> 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 VelocityUnit<AngleUnit> 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 VelocityUnit<AngleUnit> 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 VelocityUnit<AngleUnit> 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 VelocityUnit<AngleUnit> 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 VelocityUnit<AngleUnit> DegreesPerSecond = Degrees.per(Second);
+  public static final AngularVelocityUnit DegreesPerSecond = Degrees.per(Second);
+
+  public static final FrequencyUnit Hertz =
+      derive(Value.per(Second)).named("Hertz").symbol("hz").make();
+
+  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 VelocityUnit<VelocityUnit<DistanceUnit>> 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 VelocityUnit<VelocityUnit<DistanceUnit>> 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 VelocityUnit<VelocityUnit<AngleUnit>> 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 VelocityUnit<VelocityUnit<AngleUnit>> 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 VelocityUnit<VelocityUnit<AngleUnit>> 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 VelocityUnit<VelocityUnit<DistanceUnit>> Gs =
+  public static final LinearAccelerationUnit Gs =
       derive(MetersPerSecondPerSecond).aggregate(9.80665).named("G").symbol("G").make();
 
   // MassUnit
@@ -246,21 +260,52 @@ private Units() {
   /** 1/16 of a {@link #Pound}. */
   public static final MassUnit Ounce = Ounces; // alias
 
-  // Moment of Inertia
-  /** The base SI unit for moment of inertia. */
-  public static final Mult<Mult<MassUnit, DistanceUnit>, DistanceUnit> KilogramSquareMeters =
-      Kilograms.mult(Meters).mult(Meters);
+  // Force
 
-  // Unitless
-  /** A dimensionless unit that performs no scaling whatsoever. */
-  public static final DimensionlessUnit Value = BaseUnits.Value;
+  public static final ForceUnit Newtons =
+      derive(Kilograms.mult(Gs)).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)}.
-   */
-  public static final DimensionlessUnit Percent =
-      derive(Value).splitInto(100).named("Percent").symbol("%").make();
+  public static final ForceUnit Newton = Newtons;
+
+  public static final ForceUnit PoundsForce =
+      derive(Pounds.mult(Gs)).named("Pound-force").symbol("lbsf.").make();
+
+  public static final ForceUnit PoundForce = PoundsForce;
+
+  public static final ForceUnit OuncesForce =
+      derive(Ounces.mult(Gs)).named("Ounce-force").symbol("ozf").make();
+
+  public static final ForceUnit OunceForce = OuncesForce;
+
+  // Torque
+
+  public static final TorqueUnit NewtonMeters = Meters.mult(Newtons);
+
+  public static final TorqueUnit NewtonMeter = NewtonMeters;
+
+  public static final TorqueUnit PoundFeet = Feet.mult(PoundsForce);
+  public static final TorqueUnit PoundFoot = PoundFeet;
+
+  public static final TorqueUnit PoundInches = Inches.mult(PoundsForce);
+  public static final TorqueUnit PoundInch = PoundInches;
+
+  public static final TorqueUnit OunceInches = Inches.mult(OuncesForce);
+  public static final TorqueUnit OunceInch = OunceInches;
+
+  // Linear momentum
+
+  public static final LinearMomentumUnit KilogramMetersPerSecond = Kilograms.mult(MetersPerSecond);
+
+  // Angular momentum
+
+  public static final AngularMomentumUnit KilogramMetersSquaredPerSecond =
+      KilogramMetersPerSecond.mult(Meters);
+
+  // Moment of Inertia
+
+  /** The base SI unit for moment of inertia. */
+  public static final MomentOfInertiaUnit KilogramSquareMeters =
+      KilogramMetersSquaredPerSecond.mult(RadiansPerSecond);
 
   // VoltageUnit
   /** The base unit of electric potential. */
@@ -331,7 +376,7 @@ private Units() {
 
   // PowerUnit
   /** The base unit of power. Equivalent to one {@link #Joule} per {@link #Second}. */
-  public static final PowerUnit Watts = BaseUnits.PowerUnit;
+  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 PowerUnit Watt = Watts; // alias
@@ -387,29 +432,29 @@ 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<VoltageUnit, VelocityUnit<DistanceUnit>> VoltsPerMeterPerSecond =
+  public static final Per<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<VoltageUnit, VelocityUnit<VelocityUnit<DistanceUnit>>>
-      VoltsPerMeterPerSecondSquared = Volts.per(MetersPerSecondPerSecond);
+  public static final Per<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<VoltageUnit, VelocityUnit<AngleUnit>> VoltsPerRadianPerSecond =
+  public static final Per<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<VoltageUnit, VelocityUnit<VelocityUnit<AngleUnit>>>
-      VoltsPerRadianPerSecondSquared = Volts.per(RadiansPerSecond.per(Second));
+  public static final Per<VoltageUnit, AngularAccelerationUnit> VoltsPerRadianPerSecondSquared =
+      Volts.per(RadiansPerSecond.per(Second));
 
   /**
    * Creates a unit equal to a thousandth of the base unit, eg Milliseconds = Milli(Units.Seconds).
@@ -421,7 +466,7 @@ 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();
   }
 
@@ -433,7 +478,7 @@ 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());
   }
@@ -449,7 +494,7 @@ 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();
   }
 
@@ -461,7 +506,7 @@ 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());
   }
@@ -476,7 +521,7 @@ 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();
   }
 
@@ -488,7 +533,7 @@ 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());
   }
@@ -501,8 +546,7 @@ 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
new file mode 100644
index 00000000000..996c03d0732
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Velocity.java
@@ -0,0 +1,88 @@
+// 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 java.util.Objects;
+
+public class Velocity<D extends Unit> implements Measure<VelocityUnit<D>> {
+  protected double magnitude;
+  protected double baseUnitMagnitude;
+  protected VelocityUnit<D> unit;
+
+  public Velocity(double magnitude, double baseUnitMagnitude, VelocityUnit<D> unit) {
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = baseUnitMagnitude;
+    this.unit = unit;
+  }
+
+  @Override
+  public Velocity<D> copy() {
+    return this;
+  }
+
+  public double in(VelocityUnit<? extends D> otherUnit) {
+    return otherUnit.fromBaseUnits(baseUnitMagnitude);
+  }
+
+  @Override
+  public double magnitude() {
+    return magnitude;
+  }
+
+  @Override
+  public double baseUnitMagnitude() {
+    return baseUnitMagnitude;
+  }
+
+  @Override
+  public VelocityUnit<D> unit() {
+    return unit;
+  }
+
+  @Override
+  public boolean equals(Object obj) {
+    if (obj == this) return true;
+    if (obj == null || obj.getClass() != this.getClass()) return false;
+    var that = (Velocity) obj;
+    return Double.doubleToLongBits(this.magnitude) == Double.doubleToLongBits(that.magnitude)
+        && Double.doubleToLongBits(this.baseUnitMagnitude)
+            == Double.doubleToLongBits(that.baseUnitMagnitude)
+        && Objects.equals(this.unit, that.unit);
+  }
+
+  @Override
+  public int hashCode() {
+    return Objects.hash(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public String toString() {
+    return "Velocity["
+        + "magnitude="
+        + magnitude
+        + ", "
+        + "baseUnitMagnitude="
+        + baseUnitMagnitude
+        + ", "
+        + "unit="
+        + unit
+        + ']';
+  }
+
+  public static class Mutable<D extends Unit> extends Velocity<D>
+      implements IMutable<VelocityUnit<D>, Velocity<D>, Mutable<D>> {
+    public Mutable(double magnitude, double baseUnitMagnitude, VelocityUnit<D> unit) {
+      super(magnitude, baseUnitMagnitude, unit);
+    }
+
+    @Override
+    public Mutable<D> mut_replace(double magnitude, VelocityUnit<D> newUnit) {
+      this.unit = newUnit;
+      this.magnitude = magnitude;
+      this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
+      return this;
+    }
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
index 3d265fe4342..515d6fcd61f 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
@@ -4,9 +4,6 @@
 
 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).
@@ -20,114 +17,15 @@
  *
  * @param <D> the distance unit, such as {@link AngleUnit} or {@link DistanceUnit}
  */
-public class VelocityUnit<D extends Unit<D>> extends Unit<VelocityUnit<D>> {
-  private final D m_unit;
-  private final TimeUnit m_period;
-
-  /**
-   * Stores velocity units that were created ad-hoc using {@link #combine(Unit, TimeUnit, String,
-   * String)}. Does not store objects created directly by constructors.
-   */
+public class VelocityUnit<D extends Unit> extends Per<D, TimeUnit> {
   @SuppressWarnings("rawtypes")
-  private static final LongToObjectHashMap<VelocityUnit> 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>
-   *   VelocityUnit.combine(Kilograms, Second) // mass flow
-   *   VelocityUnit.combine(Feet, Millisecond) // linear speed
-   *   VelocityUnit.combine(Radians, Second) // angular speed
-   *
-   *   VelocityUnit.combine(Feet.per(Second), Second) // linear acceleration in ft/s/s
-   *   VelocityUnit.combine(Radians.per(Second), Second) // angular acceleration
-   * </pre>
-   *
-   * <p>It's recommended to use the convenience function {@link Unit#per(TimeUnit)} 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>> VelocityUnit<D> combine(
-      Unit<D> numerator, TimeUnit period, String name, String symbol) {
-    long key = cacheKey(numerator, period);
-    if (cache.containsKey(key)) {
-      return cache.get(key);
-    }
-
-    VelocityUnit<D> velocity = new VelocityUnit<>((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>
-   *   VelocityUnit.combine(Kilograms, Second) // mass flow
-   *   VelocityUnit.combine(Feet, Millisecond) // linear speed
-   *   VelocityUnit.combine(Radians, Second) // angular speed
-   *
-   *   VelocityUnit.combine(Feet.per(Second), Second) // linear acceleration in ft/s/s
-   *   VelocityUnit.combine(Radians.per(Second), Second) // angular acceleration
-   * </pre>
-   *
-   * <p>It's recommended to use the convenience function {@link Unit#per(TimeUnit)} 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>> VelocityUnit<D> combine(Unit<D> numerator, TimeUnit period) {
-    long key = cacheKey(numerator, period);
-    if (cache.containsKey(key)) {
-      return cache.get(key);
-    }
+  private static final CombinatoryUnitCache<Unit, TimeUnit, VelocityUnit> cache =
+      new CombinatoryUnitCache<>(VelocityUnit::new);
 
-    var name = numerator.name() + " per " + period.name();
-    var symbol = numerator.symbol() + "/" + period.symbol();
-
-    VelocityUnit<D> velocity = new VelocityUnit<>((D) numerator, period, name, symbol);
-    cache.put(key, velocity);
-    return velocity;
+  VelocityUnit(D unit, TimeUnit period) {
+    super(unit, period);
   }
 
-  @SuppressWarnings({"unchecked", "rawtypes"})
-  VelocityUnit(D unit, TimeUnit 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"})
   VelocityUnit(
       VelocityUnit<D> baseUnit,
       UnaryFunction toBaseConverter,
@@ -135,8 +33,11 @@ public static <D extends Unit<D>> VelocityUnit<D> combine(Unit<D> numerator, Tim
       String name,
       String symbol) {
     super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
-    this.m_unit = baseUnit.getUnit();
-    this.m_period = baseUnit.getPeriod();
+  }
+
+  @SuppressWarnings("unchecked")
+  public static <D extends Unit> VelocityUnit<D> combine(D unit, TimeUnit period) {
+    return cache.combine(unit, period);
   }
 
   /**
@@ -145,7 +46,7 @@ public static <D extends Unit<D>> VelocityUnit<D> combine(Unit<D> numerator, Tim
    * @return the major unit
    */
   public D getUnit() {
-    return m_unit;
+    return numerator();
   }
 
   /**
@@ -154,35 +55,22 @@ public D getUnit() {
    * @return the period unit
    */
   public TimeUnit getPeriod() {
-    return m_period;
+    return denominator();
   }
 
-  /**
-   * Returns the reciprocal of this velocity.
-   *
-   * @return the reciprocal
-   */
-  public Per<TimeUnit, D> reciprocal() {
-    return m_period.per(m_unit);
+  public AccelerationUnit<D> per(TimeUnit period) {
+    return AccelerationUnit.combine(this, period);
+  }
+
+  public Velocity<D> of(double magnitude) {
+    return new Velocity<>(magnitude, toBaseUnits(magnitude), this);
   }
 
-  @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;
-    }
-    VelocityUnit<?> velocity = (VelocityUnit<?>) o;
-    return m_unit.equals(velocity.m_unit) && m_period.equals(velocity.m_period);
+  public IMutable<VelocityUnit<D>, ?, ?> mutable(double initialMagnitude) {
+    return new Velocity.Mutable<>(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 
-  @Override
-  public int hashCode() {
-    return Objects.hash(super.hashCode(), m_unit, m_period);
+  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
new file mode 100644
index 00000000000..1293086aaeb
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Voltage.java
@@ -0,0 +1,68 @@
+// 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.Second;
+import static edu.wpi.first.units.Units.Volts;
+
+public class Voltage implements Measure<VoltageUnit> {
+  private static final MathHelper<VoltageUnit, Voltage> mathHelper = new MathHelper<>(Volts::of);
+
+  protected double magnitude;
+  protected double baseUnitMagnitude;
+  protected VoltageUnit unit;
+
+  public Voltage(double magnitude, double baseUnitMagnitude, VoltageUnit unit) {
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = baseUnitMagnitude;
+    this.unit = unit;
+  }
+
+  @Override
+  public Voltage copy() {
+    return this;
+  }
+
+  public Velocity<VoltageUnit> divide(Time period) {
+    return mathHelper.divide(this, period, Volts.per(Second)::of);
+  }
+
+  public Velocity<VoltageUnit> per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+
+  @Override
+  public double magnitude() {
+    return magnitude;
+  }
+
+  @Override
+  public double baseUnitMagnitude() {
+    return baseUnitMagnitude;
+  }
+
+  @Override
+  public VoltageUnit unit() {
+    return unit;
+  }
+
+  public <U extends Unit> Measure<U> divide(Measure<? extends Per<VoltageUnit, U>> m) {
+    return ImmutableMeasure.ofBaseUnits(
+        baseUnitMagnitude / m.baseUnitMagnitude(), m.unit().denominator());
+  }
+
+  public static class Mutable extends Voltage {
+    public Mutable(double magnitude, double baseUnitMagnitude, VoltageUnit unit) {
+      super(magnitude, baseUnitMagnitude, unit);
+    }
+
+    public Mutable mut_replace(double value, VoltageUnit newUnit) {
+      this.unit = newUnit;
+      this.magnitude = value;
+      this.baseUnitMagnitude = unit.toBaseUnits(value);
+      return this;
+    }
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
index dbc8d0babf2..498d66dc222 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
@@ -4,8 +4,6 @@
 
 package edu.wpi.first.units;
 
-import static edu.wpi.first.units.Units.Watts;
-
 /**
  * Unit of electric voltage dimension.
  *
@@ -15,7 +13,7 @@
  * <p>Actual units (such as {@link Units#Volts} and {@link Units#Millivolts}) can be found in the
  * {@link Units} class.
  */
-public class VoltageUnit extends Unit<VoltageUnit> {
+public class VoltageUnit extends Unit {
   VoltageUnit(VoltageUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
     super(baseUnit, baseUnitEquivalent, name, symbol);
   }
@@ -32,8 +30,8 @@ public class VoltageUnit extends Unit<VoltageUnit> {
   /**
    * 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.
+   * 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
@@ -41,6 +39,26 @@ public class VoltageUnit extends Unit<VoltageUnit> {
    * @return the power unit
    */
   public PowerUnit times(CurrentUnit current, String name, String symbol) {
-    return new PowerUnit(Watts, toBaseUnits(1) * current.toBaseUnits(1), name, symbol);
+    return Units.derive(PowerUnit.combine(this, current)).named(name).symbol(symbol).make();
+  }
+
+  public Voltage of(double magnitude) {
+    return new Voltage(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  public Voltage.Mutable mutable(double magnitude) {
+    return new Voltage.Mutable(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  public <U extends Unit> Per<VoltageUnit, U> per(U other) {
+    return Per.combine(this, other);
+  }
+
+  public VelocityUnit<VoltageUnit> per(TimeUnit period) {
+    return VelocityUnit.combine(this, period);
+  }
+
+  public double convertFrom(double magnitude, VoltageUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
   }
 }
diff --git a/wpiunits/src/test/java/edu/wpi/first/units/CurrentUnitTest.java b/wpiunits/src/test/java/edu/wpi/first/units/CurrentUnitTest.java
index 8d427db5bff..7aca8dc326f 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/CurrentUnitTest.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/CurrentUnitTest.java
@@ -4,6 +4,7 @@
 
 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;
@@ -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.times(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/EncoderTest.java b/wpiunits/src/test/java/edu/wpi/first/units/EncoderTest.java
deleted file mode 100644
index aa3e73deefc..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<VelocityUnit<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<VelocityUnit<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<DistanceUnit>();
-
-    // 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<DistanceUnit> 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<AngleUnit>();
-
-    Measure<AngleUnit> 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..6c93f99bacf 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 +4,7 @@
 
 package edu.wpi.first.units;
 
-class ExampleUnit extends Unit<ExampleUnit> {
+class ExampleUnit extends Unit {
   ExampleUnit(double baseUnitEquivalent) {
     this(baseUnitEquivalent, "Example", "ex");
   }
@@ -21,4 +21,16 @@ 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));
+  }
+
+  public Measure<ExampleUnit> of(double magnitude) {
+    return ImmutableMeasure.ofRelativeUnits(magnitude, this);
+  }
+
+  public Measure<ExampleUnit> ofBaseUnits(double baseUnitMagnitude) {
+    return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude, this);
+  }
 }
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 4897abe3abd..68938551f82 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/MeasureTest.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/MeasureTest.java
@@ -16,64 +16,64 @@
 class MeasureTest {
   @Test
   void testBasics() {
-    Unit<DistanceUnit> unit = Units.Feet;
+    DistanceUnit unit = Units.Feet;
     double magnitude = 10;
-    Measure<DistanceUnit> 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<DistanceUnit> m = Units.Feet.of(1);
-    Measure<DistanceUnit> 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 testDivide() {
-    Measure<DistanceUnit> m = Units.Meters.of(1);
-    Measure<DistanceUnit> 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<DistanceUnit> m1 = Units.Feet.of(1);
-    Measure<DistanceUnit> 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<DistanceUnit> m1 = Units.Feet.of(1);
-    Measure<DistanceUnit> 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<DistanceUnit> m = Units.Feet.of(123);
-    Measure<DistanceUnit> n = m.negate();
-    assertEquals(-m.magnitude(), n.magnitude(), 1e-12);
-    assertEquals(m.unit(), n.unit());
+    Distance m = Units.Feet.of(123);
+    Distance n = m.negate();
+    assertEquals(-m.in(Units.Feet), n.in(Units.Feet), 1e-12);
+    assertEquals(m.baseUnit(), n.baseUnit());
   }
 
   @Test
   void testEquivalency() {
-    Measure<DistanceUnit> inches = Units.Inches.of(12);
-    Measure<DistanceUnit> 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<DistanceUnit> m = Units.Inches.of(12);
+    Distance m = Units.Inches.of(12);
     assertEquals(1, m.in(Units.Feet), Measure.EQUIVALENCE_THRESHOLD);
   }
 
@@ -99,101 +99,26 @@ void testPerUnitTime() {
     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() {
-    // DimensionlessUnit divide
+    // 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);
-    // VelocityUnit divide
+    // 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);
+    var time = m3.divide(m4);
+    assertEquals(time.magnitude(), 2);
+    assertEquals(time.unit(), Units.Second);
     // Per 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);
+    var dist = m5.divide(m6);
+    assertEquals(dist.magnitude(), 3);
+    assertEquals(dist.unit(), Units.Meter);
   }
 
   @Test
@@ -249,57 +174,6 @@ 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();
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/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/VelocityUnitTest.java b/wpiunits/src/test/java/edu/wpi/first/units/VelocityUnitTest.java
index 3781af8cb21..2952a3ca740 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/VelocityUnitTest.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/VelocityUnitTest.java
@@ -10,7 +10,10 @@
 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;
@@ -26,8 +29,7 @@ void testBaseUnit() {
 
   @Test
   void testToAcceleration() {
-    VelocityUnit<VelocityUnit<DistanceUnit>> 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);
@@ -39,8 +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(
@@ -51,9 +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., 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/VoltageUnitTest.java b/wpiunits/src/test/java/edu/wpi/first/units/VoltageUnitTest.java
index 0240686c698..68412748a3c 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/VoltageUnitTest.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/VoltageUnitTest.java
@@ -18,6 +18,6 @@ void testVoltsTimesAmps() {
   void testMilliVoltsTimesMilliAmps() {
     // results in microwatts
     assertTrue(
-        Units.Millivolts.times(Units.Milliamps, "", "").equivalent(Units.Milli(Units.Milliwatts)));
+        Units.Millivolts.times(Units.Milliamps, "", "").equivalent(Units.Micro(Units.Watts)));
   }
 }

From fb61fc7359f7536eb9f4a1012a2669f30ebfdde9 Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Thu, 20 Jun 2024 19:35:41 -0400
Subject: [PATCH 03/46] Rename `IMutable` to `MutableMeasure`

Generic arguments are 100% breaking from the v1 API

Fix some missing imports

Add`Unit.of`, `Unit.ofBaseUnits`, and `Unit.mutable` methods returning wildcarded generic types. Subclasses should override these to sharpen the signatures to the unit-specific measurement implementations like `Angle` and `Distance`.
---
 .../wpi/first/wpilibj2/command/Commands.java  |  1 +
 .../main/java/edu/wpi/first/units/Angle.java  | 15 +++++++++-
 .../java/edu/wpi/first/units/AngleUnit.java   |  7 +++++
 .../wpi/first/units/AngularAcceleration.java  | 29 ++-----------------
 .../edu/wpi/first/units/AngularVelocity.java  |  2 +-
 .../java/edu/wpi/first/units/Current.java     |  2 +-
 .../wpi/first/units/DimensionlessUnit.java    | 10 +++++++
 .../java/edu/wpi/first/units/Distance.java    |  2 +-
 .../edu/wpi/first/units/LinearVelocity.java   |  2 +-
 .../{IMutable.java => MutableMeasure.java}    | 10 +++++--
 .../main/java/edu/wpi/first/units/Per.java    | 11 +++++++
 .../main/java/edu/wpi/first/units/Unit.java   |  7 ++++-
 .../java/edu/wpi/first/units/Velocity.java    |  2 +-
 .../edu/wpi/first/units/VelocityUnit.java     |  2 +-
 14 files changed, 65 insertions(+), 37 deletions(-)
 rename wpiunits/src/main/java/edu/wpi/first/units/{IMutable.java => MutableMeasure.java} (88%)

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 ca6736a2489..ca7197bc9ca 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
@@ -6,6 +6,7 @@
 
 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
+import edu.wpi.first.units.Time;
 import java.util.Map;
 import java.util.Set;
 import java.util.function.BooleanSupplier;
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Angle.java b/wpiunits/src/main/java/edu/wpi/first/units/Angle.java
index 4b00c4e6977..e137d2e30eb 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Angle.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Angle.java
@@ -47,6 +47,12 @@ public AngularVelocity divide(Time period) {
     return mathHelper.divide(this, period, RadiansPerSecond::of);
   }
 
+  public <Other extends Unit> Measure<Other> divide(
+      Measure<? extends Per<AngleUnit, ? extends Other>> ratio) {
+    return ImmutableMeasure.ofBaseUnits(
+        baseUnitMagnitude / ratio.baseUnitMagnitude(), ratio.unit().denominator());
+  }
+
   public AngularVelocity per(TimeUnit unit) {
     return mathHelper.divide(this, unit.of(1), RadiansPerSecond::of);
   }
@@ -61,6 +67,12 @@ public <Divisor extends Unit> Measure<? extends Per<AngleUnit, Divisor>> per(Div
         .of(baseUnitMagnitude / divisor.fromBaseUnits(1));
   }
 
+  public <Other extends Unit> Measure<Other> times(
+      Measure<? extends Per<? extends Other, AngleUnit>> ratio) {
+    return ImmutableMeasure.ofBaseUnits(
+        baseUnitMagnitude * ratio.baseUnitMagnitude(), ratio.unit().numerator());
+  }
+
   @Override
   public double magnitude() {
     return magnitude;
@@ -106,11 +118,12 @@ public String toString() {
         + ']';
   }
 
-  public static class Mutable extends Angle {
+  public static class Mutable extends Angle implements MutableMeasure<AngleUnit, Angle, Mutable> {
     public Mutable(double magnitude, double baseUnitMagnitude, AngleUnit unit) {
       super(magnitude, baseUnitMagnitude, unit);
     }
 
+    @Override
     public Mutable mut_replace(double value, AngleUnit newUnit) {
       this.unit = newUnit;
       this.magnitude = value;
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
index e099c174aef..efde5a75ca7 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
@@ -31,10 +31,16 @@ public class AngleUnit extends Unit {
     super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
   }
 
+  @Override
   public Angle of(double magnitude) {
     return new Angle(magnitude, toBaseUnits(magnitude), this);
   }
 
+  @Override
+  public Angle ofBaseUnits(double baseUnitMagnitude) {
+    return new Angle(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
   public AngularVelocityUnit per(TimeUnit second) {
     return AngularVelocityUnit.combine(this, second);
   }
@@ -43,6 +49,7 @@ public double convertFrom(double magnitude, AngleUnit otherUnit) {
     return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
   }
 
+  @Override
   public Angle.Mutable mutable(double initialMagnitude) {
     return new Angle.Mutable(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularAcceleration.java
index f92e102fe1b..0142c98049e 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularAcceleration.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularAcceleration.java
@@ -36,34 +36,9 @@ public AngularAccelerationUnit unit() {
     return (AngularAccelerationUnit) unit;
   }
 
-  @Override
-  public boolean equals(Object obj) {
-    if (obj == this) return true;
-    if (obj == null || obj.getClass() != this.getClass()) return false;
-    var that = (AngularAcceleration) obj;
-    return Double.doubleToLongBits(this.magnitude) == Double.doubleToLongBits(that.magnitude)
-        && Double.doubleToLongBits(this.baseUnitMagnitude)
-            == Double.doubleToLongBits(that.baseUnitMagnitude)
-        && Objects.equals(this.unit, that.unit);
-  }
-
-  @Override
-  public int hashCode() {
-    return Objects.hash(magnitude, baseUnitMagnitude, unit);
-  }
-
   @Override
   public String toString() {
-    return "AngularAcceleration["
-        + "magnitude="
-        + magnitude
-        + ", "
-        + "baseUnitMagnitude="
-        + baseUnitMagnitude
-        + ", "
-        + "unit="
-        + unit
-        + ']';
+    return toShortString();
   }
 
   public double in(AngularAccelerationUnit otherUnit) {
@@ -71,7 +46,7 @@ public double in(AngularAccelerationUnit otherUnit) {
   }
 
   public static class Mutable extends AngularAcceleration
-      implements IMutable<AccelerationUnit<AngleUnit>, AngularAcceleration, Mutable> {
+      implements MutableMeasure<AccelerationUnit<AngleUnit>, AngularAcceleration, Mutable> {
     public Mutable(double magnitude, double baseUnitMagnitude, AngularAccelerationUnit unit) {
       super(magnitude, baseUnitMagnitude, unit);
     }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocity.java
index 01ff037f98d..7e1955ee2cb 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocity.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocity.java
@@ -53,7 +53,7 @@ public String toString() {
   }
 
   public static class Mutable extends AngularVelocity
-      implements IMutable<VelocityUnit<AngleUnit>, AngularVelocity, Mutable> {
+      implements MutableMeasure<VelocityUnit<AngleUnit>, AngularVelocity, Mutable> {
     public Mutable(double magnitude, double baseUnitMagnitude, AngularVelocityUnit unit) {
       super(magnitude, baseUnitMagnitude, unit);
     }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Current.java b/wpiunits/src/main/java/edu/wpi/first/units/Current.java
index 07ff2edce64..4a887f5dac0 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Current.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Current.java
@@ -73,7 +73,7 @@ public String toString() {
         + ']';
   }
 
-  public static class Mutable extends Current implements IMutable<CurrentUnit, Current, Mutable> {
+  public static class Mutable extends Current implements MutableMeasure<CurrentUnit, Current, Mutable> {
     public Mutable(double magnitude, double baseUnitMagnitude, CurrentUnit unit) {
       super(magnitude, baseUnitMagnitude, unit);
     }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
index d312c2b3d6d..0eeb4b9f5b7 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
@@ -33,6 +33,16 @@ public Dimensionless of(double magnitude) {
     return new Dimensionless(magnitude, toBaseUnits(magnitude), this);
   }
 
+  @Override
+  public Measure<?> ofBaseUnits(double baseUnitMagnitude) {
+    return new Dimensionless(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public Dimensionless.Mutable mutable(double initialMagnitude) {
+    return new Dimensionless.Mutable(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+
   public <U extends Unit> U mult(U other) {
     return Units.derive(other)
         .toBase(other.getConverterToBase().mult(this.getConverterToBase()))
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Distance.java b/wpiunits/src/main/java/edu/wpi/first/units/Distance.java
index f4688bb1e13..b4aed50d2c8 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Distance.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Distance.java
@@ -130,7 +130,7 @@ public Time divide(LinearVelocity velocity) {
   }
 
   public static class Mutable extends Distance
-      implements IMutable<DistanceUnit, Distance, Mutable> {
+      implements MutableMeasure<DistanceUnit, Distance, Mutable> {
     public Mutable(double magnitude, double baseUnitMagnitude, DistanceUnit unit) {
       super(magnitude, baseUnitMagnitude, unit);
     }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocity.java
index 4d6e563bd4c..76be58f8901 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocity.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocity.java
@@ -48,7 +48,7 @@ public String toString() {
   }
 
   public static class Mutable extends LinearVelocity
-      implements IMutable<VelocityUnit<DistanceUnit>, LinearVelocity, Mutable> {
+      implements MutableMeasure<VelocityUnit<DistanceUnit>, LinearVelocity, Mutable> {
     public Mutable(double magnitude, double baseUnitMagnitude, LinearVelocityUnit unit) {
       super(magnitude, baseUnitMagnitude, unit);
     }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/IMutable.java b/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
similarity index 88%
rename from wpiunits/src/main/java/edu/wpi/first/units/IMutable.java
rename to wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
index c01851f2d89..347cf3cb5dc 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/IMutable.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
@@ -4,8 +4,14 @@
 
 package edu.wpi.first.units;
 
-public interface IMutable<
-        U extends Unit, Base extends Measure<U>, MutSelf extends IMutable<U, Base, MutSelf>>
+/**
+ *
+ * @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 interface MutableMeasure<
+        U extends Unit, Base extends Measure<U>, MutSelf extends MutableMeasure<U, Base, MutSelf>>
     extends Measure<U> {
   MutSelf mut_replace(double magnitude, U newUnit);
 
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Per.java b/wpiunits/src/main/java/edu/wpi/first/units/Per.java
index f6b8773f003..f9a0bb01bdd 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Per.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Per.java
@@ -123,10 +123,21 @@ public N mult(D denom) {
         .make();
   }
 
+  @Override
   public Measure<? extends Per<N, D>> of(double magnitude) {
     return ImmutableMeasure.ofRelativeUnits(magnitude, this);
   }
 
+  @Override
+  public Measure<?> ofBaseUnits(double baseUnitMagnitude) {
+    return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude, this);
+  }
+
+  @Override
+  public MutableMeasure<?, ?, ?> mutable(double initialMagnitude) {
+    return null;
+  }
+
   public double convertFrom(double magnitude, Per<? extends N, ? extends D> 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 fb467686dfc..35f18f4e94c 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Unit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Unit.java
@@ -14,7 +14,7 @@
  *
  * @param <U> the self type, e.g. {@code class SomeUnit extends Unit<SomeUnit>}
  */
-public class Unit {
+public abstract class Unit {
   private final UnaryFunction m_toBaseConverter;
   private final UnaryFunction m_fromBaseConverter;
 
@@ -60,6 +60,11 @@ protected Unit(Unit baseUnit, double baseUnitEquivalent, String name, String sym
     this(baseUnit, x -> x * baseUnitEquivalent, x -> x / baseUnitEquivalent, name, symbol);
   }
 
+  public abstract Measure<?> of(double magnitude);
+  public abstract Measure<?> ofBaseUnits(double baseUnitMagnitude);
+
+  public abstract MutableMeasure<?, ?, ?> mutable(double initialMagnitude);
+
   /**
    * Gets the base unit of measurement that this unit is derived from. If the unit is the base unit,
    * the unit will be returned.
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Velocity.java b/wpiunits/src/main/java/edu/wpi/first/units/Velocity.java
index 996c03d0732..62632d86ca4 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Velocity.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Velocity.java
@@ -72,7 +72,7 @@ public String toString() {
   }
 
   public static class Mutable<D extends Unit> extends Velocity<D>
-      implements IMutable<VelocityUnit<D>, Velocity<D>, Mutable<D>> {
+      implements MutableMeasure<VelocityUnit<D>, Velocity<D>, Mutable<D>> {
     public Mutable(double magnitude, double baseUnitMagnitude, VelocityUnit<D> unit) {
       super(magnitude, baseUnitMagnitude, unit);
     }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
index 515d6fcd61f..2b6dd74664e 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
@@ -66,7 +66,7 @@ public Velocity<D> of(double magnitude) {
     return new Velocity<>(magnitude, toBaseUnits(magnitude), this);
   }
 
-  public IMutable<VelocityUnit<D>, ?, ?> mutable(double initialMagnitude) {
+  public MutableMeasure<VelocityUnit<D>, ?, ?> mutable(double initialMagnitude) {
     return new Velocity.Mutable<>(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 

From cd04e930bb814c870cb2caa205672616beb2c21a Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Tue, 25 Jun 2024 19:58:42 -0400
Subject: [PATCH 04/46] Move mutable types to dedicated package

---
 .../wpilibj2/command/sysid/SysIdRoutine.java  |   3 +-
 .../first/wpilibj/simulation/FlywheelSim.java |   6 +-
 .../examples/sysid/subsystems/Drive.java      |  12 +-
 .../examples/sysid/subsystems/Shooter.java    |  12 +-
 .../edu/wpi/first/units/Acceleration.java     |  70 ++++-----
 .../edu/wpi/first/units/AccelerationUnit.java |   2 +-
 .../main/java/edu/wpi/first/units/Angle.java  |  79 +---------
 .../java/edu/wpi/first/units/AngleUnit.java   |   6 +-
 .../wpi/first/units/AngularAcceleration.java  |  23 +--
 .../first/units/AngularAccelerationUnit.java  |   8 +-
 .../edu/wpi/first/units/AngularMomentum.java  |  12 +-
 .../wpi/first/units/AngularMomentumUnit.java  |  10 +-
 .../edu/wpi/first/units/AngularVelocity.java  |  33 +----
 .../wpi/first/units/AngularVelocityUnit.java  |  15 +-
 .../java/edu/wpi/first/units/Current.java     |  76 +---------
 .../edu/wpi/first/units/Dimensionless.java    |  23 ++-
 .../wpi/first/units/DimensionlessUnit.java    |   6 +-
 .../java/edu/wpi/first/units/Distance.java    |  69 +--------
 .../edu/wpi/first/units/DistanceUnit.java     |  11 +-
 .../main/java/edu/wpi/first/units/Energy.java |   7 +-
 .../java/edu/wpi/first/units/EnergyUnit.java  |  13 ++
 .../main/java/edu/wpi/first/units/Force.java  |   7 +-
 .../java/edu/wpi/first/units/ForceUnit.java   |  15 +-
 .../java/edu/wpi/first/units/Frequency.java   |   7 +-
 .../edu/wpi/first/units/FrequencyUnit.java    |   2 +-
 .../edu/wpi/first/units/ImmutableMeasure.java |  58 +-------
 .../wpi/first/units/LinearAcceleration.java   |  14 --
 .../edu/wpi/first/units/LinearMomentum.java   |   7 +-
 .../wpi/first/units/LinearMomentumUnit.java   |   4 +-
 .../edu/wpi/first/units/LinearVelocity.java   |  33 +----
 .../wpi/first/units/LinearVelocityUnit.java   |   6 +-
 .../main/java/edu/wpi/first/units/Mass.java   |  12 +-
 .../java/edu/wpi/first/units/MathHelper.java  |   6 +
 .../java/edu/wpi/first/units/MeasureBase.java |  53 +++++++
 .../edu/wpi/first/units/MomentOfInertia.java  |  16 +++
 .../wpi/first/units/MomentOfInertiaUnit.java  |  14 +-
 .../main/java/edu/wpi/first/units/Mult.java   | 113 +--------------
 .../java/edu/wpi/first/units/MultUnit.java    | 135 ++++++++++++++++++
 .../edu/wpi/first/units/MutableMeasure.java   |   1 -
 .../first/units/{Per.java => PerUnit.java}    |  48 +++----
 .../main/java/edu/wpi/first/units/Power.java  |   9 +-
 .../java/edu/wpi/first/units/PowerUnit.java   |   2 +-
 .../java/edu/wpi/first/units/Temperature.java |   7 +-
 .../main/java/edu/wpi/first/units/Time.java   |   7 +-
 .../java/edu/wpi/first/units/TimeUnit.java    |   4 +-
 .../main/java/edu/wpi/first/units/Torque.java |   7 +-
 .../java/edu/wpi/first/units/TorqueUnit.java  |   4 +-
 .../main/java/edu/wpi/first/units/Unit.java   |   1 +
 .../main/java/edu/wpi/first/units/Units.java  |   8 +-
 .../java/edu/wpi/first/units/Velocity.java    |  72 +---------
 .../edu/wpi/first/units/VelocityUnit.java     |   6 +-
 .../java/edu/wpi/first/units/Voltage.java     |  15 +-
 .../java/edu/wpi/first/units/VoltageUnit.java |  10 +-
 .../first/units/mutable/MutAcceleration.java  |  31 ++++
 .../edu/wpi/first/units/mutable/MutAngle.java |  28 ++++
 .../units/mutable/MutAngularAcceleration.java |  33 +++++
 .../units/mutable/MutAngularMomentum.java     |  29 ++++
 .../units/mutable/MutAngularVelocity.java     |  31 ++++
 .../wpi/first/units/mutable/MutCurrent.java   |  30 ++++
 .../first/units/mutable/MutDimensionless.java |  30 ++++
 .../wpi/first/units/mutable/MutDistance.java  |  29 ++++
 .../wpi/first/units/mutable/MutEnergy.java    |  29 ++++
 .../edu/wpi/first/units/mutable/MutForce.java |  28 ++++
 .../wpi/first/units/mutable/MutFrequency.java |  30 ++++
 .../units/mutable/MutLinearAcceleration.java  |  35 +++++
 .../units/mutable/MutLinearMomentum.java      |  30 ++++
 .../units/mutable/MutLinearVelocity.java      |  31 ++++
 .../edu/wpi/first/units/mutable/MutMass.java  |  29 ++++
 .../edu/wpi/first/units/mutable/MutMult.java  |  31 ++++
 .../edu/wpi/first/units/mutable/MutPower.java |  29 ++++
 .../first/units/mutable/MutTemperature.java   |  30 ++++
 .../edu/wpi/first/units/mutable/MutTime.java  |  29 ++++
 .../wpi/first/units/mutable/MutTorque.java    |  29 ++++
 .../wpi/first/units/mutable/MutVelocity.java  |  30 ++++
 .../wpi/first/units/mutable/MutVoltage.java   |  28 ++++
 .../java/edu/wpi/first/units/MeasureTest.java |   2 +-
 .../{MultTest.java => MultUnitTest.java}      |  10 +-
 77 files changed, 1160 insertions(+), 710 deletions(-)
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/MeasureBase.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertia.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java
 rename wpiunits/src/main/java/edu/wpi/first/units/{Per.java => PerUnit.java} (69%)
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAcceleration.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngle.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularAcceleration.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularMomentum.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularVelocity.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutCurrent.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDimensionless.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDistance.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutEnergy.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutForce.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutFrequency.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearAcceleration.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearMomentum.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearVelocity.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMass.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMult.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutPower.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTemperature.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTime.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTorque.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVelocity.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVoltage.java
 rename wpiunits/src/test/java/edu/wpi/first/units/{MultTest.java => MultUnitTest.java} (80%)

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 3f8bc2961be..aa6a3988c95 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
@@ -13,6 +13,7 @@
 import edu.wpi.first.units.Velocity;
 import edu.wpi.first.units.Voltage;
 import edu.wpi.first.units.VoltageUnit;
+import edu.wpi.first.units.mutable.MutVoltage;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.sysid.SysIdRoutineLog;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -41,7 +42,7 @@
 public class SysIdRoutine extends SysIdRoutineLog {
   private final Config m_config;
   private final Mechanism m_mechanism;
-  private final Voltage.Mutable m_outputVolts = Volts.mutable(0);
+  private final MutVoltage m_outputVolts = Volts.mutable(0);
   private final Consumer<State> m_recordState;
 
   /**
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 9e57bcefa90..bd0e3280355 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
@@ -15,6 +15,8 @@
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.units.AngularAcceleration;
 import edu.wpi.first.units.AngularVelocity;
+import edu.wpi.first.units.mutable.MutAngularAcceleration;
+import edu.wpi.first.units.mutable.MutAngularVelocity;
 import edu.wpi.first.wpilibj.RobotController;
 
 /** Represents a simulated flywheel mechanism. */
@@ -29,10 +31,10 @@ public class FlywheelSim extends LinearSystemSim<N1, N1, N1> {
   private final double m_jKgMetersSquared;
 
   // The angular velocity of the system.
-  private final AngularVelocity.Mutable m_angularVelocity = RadiansPerSecond.mutable(0);
+  private final MutAngularVelocity m_angularVelocity = RadiansPerSecond.mutable(0);
 
   // The angular acceleration of the system.
-  private final AngularAcceleration.Mutable m_angularAcceleration =
+  private final MutAngularAcceleration m_angularAcceleration =
       RadiansPerSecondPerSecond.mutable(0);
 
   /**
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 431a346c80a..5b7073977fd 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
@@ -8,9 +8,9 @@
 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.LinearVelocity;
-import edu.wpi.first.units.Voltage;
+import edu.wpi.first.units.mutable.MutLinearVelocity;
+import edu.wpi.first.units.mutable.MutDistance;
+import edu.wpi.first.units.mutable.MutVoltage;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -47,11 +47,11 @@ public class Drive extends SubsystemBase {
           DriveConstants.kRightEncoderReversed);
 
   // Mutable holder for unit-safe voltage values, persisted to avoid reallocation.
-  private final Voltage.Mutable m_appliedVoltage = Volts.mutable(0);
+  private final MutVoltage m_appliedVoltage = Volts.mutable(0);
   // Mutable holder for unit-safe linear distance values, persisted to avoid reallocation.
-  private final Distance.Mutable m_distance = Meters.mutable(0);
+  private final MutDistance m_distance = Meters.mutable(0);
   // Mutable holder for unit-safe linear velocity values, persisted to avoid reallocation.
-  private final LinearVelocity.Mutable m_velocity = MetersPerSecond.mutable(0);
+  private final MutLinearVelocity m_velocity = MetersPerSecond.mutable(0);
 
   // Create a new SysId routine for characterizing the drive.
   private final SysIdRoutine m_sysIdRoutine =
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 40e5eb04ff8..8d13f16145e 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
@@ -12,9 +12,9 @@
 
 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.AngularVelocity;
-import edu.wpi.first.units.Voltage;
+import edu.wpi.first.units.mutable.MutAngle;
+import edu.wpi.first.units.mutable.MutAngularVelocity;
+import edu.wpi.first.units.mutable.MutVoltage;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.examples.sysid.Constants.ShooterConstants;
@@ -39,11 +39,11 @@ public class Shooter extends SubsystemBase {
           ShooterConstants.kEncoderReversed);
 
   // Mutable holder for unit-safe voltage values, persisted to avoid reallocation.
-  private final Voltage.Mutable m_appliedVoltage = Volts.mutable(0);
+  private final MutVoltage m_appliedVoltage = Volts.mutable(0);
   // Mutable holder for unit-safe linear distance values, persisted to avoid reallocation.
-  private final Angle.Mutable m_angle = Radians.mutable(0);
+  private final MutAngle m_angle = Radians.mutable(0);
   // Mutable holder for unit-safe linear velocity values, persisted to avoid reallocation.
-  private final AngularVelocity.Mutable m_velocity = RadiansPerSecond.mutable(0);
+  private final MutAngularVelocity m_velocity = RadiansPerSecond.mutable(0);
 
   // Create a new SysId routine for characterizing the shooter.
   private final SysIdRoutine m_sysIdRoutine =
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Acceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/Acceleration.java
index 6d22ab945ee..0309a015a66 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Acceleration.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Acceleration.java
@@ -4,17 +4,12 @@
 
 package edu.wpi.first.units;
 
-import java.util.Objects;
-
-public class Acceleration<D extends Unit> implements Measure<AccelerationUnit<D>> {
-  protected double magnitude;
-  protected double baseUnitMagnitude;
-  protected AccelerationUnit<D> unit;
+public class Acceleration<D extends Unit> extends MeasureBase<AccelerationUnit<D>> {
+  private final MathHelper<AccelerationUnit<D>, Acceleration<D>> mathHelper =
+      new MathHelper<>(baseUnit()::of);
 
   public Acceleration(double magnitude, double baseUnitMagnitude, AccelerationUnit<D> unit) {
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = baseUnitMagnitude;
-    this.unit = unit;
+    super(magnitude, baseUnitMagnitude, unit);
   }
 
   @Override
@@ -22,48 +17,39 @@ public Acceleration<D> copy() {
     return this;
   }
 
-  @Override
-  public double magnitude() {
-    return magnitude;
+  public Acceleration<D> zero() {
+    return mathHelper.zero();
   }
 
-  @Override
-  public double baseUnitMagnitude() {
-    return baseUnitMagnitude;
+  public Acceleration<D> plus(Acceleration<D> other) {
+    return mathHelper.add(this, other);
   }
 
-  @Override
-  public AccelerationUnit<D> unit() {
-    return unit;
+  public Acceleration<D> minus(Acceleration<D> other) {
+    return mathHelper.minus(this, other);
   }
 
-  @Override
-  public boolean equals(Object obj) {
-    if (obj == this) return true;
-    if (obj == null || obj.getClass() != this.getClass()) return false;
-    var that = (Acceleration<?>) obj;
-    return Double.doubleToLongBits(this.magnitude) == Double.doubleToLongBits(that.magnitude)
-        && Double.doubleToLongBits(this.baseUnitMagnitude)
-            == Double.doubleToLongBits(that.baseUnitMagnitude)
-        && Objects.equals(this.unit, that.unit);
+  public Dimensionless divide(Acceleration<D> divisor) {
+    return mathHelper.divide(this, divisor);
   }
 
-  @Override
-  public int hashCode() {
-    return Objects.hash(magnitude, baseUnitMagnitude, unit);
+  public Acceleration<D> divide(double divisor) {
+    return mathHelper.divide(this, divisor);
   }
 
-  @Override
-  public String toString() {
-    return "Acceleration["
-        + "magnitude="
-        + magnitude
-        + ", "
-        + "baseUnitMagnitude="
-        + baseUnitMagnitude
-        + ", "
-        + "unit="
-        + unit
-        + ']';
+  public Acceleration<D> divide(Dimensionless divisor) {
+    return mathHelper.divide(this, divisor);
+  }
+
+  public Acceleration<D> times(double multiplier) {
+    return mathHelper.multiply(this, multiplier);
+  }
+
+  public Acceleration<D> times(Dimensionless multiplier) {
+    return mathHelper.multiply(this, multiplier);
+  }
+
+  public Velocity<D> times(Time time) {
+    return mathHelper.multiply(this, time, baseUnit().numerator()::of);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
index 9eb6971a84e..6f08c7ed60d 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
@@ -4,7 +4,7 @@
 
 package edu.wpi.first.units;
 
-public class AccelerationUnit<D extends Unit> extends Per<VelocityUnit<D>, TimeUnit> {
+public 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);
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Angle.java b/wpiunits/src/main/java/edu/wpi/first/units/Angle.java
index e137d2e30eb..c96c2b36213 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Angle.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Angle.java
@@ -8,18 +8,11 @@
 import static edu.wpi.first.units.Units.RadiansPerSecond;
 import static edu.wpi.first.units.Units.Value;
 
-import java.util.Objects;
-
-public class Angle implements Measure<AngleUnit> {
+public class Angle extends MeasureBase<AngleUnit> {
   private static final MathHelper<AngleUnit, Angle> mathHelper = new MathHelper<>(Radians::of);
-  protected double magnitude;
-  protected double baseUnitMagnitude;
-  protected AngleUnit unit;
 
   public Angle(double magnitude, double baseUnitMagnitude, AngleUnit unit) {
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = baseUnitMagnitude;
-    this.unit = unit;
+    super(magnitude, baseUnitMagnitude, unit);
   }
 
   @Override
@@ -48,7 +41,7 @@ public AngularVelocity divide(Time period) {
   }
 
   public <Other extends Unit> Measure<Other> divide(
-      Measure<? extends Per<AngleUnit, ? extends Other>> ratio) {
+      Measure<? extends PerUnit<AngleUnit, ? extends Other>> ratio) {
     return ImmutableMeasure.ofBaseUnits(
         baseUnitMagnitude / ratio.baseUnitMagnitude(), ratio.unit().denominator());
   }
@@ -62,73 +55,15 @@ public Dimensionless per(AngleUnit unit) {
   }
 
   @SuppressWarnings("unchecked")
-  public <Divisor extends Unit> Measure<? extends Per<AngleUnit, Divisor>> per(Divisor divisor) {
-    return Per.combine(this.baseUnit(), (Divisor) divisor.getBaseUnit())
+  public <Divisor extends Unit> Measure<? extends PerUnit<AngleUnit, Divisor>> per(
+      Divisor divisor) {
+    return PerUnit.combine(this.baseUnit(), (Divisor) divisor.getBaseUnit())
         .of(baseUnitMagnitude / divisor.fromBaseUnits(1));
   }
 
   public <Other extends Unit> Measure<Other> times(
-      Measure<? extends Per<? extends Other, AngleUnit>> ratio) {
+      Measure<? extends PerUnit<? extends Other, AngleUnit>> ratio) {
     return ImmutableMeasure.ofBaseUnits(
         baseUnitMagnitude * ratio.baseUnitMagnitude(), ratio.unit().numerator());
   }
-
-  @Override
-  public double magnitude() {
-    return magnitude;
-  }
-
-  @Override
-  public double baseUnitMagnitude() {
-    return baseUnitMagnitude;
-  }
-
-  @Override
-  public AngleUnit unit() {
-    return unit;
-  }
-
-  @Override
-  public boolean equals(Object obj) {
-    if (obj == this) return true;
-    if (obj == null || obj.getClass() != this.getClass()) return false;
-    var that = (Angle) obj;
-    return Double.doubleToLongBits(this.magnitude) == Double.doubleToLongBits(that.magnitude)
-        && Double.doubleToLongBits(this.baseUnitMagnitude)
-            == Double.doubleToLongBits(that.baseUnitMagnitude)
-        && Objects.equals(this.unit, that.unit);
-  }
-
-  @Override
-  public int hashCode() {
-    return Objects.hash(magnitude, baseUnitMagnitude, unit);
-  }
-
-  @Override
-  public String toString() {
-    return "Angle["
-        + "magnitude="
-        + magnitude
-        + ", "
-        + "baseUnitMagnitude="
-        + baseUnitMagnitude
-        + ", "
-        + "unit="
-        + unit
-        + ']';
-  }
-
-  public static class Mutable extends Angle implements MutableMeasure<AngleUnit, Angle, Mutable> {
-    public Mutable(double magnitude, double baseUnitMagnitude, AngleUnit unit) {
-      super(magnitude, baseUnitMagnitude, unit);
-    }
-
-    @Override
-    public Mutable mut_replace(double value, AngleUnit newUnit) {
-      this.unit = newUnit;
-      this.magnitude = value;
-      this.baseUnitMagnitude = newUnit.toBaseUnits(value);
-      return this;
-    }
-  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
index efde5a75ca7..c24f6124c25 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
@@ -4,6 +4,8 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.mutable.MutAngle;
+
 /**
  * Unit of angular dimension.
  *
@@ -50,7 +52,7 @@ public double convertFrom(double magnitude, AngleUnit otherUnit) {
   }
 
   @Override
-  public Angle.Mutable mutable(double initialMagnitude) {
-    return new Angle.Mutable(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  public MutAngle mutable(double initialMagnitude) {
+    return new MutAngle(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularAcceleration.java
index 0142c98049e..de81950ddb6 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularAcceleration.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularAcceleration.java
@@ -7,8 +7,6 @@
 import static edu.wpi.first.units.Units.RadiansPerSecond;
 import static edu.wpi.first.units.Units.RadiansPerSecondPerSecond;
 
-import java.util.Objects;
-
 public class AngularAcceleration extends Acceleration<AngleUnit> {
   private static final MathHelper<AccelerationUnit<AngleUnit>, AngularAcceleration> mathHelper =
       new MathHelper<>(RadiansPerSecondPerSecond::of);
@@ -27,6 +25,7 @@ public Dimensionless divide(AngularAcceleration other) {
     return mathHelper.divide(this, other);
   }
 
+  @Override
   public AngularVelocity times(Time period) {
     return mathHelper.multiply(this, period, RadiansPerSecond::of);
   }
@@ -36,27 +35,7 @@ public AngularAccelerationUnit unit() {
     return (AngularAccelerationUnit) unit;
   }
 
-  @Override
-  public String toString() {
-    return toShortString();
-  }
-
   public double in(AngularAccelerationUnit otherUnit) {
     return otherUnit.fromBaseUnits(baseUnitMagnitude);
   }
-
-  public static class Mutable extends AngularAcceleration
-      implements MutableMeasure<AccelerationUnit<AngleUnit>, AngularAcceleration, Mutable> {
-    public Mutable(double magnitude, double baseUnitMagnitude, AngularAccelerationUnit unit) {
-      super(magnitude, baseUnitMagnitude, unit);
-    }
-
-    @Override
-    public Mutable mut_replace(double magnitude, AccelerationUnit<AngleUnit> newUnit) {
-      this.unit = newUnit;
-      this.magnitude = magnitude;
-      this.baseUnitMagnitude = newUnit.toBaseUnits(magnitude);
-      return this;
-    }
-  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java
index 5fd8156c44e..17493c4cefa 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java
@@ -4,6 +4,8 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.mutable.MutAngularAcceleration;
+
 public class AngularAccelerationUnit extends AccelerationUnit<AngleUnit> {
   private static final CombinatoryUnitCache<
           VelocityUnit<AngleUnit>, TimeUnit, AngularAccelerationUnit>
@@ -26,11 +28,13 @@ public static AngularAccelerationUnit combine(AngularVelocityUnit velocity, Time
     return cache.combine(velocity, period);
   }
 
+  @Override
   public AngularAcceleration of(double magnitude) {
     return new AngularAcceleration(magnitude, toBaseUnits(magnitude), this);
   }
 
-  public AngularAcceleration.Mutable mutable(double initialMagnitude) {
-    return new AngularAcceleration.Mutable(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  @Override
+  public MutAngularAcceleration mutable(double initialMagnitude) {
+    return new MutAngularAcceleration(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentum.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentum.java
index bb646312d04..c4a9146c481 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentum.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentum.java
@@ -4,10 +4,18 @@
 
 package edu.wpi.first.units;
 
-public record AngularMomentum(double magnitude, double baseUnitMagnitude, AngularMomentumUnit unit)
-    implements Measure<AngularMomentumUnit> {
+public class AngularMomentum extends MeasureBase<AngularMomentumUnit> {
+  public AngularMomentum(double magnitude, double baseUnitMagnitude, AngularMomentumUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
   @Override
   public AngularMomentum copy() {
     return this;
   }
+
+  @Override
+  public AngularMomentumUnit unit() {
+    return unit;
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
index 2b25ec13022..740315405ca 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
@@ -4,7 +4,9 @@
 
 package edu.wpi.first.units;
 
-public class AngularMomentumUnit extends Mult<LinearMomentumUnit, DistanceUnit> {
+import edu.wpi.first.units.mutable.MutAngularMomentum;
+
+public class AngularMomentumUnit extends MultUnit<LinearMomentumUnit, DistanceUnit> {
   private static final CombinatoryUnitCache<LinearMomentumUnit, DistanceUnit, AngularMomentumUnit>
       cache = new CombinatoryUnitCache<>(AngularMomentumUnit::new);
 
@@ -25,10 +27,16 @@ public static AngularMomentumUnit combine(LinearMomentumUnit linear, DistanceUni
     return cache.combine(linear, distance);
   }
 
+  @Override
   public AngularMomentum of(double magnitude) {
     return new AngularMomentum(magnitude, toBaseUnits(magnitude), this);
   }
 
+  @Override
+  public MutAngularMomentum mutable(double magnitude) {
+    return new MutAngularMomentum(magnitude, toBaseUnits(magnitude), this);
+  }
+
   public MomentOfInertiaUnit mult(AngularVelocityUnit omega) {
     return MomentOfInertiaUnit.combine(this, omega);
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocity.java
index 7e1955ee2cb..47b5aabe229 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocity.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocity.java
@@ -25,6 +25,10 @@ public double in(AngularVelocityUnit otherUnit) {
     return otherUnit.fromBaseUnits(baseUnitMagnitude);
   }
 
+  public Angle times(Time period) {
+    return baseUnit().getUnit().ofBaseUnits(baseUnitMagnitude * period.baseUnitMagnitude());
+  }
+
   public AngularAcceleration divide(Time period) {
     return mathHelper.divide(this, period, RadiansPerSecondPerSecond::of);
   }
@@ -37,33 +41,4 @@ public Frequency asFrequency() {
   public AngularVelocityUnit unit() {
     return (AngularVelocityUnit) unit;
   }
-
-  @Override
-  public String toString() {
-    return "AngularVelocity["
-        + "magnitude="
-        + magnitude
-        + ", "
-        + "baseUnitMagnitude="
-        + baseUnitMagnitude
-        + ", "
-        + "unit="
-        + unit
-        + ']';
-  }
-
-  public static class Mutable extends AngularVelocity
-      implements MutableMeasure<VelocityUnit<AngleUnit>, AngularVelocity, Mutable> {
-    public Mutable(double magnitude, double baseUnitMagnitude, AngularVelocityUnit unit) {
-      super(magnitude, baseUnitMagnitude, unit);
-    }
-
-    @Override
-    public AngularVelocity.Mutable mut_replace(double magnitude, VelocityUnit<AngleUnit> newUnit) {
-      this.unit = newUnit;
-      this.magnitude = magnitude;
-      this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
-      return null;
-    }
-  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java
index 668edabbf26..b67e4667649 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java
@@ -4,6 +4,8 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.mutable.MutAngularVelocity;
+
 public class AngularVelocityUnit extends VelocityUnit<AngleUnit> {
   private static final CombinatoryUnitCache<AngleUnit, TimeUnit, AngularVelocityUnit> cache =
       new CombinatoryUnitCache<>(AngularVelocityUnit::new);
@@ -31,12 +33,17 @@ public AngularVelocity of(double magnitude) {
   }
 
   @Override
-  public AngularAccelerationUnit per(TimeUnit period) {
-    return AngularAccelerationUnit.combine(this, period);
+  public AngularVelocity ofBaseUnits(double baseUnitMagnitude) {
+    return new AngularVelocity(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public MutAngularVelocity mutable(double initialMagnitude) {
+    return new MutAngularVelocity(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 
   @Override
-  public AngularVelocity.Mutable mutable(double initialMagnitude) {
-    return new AngularVelocity.Mutable(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  public AngularAccelerationUnit per(TimeUnit period) {
+    return AngularAccelerationUnit.combine(this, period);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Current.java b/wpiunits/src/main/java/edu/wpi/first/units/Current.java
index 4a887f5dac0..cefe2143d86 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Current.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Current.java
@@ -6,17 +6,9 @@
 
 import static edu.wpi.first.units.Units.Watts;
 
-import java.util.Objects;
-
-public class Current implements Measure<CurrentUnit> {
-  protected double magnitude;
-  protected double baseUnitMagnitude;
-  protected CurrentUnit unit;
-
+public class Current extends MeasureBase<CurrentUnit> {
   public Current(double magnitude, double baseUnitMagnitude, CurrentUnit unit) {
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = baseUnitMagnitude;
-    this.unit = unit;
+    super(magnitude, baseUnitMagnitude, unit);
   }
 
   @Override
@@ -27,68 +19,4 @@ public Current copy() {
   public Power times(Voltage voltage) {
     return Watts.of(this.baseUnitMagnitude * voltage.baseUnitMagnitude());
   }
-
-  @Override
-  public double magnitude() {
-    return magnitude;
-  }
-
-  @Override
-  public double baseUnitMagnitude() {
-    return baseUnitMagnitude;
-  }
-
-  @Override
-  public CurrentUnit unit() {
-    return unit;
-  }
-
-  @Override
-  public boolean equals(Object obj) {
-    if (obj == this) return true;
-    if (obj == null || obj.getClass() != this.getClass()) return false;
-    var that = (Current) obj;
-    return Double.doubleToLongBits(this.magnitude) == Double.doubleToLongBits(that.magnitude)
-        && Double.doubleToLongBits(this.baseUnitMagnitude)
-            == Double.doubleToLongBits(that.baseUnitMagnitude)
-        && Objects.equals(this.unit, that.unit);
-  }
-
-  @Override
-  public int hashCode() {
-    return Objects.hash(magnitude, baseUnitMagnitude, unit);
-  }
-
-  @Override
-  public String toString() {
-    return "Current["
-        + "magnitude="
-        + magnitude
-        + ", "
-        + "baseUnitMagnitude="
-        + baseUnitMagnitude
-        + ", "
-        + "unit="
-        + unit
-        + ']';
-  }
-
-  public static class Mutable extends Current implements MutableMeasure<CurrentUnit, Current, Mutable> {
-    public Mutable(double magnitude, double baseUnitMagnitude, CurrentUnit unit) {
-      super(magnitude, baseUnitMagnitude, unit);
-    }
-
-    @Override
-    public Current copy() {
-      return new Current(magnitude, baseUnitMagnitude, unit);
-    }
-
-    @Override
-    public Mutable mut_replace(double magnitude, CurrentUnit newUnit) {
-      this.unit = newUnit;
-      this.magnitude = magnitude;
-      this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
-      return this;
-    }
-  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Dimensionless.java b/wpiunits/src/main/java/edu/wpi/first/units/Dimensionless.java
index 9dc5aac2fb8..0713fd35b39 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Dimensionless.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Dimensionless.java
@@ -4,15 +4,28 @@
 
 package edu.wpi.first.units;
 
-public record Dimensionless(double magnitude, double baseUnitMagnitude, DimensionlessUnit unit)
-    implements Measure<DimensionlessUnit> {
+import static edu.wpi.first.units.Units.Hertz;
+import static edu.wpi.first.units.Units.Value;
+
+public class Dimensionless extends MeasureBase<DimensionlessUnit> {
+  private static final MathHelper<DimensionlessUnit, Dimensionless> mathHelper =
+      new MathHelper<>(Value::of);
+
+  public Dimensionless(double magnitude, double baseUnitMagnitude, DimensionlessUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
   @Override
   public Dimensionless copy() {
     return this;
   }
 
-  public <U extends Unit> Measure<U> mult(Measure<U> other) {
-    // TODO
-    return other;
+  public <U extends Unit> Measure<U> times(Measure<U> other) {
+    return (Measure<U>)
+        other.unit().ofBaseUnits(other.baseUnitMagnitude() * this.baseUnitMagnitude);
+  }
+
+  public Frequency divide(Time time) {
+    return Hertz.of(baseUnitMagnitude / time.baseUnitMagnitude());
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
index 0eeb4b9f5b7..01d1f7e992b 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
@@ -4,6 +4,8 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.mutable.MutDimensionless;
+
 /**
  * A type of unit that corresponds to raw values and not any physical dimension, such as percentage.
  */
@@ -39,8 +41,8 @@ public Measure<?> ofBaseUnits(double baseUnitMagnitude) {
   }
 
   @Override
-  public Dimensionless.Mutable mutable(double initialMagnitude) {
-    return new Dimensionless.Mutable(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  public MutDimensionless mutable(double initialMagnitude) {
+    return new MutDimensionless(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 
   public <U extends Unit> U mult(U 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
index b4aed50d2c8..3746626aaa5 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Distance.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Distance.java
@@ -8,19 +8,11 @@
 import static edu.wpi.first.units.Units.MetersPerSecond;
 import static edu.wpi.first.units.Units.Seconds;
 
-import java.util.Objects;
-
-public class Distance implements Measure<DistanceUnit> {
+public class Distance extends MeasureBase<DistanceUnit> {
   private static final MathHelper<DistanceUnit, Distance> mathHelper = new MathHelper<>(Meters::of);
 
-  protected double magnitude;
-  protected double baseUnitMagnitude;
-  protected DistanceUnit unit;
-
   public Distance(double magnitude, double baseUnitMagnitude, DistanceUnit unit) {
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = baseUnitMagnitude;
-    this.unit = unit;
+    super(magnitude, baseUnitMagnitude, unit);
   }
 
   @Override
@@ -42,16 +34,6 @@ public LinearVelocity per(TimeUnit period) {
         this.unit.per(period));
   }
 
-  @Override
-  public double magnitude() {
-    return magnitude;
-  }
-
-  @Override
-  public double baseUnitMagnitude() {
-    return baseUnitMagnitude;
-  }
-
   @Override
   public DistanceUnit unit() {
     return unit;
@@ -65,41 +47,11 @@ public Distance minus(Distance other) {
     return mathHelper.minus(this, other);
   }
 
-  @Override
-  public boolean equals(Object obj) {
-    if (obj == this) return true;
-    if (obj == null || obj.getClass() != this.getClass()) return false;
-    var that = (Distance) obj;
-    return Double.doubleToLongBits(this.magnitude) == Double.doubleToLongBits(that.magnitude)
-        && Double.doubleToLongBits(this.baseUnitMagnitude)
-            == Double.doubleToLongBits(that.baseUnitMagnitude)
-        && Objects.equals(this.unit, that.unit);
-  }
-
-  @Override
-  public int hashCode() {
-    return Objects.hash(magnitude, baseUnitMagnitude, unit);
-  }
-
-  @Override
-  public String toString() {
-    return "Distance["
-        + "magnitude="
-        + magnitude
-        + ", "
-        + "baseUnitMagnitude="
-        + baseUnitMagnitude
-        + ", "
-        + "unit="
-        + unit
-        + ']';
-  }
-
   public Distance times(double scalar) {
     return mathHelper.multiply(this, scalar);
   }
 
-  public <U extends Unit> Measure<U> times(Measure<? extends Per<U, DistanceUnit>> term) {
+  public <U extends Unit> Measure<U> times(Measure<? extends PerUnit<U, DistanceUnit>> term) {
     return mathHelper.multiply(
         this,
         term,
@@ -128,19 +80,4 @@ public Distance divide(Dimensionless divisor) {
   public Time divide(LinearVelocity velocity) {
     return mathHelper.divide(this, velocity, Seconds::of);
   }
-
-  public static class Mutable extends Distance
-      implements MutableMeasure<DistanceUnit, Distance, Mutable> {
-    public Mutable(double magnitude, double baseUnitMagnitude, DistanceUnit unit) {
-      super(magnitude, baseUnitMagnitude, unit);
-    }
-
-    @Override
-    public Mutable mut_replace(double magnitude, DistanceUnit newUnit) {
-      this.unit = newUnit;
-      this.magnitude = magnitude;
-      this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
-      return this;
-    }
-  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
index 42617200a62..c0db2357430 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
@@ -4,6 +4,8 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.mutable.MutDistance;
+
 /**
  * Unit of linear dimension.
  *
@@ -44,14 +46,19 @@ public Distance of(double magnitude) {
     return new Distance(magnitude, toBaseUnits(magnitude), this);
   }
 
+  @Override
+  public Distance ofBaseUnits(double baseUnitMagnitude) {
+    return new Distance(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
   // distance times force = torque
   // force times distance = energy
   public TorqueUnit mult(ForceUnit force) {
     return TorqueUnit.combine(this, force);
   }
 
-  public Distance.Mutable mutable(double initialMagnitude) {
-    return new Distance.Mutable(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  public MutDistance mutable(double initialMagnitude) {
+    return new MutDistance(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 
   public Distance zero() {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Energy.java b/wpiunits/src/main/java/edu/wpi/first/units/Energy.java
index 61fdca59470..da323ab4de9 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Energy.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Energy.java
@@ -7,10 +7,13 @@
 import static edu.wpi.first.units.Units.Joules;
 import static edu.wpi.first.units.Units.Watts;
 
-public record Energy(double magnitude, double baseUnitMagnitude, EnergyUnit unit)
-    implements Measure<EnergyUnit> {
+public class Energy extends MeasureBase<EnergyUnit> {
   private static final MathHelper<EnergyUnit, Energy> mathHelper = new MathHelper<>(Joules::of);
 
+  public Energy(double magnitude, double baseUnitMagnitude, EnergyUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
   @Override
   public Energy copy() {
     return this;
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
index 7e6543c5a27..3eeba09acc1 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
@@ -4,6 +4,8 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.mutable.MutEnergy;
+
 /**
  * Unit of energy dimension.
  *
@@ -36,7 +38,18 @@ public PowerUnit per(TimeUnit period) {
     return PowerUnit.combine(this, period);
   }
 
+  @Override
   public Energy of(double magnitude) {
     return new Energy(magnitude, toBaseUnits(magnitude), this);
   }
+
+  @Override
+  public Energy ofBaseUnits(double baseUnitMagnitude) {
+    return new Energy(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public MutEnergy mutable(double initialMagnitude) {
+    return new MutEnergy(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Force.java b/wpiunits/src/main/java/edu/wpi/first/units/Force.java
index d3715ea4eaa..55f17c5ed45 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Force.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Force.java
@@ -8,10 +8,13 @@
 import static edu.wpi.first.units.Units.Newtons;
 import static edu.wpi.first.units.Units.Seconds;
 
-public record Force(double magnitude, double baseUnitMagnitude, ForceUnit unit)
-    implements Measure<ForceUnit> {
+public class Force extends MeasureBase<ForceUnit> {
   private static final MathHelper<ForceUnit, Force> mathHelper = new MathHelper<>(Newtons::of);
 
+  public Force(double magnitude, double baseUnitMagnitude, ForceUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
   @Override
   public Force copy() {
     return 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
index 586fdc49fb1..24f5619ed98 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
@@ -4,7 +4,9 @@
 
 package edu.wpi.first.units;
 
-public class ForceUnit extends Mult<MassUnit, LinearAccelerationUnit> {
+import edu.wpi.first.units.mutable.MutForce;
+
+public class ForceUnit extends MultUnit<MassUnit, LinearAccelerationUnit> {
   private static final CombinatoryUnitCache<MassUnit, LinearAccelerationUnit, ForceUnit> cache =
       new CombinatoryUnitCache<>(ForceUnit::new);
 
@@ -44,7 +46,18 @@ public EnergyUnit mult(DistanceUnit distance) {
     throw new UnsupportedOperationException();
   }
 
+  @Override
   public Force of(double magnitude) {
     return new Force(magnitude, toBaseUnits(magnitude), this);
   }
+
+  @Override
+  public Force ofBaseUnits(double baseUnitMagnitude) {
+    return new Force(toBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public MutForce mutable(double initialMagnitude) {
+    return new MutForce(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Frequency.java b/wpiunits/src/main/java/edu/wpi/first/units/Frequency.java
index 2ae9b55e060..64d6b31d49b 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Frequency.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Frequency.java
@@ -7,11 +7,14 @@
 import static edu.wpi.first.units.Units.Hertz;
 import static edu.wpi.first.units.Units.Seconds;
 
-public record Frequency(double magnitude, double baseUnitMagnitude, FrequencyUnit unit)
-    implements Measure<FrequencyUnit> {
+public class Frequency extends MeasureBase<FrequencyUnit> {
   private static final MathHelper<FrequencyUnit, Frequency> mathHelper =
       new MathHelper<>(Hertz::of);
 
+  public Frequency(double magnitude, double baseUnitMagnitude, FrequencyUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
   @Override
   public Frequency copy() {
     return this;
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java
index f1ef36234b9..caf9eb49466 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java
@@ -6,7 +6,7 @@
 
 import static edu.wpi.first.units.Units.Value;
 
-public class FrequencyUnit extends Per<DimensionlessUnit, TimeUnit> {
+public class FrequencyUnit extends PerUnit<DimensionlessUnit, TimeUnit> {
   private static final CombinatoryUnitCache<DimensionlessUnit, TimeUnit, FrequencyUnit> cache =
       new CombinatoryUnitCache<>(FrequencyUnit::new);
 
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 b9d46b2e1b4..46e7a948e04 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/ImmutableMeasure.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/ImmutableMeasure.java
@@ -4,8 +4,6 @@
 
 package edu.wpi.first.units;
 
-import java.util.Objects;
-
 /**
  * A measure holds the magnitude and unit of some dimension, such as distance, time, or speed. An
  * immutable measure is <i>immutable</i> and <i>type safe</i>, making it easy to use in concurrent
@@ -14,23 +12,9 @@
  *
  * @param <U> the unit type of the measure
  */
-public class ImmutableMeasure<U extends Unit> 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.
-   */
+public final class ImmutableMeasure<U extends Unit> extends MeasureBase<U> {
   ImmutableMeasure(double magnitude, double baseUnitMagnitude, U unit) {
-    Objects.requireNonNull(unit, "Unit cannot be null");
-    m_magnitude = magnitude;
-    m_baseUnitMagnitude = baseUnitMagnitude;
-    m_unit = unit;
+    super(magnitude, baseUnitMagnitude, unit);
   }
 
   /**
@@ -58,46 +42,8 @@ public static <U extends Unit> ImmutableMeasure<U> ofRelativeUnits(
     return new ImmutableMeasure<>(relativeMagnitude, unit.toBaseUnits(relativeMagnitude), unit);
   }
 
-  /** Gets the unitless magnitude of this measure. */
-  @Override
-  public double magnitude() {
-    return m_magnitude;
-  }
-
-  @Override
-  public double baseUnitMagnitude() {
-    return m_baseUnitMagnitude;
-  }
-
-  /** Gets the units of this measure. */
-  @Override
-  public U unit() {
-    return m_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();
-  }
-
-  @Override
-  public int hashCode() {
-    return Objects.hash(m_magnitude, m_unit);
-  }
-
   @Override
   public Measure<U> copy() {
     return this; // already immutable, no need to allocate a new object
   }
-
-  @Override
-  public String toString() {
-    return toShortString();
-  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearAcceleration.java
index 9faeb2f7ff7..38ea2bc7219 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearAcceleration.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearAcceleration.java
@@ -28,18 +28,4 @@ public double in(LinearAccelerationUnit otherUnit) {
   public LinearAccelerationUnit unit() {
     return (LinearAccelerationUnit) unit;
   }
-
-  @Override
-  public String toString() {
-    return "LinearAcceleration["
-        + "magnitude="
-        + magnitude
-        + ", "
-        + "baseUnitMagnitude="
-        + baseUnitMagnitude
-        + ", "
-        + "unit="
-        + unit
-        + ']';
-  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentum.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentum.java
index f5b147a703e..c706a826d37 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentum.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentum.java
@@ -4,8 +4,11 @@
 
 package edu.wpi.first.units;
 
-public record LinearMomentum(double magnitude, double baseUnitMagnitude, LinearMomentumUnit unit)
-    implements Measure<LinearMomentumUnit> {
+public class LinearMomentum extends MeasureBase<LinearMomentumUnit> {
+  public LinearMomentum(double magnitude, double baseUnitMagnitude, LinearMomentumUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
   @Override
   public LinearMomentum copy() {
     return this;
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
index d01b67f864a..6cb70aa4c41 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
@@ -4,7 +4,7 @@
 
 package edu.wpi.first.units;
 
-public class LinearMomentumUnit extends Mult<MassUnit, LinearVelocityUnit> {
+public class LinearMomentumUnit extends MultUnit<MassUnit, LinearVelocityUnit> {
   private static final CombinatoryUnitCache<MassUnit, LinearVelocityUnit, LinearMomentumUnit>
       cache = new CombinatoryUnitCache<>(LinearMomentumUnit::new);
 
@@ -13,7 +13,7 @@ protected LinearMomentumUnit(MassUnit unit, LinearVelocityUnit linearVelocityUni
   }
 
   LinearMomentumUnit(
-      Mult<MassUnit, LinearVelocityUnit> baseUnit,
+      MultUnit<MassUnit, LinearVelocityUnit> baseUnit,
       UnaryFunction toBaseConverter,
       UnaryFunction fromBaseConverter,
       String name,
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocity.java
index 76be58f8901..037ca33775a 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocity.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocity.java
@@ -24,42 +24,11 @@ public double in(LinearVelocityUnit otherUnit) {
   }
 
   public Distance times(Time period) {
-    // TODO
-    throw new UnsupportedOperationException();
+    return mathHelper.multiply(this, period, unit().numerator()::ofBaseUnits);
   }
 
   @Override
   public LinearVelocityUnit unit() {
     return (LinearVelocityUnit) unit;
   }
-
-  @Override
-  public String toString() {
-    return "LinearVelocity["
-        + "magnitude="
-        + magnitude
-        + ", "
-        + "baseUnitMagnitude="
-        + baseUnitMagnitude
-        + ", "
-        + "unit="
-        + unit
-        + ']';
-  }
-
-  public static class Mutable extends LinearVelocity
-      implements MutableMeasure<VelocityUnit<DistanceUnit>, LinearVelocity, Mutable> {
-    public Mutable(double magnitude, double baseUnitMagnitude, LinearVelocityUnit unit) {
-      super(magnitude, baseUnitMagnitude, unit);
-    }
-
-    @Override
-    public LinearVelocity.Mutable mut_replace(
-        double magnitude, VelocityUnit<DistanceUnit> newUnit) {
-      this.unit = newUnit;
-      this.magnitude = magnitude;
-      this.baseUnitMagnitude = newUnit.toBaseUnits(magnitude);
-      return this;
-    }
-  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java
index 8a815ec51ed..2e81c499b57 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java
@@ -4,6 +4,8 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.mutable.MutLinearVelocity;
+
 public class LinearVelocityUnit extends VelocityUnit<DistanceUnit> {
   private static final CombinatoryUnitCache<DistanceUnit, TimeUnit, LinearVelocityUnit> cache =
       new CombinatoryUnitCache<>(LinearVelocityUnit::new);
@@ -36,7 +38,7 @@ public LinearAccelerationUnit per(TimeUnit period) {
   }
 
   @Override
-  public LinearVelocity.Mutable mutable(double value) {
-    return new LinearVelocity.Mutable(value, toBaseUnits(value), this);
+  public MutLinearVelocity mutable(double value) {
+    return new MutLinearVelocity(value, toBaseUnits(value), this);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Mass.java b/wpiunits/src/main/java/edu/wpi/first/units/Mass.java
index 842c9f334ee..02c17d61573 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Mass.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Mass.java
@@ -4,8 +4,11 @@
 
 package edu.wpi.first.units;
 
-public record Mass(double magnitude, double baseUnitMagnitude, MassUnit unit)
-    implements Measure<MassUnit> {
+public class Mass extends MeasureBase<MassUnit> {
+  public Mass(double magnitude, double baseUnitMagnitude, MassUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
   @Override
   public Mass copy() {
     return this;
@@ -24,4 +27,9 @@ public Velocity<MassUnit> per(TimeUnit period) {
         baseUnitMagnitude / period.toBaseUnits(1),
         unit.per(period));
   }
+
+  @Override
+  public MassUnit unit() {
+    return unit;
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MathHelper.java b/wpiunits/src/main/java/edu/wpi/first/units/MathHelper.java
index 71b6600e161..a19d94afa60 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MathHelper.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MathHelper.java
@@ -11,6 +11,12 @@
 public class MathHelper<U extends Unit, M extends Measure<U>> {
   private final DoubleFunction<M> constructor;
 
+  /**
+   * Creates a new unit math helper object.
+   *
+   * @param constructor the function to use to create new instances of the measure type. This should
+   *     accept values in terms of base units.
+   */
   public MathHelper(DoubleFunction<M> constructor) {
     this.constructor = constructor;
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MeasureBase.java b/wpiunits/src/main/java/edu/wpi/first/units/MeasureBase.java
new file mode 100644
index 00000000000..d2f49bb6a10
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MeasureBase.java
@@ -0,0 +1,53 @@
+// 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 java.util.Objects;
+
+public abstract class MeasureBase<U extends Unit> implements Measure<U> {
+  protected double magnitude;
+  protected double baseUnitMagnitude;
+  protected U unit;
+
+  protected MeasureBase(double magnitude, double baseUnitMagnitude, U unit) {
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = baseUnitMagnitude;
+    this.unit = Objects.requireNonNull(unit, "Unit cannot be null");
+  }
+
+  @Override
+  public double magnitude() {
+    return magnitude;
+  }
+
+  @Override
+  public double baseUnitMagnitude() {
+    return baseUnitMagnitude;
+  }
+
+  @Override
+  public U unit() {
+    return unit;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (this == o) return true;
+    if (!(o instanceof MeasureBase<?> that)) return false;
+    return Double.compare(magnitude, that.magnitude) == 0
+        && Double.compare(baseUnitMagnitude, that.baseUnitMagnitude) == 0
+        && Objects.equals(unit, that.unit);
+  }
+
+  @Override
+  public int hashCode() {
+    return Objects.hash(magnitude, baseUnitMagnitude, unit);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertia.java b/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertia.java
new file mode 100644
index 00000000000..ecb53384414
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertia.java
@@ -0,0 +1,16 @@
+// 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;
+
+public class MomentOfInertia extends MeasureBase<MomentOfInertiaUnit> {
+  protected MomentOfInertia(double magnitude, double baseUnitMagnitude, MomentOfInertiaUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public Measure<MomentOfInertiaUnit> copy() {
+    return this;
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java
index 81e3ef4a600..8f7961abcbf 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java
@@ -4,7 +4,7 @@
 
 package edu.wpi.first.units;
 
-public class MomentOfInertiaUnit extends Per<AngularMomentumUnit, AngularVelocityUnit> {
+public class MomentOfInertiaUnit extends PerUnit<AngularMomentumUnit, AngularVelocityUnit> {
   private static final CombinatoryUnitCache<
           AngularMomentumUnit, AngularVelocityUnit, MomentOfInertiaUnit>
       cache = new CombinatoryUnitCache<>(MomentOfInertiaUnit::new);
@@ -14,7 +14,7 @@ protected MomentOfInertiaUnit(AngularMomentumUnit numerator, AngularVelocityUnit
   }
 
   MomentOfInertiaUnit(
-      Per<AngularMomentumUnit, AngularVelocityUnit> baseUnit,
+      PerUnit<AngularMomentumUnit, AngularVelocityUnit> baseUnit,
       UnaryFunction toBaseConverter,
       UnaryFunction fromBaseConverter,
       String name,
@@ -26,4 +26,14 @@ public static MomentOfInertiaUnit combine(
       AngularMomentumUnit momentumUnit, AngularVelocityUnit velocityUnit) {
     return cache.combine(momentumUnit, velocityUnit);
   }
+
+  @Override
+  public MomentOfInertia of(double magnitude) {
+    return new MomentOfInertia(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public MomentOfInertia ofBaseUnits(double baseUnitMagnitude) {
+    return new MomentOfInertia(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Mult.java b/wpiunits/src/main/java/edu/wpi/first/units/Mult.java
index 25bfd308fce..8d3943a7adc 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Mult.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Mult.java
@@ -4,116 +4,13 @@
 
 package edu.wpi.first.units;
 
-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, B extends Unit> extends Unit {
-  private final A m_unitA;
-  private final B m_unitB;
-
-  @SuppressWarnings("rawtypes")
-  private static final CombinatoryUnitCache<Unit, Unit, Mult> cache =
-      new CombinatoryUnitCache<>(Mult::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
-   */
-  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 = getBaseUnit().unitA();
-    m_unitB = getBaseUnit().unitB();
-  }
-
-  /**
-   * Creates a new Mult unit derived from two arbitrary units multiplied together.
-   *
-   * <pre>
-   *   Mult.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> Mult<A, B> combine(A a, B b) {
-    return cache.combine(a, b);
-  }
-
-  @Override
-  @SuppressWarnings("unchecked")
-  public Mult<A, B> getBaseUnit() {
-    return (Mult<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;
-    }
-    Mult<?, ?> mult = (Mult<?, ?>) o;
-    return Objects.equals(m_unitA, mult.m_unitA) && Objects.equals(m_unitB, mult.m_unitB);
+public class Mult<A extends Unit, B extends Unit> extends MeasureBase<MultUnit<A, B>> {
+  public Mult(double magnitude, double baseUnitMagnitude, MultUnit<A, B> unit) {
+    super(magnitude, baseUnitMagnitude, unit);
   }
 
   @Override
-  public int hashCode() {
-    return Objects.hash(super.hashCode(), m_unitA, m_unitB);
+  public Measure<MultUnit<A, B>> copy() {
+    return this;
   }
 }
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..efb1b4c8759
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java
@@ -0,0 +1,135 @@
+// 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.mutable.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
+   */
+  protected 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;
+  }
+
+  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);
+  }
+
+  @Override
+  public Measure<? extends MultUnit<A, B>> of(double magnitude) {
+    return new Mult<>(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public Measure<? extends MultUnit<A, B>> ofBaseUnits(double baseUnitMagnitude) {
+    return new Mult<>(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public MutableMeasure<? extends MultUnit<A, B>, ?, ?> mutable(double initialMagnitude) {
+    return new MutMult<>(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+
+  @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 347cf3cb5dc..01a8beed6ea 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
@@ -5,7 +5,6 @@
 package edu.wpi.first.units;
 
 /**
- *
  * @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.
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Per.java b/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
similarity index 69%
rename from wpiunits/src/main/java/edu/wpi/first/units/Per.java
rename to wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
index f9a0bb01bdd..93e143f5bb0 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Per.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
@@ -10,13 +10,10 @@
  * 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 VelocityUnit} is used to represent the velocity dimension, rather than {@code
- * Per<DistanceUnit, TimeUnit>}.
- *
  * @param <N> the type of the numerator unit
  * @param <D> the type of the denominator unit
  */
-public class Per<N extends Unit, D extends Unit> extends Unit {
+public class PerUnit<N extends Unit, D extends Unit> extends Unit {
   private final N m_numerator;
   private final D m_denominator;
 
@@ -25,8 +22,8 @@ public class Per<N extends Unit, D extends Unit> extends Unit {
    * after the first.
    */
   @SuppressWarnings("rawtypes")
-  private static final CombinatoryUnitCache<Unit, Unit, Per> cache =
-      new CombinatoryUnitCache<>(Per::new);
+  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
@@ -35,7 +32,7 @@ public class Per<N extends Unit, D extends Unit> extends Unit {
    * @param numerator the numerator unit
    * @param denominator the denominator unit
    */
-  protected Per(N numerator, D denominator) {
+  protected PerUnit(N numerator, D denominator) {
     super(
         numerator.isBaseUnit() && denominator.isBaseUnit()
             ? null
@@ -47,8 +44,8 @@ protected Per(N numerator, D denominator) {
     m_denominator = denominator;
   }
 
-  Per(
-      Per<N, D> baseUnit,
+  PerUnit(
+      PerUnit<N, D> baseUnit,
       UnaryFunction toBaseConverter,
       UnaryFunction fromBaseConverter,
       String name,
@@ -59,11 +56,10 @@ protected Per(N numerator, D 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 VelocityUnit} instead.
+   * Creates a new PerUnit unit derived from an arbitrary numerator and time denominator units.
    *
    * <pre>
-   *   Per.combine(Volts, Meters) // possible PID constant
+   *   PerUnit.combine(Volts, Meters) // possible PID constant
    * </pre>
    *
    * @param <N> the type of the numerator unit
@@ -73,18 +69,18 @@ protected Per(N numerator, D denominator) {
    * @return the combined unit
    */
   @SuppressWarnings("unchecked")
-  public static <N extends Unit, D extends Unit> Per<N, D> combine(N numerator, D denominator) {
+  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 Per<N, D> getBaseUnit() {
-    return (Per<N, D>) super.getBaseUnit();
+  public PerUnit<N, D> getBaseUnit() {
+    return (PerUnit<N, D>) super.getBaseUnit();
   }
 
   /**
-   * Gets the numerator unit. For a {@code Per<A, B>}, this will return the {@code A} unit.
+   * Gets the numerator unit. For a {@code PerUnit<A, B>}, this will return the {@code A} unit.
    *
    * @return the numerator unit
    */
@@ -93,7 +89,7 @@ public N numerator() {
   }
 
   /**
-   * Gets the denominator unit. For a {@code Per<A, B>}, this will return the {@code B} unit.
+   * Gets the denominator unit. For a {@code PerUnit<A, B>}, this will return the {@code B} unit.
    *
    * @return the denominator unit
    */
@@ -102,11 +98,11 @@ public D denominator() {
   }
 
   /**
-   * Returns the reciprocal of this Per.
+   * Returns the reciprocal of this PerUnit.
    *
    * @return the reciprocal
    */
-  public Per<D, N> reciprocal() {
+  public PerUnit<D, N> reciprocal() {
     return combine(m_denominator, m_numerator);
   }
 
@@ -124,21 +120,21 @@ public N mult(D denom) {
   }
 
   @Override
-  public Measure<? extends Per<N, D>> of(double magnitude) {
+  public Measure<? extends PerUnit<N, D>> of(double magnitude) {
     return ImmutableMeasure.ofRelativeUnits(magnitude, this);
   }
 
   @Override
-  public Measure<?> ofBaseUnits(double baseUnitMagnitude) {
+  public Measure<? extends PerUnit<N, D>> ofBaseUnits(double baseUnitMagnitude) {
     return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude, this);
   }
 
   @Override
-  public MutableMeasure<?, ?, ?> mutable(double initialMagnitude) {
+  public MutableMeasure<? extends PerUnit<N, D>, ?, ?> mutable(double initialMagnitude) {
     return null;
   }
 
-  public double convertFrom(double magnitude, Per<? extends N, ? extends D> otherUnit) {
+  public double convertFrom(double magnitude, PerUnit<? extends N, ? extends D> otherUnit) {
     return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
   }
 
@@ -153,9 +149,9 @@ public boolean equals(Object o) {
     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);
+    PerUnit<?, ?> perUnit = (PerUnit<?, ?>) o;
+    return Objects.equals(m_numerator, perUnit.m_numerator)
+        && Objects.equals(m_denominator, perUnit.m_denominator);
   }
 
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Power.java b/wpiunits/src/main/java/edu/wpi/first/units/Power.java
index b13adf37fb3..aa68751bf8f 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Power.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Power.java
@@ -4,14 +4,17 @@
 
 package edu.wpi.first.units;
 
-public record Power(double magnitude, double baseUnitMagnitude, PowerUnit unit)
-    implements Measure<PowerUnit> {
+public class Power extends MeasureBase<PowerUnit> {
+  public Power(double magnitude, double baseUnitMagnitude, PowerUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
   @Override
   public Power copy() {
     return this;
   }
 
-  public double in(Per<EnergyUnit, TimeUnit> otherUnit) {
+  public double in(PerUnit<EnergyUnit, TimeUnit> otherUnit) {
     return otherUnit.fromBaseUnits(baseUnitMagnitude);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
index 86f03d1a54b..437c8c03deb 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
@@ -16,7 +16,7 @@
  * <p>Actual units (such as {@link Units#Watts} and {@link Units#Horsepower}) can be found in the
  * {@link Units} class.
  */
-public class PowerUnit extends Per<EnergyUnit, TimeUnit> {
+public class PowerUnit extends PerUnit<EnergyUnit, TimeUnit> {
   private static final CombinatoryUnitCache<EnergyUnit, TimeUnit, PowerUnit> cache =
       new CombinatoryUnitCache<>(PowerUnit::new);
 
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Temperature.java b/wpiunits/src/main/java/edu/wpi/first/units/Temperature.java
index 936b5dfd63c..aa1b61015d5 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Temperature.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Temperature.java
@@ -4,8 +4,11 @@
 
 package edu.wpi.first.units;
 
-public record Temperature(double magnitude, double baseUnitMagnitude, TemperatureUnit unit)
-    implements Measure<TemperatureUnit> {
+public class Temperature extends MeasureBase<TemperatureUnit> {
+  public Temperature(double magnitude, double baseUnitMagnitude, TemperatureUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
   @Override
   public Temperature copy() {
     return this;
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Time.java b/wpiunits/src/main/java/edu/wpi/first/units/Time.java
index c60037e220b..0308c069859 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Time.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Time.java
@@ -7,10 +7,13 @@
 import static edu.wpi.first.units.Units.Hertz;
 import static edu.wpi.first.units.Units.Seconds;
 
-public record Time(double magnitude, double baseUnitMagnitude, TimeUnit unit)
-    implements Measure<TimeUnit> {
+public class Time extends MeasureBase<TimeUnit> {
   private static final MathHelper<TimeUnit, Time> mathHelper = new MathHelper<>(Seconds::of);
 
+  public Time(double magnitude, double baseUnitMagnitude, TimeUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
   @Override
   public Time copy() {
     return this;
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
index 63a583e1eb5..240ddcc442d 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
@@ -41,8 +41,8 @@ public DimensionlessUnit per(TimeUnit other) {
         .make();
   }
 
-  public <U extends Unit> Per<TimeUnit, U> per(U other) {
-    return Per.combine(this, other);
+  public <U extends Unit> PerUnit<TimeUnit, U> per(U other) {
+    return PerUnit.combine(this, other);
   }
 
   public double convertFrom(double magnitude, TimeUnit otherUnit) {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Torque.java b/wpiunits/src/main/java/edu/wpi/first/units/Torque.java
index ba4a10d987b..d8e49642756 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Torque.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Torque.java
@@ -4,8 +4,11 @@
 
 package edu.wpi.first.units;
 
-public record Torque(double magnitude, double baseUnitMagnitude, TorqueUnit unit)
-    implements Measure<TorqueUnit> {
+public class Torque extends MeasureBase<TorqueUnit> {
+  public Torque(double magnitude, double baseUnitMagnitude, TorqueUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
   @Override
   public Torque copy() {
     return 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
index 627b1ae136f..1019d3a729d 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
@@ -4,7 +4,7 @@
 
 package edu.wpi.first.units;
 
-public class TorqueUnit extends Mult<DistanceUnit, ForceUnit> {
+public class TorqueUnit extends MultUnit<DistanceUnit, ForceUnit> {
   private static final CombinatoryUnitCache<DistanceUnit, ForceUnit, TorqueUnit> cache =
       new CombinatoryUnitCache<>(TorqueUnit::new);
 
@@ -13,7 +13,7 @@ protected TorqueUnit(DistanceUnit distanceUnit, ForceUnit forceUnit) {
   }
 
   TorqueUnit(
-      Mult<DistanceUnit, ForceUnit> baseUnit,
+      MultUnit<DistanceUnit, ForceUnit> baseUnit,
       UnaryFunction toBaseConverter,
       UnaryFunction fromBaseConverter,
       String name,
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 35f18f4e94c..b23ea29dd42 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Unit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Unit.java
@@ -61,6 +61,7 @@ protected Unit(Unit baseUnit, double baseUnitEquivalent, String name, String sym
   }
 
   public abstract Measure<?> of(double magnitude);
+
   public abstract Measure<?> ofBaseUnits(double baseUnitMagnitude);
 
   public abstract MutableMeasure<?, ?, ?> mutable(double initialMagnitude);
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 b1b7a036f5b..8e6b7801b52 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Units.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Units.java
@@ -432,28 +432,28 @@ 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<VoltageUnit, LinearVelocityUnit> 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<VoltageUnit, LinearAccelerationUnit> 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<VoltageUnit, AngularVelocityUnit> 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<VoltageUnit, AngularAccelerationUnit> VoltsPerRadianPerSecondSquared =
+  public static final PerUnit<VoltageUnit, AngularAccelerationUnit> VoltsPerRadianPerSecondSquared =
       Volts.per(RadiansPerSecond.per(Second));
 
   /**
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Velocity.java b/wpiunits/src/main/java/edu/wpi/first/units/Velocity.java
index 62632d86ca4..973c4a94064 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Velocity.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Velocity.java
@@ -4,17 +4,9 @@
 
 package edu.wpi.first.units;
 
-import java.util.Objects;
-
-public class Velocity<D extends Unit> implements Measure<VelocityUnit<D>> {
-  protected double magnitude;
-  protected double baseUnitMagnitude;
-  protected VelocityUnit<D> unit;
-
+public class Velocity<D extends Unit> extends MeasureBase<VelocityUnit<D>> {
   public Velocity(double magnitude, double baseUnitMagnitude, VelocityUnit<D> unit) {
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = baseUnitMagnitude;
-    this.unit = unit;
+    super(magnitude, baseUnitMagnitude, unit);
   }
 
   @Override
@@ -25,64 +17,4 @@ public Velocity<D> copy() {
   public double in(VelocityUnit<? extends D> otherUnit) {
     return otherUnit.fromBaseUnits(baseUnitMagnitude);
   }
-
-  @Override
-  public double magnitude() {
-    return magnitude;
-  }
-
-  @Override
-  public double baseUnitMagnitude() {
-    return baseUnitMagnitude;
-  }
-
-  @Override
-  public VelocityUnit<D> unit() {
-    return unit;
-  }
-
-  @Override
-  public boolean equals(Object obj) {
-    if (obj == this) return true;
-    if (obj == null || obj.getClass() != this.getClass()) return false;
-    var that = (Velocity) obj;
-    return Double.doubleToLongBits(this.magnitude) == Double.doubleToLongBits(that.magnitude)
-        && Double.doubleToLongBits(this.baseUnitMagnitude)
-            == Double.doubleToLongBits(that.baseUnitMagnitude)
-        && Objects.equals(this.unit, that.unit);
-  }
-
-  @Override
-  public int hashCode() {
-    return Objects.hash(magnitude, baseUnitMagnitude, unit);
-  }
-
-  @Override
-  public String toString() {
-    return "Velocity["
-        + "magnitude="
-        + magnitude
-        + ", "
-        + "baseUnitMagnitude="
-        + baseUnitMagnitude
-        + ", "
-        + "unit="
-        + unit
-        + ']';
-  }
-
-  public static class Mutable<D extends Unit> extends Velocity<D>
-      implements MutableMeasure<VelocityUnit<D>, Velocity<D>, Mutable<D>> {
-    public Mutable(double magnitude, double baseUnitMagnitude, VelocityUnit<D> unit) {
-      super(magnitude, baseUnitMagnitude, unit);
-    }
-
-    @Override
-    public Mutable<D> mut_replace(double magnitude, VelocityUnit<D> newUnit) {
-      this.unit = newUnit;
-      this.magnitude = magnitude;
-      this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
-      return this;
-    }
-  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
index 2b6dd74664e..8b09d0041c5 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
@@ -4,6 +4,8 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.mutable.MutVelocity;
+
 /**
  * Unit of velocity dimension that is a combination of a distance unit (numerator) and a time unit
  * (denominator).
@@ -17,7 +19,7 @@
  *
  * @param <D> the distance unit, such as {@link AngleUnit} or {@link DistanceUnit}
  */
-public class VelocityUnit<D extends Unit> extends Per<D, TimeUnit> {
+public class VelocityUnit<D extends Unit> extends PerUnit<D, TimeUnit> {
   @SuppressWarnings("rawtypes")
   private static final CombinatoryUnitCache<Unit, TimeUnit, VelocityUnit> cache =
       new CombinatoryUnitCache<>(VelocityUnit::new);
@@ -67,7 +69,7 @@ public Velocity<D> of(double magnitude) {
   }
 
   public MutableMeasure<VelocityUnit<D>, ?, ?> mutable(double initialMagnitude) {
-    return new Velocity.Mutable<>(initialMagnitude, toBaseUnits(initialMagnitude), this);
+    return new MutVelocity<>(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 
   public double convertFrom(double magnitude, VelocityUnit<? extends D> otherUnit) {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Voltage.java b/wpiunits/src/main/java/edu/wpi/first/units/Voltage.java
index 1293086aaeb..db2522cdf62 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Voltage.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Voltage.java
@@ -48,21 +48,8 @@ public VoltageUnit unit() {
     return unit;
   }
 
-  public <U extends Unit> Measure<U> divide(Measure<? extends Per<VoltageUnit, U>> m) {
+  public <U extends Unit> Measure<U> divide(Measure<? extends PerUnit<VoltageUnit, U>> m) {
     return ImmutableMeasure.ofBaseUnits(
         baseUnitMagnitude / m.baseUnitMagnitude(), m.unit().denominator());
   }
-
-  public static class Mutable extends Voltage {
-    public Mutable(double magnitude, double baseUnitMagnitude, VoltageUnit unit) {
-      super(magnitude, baseUnitMagnitude, unit);
-    }
-
-    public Mutable mut_replace(double value, VoltageUnit newUnit) {
-      this.unit = newUnit;
-      this.magnitude = value;
-      this.baseUnitMagnitude = unit.toBaseUnits(value);
-      return this;
-    }
-  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
index 498d66dc222..062fcfd4b91 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
@@ -4,6 +4,8 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.mutable.MutVoltage;
+
 /**
  * Unit of electric voltage dimension.
  *
@@ -46,12 +48,12 @@ public Voltage of(double magnitude) {
     return new Voltage(magnitude, toBaseUnits(magnitude), this);
   }
 
-  public Voltage.Mutable mutable(double magnitude) {
-    return new Voltage.Mutable(magnitude, toBaseUnits(magnitude), this);
+  public MutVoltage mutable(double magnitude) {
+    return new MutVoltage(magnitude, toBaseUnits(magnitude), this);
   }
 
-  public <U extends Unit> Per<VoltageUnit, U> per(U other) {
-    return Per.combine(this, other);
+  public <U extends Unit> PerUnit<VoltageUnit, U> per(U other) {
+    return PerUnit.combine(this, other);
   }
 
   public VelocityUnit<VoltageUnit> per(TimeUnit period) {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAcceleration.java
new file mode 100644
index 00000000000..41df2a04dc6
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAcceleration.java
@@ -0,0 +1,31 @@
+// 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.Acceleration;
+import edu.wpi.first.units.AccelerationUnit;
+import edu.wpi.first.units.MutableMeasure;
+import edu.wpi.first.units.Unit;
+
+public class MutAcceleration<D extends Unit> extends Acceleration<D>
+    implements MutableMeasure<AccelerationUnit<D>, Acceleration<D>, MutAcceleration<D>> {
+  protected MutAcceleration(double magnitude, double baseUnitMagnitude, AccelerationUnit<D> unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public MutAcceleration<D> mut_replace(double magnitude, AccelerationUnit<D> newUnit) {
+    this.unit = newUnit;
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
+
+    return this;
+  }
+
+  @Override
+  public Acceleration<D> copy() {
+    return new Acceleration<>(magnitude, baseUnitMagnitude, unit);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngle.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngle.java
new file mode 100644
index 00000000000..fa27e3aa0f4
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngle.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.
+
+package edu.wpi.first.units.mutable;
+
+import edu.wpi.first.units.Angle;
+import edu.wpi.first.units.AngleUnit;
+import edu.wpi.first.units.MutableMeasure;
+
+public class MutAngle extends Angle implements MutableMeasure<AngleUnit, Angle, MutAngle> {
+  public MutAngle(double magnitude, double baseUnitMagnitude, AngleUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public MutAngle mut_replace(double value, AngleUnit newUnit) {
+    this.unit = newUnit;
+    this.magnitude = value;
+    this.baseUnitMagnitude = newUnit.toBaseUnits(value);
+    return this;
+  }
+
+  @Override
+  public Angle copy() {
+    return new Angle(magnitude, baseUnitMagnitude, unit);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularAcceleration.java
new file mode 100644
index 00000000000..5f99450d1ec
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularAcceleration.java
@@ -0,0 +1,33 @@
+// 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.AccelerationUnit;
+import edu.wpi.first.units.AngleUnit;
+import edu.wpi.first.units.AngularAcceleration;
+import edu.wpi.first.units.AngularAccelerationUnit;
+import edu.wpi.first.units.MutableMeasure;
+
+public class MutAngularAcceleration extends AngularAcceleration
+    implements MutableMeasure<
+        AccelerationUnit<AngleUnit>, AngularAcceleration, MutAngularAcceleration> {
+  public MutAngularAcceleration(
+      double magnitude, double baseUnitMagnitude, AngularAccelerationUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public MutAngularAcceleration mut_replace(double magnitude, AccelerationUnit<AngleUnit> newUnit) {
+    this.unit = newUnit;
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = newUnit.toBaseUnits(magnitude);
+    return this;
+  }
+
+  @Override
+  public AngularAcceleration copy() {
+    return new AngularAcceleration(magnitude, baseUnitMagnitude, unit());
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularMomentum.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularMomentum.java
new file mode 100644
index 00000000000..78c2a3fe853
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularMomentum.java
@@ -0,0 +1,29 @@
+// 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.AngularMomentum;
+import edu.wpi.first.units.AngularMomentumUnit;
+import edu.wpi.first.units.MutableMeasure;
+
+public class MutAngularMomentum extends AngularMomentum
+    implements MutableMeasure<AngularMomentumUnit, AngularMomentum, MutAngularMomentum> {
+  public MutAngularMomentum(double magnitude, double baseUnitMagnitude, AngularMomentumUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public MutAngularMomentum mut_replace(double magnitude, AngularMomentumUnit newUnit) {
+    this.unit = newUnit;
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
+    return this;
+  }
+
+  @Override
+  public AngularMomentum copy() {
+    return new AngularMomentum(magnitude, baseUnitMagnitude, unit);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularVelocity.java
new file mode 100644
index 00000000000..bbbedb8c252
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularVelocity.java
@@ -0,0 +1,31 @@
+// 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.AngleUnit;
+import edu.wpi.first.units.AngularVelocity;
+import edu.wpi.first.units.AngularVelocityUnit;
+import edu.wpi.first.units.MutableMeasure;
+import edu.wpi.first.units.VelocityUnit;
+
+public class MutAngularVelocity extends AngularVelocity
+    implements MutableMeasure<VelocityUnit<AngleUnit>, AngularVelocity, MutAngularVelocity> {
+  public MutAngularVelocity(double magnitude, double baseUnitMagnitude, AngularVelocityUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public MutAngularVelocity mut_replace(double magnitude, VelocityUnit<AngleUnit> newUnit) {
+    this.unit = newUnit;
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
+    return null;
+  }
+
+  @Override
+  public AngularVelocity copy() {
+    return new AngularVelocity(magnitude, baseUnitMagnitude, unit());
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutCurrent.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutCurrent.java
new file mode 100644
index 00000000000..8b6170d2aa9
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutCurrent.java
@@ -0,0 +1,30 @@
+// 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.Current;
+import edu.wpi.first.units.CurrentUnit;
+import edu.wpi.first.units.MutableMeasure;
+
+public class MutCurrent extends Current
+    implements MutableMeasure<CurrentUnit, Current, MutCurrent> {
+  public MutCurrent(double magnitude, double baseUnitMagnitude, CurrentUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public MutCurrent mut_replace(double magnitude, CurrentUnit newUnit) {
+    this.unit = newUnit;
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
+
+    return this;
+  }
+
+  @Override
+  public Current copy() {
+    return new Current(magnitude, baseUnitMagnitude, unit);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDimensionless.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDimensionless.java
new file mode 100644
index 00000000000..b655cfbd98e
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDimensionless.java
@@ -0,0 +1,30 @@
+// 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.Dimensionless;
+import edu.wpi.first.units.DimensionlessUnit;
+import edu.wpi.first.units.MutableMeasure;
+
+public class MutDimensionless extends Dimensionless
+    implements MutableMeasure<DimensionlessUnit, Dimensionless, MutDimensionless> {
+  public MutDimensionless(double magnitude, double baseUnitMagnitude, DimensionlessUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public MutDimensionless mut_replace(double magnitude, DimensionlessUnit newUnit) {
+    this.unit = newUnit;
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
+
+    return this;
+  }
+
+  @Override
+  public Dimensionless copy() {
+    return new Dimensionless(magnitude, baseUnitMagnitude, unit);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDistance.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDistance.java
new file mode 100644
index 00000000000..7ec1d43fab2
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDistance.java
@@ -0,0 +1,29 @@
+// 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.Distance;
+import edu.wpi.first.units.DistanceUnit;
+import edu.wpi.first.units.MutableMeasure;
+
+public class MutDistance extends Distance
+    implements MutableMeasure<DistanceUnit, Distance, MutDistance> {
+  public MutDistance(double magnitude, double baseUnitMagnitude, DistanceUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public MutDistance mut_replace(double magnitude, DistanceUnit newUnit) {
+    this.unit = newUnit;
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
+    return this;
+  }
+
+  @Override
+  public Distance copy() {
+    return new Distance(magnitude, baseUnitMagnitude, unit);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutEnergy.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutEnergy.java
new file mode 100644
index 00000000000..8493290a6ec
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutEnergy.java
@@ -0,0 +1,29 @@
+// 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.Energy;
+import edu.wpi.first.units.EnergyUnit;
+import edu.wpi.first.units.MutableMeasure;
+
+public class MutEnergy extends Energy implements MutableMeasure<EnergyUnit, Energy, MutEnergy> {
+  public MutEnergy(double magnitude, double baseUnitMagnitude, EnergyUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public MutEnergy mut_replace(double magnitude, EnergyUnit newUnit) {
+    this.unit = newUnit;
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
+
+    return this;
+  }
+
+  @Override
+  public Energy copy() {
+    return new Energy(magnitude, baseUnitMagnitude, unit);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutForce.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutForce.java
new file mode 100644
index 00000000000..a11154e565f
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutForce.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.
+
+package edu.wpi.first.units.mutable;
+
+import edu.wpi.first.units.Force;
+import edu.wpi.first.units.ForceUnit;
+import edu.wpi.first.units.MutableMeasure;
+
+public class MutForce extends Force implements MutableMeasure<ForceUnit, Force, MutForce> {
+  public MutForce(double magnitude, double baseUnitMagnitude, ForceUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public MutForce mut_replace(double magnitude, ForceUnit newUnit) {
+    this.unit = newUnit;
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
+    return this;
+  }
+
+  @Override
+  public Force copy() {
+    return new Force(magnitude, baseUnitMagnitude, unit);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutFrequency.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutFrequency.java
new file mode 100644
index 00000000000..ea003fafbe2
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutFrequency.java
@@ -0,0 +1,30 @@
+// 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.Frequency;
+import edu.wpi.first.units.FrequencyUnit;
+import edu.wpi.first.units.MutableMeasure;
+
+public class MutFrequency extends Frequency
+    implements MutableMeasure<FrequencyUnit, Frequency, MutFrequency> {
+  protected MutFrequency(double magnitude, double baseUnitMagnitude, FrequencyUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public MutFrequency mut_replace(double magnitude, FrequencyUnit newUnit) {
+    this.unit = newUnit;
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
+
+    return this;
+  }
+
+  @Override
+  public Frequency copy() {
+    return new Frequency(magnitude, baseUnitMagnitude, unit);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearAcceleration.java
new file mode 100644
index 00000000000..1d7813cf3d5
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearAcceleration.java
@@ -0,0 +1,35 @@
+// 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.AccelerationUnit;
+import edu.wpi.first.units.DistanceUnit;
+import edu.wpi.first.units.LinearAcceleration;
+import edu.wpi.first.units.LinearAccelerationUnit;
+import edu.wpi.first.units.MutableMeasure;
+
+public class MutLinearAcceleration extends LinearAcceleration
+    implements MutableMeasure<
+        AccelerationUnit<DistanceUnit>, LinearAcceleration, MutLinearAcceleration> {
+  public MutLinearAcceleration(
+      double magnitude, double baseUnitMagnitude, LinearAccelerationUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public MutLinearAcceleration mut_replace(
+      double magnitude, AccelerationUnit<DistanceUnit> newUnit) {
+    this.unit = newUnit;
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
+
+    return this;
+  }
+
+  @Override
+  public LinearAcceleration copy() {
+    return new LinearAcceleration(magnitude, baseUnitMagnitude, unit());
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearMomentum.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearMomentum.java
new file mode 100644
index 00000000000..5e5b3625664
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearMomentum.java
@@ -0,0 +1,30 @@
+// 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.LinearMomentum;
+import edu.wpi.first.units.LinearMomentumUnit;
+import edu.wpi.first.units.MutableMeasure;
+
+public class MutLinearMomentum extends LinearMomentum
+    implements MutableMeasure<LinearMomentumUnit, LinearMomentum, MutLinearMomentum> {
+  protected MutLinearMomentum(double magnitude, double baseUnitMagnitude, LinearMomentumUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public MutLinearMomentum mut_replace(double magnitude, LinearMomentumUnit newUnit) {
+    this.unit = newUnit;
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
+
+    return this;
+  }
+
+  @Override
+  public LinearMomentum copy() {
+    return new LinearMomentum(magnitude, baseUnitMagnitude, unit);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearVelocity.java
new file mode 100644
index 00000000000..df6afbb18a2
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearVelocity.java
@@ -0,0 +1,31 @@
+// 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.DistanceUnit;
+import edu.wpi.first.units.LinearVelocity;
+import edu.wpi.first.units.LinearVelocityUnit;
+import edu.wpi.first.units.MutableMeasure;
+import edu.wpi.first.units.VelocityUnit;
+
+public class MutLinearVelocity extends LinearVelocity
+    implements MutableMeasure<VelocityUnit<DistanceUnit>, LinearVelocity, MutLinearVelocity> {
+  public MutLinearVelocity(double magnitude, double baseUnitMagnitude, LinearVelocityUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public MutLinearVelocity mut_replace(double magnitude, VelocityUnit<DistanceUnit> newUnit) {
+    this.unit = newUnit;
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = newUnit.toBaseUnits(magnitude);
+    return this;
+  }
+
+  @Override
+  public LinearVelocity copy() {
+    return new LinearVelocity(magnitude, baseUnitMagnitude, unit());
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMass.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMass.java
new file mode 100644
index 00000000000..943f2181e26
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMass.java
@@ -0,0 +1,29 @@
+// 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.Mass;
+import edu.wpi.first.units.MassUnit;
+import edu.wpi.first.units.MutableMeasure;
+
+public class MutMass extends Mass implements MutableMeasure<MassUnit, Mass, MutMass> {
+  protected MutMass(double magnitude, double baseUnitMagnitude, MassUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public MutMass mut_replace(double magnitude, MassUnit newUnit) {
+    this.unit = newUnit;
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
+
+    return this;
+  }
+
+  @Override
+  public Mass copy() {
+    return new Mass(magnitude, baseUnitMagnitude, unit);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMult.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMult.java
new file mode 100644
index 00000000000..d0d0b3c020b
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMult.java
@@ -0,0 +1,31 @@
+// 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.Mult;
+import edu.wpi.first.units.MultUnit;
+import edu.wpi.first.units.MutableMeasure;
+import edu.wpi.first.units.Unit;
+
+public class MutMult<A extends Unit, B extends Unit> extends Mult<A, B>
+    implements MutableMeasure<MultUnit<A, B>, Mult<A, B>, MutMult<A, B>> {
+  public MutMult(double magnitude, double baseUnitMagnitude, MultUnit<A, B> unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public MutMult<A, B> mut_replace(double magnitude, MultUnit<A, B> newUnit) {
+    this.unit = newUnit;
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
+
+    return this;
+  }
+
+  @Override
+  public Mult<A, B> copy() {
+    return new Mult<>(magnitude, baseUnitMagnitude, unit);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutPower.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutPower.java
new file mode 100644
index 00000000000..c8108722315
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutPower.java
@@ -0,0 +1,29 @@
+// 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.MutableMeasure;
+import edu.wpi.first.units.Power;
+import edu.wpi.first.units.PowerUnit;
+
+public class MutPower extends Power implements MutableMeasure<PowerUnit, Power, MutPower> {
+  protected MutPower(double magnitude, double baseUnitMagnitude, PowerUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public MutPower mut_replace(double magnitude, PowerUnit newUnit) {
+    this.unit = newUnit;
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
+
+    return this;
+  }
+
+  @Override
+  public Power copy() {
+    return new Power(magnitude, baseUnitMagnitude, unit);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTemperature.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTemperature.java
new file mode 100644
index 00000000000..9520839c224
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTemperature.java
@@ -0,0 +1,30 @@
+// 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.MutableMeasure;
+import edu.wpi.first.units.Temperature;
+import edu.wpi.first.units.TemperatureUnit;
+
+public class MutTemperature extends Temperature
+    implements MutableMeasure<TemperatureUnit, Temperature, MutTemperature> {
+  protected MutTemperature(double magnitude, double baseUnitMagnitude, TemperatureUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public MutTemperature mut_replace(double magnitude, TemperatureUnit newUnit) {
+    this.unit = newUnit;
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
+
+    return this;
+  }
+
+  @Override
+  public Temperature copy() {
+    return new Temperature(magnitude, baseUnitMagnitude, unit);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTime.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTime.java
new file mode 100644
index 00000000000..62432260da1
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTime.java
@@ -0,0 +1,29 @@
+// 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.MutableMeasure;
+import edu.wpi.first.units.Time;
+import edu.wpi.first.units.TimeUnit;
+
+public class MutTime extends Time implements MutableMeasure<TimeUnit, Time, MutTime> {
+  protected MutTime(double magnitude, double baseUnitMagnitude, TimeUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public MutTime mut_replace(double magnitude, TimeUnit newUnit) {
+    this.unit = newUnit;
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
+
+    return this;
+  }
+
+  @Override
+  public Time copy() {
+    return new Time(magnitude, baseUnitMagnitude, unit);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTorque.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTorque.java
new file mode 100644
index 00000000000..ce168d3060a
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTorque.java
@@ -0,0 +1,29 @@
+// 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.MutableMeasure;
+import edu.wpi.first.units.Torque;
+import edu.wpi.first.units.TorqueUnit;
+
+public class MutTorque extends Torque implements MutableMeasure<TorqueUnit, Torque, MutTorque> {
+  protected MutTorque(double magnitude, double baseUnitMagnitude, TorqueUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public MutTorque mut_replace(double magnitude, TorqueUnit newUnit) {
+    this.unit = newUnit;
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
+
+    return this;
+  }
+
+  @Override
+  public Torque copy() {
+    return new Torque(magnitude, baseUnitMagnitude, unit);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVelocity.java
new file mode 100644
index 00000000000..5939be60b87
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVelocity.java
@@ -0,0 +1,30 @@
+// 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.MutableMeasure;
+import edu.wpi.first.units.Unit;
+import edu.wpi.first.units.Velocity;
+import edu.wpi.first.units.VelocityUnit;
+
+public class MutVelocity<D extends Unit> extends Velocity<D>
+    implements MutableMeasure<VelocityUnit<D>, Velocity<D>, MutVelocity<D>> {
+  public MutVelocity(double magnitude, double baseUnitMagnitude, VelocityUnit<D> unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public MutVelocity<D> mut_replace(double magnitude, VelocityUnit<D> newUnit) {
+    this.unit = newUnit;
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
+    return this;
+  }
+
+  @Override
+  public Velocity<D> copy() {
+    return new Velocity<>(magnitude, baseUnitMagnitude, unit);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVoltage.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVoltage.java
new file mode 100644
index 00000000000..72e155bdb58
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVoltage.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.
+
+package edu.wpi.first.units.mutable;
+
+import edu.wpi.first.units.MutableMeasure;
+import edu.wpi.first.units.Voltage;
+import edu.wpi.first.units.VoltageUnit;
+
+public class MutVoltage extends Voltage
+    implements MutableMeasure<VoltageUnit, Voltage, MutVoltage> {
+  public MutVoltage(double magnitude, double baseUnitMagnitude, VoltageUnit unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  public MutVoltage mut_replace(double value, VoltageUnit newUnit) {
+    this.unit = newUnit;
+    this.magnitude = value;
+    this.baseUnitMagnitude = unit.toBaseUnits(value);
+    return this;
+  }
+
+  @Override
+  public Voltage copy() {
+    return new Voltage(magnitude, baseUnitMagnitude, unit);
+  }
+}
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 68938551f82..6ae6224296f 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/MeasureTest.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/MeasureTest.java
@@ -113,7 +113,7 @@ void testDivideMeasure() {
     var time = m3.divide(m4);
     assertEquals(time.magnitude(), 2);
     assertEquals(time.unit(), Units.Second);
-    // Per divide
+    // PerUnit divide
     var m5 = Units.Volts.of(6);
     var m6 = Units.Volts.per(Units.Meter).of(2);
     var dist = m5.divide(m6);
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));
   }
 }

From 485135a43497f2e6bc9b5670874cbc849e113b0f Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Tue, 25 Jun 2024 22:12:45 -0400
Subject: [PATCH 05/46] Split into mutable and immutable variants

Allows immutables to be records and easily converted to value types if valhalla ever lands
---
 .../edu/wpi/first/units/Acceleration.java     |  49 ++------
 .../edu/wpi/first/units/AccelerationUnit.java |  15 ++-
 .../main/java/edu/wpi/first/units/Angle.java  |  66 +++--------
 .../java/edu/wpi/first/units/AngleUnit.java   |   5 +-
 .../wpi/first/units/AngularAcceleration.java  |  52 ++++++---
 .../first/units/AngularAccelerationUnit.java  |   9 +-
 .../edu/wpi/first/units/AngularMomentum.java  |  14 +--
 .../wpi/first/units/AngularMomentumUnit.java  |   8 +-
 .../edu/wpi/first/units/AngularVelocity.java  |  31 ++---
 .../wpi/first/units/AngularVelocityUnit.java  |   5 +-
 .../java/edu/wpi/first/units/Current.java     |  14 +--
 .../java/edu/wpi/first/units/CurrentUnit.java |   6 +-
 .../edu/wpi/first/units/Dimensionless.java    |  22 ++--
 .../java/edu/wpi/first/units/Distance.java    |  55 ++++-----
 .../edu/wpi/first/units/DistanceUnit.java     |   5 +-
 .../main/java/edu/wpi/first/units/Energy.java |  20 ++--
 .../java/edu/wpi/first/units/EnergyUnit.java  |   5 +-
 .../main/java/edu/wpi/first/units/Force.java  |  26 ++---
 .../java/edu/wpi/first/units/ForceUnit.java   |   5 +-
 .../java/edu/wpi/first/units/Frequency.java   |  19 +--
 .../edu/wpi/first/units/FrequencyUnit.java    |  15 ++-
 .../first/units/ImmutableLinearVelocity.java  |  13 +++
 .../edu/wpi/first/units/ImmutableMeasure.java |   7 +-
 .../wpi/first/units/LinearAcceleration.java   |  54 +++++++--
 .../first/units/LinearAccelerationUnit.java   |  16 ++-
 .../edu/wpi/first/units/LinearMomentum.java   |  10 +-
 .../wpi/first/units/LinearMomentumUnit.java   |  16 ++-
 .../edu/wpi/first/units/LinearVelocity.java   |  24 ++--
 .../wpi/first/units/LinearVelocityUnit.java   |   2 +-
 .../main/java/edu/wpi/first/units/Mass.java   |  32 ++---
 .../java/edu/wpi/first/units/MassUnit.java    |  15 ++-
 .../java/edu/wpi/first/units/MathHelper.java  |  11 +-
 .../edu/wpi/first/units/MomentOfInertia.java  |  10 +-
 .../wpi/first/units/MomentOfInertiaUnit.java  |  12 +-
 .../main/java/edu/wpi/first/units/Mult.java   |  10 +-
 .../java/edu/wpi/first/units/MultUnit.java    |   5 +-
 .../edu/wpi/first/units/MutableMeasure.java   |  11 ++
 .../java/edu/wpi/first/units/PerUnit.java     |   2 +-
 .../main/java/edu/wpi/first/units/Power.java  |  14 +--
 .../java/edu/wpi/first/units/PowerUnit.java   |  15 ++-
 .../java/edu/wpi/first/units/Temperature.java |  21 ++--
 .../edu/wpi/first/units/TemperatureUnit.java  |  15 ++-
 .../main/java/edu/wpi/first/units/Time.java   |  22 ++--
 .../java/edu/wpi/first/units/TimeUnit.java    |  16 ++-
 .../main/java/edu/wpi/first/units/Torque.java |  10 +-
 .../java/edu/wpi/first/units/TorqueUnit.java  |  16 ++-
 .../main/java/edu/wpi/first/units/Unit.java   |   2 -
 .../java/edu/wpi/first/units/Velocity.java    |  14 +--
 .../edu/wpi/first/units/VelocityUnit.java     |   8 +-
 .../java/edu/wpi/first/units/Voltage.java     |  45 ++------
 .../java/edu/wpi/first/units/VoltageUnit.java |  10 +-
 .../immutable/ImmutableAcceleration.java      | 109 ++++++++++++++++++
 .../first/units/immutable/ImmutableAngle.java |  88 ++++++++++++++
 .../ImmutableAngularAcceleration.java         |  22 ++++
 .../immutable/ImmutableAngularMomentum.java   |  17 +++
 .../immutable/ImmutableAngularVelocity.java   |  22 ++++
 .../units/immutable/ImmutableCurrent.java     |  16 +++
 .../immutable/ImmutableDimensionless.java     |  16 +++
 .../units/immutable/ImmutableDistance.java    |  16 +++
 .../units/immutable/ImmutableEnergy.java      |  16 +++
 .../first/units/immutable/ImmutableForce.java |  16 +++
 .../units/immutable/ImmutableFrequency.java   |  16 +++
 .../ImmutableLinearAcceleration.java          |  17 +++
 .../immutable/ImmutableLinearMomentum.java    |  16 +++
 .../first/units/immutable/ImmutableMass.java  |  40 +++++++
 .../immutable/ImmutableMomentOfInertia.java   |  18 +++
 .../first/units/immutable/ImmutableMult.java  |  18 +++
 .../first/units/immutable/ImmutablePower.java |  16 +++
 .../units/immutable/ImmutableTemperature.java |  16 +++
 .../first/units/immutable/ImmutableTime.java  |  16 +++
 .../units/immutable/ImmutableTorque.java      |  16 +++
 .../units/immutable/ImmutableVelocity.java    |  17 +++
 .../units/immutable/ImmutableVoltage.java     |  16 +++
 .../first/units/mutable/MutAcceleration.java  |  74 ++++++++++--
 .../edu/wpi/first/units/mutable/MutAngle.java |  80 +++++++++++--
 .../units/mutable/MutAngularAcceleration.java |  20 +---
 .../units/mutable/MutAngularMomentum.java     |  17 +--
 .../units/mutable/MutAngularVelocity.java     |  21 ++--
 .../wpi/first/units/mutable/MutCurrent.java   |  17 +--
 .../first/units/mutable/MutDimensionless.java |  18 +--
 .../wpi/first/units/mutable/MutDistance.java  |  16 +--
 .../wpi/first/units/mutable/MutEnergy.java    |  16 +--
 .../edu/wpi/first/units/mutable/MutForce.java |  15 +--
 .../wpi/first/units/mutable/MutFrequency.java |  19 +--
 .../units/mutable/MutLinearAcceleration.java  |  22 +---
 .../units/mutable/MutLinearMomentum.java      |  20 +---
 .../units/mutable/MutLinearVelocity.java      |  16 ++-
 .../edu/wpi/first/units/mutable/MutMass.java  |  17 +--
 .../units/mutable/MutMomentOfInertia.java     |  22 ++++
 .../edu/wpi/first/units/mutable/MutMult.java  |   2 +-
 .../edu/wpi/first/units/mutable/MutPower.java |  18 +--
 .../first/units/mutable/MutTemperature.java   |  20 +---
 .../edu/wpi/first/units/mutable/MutTime.java  |  17 +--
 .../wpi/first/units/mutable/MutTorque.java    |  18 +--
 .../wpi/first/units/mutable/MutVelocity.java  |   9 +-
 .../wpi/first/units/mutable/MutVoltage.java   |  15 +--
 .../MutableMeasureBase.java}                  |  23 +++-
 97 files changed, 1298 insertions(+), 698 deletions(-)
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/ImmutableLinearVelocity.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAcceleration.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngle.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularAcceleration.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularMomentum.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularVelocity.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableCurrent.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDimensionless.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDistance.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableEnergy.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableForce.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableFrequency.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearAcceleration.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearMomentum.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMass.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMomentOfInertia.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMult.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutablePower.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTemperature.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTime.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTorque.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVelocity.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVoltage.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMomentOfInertia.java
 rename wpiunits/src/main/java/edu/wpi/first/units/{MeasureBase.java => mutable/MutableMeasureBase.java} (58%)

diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Acceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/Acceleration.java
index 0309a015a66..f7b44997f72 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Acceleration.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Acceleration.java
@@ -4,52 +4,23 @@
 
 package edu.wpi.first.units;
 
-public class Acceleration<D extends Unit> extends MeasureBase<AccelerationUnit<D>> {
-  private final MathHelper<AccelerationUnit<D>, Acceleration<D>> mathHelper =
-      new MathHelper<>(baseUnit()::of);
-
-  public Acceleration(double magnitude, double baseUnitMagnitude, AccelerationUnit<D> unit) {
-    super(magnitude, baseUnitMagnitude, unit);
-  }
-
+public interface Acceleration<D extends Unit> extends Measure<AccelerationUnit<D>> {
   @Override
-  public Acceleration<D> copy() {
-    return this;
-  }
-
-  public Acceleration<D> zero() {
-    return mathHelper.zero();
-  }
+  Acceleration<D> copy();
 
-  public Acceleration<D> plus(Acceleration<D> other) {
-    return mathHelper.add(this, other);
-  }
+  Acceleration<D> plus(Acceleration<D> other);
 
-  public Acceleration<D> minus(Acceleration<D> other) {
-    return mathHelper.minus(this, other);
-  }
+  Acceleration<D> minus(Acceleration<D> other);
 
-  public Dimensionless divide(Acceleration<D> divisor) {
-    return mathHelper.divide(this, divisor);
-  }
+  Dimensionless divide(Acceleration<D> divisor);
 
-  public Acceleration<D> divide(double divisor) {
-    return mathHelper.divide(this, divisor);
-  }
+  Acceleration<D> divide(double divisor);
 
-  public Acceleration<D> divide(Dimensionless divisor) {
-    return mathHelper.divide(this, divisor);
-  }
+  Acceleration<D> divide(Dimensionless divisor);
 
-  public Acceleration<D> times(double multiplier) {
-    return mathHelper.multiply(this, multiplier);
-  }
+  Acceleration<D> times(double multiplier);
 
-  public Acceleration<D> times(Dimensionless multiplier) {
-    return mathHelper.multiply(this, multiplier);
-  }
+  Acceleration<D> times(Dimensionless multiplier);
 
-  public Velocity<D> times(Time time) {
-    return mathHelper.multiply(this, time, baseUnit().numerator()::of);
-  }
+  Velocity<D> times(Time time);
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
index 6f08c7ed60d..cd816710d8a 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
@@ -4,6 +4,9 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.immutable.ImmutableAcceleration;
+import edu.wpi.first.units.mutable.MutAcceleration;
+
 public class AccelerationUnit<D extends Unit> extends PerUnit<VelocityUnit<D>, TimeUnit> {
   @SuppressWarnings({"rawtypes", "unchecked"})
   private static final CombinatoryUnitCache<VelocityUnit, TimeUnit, AccelerationUnit> cache =
@@ -23,7 +26,17 @@ protected AccelerationUnit(
   }
 
   public Acceleration<D> of(double magnitude) {
-    return new Acceleration<>(magnitude, toBaseUnits(magnitude), this);
+    return new ImmutableAcceleration<>(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public Acceleration<D> ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableAcceleration<>(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public MutAcceleration<D> mutable(double initialMagnitude) {
+    return new MutAcceleration<>(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 
   @SuppressWarnings("unchecked")
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Angle.java b/wpiunits/src/main/java/edu/wpi/first/units/Angle.java
index c96c2b36213..22a8c5138da 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Angle.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Angle.java
@@ -4,66 +4,26 @@
 
 package edu.wpi.first.units;
 
-import static edu.wpi.first.units.Units.Radians;
-import static edu.wpi.first.units.Units.RadiansPerSecond;
-import static edu.wpi.first.units.Units.Value;
+public interface Angle extends Measure<AngleUnit> {
+  Dimensionless divide(Angle other);
 
-public class Angle extends MeasureBase<AngleUnit> {
-  private static final MathHelper<AngleUnit, Angle> mathHelper = new MathHelper<>(Radians::of);
+  Angle plus(Angle other);
 
-  public Angle(double magnitude, double baseUnitMagnitude, AngleUnit unit) {
-    super(magnitude, baseUnitMagnitude, unit);
-  }
+  Angle minus(Angle other);
 
-  @Override
-  public Angle copy() {
-    return this;
-  }
+  Angle divide(double divisor);
 
-  public Dimensionless divide(Angle other) {
-    return mathHelper.divide(this, other);
-  }
+  AngularVelocity divide(Time period);
 
-  public Angle plus(Angle other) {
-    return mathHelper.add(this, other);
-  }
+  <Other extends Unit> Measure<Other> divide(
+      Measure<? extends PerUnit<AngleUnit, ? extends Other>> ratio);
 
-  public Angle minus(Angle other) {
-    return mathHelper.minus(this, other);
-  }
+  AngularVelocity per(TimeUnit unit);
 
-  public Angle divide(double divisor) {
-    return mathHelper.divide(this, divisor);
-  }
+  Dimensionless per(AngleUnit unit);
 
-  public AngularVelocity divide(Time period) {
-    return mathHelper.divide(this, period, RadiansPerSecond::of);
-  }
+  <Divisor extends Unit> Measure<? extends PerUnit<AngleUnit, Divisor>> per(Divisor divisor);
 
-  public <Other extends Unit> Measure<Other> divide(
-      Measure<? extends PerUnit<AngleUnit, ? extends Other>> ratio) {
-    return ImmutableMeasure.ofBaseUnits(
-        baseUnitMagnitude / ratio.baseUnitMagnitude(), ratio.unit().denominator());
-  }
-
-  public AngularVelocity per(TimeUnit unit) {
-    return mathHelper.divide(this, unit.of(1), RadiansPerSecond::of);
-  }
-
-  public Dimensionless per(AngleUnit unit) {
-    return mathHelper.divide(this, unit.of(1), Value::of);
-  }
-
-  @SuppressWarnings("unchecked")
-  public <Divisor extends Unit> Measure<? extends PerUnit<AngleUnit, Divisor>> per(
-      Divisor divisor) {
-    return PerUnit.combine(this.baseUnit(), (Divisor) divisor.getBaseUnit())
-        .of(baseUnitMagnitude / divisor.fromBaseUnits(1));
-  }
-
-  public <Other extends Unit> Measure<Other> times(
-      Measure<? extends PerUnit<? extends Other, AngleUnit>> ratio) {
-    return ImmutableMeasure.ofBaseUnits(
-        baseUnitMagnitude * ratio.baseUnitMagnitude(), ratio.unit().numerator());
-  }
+  <Other extends Unit> Measure<Other> times(
+      Measure<? extends PerUnit<? extends Other, AngleUnit>> ratio);
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
index c24f6124c25..e8d461146b4 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
@@ -4,6 +4,7 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.immutable.ImmutableAngle;
 import edu.wpi.first.units.mutable.MutAngle;
 
 /**
@@ -35,12 +36,12 @@ public class AngleUnit extends Unit {
 
   @Override
   public Angle of(double magnitude) {
-    return new Angle(magnitude, toBaseUnits(magnitude), this);
+    return new ImmutableAngle(magnitude, toBaseUnits(magnitude), this);
   }
 
   @Override
   public Angle ofBaseUnits(double baseUnitMagnitude) {
-    return new Angle(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+    return new ImmutableAngle(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
   public AngularVelocityUnit per(TimeUnit second) {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularAcceleration.java
index de81950ddb6..e1796df6d28 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularAcceleration.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularAcceleration.java
@@ -7,35 +7,57 @@
 import static edu.wpi.first.units.Units.RadiansPerSecond;
 import static edu.wpi.first.units.Units.RadiansPerSecondPerSecond;
 
-public class AngularAcceleration extends Acceleration<AngleUnit> {
-  private static final MathHelper<AccelerationUnit<AngleUnit>, AngularAcceleration> mathHelper =
+public interface AngularAcceleration extends Acceleration<AngleUnit> {
+  MathHelper<AccelerationUnit<AngleUnit>, AngularAcceleration> mathHelper =
       new MathHelper<>(RadiansPerSecondPerSecond::of);
 
-  public AngularAcceleration(
-      double magnitude, double baseUnitMagnitude, AngularAccelerationUnit unit) {
-    super(magnitude, baseUnitMagnitude, unit);
+  @Override
+  AngularAcceleration copy();
+
+  @Override
+  AngularAccelerationUnit unit();
+
+  default double in(AngularAccelerationUnit otherUnit) {
+    return otherUnit.fromBaseUnits(baseUnitMagnitude());
   }
 
   @Override
-  public AngularAcceleration copy() {
-    return this;
+  default AngularAcceleration plus(Acceleration<AngleUnit> other) {
+    return mathHelper.add(this, other);
   }
 
-  public Dimensionless divide(AngularAcceleration other) {
-    return mathHelper.divide(this, other);
+  @Override
+  default AngularAcceleration minus(Acceleration<AngleUnit> other) {
+    return mathHelper.minus(this, other);
+  }
+
+  @Override
+  default Dimensionless divide(Acceleration<AngleUnit> divisor) {
+    return mathHelper.divide(this, divisor);
   }
 
   @Override
-  public AngularVelocity times(Time period) {
-    return mathHelper.multiply(this, period, RadiansPerSecond::of);
+  default AngularAcceleration divide(double divisor) {
+    return mathHelper.divide(this, divisor);
   }
 
   @Override
-  public AngularAccelerationUnit unit() {
-    return (AngularAccelerationUnit) unit;
+  default AngularAcceleration divide(Dimensionless divisor) {
+    return mathHelper.divide(this, divisor);
   }
 
-  public double in(AngularAccelerationUnit otherUnit) {
-    return otherUnit.fromBaseUnits(baseUnitMagnitude);
+  @Override
+  default AngularAcceleration times(double multiplier) {
+    return mathHelper.multiply(this, multiplier);
+  }
+
+  @Override
+  default AngularAcceleration times(Dimensionless multiplier) {
+    return mathHelper.multiply(this, multiplier);
+  }
+
+  @Override
+  default AngularVelocity times(Time time) {
+    return mathHelper.multiply(this, time, RadiansPerSecond::of);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java
index 17493c4cefa..ae95cf4acb4 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java
@@ -4,6 +4,7 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.immutable.ImmutableAngularAcceleration;
 import edu.wpi.first.units.mutable.MutAngularAcceleration;
 
 public class AngularAccelerationUnit extends AccelerationUnit<AngleUnit> {
@@ -30,7 +31,13 @@ public static AngularAccelerationUnit combine(AngularVelocityUnit velocity, Time
 
   @Override
   public AngularAcceleration of(double magnitude) {
-    return new AngularAcceleration(magnitude, toBaseUnits(magnitude), this);
+    return new ImmutableAngularAcceleration(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public AngularAcceleration ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableAngularAcceleration(
+        fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentum.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentum.java
index c4a9146c481..738eb2fe0af 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentum.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentum.java
@@ -4,18 +4,10 @@
 
 package edu.wpi.first.units;
 
-public class AngularMomentum extends MeasureBase<AngularMomentumUnit> {
-  public AngularMomentum(double magnitude, double baseUnitMagnitude, AngularMomentumUnit unit) {
-    super(magnitude, baseUnitMagnitude, unit);
-  }
-
+public interface AngularMomentum extends Measure<AngularMomentumUnit> {
   @Override
-  public AngularMomentum copy() {
-    return this;
-  }
+  AngularMomentum copy();
 
   @Override
-  public AngularMomentumUnit unit() {
-    return unit;
-  }
+  AngularMomentumUnit unit();
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
index 740315405ca..350d5d4ae20 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
@@ -4,6 +4,7 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.immutable.ImmutableAngularMomentum;
 import edu.wpi.first.units.mutable.MutAngularMomentum;
 
 public class AngularMomentumUnit extends MultUnit<LinearMomentumUnit, DistanceUnit> {
@@ -29,7 +30,12 @@ public static AngularMomentumUnit combine(LinearMomentumUnit linear, DistanceUni
 
   @Override
   public AngularMomentum of(double magnitude) {
-    return new AngularMomentum(magnitude, toBaseUnits(magnitude), this);
+    return new ImmutableAngularMomentum(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public AngularMomentum ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableAngularMomentum(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocity.java
index 47b5aabe229..3146bc38ffe 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocity.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocity.java
@@ -5,40 +5,33 @@
 package edu.wpi.first.units;
 
 import static edu.wpi.first.units.Units.Hertz;
+import static edu.wpi.first.units.Units.Radians;
 import static edu.wpi.first.units.Units.RadiansPerSecond;
 import static edu.wpi.first.units.Units.RadiansPerSecondPerSecond;
 
-public class AngularVelocity extends Velocity<AngleUnit> {
-  private static final MathHelper<VelocityUnit<AngleUnit>, AngularVelocity> mathHelper =
+public interface AngularVelocity extends Velocity<AngleUnit> {
+  MathHelper<VelocityUnit<AngleUnit>, AngularVelocity> mathHelper =
       new MathHelper<>(RadiansPerSecond::of);
 
-  public AngularVelocity(double magnitude, double baseUnitMagnitude, AngularVelocityUnit unit) {
-    super(magnitude, baseUnitMagnitude, unit);
-  }
-
   @Override
-  public AngularVelocity copy() {
-    return this;
-  }
+  AngularVelocity copy();
 
-  public double in(AngularVelocityUnit otherUnit) {
-    return otherUnit.fromBaseUnits(baseUnitMagnitude);
+  default double in(AngularVelocityUnit otherUnit) {
+    return otherUnit.fromBaseUnits(baseUnitMagnitude());
   }
 
-  public Angle times(Time period) {
-    return baseUnit().getUnit().ofBaseUnits(baseUnitMagnitude * period.baseUnitMagnitude());
+  default Angle times(Time period) {
+    return mathHelper.multiply(this, period, Radians::of);
   }
 
-  public AngularAcceleration divide(Time period) {
+  default AngularAcceleration divide(Time period) {
     return mathHelper.divide(this, period, RadiansPerSecondPerSecond::of);
   }
 
-  public Frequency asFrequency() {
-    return Hertz.of(baseUnitMagnitude);
+  default Frequency asFrequency() {
+    return Hertz.of(baseUnitMagnitude());
   }
 
   @Override
-  public AngularVelocityUnit unit() {
-    return (AngularVelocityUnit) unit;
-  }
+  AngularVelocityUnit unit();
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java
index b67e4667649..a8f25499a70 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java
@@ -4,6 +4,7 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.immutable.ImmutableAngularVelocity;
 import edu.wpi.first.units.mutable.MutAngularVelocity;
 
 public class AngularVelocityUnit extends VelocityUnit<AngleUnit> {
@@ -29,12 +30,12 @@ public static AngularVelocityUnit combine(AngleUnit angle, TimeUnit time) {
 
   @Override
   public AngularVelocity of(double magnitude) {
-    return new AngularVelocity(magnitude, toBaseUnits(magnitude), this);
+    return new ImmutableAngularVelocity(magnitude, toBaseUnits(magnitude), this);
   }
 
   @Override
   public AngularVelocity ofBaseUnits(double baseUnitMagnitude) {
-    return new AngularVelocity(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+    return new ImmutableAngularVelocity(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Current.java b/wpiunits/src/main/java/edu/wpi/first/units/Current.java
index cefe2143d86..9bb6cb428e3 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Current.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Current.java
@@ -6,17 +6,11 @@
 
 import static edu.wpi.first.units.Units.Watts;
 
-public class Current extends MeasureBase<CurrentUnit> {
-  public Current(double magnitude, double baseUnitMagnitude, CurrentUnit unit) {
-    super(magnitude, baseUnitMagnitude, unit);
-  }
-
+public interface Current extends Measure<CurrentUnit> {
   @Override
-  public Current copy() {
-    return this;
-  }
+  Current copy();
 
-  public Power times(Voltage voltage) {
-    return Watts.of(this.baseUnitMagnitude * voltage.baseUnitMagnitude());
+  default Power times(Voltage voltage) {
+    return Watts.ofBaseUnits(baseUnitMagnitude() * voltage.baseUnitMagnitude());
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
index 48355ec5130..433587117cf 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
@@ -4,6 +4,8 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.immutable.ImmutableCurrent;
+
 /**
  * Unit of electric current dimension.
  *
@@ -43,11 +45,11 @@ public PowerUnit times(VoltageUnit voltage, String name, String symbol) {
   }
 
   public Current of(double magnitude) {
-    return new Current(magnitude, toBaseUnits(magnitude), this);
+    return new ImmutableCurrent(magnitude, toBaseUnits(magnitude), this);
   }
 
   public Current ofBaseUnits(double baseUnitMagnitude) {
-    return new Current(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+    return new ImmutableCurrent(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
   public double convertFrom(double magnitude, CurrentUnit otherUnit) {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Dimensionless.java b/wpiunits/src/main/java/edu/wpi/first/units/Dimensionless.java
index 0713fd35b39..e4daae589be 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Dimensionless.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Dimensionless.java
@@ -7,25 +7,19 @@
 import static edu.wpi.first.units.Units.Hertz;
 import static edu.wpi.first.units.Units.Value;
 
-public class Dimensionless extends MeasureBase<DimensionlessUnit> {
-  private static final MathHelper<DimensionlessUnit, Dimensionless> mathHelper =
-      new MathHelper<>(Value::of);
-
-  public Dimensionless(double magnitude, double baseUnitMagnitude, DimensionlessUnit unit) {
-    super(magnitude, baseUnitMagnitude, unit);
-  }
+public interface Dimensionless extends Measure<DimensionlessUnit> {
+  MathHelper<DimensionlessUnit, Dimensionless> mathHelper = new MathHelper<>(Value::of);
 
   @Override
-  public Dimensionless copy() {
-    return this;
-  }
+  Dimensionless copy();
 
-  public <U extends Unit> Measure<U> times(Measure<U> other) {
+  @SuppressWarnings("unchecked")
+  default <U extends Unit> Measure<U> times(Measure<U> other) {
     return (Measure<U>)
-        other.unit().ofBaseUnits(other.baseUnitMagnitude() * this.baseUnitMagnitude);
+        other.unit().ofBaseUnits(other.baseUnitMagnitude() * this.baseUnitMagnitude());
   }
 
-  public Frequency divide(Time time) {
-    return Hertz.of(baseUnitMagnitude / time.baseUnitMagnitude());
+  default Frequency divide(Time time) {
+    return Hertz.of(baseUnitMagnitude() / time.baseUnitMagnitude());
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Distance.java b/wpiunits/src/main/java/edu/wpi/first/units/Distance.java
index 3746626aaa5..aefbf63c93c 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Distance.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Distance.java
@@ -8,50 +8,39 @@
 import static edu.wpi.first.units.Units.MetersPerSecond;
 import static edu.wpi.first.units.Units.Seconds;
 
-public class Distance extends MeasureBase<DistanceUnit> {
-  private static final MathHelper<DistanceUnit, Distance> mathHelper = new MathHelper<>(Meters::of);
-
-  public Distance(double magnitude, double baseUnitMagnitude, DistanceUnit unit) {
-    super(magnitude, baseUnitMagnitude, unit);
-  }
+public interface Distance extends Measure<DistanceUnit> {
+  MathHelper<DistanceUnit, Distance> mathHelper = new MathHelper<>(Meters::of);
 
   @Override
-  public Distance copy() {
-    return this;
-  }
+  Distance copy();
 
-  public LinearVelocity per(Time period) {
-    return new LinearVelocity(
-        magnitude / period.magnitude(),
-        baseUnitMagnitude / period.baseUnitMagnitude(),
-        this.unit.per(period.unit()));
+  default LinearVelocity per(Time period) {
+    return new ImmutableLinearVelocity(
+        magnitude() / period.magnitude(),
+        baseUnitMagnitude() / period.baseUnitMagnitude(),
+        this.unit().per(period.unit()));
   }
 
-  public LinearVelocity per(TimeUnit period) {
-    return new LinearVelocity(
-        magnitude / period.fromBaseUnits(1),
-        baseUnitMagnitude / period.toBaseUnits(1),
-        this.unit.per(period));
-  }
-
-  @Override
-  public DistanceUnit unit() {
-    return unit;
+  default LinearVelocity per(TimeUnit period) {
+    return new ImmutableLinearVelocity(
+        magnitude() / period.fromBaseUnits(1),
+        baseUnitMagnitude() / period.toBaseUnits(1),
+        this.unit().per(period));
   }
 
-  public Distance plus(Distance other) {
+  default Distance plus(Distance other) {
     return mathHelper.add(this, other);
   }
 
-  public Distance minus(Distance other) {
+  default Distance minus(Distance other) {
     return mathHelper.minus(this, other);
   }
 
-  public Distance times(double scalar) {
+  default Distance times(double scalar) {
     return mathHelper.multiply(this, scalar);
   }
 
-  public <U extends Unit> Measure<U> times(Measure<? extends PerUnit<U, DistanceUnit>> term) {
+  default <U extends Unit> Measure<U> times(Measure<? extends PerUnit<U, DistanceUnit>> term) {
     return mathHelper.multiply(
         this,
         term,
@@ -61,23 +50,23 @@ public <U extends Unit> Measure<U> times(Measure<? extends PerUnit<U, DistanceUn
         });
   }
 
-  public LinearVelocity times(Frequency frequency) {
+  default LinearVelocity times(Frequency frequency) {
     return mathHelper.multiply(this, frequency, MetersPerSecond::of);
   }
 
-  public Distance divide(double divisor) {
+  default Distance divide(double divisor) {
     return mathHelper.divide(this, divisor);
   }
 
-  public Distance negate() {
+  default Distance negate() {
     return mathHelper.negate(this);
   }
 
-  public Distance divide(Dimensionless divisor) {
+  default Distance divide(Dimensionless divisor) {
     return mathHelper.divide(this, divisor);
   }
 
-  public Time divide(LinearVelocity velocity) {
+  default Time divide(LinearVelocity velocity) {
     return mathHelper.divide(this, velocity, Seconds::of);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
index c0db2357430..666ba46d121 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
@@ -4,6 +4,7 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.immutable.ImmutableDistance;
 import edu.wpi.first.units.mutable.MutDistance;
 
 /**
@@ -43,12 +44,12 @@ public double convertFrom(double magnitude, DistanceUnit otherUnit) {
   }
 
   public Distance of(double magnitude) {
-    return new Distance(magnitude, toBaseUnits(magnitude), this);
+    return new ImmutableDistance(magnitude, toBaseUnits(magnitude), this);
   }
 
   @Override
   public Distance ofBaseUnits(double baseUnitMagnitude) {
-    return new Distance(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+    return new ImmutableDistance(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
   // distance times force = torque
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Energy.java b/wpiunits/src/main/java/edu/wpi/first/units/Energy.java
index da323ab4de9..72331a1cf33 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Energy.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Energy.java
@@ -7,31 +7,25 @@
 import static edu.wpi.first.units.Units.Joules;
 import static edu.wpi.first.units.Units.Watts;
 
-public class Energy extends MeasureBase<EnergyUnit> {
-  private static final MathHelper<EnergyUnit, Energy> mathHelper = new MathHelper<>(Joules::of);
-
-  public Energy(double magnitude, double baseUnitMagnitude, EnergyUnit unit) {
-    super(magnitude, baseUnitMagnitude, unit);
-  }
+public interface Energy extends Measure<EnergyUnit> {
+  MathHelper<EnergyUnit, Energy> mathHelper = new MathHelper<>(Joules::of);
 
   @Override
-  public Energy copy() {
-    return this;
-  }
+  Energy copy();
 
-  public Energy plus(Energy other) {
+  default Energy plus(Energy other) {
     return mathHelper.add(this, other);
   }
 
-  public Energy minus(Energy other) {
+  default Energy minus(Energy other) {
     return mathHelper.minus(this, other);
   }
 
-  public Dimensionless divide(Energy other) {
+  default Dimensionless divide(Energy other) {
     return mathHelper.divide(this, other);
   }
 
-  public Power divide(Time period) {
+  default Power divide(Time period) {
     return mathHelper.divide(this, period, Watts::of);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
index 3eeba09acc1..44c36ed7ded 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
@@ -4,6 +4,7 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.immutable.ImmutableEnergy;
 import edu.wpi.first.units.mutable.MutEnergy;
 
 /**
@@ -40,12 +41,12 @@ public PowerUnit per(TimeUnit period) {
 
   @Override
   public Energy of(double magnitude) {
-    return new Energy(magnitude, toBaseUnits(magnitude), this);
+    return new ImmutableEnergy(magnitude, toBaseUnits(magnitude), this);
   }
 
   @Override
   public Energy ofBaseUnits(double baseUnitMagnitude) {
-    return new Energy(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+    return new ImmutableEnergy(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Force.java b/wpiunits/src/main/java/edu/wpi/first/units/Force.java
index 55f17c5ed45..11fbd15f4c2 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Force.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Force.java
@@ -8,43 +8,37 @@
 import static edu.wpi.first.units.Units.Newtons;
 import static edu.wpi.first.units.Units.Seconds;
 
-public class Force extends MeasureBase<ForceUnit> {
-  private static final MathHelper<ForceUnit, Force> mathHelper = new MathHelper<>(Newtons::of);
-
-  public Force(double magnitude, double baseUnitMagnitude, ForceUnit unit) {
-    super(magnitude, baseUnitMagnitude, unit);
-  }
+public interface Force extends Measure<ForceUnit> {
+  MathHelper<ForceUnit, Force> mathHelper = new MathHelper<>(Newtons::of);
 
   @Override
-  public Force copy() {
-    return this;
-  }
+  Force copy();
 
-  public Force plus(Force other) {
+  default Force plus(Force other) {
     return mathHelper.add(this, other);
   }
 
-  public Force minus(Force other) {
+  default Force minus(Force other) {
     return mathHelper.minus(this, other);
   }
 
-  public Dimensionless divide(Force other) {
+  default Dimensionless divide(Force other) {
     return mathHelper.divide(this, other);
   }
 
-  public Velocity<ForceUnit> divide(Time time) {
+  default Velocity<ForceUnit> divide(Time time) {
     return mathHelper.divide(this, time, VelocityUnit.combine(baseUnit(), Seconds)::of);
   }
 
-  public Velocity<ForceUnit> per(TimeUnit time) {
+  default Velocity<ForceUnit> per(TimeUnit time) {
     return divide(time.of(1));
   }
 
-  public Energy mult(Distance distance) {
+  default Energy mult(Distance distance) {
     return mathHelper.multiply(this, distance, Joules::of);
   }
 
-  public Energy mult(DistanceUnit distance) {
+  default Energy mult(DistanceUnit distance) {
     return mult(distance.of(1));
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
index 24f5619ed98..3cb6a74f513 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
@@ -4,6 +4,7 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.immutable.ImmutableForce;
 import edu.wpi.first.units.mutable.MutForce;
 
 public class ForceUnit extends MultUnit<MassUnit, LinearAccelerationUnit> {
@@ -48,12 +49,12 @@ public EnergyUnit mult(DistanceUnit distance) {
 
   @Override
   public Force of(double magnitude) {
-    return new Force(magnitude, toBaseUnits(magnitude), this);
+    return new ImmutableForce(magnitude, toBaseUnits(magnitude), this);
   }
 
   @Override
   public Force ofBaseUnits(double baseUnitMagnitude) {
-    return new Force(toBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+    return new ImmutableForce(toBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Frequency.java b/wpiunits/src/main/java/edu/wpi/first/units/Frequency.java
index 64d6b31d49b..2ea7df5dcb2 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Frequency.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Frequency.java
@@ -7,24 +7,17 @@
 import static edu.wpi.first.units.Units.Hertz;
 import static edu.wpi.first.units.Units.Seconds;
 
-public class Frequency extends MeasureBase<FrequencyUnit> {
-  private static final MathHelper<FrequencyUnit, Frequency> mathHelper =
-      new MathHelper<>(Hertz::of);
-
-  public Frequency(double magnitude, double baseUnitMagnitude, FrequencyUnit unit) {
-    super(magnitude, baseUnitMagnitude, unit);
-  }
+public interface Frequency extends Measure<FrequencyUnit> {
+  MathHelper<FrequencyUnit, Frequency> mathHelper = new MathHelper<>(Hertz::of);
 
   @Override
-  public Frequency copy() {
-    return this;
-  }
+  Frequency copy();
 
-  public Dimensionless divide(Frequency other) {
+  default Dimensionless divide(Frequency other) {
     return mathHelper.divide(this, other);
   }
 
-  public Time inverse() {
-    return Seconds.of(1 / baseUnitMagnitude);
+  default Time inverse() {
+    return Seconds.of(1 / baseUnitMagnitude());
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java
index caf9eb49466..d31c4e02e9d 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java
@@ -6,6 +6,9 @@
 
 import static edu.wpi.first.units.Units.Value;
 
+import edu.wpi.first.units.immutable.ImmutableFrequency;
+import edu.wpi.first.units.mutable.MutFrequency;
+
 public class FrequencyUnit extends PerUnit<DimensionlessUnit, TimeUnit> {
   private static final CombinatoryUnitCache<DimensionlessUnit, TimeUnit, FrequencyUnit> cache =
       new CombinatoryUnitCache<>(FrequencyUnit::new);
@@ -33,6 +36,16 @@ public static FrequencyUnit inverse(TimeUnit time) {
 
   @Override
   public Frequency of(double magnitude) {
-    return new Frequency(magnitude, toBaseUnits(magnitude), this);
+    return new ImmutableFrequency(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public Frequency ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableFrequency(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public MutFrequency mutable(double initialMagnitude) {
+    return new MutFrequency(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/ImmutableLinearVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/ImmutableLinearVelocity.java
new file mode 100644
index 00000000000..dc33fa615da
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/ImmutableLinearVelocity.java
@@ -0,0 +1,13 @@
+// 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;
+
+public record ImmutableLinearVelocity(
+    double magnitude, double baseUnitMagnitude, LinearVelocityUnit unit) implements LinearVelocity {
+  @Override
+  public LinearVelocity copy() {
+    return this;
+  }
+}
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 46e7a948e04..d6182b26581 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/ImmutableMeasure.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/ImmutableMeasure.java
@@ -12,11 +12,8 @@
  *
  * @param <U> the unit type of the measure
  */
-public final class ImmutableMeasure<U extends Unit> extends MeasureBase<U> {
-  ImmutableMeasure(double magnitude, double baseUnitMagnitude, U unit) {
-    super(magnitude, baseUnitMagnitude, 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.
    *
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearAcceleration.java
index 38ea2bc7219..691bff6ca12 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearAcceleration.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearAcceleration.java
@@ -4,28 +4,60 @@
 
 package edu.wpi.first.units;
 
+import static edu.wpi.first.units.Units.MetersPerSecond;
 import static edu.wpi.first.units.Units.MetersPerSecondPerSecond;
 
-public class LinearAcceleration extends Acceleration<DistanceUnit> {
-  private static final MathHelper<AccelerationUnit<DistanceUnit>, LinearAcceleration> mathHelper =
+public interface LinearAcceleration extends Acceleration<DistanceUnit> {
+  MathHelper<AccelerationUnit<DistanceUnit>, LinearAcceleration> mathHelper =
       new MathHelper<>(MetersPerSecondPerSecond::of);
 
-  public LinearAcceleration(
-      double magnitude, double baseUnitMagnitude, LinearAccelerationUnit unit) {
-    super(magnitude, baseUnitMagnitude, unit);
+  @Override
+  LinearAcceleration copy();
+
+  @Override
+  LinearAccelerationUnit unit();
+
+  default double in(LinearAccelerationUnit otherUnit) {
+    return otherUnit.fromBaseUnits(baseUnitMagnitude());
+  }
+
+  @Override
+  default LinearVelocity times(Time time) {
+    return mathHelper.multiply(this, time, MetersPerSecond::of);
+  }
+
+  @Override
+  default LinearAcceleration times(Dimensionless multiplier) {
+    return mathHelper.multiply(this, multiplier);
   }
 
   @Override
-  public LinearAcceleration copy() {
-    return this;
+  default LinearAcceleration times(double multiplier) {
+    return mathHelper.multiply(this, multiplier);
   }
 
-  public double in(LinearAccelerationUnit otherUnit) {
-    return otherUnit.fromBaseUnits(baseUnitMagnitude);
+  @Override
+  default LinearAcceleration divide(Dimensionless divisor) {
+    return mathHelper.divide(this, divisor);
+  }
+
+  @Override
+  default LinearAcceleration divide(double divisor) {
+    return mathHelper.divide(this, divisor);
+  }
+
+  @Override
+  default Dimensionless divide(Acceleration<DistanceUnit> divisor) {
+    return mathHelper.divide(this, divisor);
+  }
+
+  @Override
+  default Acceleration<DistanceUnit> minus(Acceleration<DistanceUnit> other) {
+    return mathHelper.minus(this, other);
   }
 
   @Override
-  public LinearAccelerationUnit unit() {
-    return (LinearAccelerationUnit) unit;
+  default Acceleration<DistanceUnit> plus(Acceleration<DistanceUnit> other) {
+    return mathHelper.add(this, other);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearAccelerationUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearAccelerationUnit.java
index 22016967e63..be18ac585a8 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearAccelerationUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearAccelerationUnit.java
@@ -4,6 +4,9 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.immutable.ImmutableLinearAcceleration;
+import edu.wpi.first.units.mutable.MutLinearAcceleration;
+
 public class LinearAccelerationUnit extends AccelerationUnit<DistanceUnit> {
   private static final CombinatoryUnitCache<LinearVelocityUnit, TimeUnit, LinearAccelerationUnit>
       cache = new CombinatoryUnitCache<>(LinearAccelerationUnit::new);
@@ -32,7 +35,18 @@ public LinearAccelerationUnit getBaseUnit() {
 
   @Override
   public LinearAcceleration of(double magnitude) {
-    return new LinearAcceleration(magnitude, toBaseUnits(magnitude), this);
+    return new ImmutableLinearAcceleration(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public LinearAcceleration ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableLinearAcceleration(
+        fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public MutLinearAcceleration mutable(double initialMagnitude) {
+    return new MutLinearAcceleration(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 
   public LinearVelocityUnit getUnit() {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentum.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentum.java
index c706a826d37..79437b781e6 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentum.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentum.java
@@ -4,13 +4,7 @@
 
 package edu.wpi.first.units;
 
-public class LinearMomentum extends MeasureBase<LinearMomentumUnit> {
-  public LinearMomentum(double magnitude, double baseUnitMagnitude, LinearMomentumUnit unit) {
-    super(magnitude, baseUnitMagnitude, unit);
-  }
-
+public interface LinearMomentum extends Measure<LinearMomentumUnit> {
   @Override
-  public LinearMomentum copy() {
-    return this;
-  }
+  LinearMomentum copy();
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
index 6cb70aa4c41..5229b3fee4c 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
@@ -4,6 +4,9 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.immutable.ImmutableLinearMomentum;
+import edu.wpi.first.units.mutable.MutLinearMomentum;
+
 public class LinearMomentumUnit extends MultUnit<MassUnit, LinearVelocityUnit> {
   private static final CombinatoryUnitCache<MassUnit, LinearVelocityUnit, LinearMomentumUnit>
       cache = new CombinatoryUnitCache<>(LinearMomentumUnit::new);
@@ -25,8 +28,19 @@ public static LinearMomentumUnit combine(MassUnit mass, LinearVelocityUnit veloc
     return cache.combine(mass, velocity);
   }
 
+  @Override
   public LinearMomentum of(double magnitude) {
-    return new LinearMomentum(magnitude, toBaseUnits(magnitude), this);
+    return new ImmutableLinearMomentum(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public LinearMomentum ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableLinearMomentum(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public MutLinearMomentum mutable(double initialMagnitude) {
+    return new MutLinearMomentum(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 
   public AngularMomentumUnit mult(DistanceUnit distance) {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocity.java
index 037ca33775a..823a9c34ebe 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocity.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocity.java
@@ -6,29 +6,21 @@
 
 import static edu.wpi.first.units.Units.MetersPerSecond;
 
-public class LinearVelocity extends Velocity<DistanceUnit> {
-  private static final MathHelper<VelocityUnit<DistanceUnit>, LinearVelocity> mathHelper =
+public interface LinearVelocity extends Velocity<DistanceUnit> {
+  MathHelper<VelocityUnit<DistanceUnit>, LinearVelocity> mathHelper =
       new MathHelper<>(MetersPerSecond::of);
 
-  public LinearVelocity(double magnitude, double baseUnitMagnitude, LinearVelocityUnit unit) {
-    super(magnitude, baseUnitMagnitude, unit);
-  }
+  @Override
+  LinearVelocityUnit unit();
 
   @Override
-  public LinearVelocity copy() {
-    return this;
-  }
+  LinearVelocity copy();
 
-  public double in(LinearVelocityUnit otherUnit) {
-    return otherUnit.fromBaseUnits(baseUnitMagnitude);
+  default double in(LinearVelocityUnit otherUnit) {
+    return otherUnit.fromBaseUnits(baseUnitMagnitude());
   }
 
-  public Distance times(Time period) {
+  default Distance times(Time period) {
     return mathHelper.multiply(this, period, unit().numerator()::ofBaseUnits);
   }
-
-  @Override
-  public LinearVelocityUnit unit() {
-    return (LinearVelocityUnit) unit;
-  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java
index 2e81c499b57..5b68ff0e6b5 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java
@@ -29,7 +29,7 @@ public static LinearVelocityUnit combine(DistanceUnit distance, TimeUnit period)
 
   @Override
   public LinearVelocity of(double magnitude) {
-    return new LinearVelocity(magnitude, toBaseUnits(magnitude), this);
+    return new ImmutableLinearVelocity(magnitude, toBaseUnits(magnitude), this);
   }
 
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Mass.java b/wpiunits/src/main/java/edu/wpi/first/units/Mass.java
index 02c17d61573..8921ea90d2f 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Mass.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Mass.java
@@ -4,32 +4,20 @@
 
 package edu.wpi.first.units;
 
-public class Mass extends MeasureBase<MassUnit> {
-  public Mass(double magnitude, double baseUnitMagnitude, MassUnit unit) {
-    super(magnitude, baseUnitMagnitude, unit);
-  }
+import static edu.wpi.first.units.Units.Kilograms;
 
-  @Override
-  public Mass copy() {
-    return this;
-  }
+public interface Mass extends Measure<MassUnit> {
+  MathHelper<MassUnit, Mass> mathHelper = new MathHelper<>(Kilograms::of);
 
-  public Velocity<MassUnit> per(Time period) {
-    return new Velocity<>(
-        magnitude / period.magnitude(),
-        baseUnitMagnitude / period.baseUnitMagnitude(),
-        unit.per(period.unit()));
-  }
+  @Override
+  Mass copy();
 
-  public Velocity<MassUnit> per(TimeUnit period) {
-    return new Velocity<>(
-        magnitude / period.fromBaseUnits(1),
-        baseUnitMagnitude / period.toBaseUnits(1),
-        unit.per(period));
+  default Velocity<MassUnit> per(Time period) {
+    return mathHelper.divide(
+        this, period, VelocityUnit.combine(unit(), period.unit())::ofBaseUnits);
   }
 
-  @Override
-  public MassUnit unit() {
-    return unit;
+  default Velocity<MassUnit> per(TimeUnit period) {
+    return VelocityUnit.combine(unit(), period).of(magnitude());
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
index fca705bb53d..1acbf42a8ca 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
@@ -4,6 +4,9 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.immutable.ImmutableMass;
+import edu.wpi.first.units.mutable.MutMass;
+
 /**
  * Unit of mass dimension.
  *
@@ -34,7 +37,17 @@ public MassUnit getBaseUnit() {
   }
 
   public Mass of(double magnitude) {
-    return new Mass(magnitude, toBaseUnits(magnitude), this);
+    return new ImmutableMass(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public Measure<?> ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableMass(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public MutMass mutable(double initialMagnitude) {
+    return new MutMass(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 
   public VelocityUnit<MassUnit> per(TimeUnit period) {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MathHelper.java b/wpiunits/src/main/java/edu/wpi/first/units/MathHelper.java
index a19d94afa60..cd205049c06 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MathHelper.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MathHelper.java
@@ -30,11 +30,11 @@ public M negate(M measure) {
     return constructor.apply(0 - measure.baseUnitMagnitude());
   }
 
-  public M add(M first, M second) {
+  public M add(M first, Measure<? extends U> second) {
     return constructor.apply(first.baseUnitMagnitude() + second.baseUnitMagnitude());
   }
 
-  public M minus(M first, M second) {
+  public M minus(M first, Measure<? extends U> second) {
     return constructor.apply(first.baseUnitMagnitude() - second.baseUnitMagnitude());
   }
 
@@ -46,7 +46,7 @@ public M divide(M measure, Dimensionless divisor) {
     return constructor.apply(measure.baseUnitMagnitude() / divisor.baseUnitMagnitude());
   }
 
-  public Dimensionless divide(M dividend, M divisor) {
+  public Dimensionless divide(M dividend, Measure<? extends U> divisor) {
     return divide(dividend, divisor, Value::of);
   }
 
@@ -55,6 +55,11 @@ public <VU extends Unit, VM extends Measure<VU>> VM divide(
     return ctor.apply(dividend.baseUnitMagnitude() / divisor.baseUnitMagnitude());
   }
 
+  public <VU extends Unit, VM extends Measure<VU>> Velocity<U> divide(
+      M dividend, TimeUnit divisor) {
+    return VelocityUnit.combine(dividend.unit(), divisor).ofBaseUnits(dividend.baseUnitMagnitude());
+  }
+
   public <ResultUnit extends Unit, Result extends Measure<ResultUnit>> Result divide(
       M dividend, Measure<?> divisor, DoubleFunction<? extends Result> ctor) {
     return ctor.apply(dividend.baseUnitMagnitude() / divisor.baseUnitMagnitude());
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertia.java b/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertia.java
index ecb53384414..b5c8c2fe675 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertia.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertia.java
@@ -4,13 +4,7 @@
 
 package edu.wpi.first.units;
 
-public class MomentOfInertia extends MeasureBase<MomentOfInertiaUnit> {
-  protected MomentOfInertia(double magnitude, double baseUnitMagnitude, MomentOfInertiaUnit unit) {
-    super(magnitude, baseUnitMagnitude, unit);
-  }
-
+public interface MomentOfInertia extends Measure<MomentOfInertiaUnit> {
   @Override
-  public Measure<MomentOfInertiaUnit> copy() {
-    return this;
-  }
+  Measure<MomentOfInertiaUnit> copy();
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java
index 8f7961abcbf..b5d64dee372 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java
@@ -4,6 +4,9 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.immutable.ImmutableMomentOfInertia;
+import edu.wpi.first.units.mutable.MutMomentOfInertia;
+
 public class MomentOfInertiaUnit extends PerUnit<AngularMomentumUnit, AngularVelocityUnit> {
   private static final CombinatoryUnitCache<
           AngularMomentumUnit, AngularVelocityUnit, MomentOfInertiaUnit>
@@ -29,11 +32,16 @@ public static MomentOfInertiaUnit combine(
 
   @Override
   public MomentOfInertia of(double magnitude) {
-    return new MomentOfInertia(magnitude, toBaseUnits(magnitude), this);
+    return new ImmutableMomentOfInertia(magnitude, toBaseUnits(magnitude), this);
   }
 
   @Override
   public MomentOfInertia ofBaseUnits(double baseUnitMagnitude) {
-    return new MomentOfInertia(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+    return new ImmutableMomentOfInertia(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public MutMomentOfInertia mutable(double initialMagnitude) {
+    return new MutMomentOfInertia(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Mult.java b/wpiunits/src/main/java/edu/wpi/first/units/Mult.java
index 8d3943a7adc..7f8d202e79d 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Mult.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Mult.java
@@ -4,13 +4,7 @@
 
 package edu.wpi.first.units;
 
-public class Mult<A extends Unit, B extends Unit> extends MeasureBase<MultUnit<A, B>> {
-  public Mult(double magnitude, double baseUnitMagnitude, MultUnit<A, B> unit) {
-    super(magnitude, baseUnitMagnitude, unit);
-  }
-
+public interface Mult<A extends Unit, B extends Unit> extends Measure<MultUnit<A, B>> {
   @Override
-  public Measure<MultUnit<A, B>> copy() {
-    return this;
-  }
+  Measure<MultUnit<A, B>> copy();
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java
index efb1b4c8759..b2da29c9586 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java
@@ -4,6 +4,7 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.immutable.ImmutableMult;
 import edu.wpi.first.units.mutable.MutMult;
 import java.util.Objects;
 
@@ -71,12 +72,12 @@ public static <A extends Unit, B extends Unit> MultUnit<A, B> combine(A a, B b)
 
   @Override
   public Measure<? extends MultUnit<A, B>> of(double magnitude) {
-    return new Mult<>(magnitude, toBaseUnits(magnitude), this);
+    return new ImmutableMult<>(magnitude, toBaseUnits(magnitude), this);
   }
 
   @Override
   public Measure<? extends MultUnit<A, B>> ofBaseUnits(double baseUnitMagnitude) {
-    return new Mult<>(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+    return new ImmutableMult<>(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
   @Override
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 01a8beed6ea..85b4f07e900 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
@@ -4,6 +4,8 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.mutable.MutableMeasureBase;
+
 /**
  * @param <U> The dimension of measurement.
  * @param <Base> The base measure type.
@@ -67,4 +69,13 @@ default MutSelf mut_divide(double divisor) {
   default MutSelf mut_divide(Dimensionless divisor) {
     return mut_divide(divisor.baseUnitMagnitude());
   }
+
+  static <U extends Unit> MutableMeasure<U, ?, ?> ofRelativeUnits(double initialValue, U unit) {
+    return new MutableMeasureBase(initialValue, unit.toBaseUnits(initialValue), unit) {
+      @Override
+      public Measure copy() {
+        return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude, unit);
+      }
+    };
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
index 93e143f5bb0..a42313859bd 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
@@ -131,7 +131,7 @@ public Measure<? extends PerUnit<N, D>> ofBaseUnits(double baseUnitMagnitude) {
 
   @Override
   public MutableMeasure<? extends PerUnit<N, D>, ?, ?> mutable(double initialMagnitude) {
-    return null;
+    return MutableMeasure.ofRelativeUnits(initialMagnitude, this);
   }
 
   public double convertFrom(double magnitude, PerUnit<? extends N, ? extends D> otherUnit) {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Power.java b/wpiunits/src/main/java/edu/wpi/first/units/Power.java
index aa68751bf8f..563207d5d30 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Power.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Power.java
@@ -4,17 +4,11 @@
 
 package edu.wpi.first.units;
 
-public class Power extends MeasureBase<PowerUnit> {
-  public Power(double magnitude, double baseUnitMagnitude, PowerUnit unit) {
-    super(magnitude, baseUnitMagnitude, unit);
-  }
-
+public interface Power extends Measure<PowerUnit> {
   @Override
-  public Power copy() {
-    return this;
-  }
+  Power copy();
 
-  public double in(PerUnit<EnergyUnit, TimeUnit> otherUnit) {
-    return otherUnit.fromBaseUnits(baseUnitMagnitude);
+  default double in(PerUnit<EnergyUnit, TimeUnit> otherUnit) {
+    return otherUnit.fromBaseUnits(baseUnitMagnitude());
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
index 437c8c03deb..e16e799968a 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
@@ -7,6 +7,9 @@
 import static edu.wpi.first.units.Units.Joules;
 import static edu.wpi.first.units.Units.Seconds;
 
+import edu.wpi.first.units.immutable.ImmutablePower;
+import edu.wpi.first.units.mutable.MutPower;
+
 /**
  * Unit of power dimension.
  *
@@ -70,7 +73,17 @@ public static PowerUnit combine(TorqueUnit torque, AngularVelocityUnit angularVe
 
   @Override
   public Power of(double magnitude) {
-    return new Power(magnitude, toBaseUnits(magnitude), this);
+    return new ImmutablePower(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public Power ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutablePower(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public MutPower mutable(double initialMagnitude) {
+    return new MutPower(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 
   public double convertFrom(double magnitude, PowerUnit otherUnit) {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Temperature.java b/wpiunits/src/main/java/edu/wpi/first/units/Temperature.java
index aa1b61015d5..4c51a390c2f 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Temperature.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Temperature.java
@@ -4,21 +4,20 @@
 
 package edu.wpi.first.units;
 
-public class Temperature extends MeasureBase<TemperatureUnit> {
-  public Temperature(double magnitude, double baseUnitMagnitude, TemperatureUnit unit) {
-    super(magnitude, baseUnitMagnitude, unit);
-  }
+import static edu.wpi.first.units.Units.Kelvin;
+
+public interface Temperature extends Measure<TemperatureUnit> {
+  MathHelper<TemperatureUnit, Temperature> mathHelper = new MathHelper<>(Kelvin::of);
 
   @Override
-  public Temperature copy() {
-    return this;
-  }
+  Temperature copy();
 
-  public Velocity<TemperatureUnit> per(Time period) {
-    return unit.per(period.unit()).of(this.magnitude / period.magnitude());
+  default Velocity<TemperatureUnit> per(Time period) {
+    return mathHelper.divide(
+        this, period, VelocityUnit.combine(unit(), period.unit())::ofBaseUnits);
   }
 
-  public Velocity<TemperatureUnit> per(TimeUnit period) {
-    return unit.per(period).of(this.magnitude / period.fromBaseUnits(1));
+  default Velocity<TemperatureUnit> per(TimeUnit period) {
+    return mathHelper.divide(this, period);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
index b9b6a53c9e7..26901d37973 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
@@ -4,6 +4,9 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.immutable.ImmutableTemperature;
+import edu.wpi.first.units.mutable.MutTemperature;
+
 /**
  * Unit of temperature dimension.
  *
@@ -28,7 +31,17 @@ public VelocityUnit<TemperatureUnit> per(TimeUnit period) {
   }
 
   public Temperature of(double magnitude) {
-    return new Temperature(magnitude, toBaseUnits(magnitude), this);
+    return new ImmutableTemperature(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public Temperature ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableTemperature(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public MutTemperature mutable(double initialMagnitude) {
+    return new MutTemperature(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 
   public double convertFrom(double magnitude, TemperatureUnit otherUnit) {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Time.java b/wpiunits/src/main/java/edu/wpi/first/units/Time.java
index 0308c069859..bd6f981a8b1 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Time.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Time.java
@@ -7,31 +7,25 @@
 import static edu.wpi.first.units.Units.Hertz;
 import static edu.wpi.first.units.Units.Seconds;
 
-public class Time extends MeasureBase<TimeUnit> {
-  private static final MathHelper<TimeUnit, Time> mathHelper = new MathHelper<>(Seconds::of);
-
-  public Time(double magnitude, double baseUnitMagnitude, TimeUnit unit) {
-    super(magnitude, baseUnitMagnitude, unit);
-  }
+public interface Time extends Measure<TimeUnit> {
+  MathHelper<TimeUnit, Time> mathHelper = new MathHelper<>(Seconds::of);
 
   @Override
-  public Time copy() {
-    return this;
-  }
+  Time copy();
 
-  public Frequency inverse() {
-    return Hertz.of(1 / baseUnitMagnitude);
+  default Frequency inverse() {
+    return Hertz.of(1 / baseUnitMagnitude());
   }
 
-  public Dimensionless divide(Time other) {
+  default Dimensionless divide(Time other) {
     return mathHelper.divide(this, other);
   }
 
-  public Time plus(Time other) {
+  default Time plus(Time other) {
     return mathHelper.add(this, other);
   }
 
-  public Time minus(Time other) {
+  default Time minus(Time other) {
     return mathHelper.minus(this, other);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
index 240ddcc442d..ece3ca3ed28 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
@@ -4,6 +4,9 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.immutable.ImmutableTime;
+import edu.wpi.first.units.mutable.MutTime;
+
 /**
  * Unit of time dimension.
  *
@@ -49,7 +52,18 @@ public double convertFrom(double magnitude, TimeUnit otherUnit) {
     return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
   }
 
+  @Override
   public Time of(double magnitude) {
-    return new Time(magnitude, toBaseUnits(magnitude), this);
+    return new ImmutableTime(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public Time ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableTime(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public MutTime mutable(double initialMagnitude) {
+    return new MutTime(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Torque.java b/wpiunits/src/main/java/edu/wpi/first/units/Torque.java
index d8e49642756..2086bd363f8 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Torque.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Torque.java
@@ -4,13 +4,7 @@
 
 package edu.wpi.first.units;
 
-public class Torque extends MeasureBase<TorqueUnit> {
-  public Torque(double magnitude, double baseUnitMagnitude, TorqueUnit unit) {
-    super(magnitude, baseUnitMagnitude, unit);
-  }
-
+public interface Torque extends Measure<TorqueUnit> {
   @Override
-  public Torque copy() {
-    return this;
-  }
+  Torque copy();
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
index 1019d3a729d..a51e86fd821 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
@@ -4,6 +4,9 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.immutable.ImmutableTorque;
+import edu.wpi.first.units.mutable.MutTorque;
+
 public class TorqueUnit extends MultUnit<DistanceUnit, ForceUnit> {
   private static final CombinatoryUnitCache<DistanceUnit, ForceUnit, TorqueUnit> cache =
       new CombinatoryUnitCache<>(TorqueUnit::new);
@@ -25,7 +28,18 @@ public static TorqueUnit combine(DistanceUnit distance, ForceUnit force) {
     return cache.combine(distance, force);
   }
 
+  @Override
   public Torque of(double magnitude) {
-    return new Torque(magnitude, toBaseUnits(magnitude), this);
+    return new ImmutableTorque(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public Torque ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableTorque(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public MutTorque mutable(double initialMagnitude) {
+    return new MutTorque(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 }
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 b23ea29dd42..e5784271ee7 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Unit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Unit.java
@@ -11,8 +11,6 @@
  *
  * <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 abstract class Unit {
   private final UnaryFunction m_toBaseConverter;
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Velocity.java b/wpiunits/src/main/java/edu/wpi/first/units/Velocity.java
index 973c4a94064..16e6d2bbae9 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Velocity.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Velocity.java
@@ -4,17 +4,11 @@
 
 package edu.wpi.first.units;
 
-public class Velocity<D extends Unit> extends MeasureBase<VelocityUnit<D>> {
-  public Velocity(double magnitude, double baseUnitMagnitude, VelocityUnit<D> unit) {
-    super(magnitude, baseUnitMagnitude, unit);
-  }
-
+public interface Velocity<D extends Unit> extends Measure<VelocityUnit<D>> {
   @Override
-  public Velocity<D> copy() {
-    return this;
-  }
+  Velocity<D> copy();
 
-  public double in(VelocityUnit<? extends D> otherUnit) {
-    return otherUnit.fromBaseUnits(baseUnitMagnitude);
+  default double in(VelocityUnit<? extends D> otherUnit) {
+    return otherUnit.fromBaseUnits(baseUnitMagnitude());
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
index 8b09d0041c5..4b9b6044634 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
@@ -4,6 +4,7 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.immutable.ImmutableVelocity;
 import edu.wpi.first.units.mutable.MutVelocity;
 
 /**
@@ -65,7 +66,12 @@ public AccelerationUnit<D> per(TimeUnit period) {
   }
 
   public Velocity<D> of(double magnitude) {
-    return new Velocity<>(magnitude, toBaseUnits(magnitude), this);
+    return new ImmutableVelocity<>(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public Velocity<D> ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableVelocity<>(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
   public MutableMeasure<VelocityUnit<D>, ?, ?> mutable(double initialMagnitude) {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Voltage.java b/wpiunits/src/main/java/edu/wpi/first/units/Voltage.java
index db2522cdf62..247305b56af 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Voltage.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Voltage.java
@@ -7,49 +7,22 @@
 import static edu.wpi.first.units.Units.Second;
 import static edu.wpi.first.units.Units.Volts;
 
-public class Voltage implements Measure<VoltageUnit> {
-  private static final MathHelper<VoltageUnit, Voltage> mathHelper = new MathHelper<>(Volts::of);
-
-  protected double magnitude;
-  protected double baseUnitMagnitude;
-  protected VoltageUnit unit;
-
-  public Voltage(double magnitude, double baseUnitMagnitude, VoltageUnit unit) {
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = baseUnitMagnitude;
-    this.unit = unit;
-  }
+public interface Voltage extends Measure<VoltageUnit> {
+  MathHelper<VoltageUnit, Voltage> mathHelper = new MathHelper<>(Volts::of);
 
   @Override
-  public Voltage copy() {
-    return this;
-  }
+  Voltage copy();
 
-  public Velocity<VoltageUnit> divide(Time period) {
+  default Velocity<VoltageUnit> divide(Time period) {
     return mathHelper.divide(this, period, Volts.per(Second)::of);
   }
 
-  public Velocity<VoltageUnit> per(TimeUnit period) {
-    return divide(period.of(1));
-  }
-
-  @Override
-  public double magnitude() {
-    return magnitude;
-  }
-
-  @Override
-  public double baseUnitMagnitude() {
-    return baseUnitMagnitude;
-  }
-
-  @Override
-  public VoltageUnit unit() {
-    return unit;
+  default Velocity<VoltageUnit> per(TimeUnit period) {
+    return mathHelper.divide(this, period);
   }
 
-  public <U extends Unit> Measure<U> divide(Measure<? extends PerUnit<VoltageUnit, U>> m) {
-    return ImmutableMeasure.ofBaseUnits(
-        baseUnitMagnitude / m.baseUnitMagnitude(), m.unit().denominator());
+  @SuppressWarnings("unchecked")
+  default <U extends Unit> Measure<U> divide(Measure<? extends PerUnit<VoltageUnit, U>> m) {
+    return (Measure<U>) mathHelper.divide(this, m, m.unit().denominator()::ofBaseUnits);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
index 062fcfd4b91..81fe6c47f15 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
@@ -4,6 +4,7 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.immutable.ImmutableVoltage;
 import edu.wpi.first.units.mutable.MutVoltage;
 
 /**
@@ -44,10 +45,17 @@ public PowerUnit times(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 Voltage(magnitude, toBaseUnits(magnitude), this);
+    return new ImmutableVoltage(magnitude, toBaseUnits(magnitude), this);
   }
 
+  @Override
+  public Measure<?> ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableVoltage(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
   public MutVoltage mutable(double magnitude) {
     return new MutVoltage(magnitude, toBaseUnits(magnitude), this);
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAcceleration.java
new file mode 100644
index 00000000000..7336a27528e
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAcceleration.java
@@ -0,0 +1,109 @@
+// 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.immutable;
+
+import edu.wpi.first.units.Acceleration;
+import edu.wpi.first.units.AccelerationUnit;
+import edu.wpi.first.units.Dimensionless;
+import edu.wpi.first.units.MathHelper;
+import edu.wpi.first.units.Time;
+import edu.wpi.first.units.Unit;
+import edu.wpi.first.units.Velocity;
+import java.util.Objects;
+
+public final class ImmutableAcceleration<D extends Unit> implements Acceleration<D> {
+  private final MathHelper<AccelerationUnit<D>, Acceleration<D>> mathHelper =
+      new MathHelper<>(baseUnit()::of);
+
+  private final double magnitude;
+  private final double baseUnitMagnitude;
+  private final AccelerationUnit<D> unit;
+
+  public ImmutableAcceleration(
+      double magnitude, double baseUnitMagnitude, AccelerationUnit<D> unit) {
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = baseUnitMagnitude;
+    this.unit = unit;
+  }
+
+  @Override
+  public double magnitude() {
+    return magnitude;
+  }
+
+  @Override
+  public double baseUnitMagnitude() {
+    return baseUnitMagnitude;
+  }
+
+  @Override
+  public AccelerationUnit<D> unit() {
+    return unit;
+  }
+
+  @Override
+  public Acceleration<D> copy() {
+    return this;
+  }
+
+  @Override
+  public Acceleration<D> plus(Acceleration<D> other) {
+    return mathHelper.add(this, other);
+  }
+
+  @Override
+  public Acceleration<D> minus(Acceleration<D> other) {
+    return mathHelper.minus(this, other);
+  }
+
+  @Override
+  public Dimensionless divide(Acceleration<D> divisor) {
+    return mathHelper.divide(this, divisor);
+  }
+
+  @Override
+  public Acceleration<D> divide(double divisor) {
+    return mathHelper.divide(this, divisor);
+  }
+
+  @Override
+  public Acceleration<D> divide(Dimensionless divisor) {
+    return mathHelper.divide(this, divisor);
+  }
+
+  @Override
+  public Acceleration<D> times(double multiplier) {
+    return mathHelper.multiply(this, multiplier);
+  }
+
+  @Override
+  public Acceleration<D> times(Dimensionless multiplier) {
+    return mathHelper.multiply(this, multiplier);
+  }
+
+  @Override
+  public Velocity<D> times(Time time) {
+    return mathHelper.multiply(this, time, baseUnit().numerator()::of);
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (this == o) return true;
+    if (!(o instanceof ImmutableAcceleration<?> that)) return false;
+    return Double.compare(magnitude, that.magnitude) == 0
+        && Double.compare(baseUnitMagnitude, that.baseUnitMagnitude) == 0
+        && Objects.equals(unit, that.unit);
+  }
+
+  @Override
+  public int hashCode() {
+    return Objects.hash(magnitude, baseUnitMagnitude, unit);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngle.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngle.java
new file mode 100644
index 00000000000..8d0e7ab5604
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngle.java
@@ -0,0 +1,88 @@
+// 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.immutable;
+
+import static edu.wpi.first.units.Units.Radians;
+import static edu.wpi.first.units.Units.RadiansPerSecond;
+import static edu.wpi.first.units.Units.Value;
+
+import edu.wpi.first.units.Angle;
+import edu.wpi.first.units.AngleUnit;
+import edu.wpi.first.units.AngularVelocity;
+import edu.wpi.first.units.Dimensionless;
+import edu.wpi.first.units.ImmutableMeasure;
+import edu.wpi.first.units.MathHelper;
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.PerUnit;
+import edu.wpi.first.units.Time;
+import edu.wpi.first.units.TimeUnit;
+import edu.wpi.first.units.Unit;
+
+public record ImmutableAngle(double magnitude, double baseUnitMagnitude, AngleUnit unit)
+    implements Angle {
+  private static final MathHelper<AngleUnit, Angle> mathHelper = new MathHelper<>(Radians::of);
+
+  @Override
+  public Angle copy() {
+    return this;
+  }
+
+  @Override
+  public Dimensionless divide(Angle other) {
+    return mathHelper.divide(this, other);
+  }
+
+  @Override
+  public Angle plus(Angle other) {
+    return mathHelper.add(this, other);
+  }
+
+  @Override
+  public Angle minus(Angle other) {
+    return mathHelper.minus(this, other);
+  }
+
+  @Override
+  public Angle divide(double divisor) {
+    return mathHelper.divide(this, divisor);
+  }
+
+  @Override
+  public AngularVelocity divide(Time period) {
+    return mathHelper.divide(this, period, RadiansPerSecond::of);
+  }
+
+  @Override
+  public <Other extends Unit> Measure<Other> divide(
+      Measure<? extends PerUnit<AngleUnit, ? extends Other>> ratio) {
+    return ImmutableMeasure.ofBaseUnits(
+        baseUnitMagnitude / ratio.baseUnitMagnitude(), ratio.unit().denominator());
+  }
+
+  @Override
+  public AngularVelocity per(TimeUnit unit) {
+    return mathHelper.divide(this, unit.of(1), RadiansPerSecond::of);
+  }
+
+  @Override
+  public Dimensionless per(AngleUnit unit) {
+    return mathHelper.divide(this, unit.of(1), Value::of);
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public <Divisor extends Unit> Measure<? extends PerUnit<AngleUnit, Divisor>> per(
+      Divisor divisor) {
+    return PerUnit.combine(this.baseUnit(), (Divisor) divisor.getBaseUnit())
+        .of(baseUnitMagnitude / divisor.fromBaseUnits(1));
+  }
+
+  @Override
+  public <Other extends Unit> Measure<Other> times(
+      Measure<? extends PerUnit<? extends Other, AngleUnit>> ratio) {
+    return ImmutableMeasure.ofBaseUnits(
+        baseUnitMagnitude * ratio.baseUnitMagnitude(), ratio.unit().numerator());
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularAcceleration.java
new file mode 100644
index 00000000000..32d5d0d1fc2
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularAcceleration.java
@@ -0,0 +1,22 @@
+// 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.immutable;
+
+import edu.wpi.first.units.AngularAcceleration;
+import edu.wpi.first.units.AngularAccelerationUnit;
+
+public record ImmutableAngularAcceleration(
+    double magnitude, double baseUnitMagnitude, AngularAccelerationUnit unit)
+    implements AngularAcceleration {
+  @Override
+  public AngularAcceleration copy() {
+    return this;
+  }
+
+  @Override
+  public AngularAccelerationUnit unit() {
+    return unit;
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularMomentum.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularMomentum.java
new file mode 100644
index 00000000000..c661205cdd2
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularMomentum.java
@@ -0,0 +1,17 @@
+// 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.immutable;
+
+import edu.wpi.first.units.AngularMomentum;
+import edu.wpi.first.units.AngularMomentumUnit;
+
+public record ImmutableAngularMomentum(
+    double magnitude, double baseUnitMagnitude, AngularMomentumUnit unit)
+    implements AngularMomentum {
+  @Override
+  public AngularMomentum copy() {
+    return this;
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularVelocity.java
new file mode 100644
index 00000000000..8f8df002c82
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularVelocity.java
@@ -0,0 +1,22 @@
+// 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.immutable;
+
+import edu.wpi.first.units.AngularVelocity;
+import edu.wpi.first.units.AngularVelocityUnit;
+
+public record ImmutableAngularVelocity(
+    double magnitude, double baseUnitMagnitude, AngularVelocityUnit unit)
+    implements AngularVelocity {
+  @Override
+  public AngularVelocity copy() {
+    return this;
+  }
+
+  @Override
+  public AngularVelocityUnit unit() {
+    return (AngularVelocityUnit) unit;
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableCurrent.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableCurrent.java
new file mode 100644
index 00000000000..387490e3b8b
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableCurrent.java
@@ -0,0 +1,16 @@
+// 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.immutable;
+
+import edu.wpi.first.units.Current;
+import edu.wpi.first.units.CurrentUnit;
+
+public record ImmutableCurrent(double magnitude, double baseUnitMagnitude, CurrentUnit unit)
+    implements Current {
+  @Override
+  public Current copy() {
+    return this;
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDimensionless.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDimensionless.java
new file mode 100644
index 00000000000..3ef7a332d1a
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDimensionless.java
@@ -0,0 +1,16 @@
+// 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.immutable;
+
+import edu.wpi.first.units.Dimensionless;
+import edu.wpi.first.units.DimensionlessUnit;
+
+public record ImmutableDimensionless(
+    double magnitude, double baseUnitMagnitude, DimensionlessUnit unit) implements Dimensionless {
+  @Override
+  public Dimensionless copy() {
+    return this;
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDistance.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDistance.java
new file mode 100644
index 00000000000..6af977db4b7
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDistance.java
@@ -0,0 +1,16 @@
+// 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.immutable;
+
+import edu.wpi.first.units.Distance;
+import edu.wpi.first.units.DistanceUnit;
+
+public record ImmutableDistance(double magnitude, double baseUnitMagnitude, DistanceUnit unit)
+    implements Distance {
+  @Override
+  public Distance copy() {
+    return this;
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableEnergy.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableEnergy.java
new file mode 100644
index 00000000000..b9cfb3681a7
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableEnergy.java
@@ -0,0 +1,16 @@
+// 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.immutable;
+
+import edu.wpi.first.units.Energy;
+import edu.wpi.first.units.EnergyUnit;
+
+public record ImmutableEnergy(double magnitude, double baseUnitMagnitude, EnergyUnit unit)
+    implements Energy {
+  @Override
+  public Energy copy() {
+    return this;
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableForce.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableForce.java
new file mode 100644
index 00000000000..5557e6b14ea
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableForce.java
@@ -0,0 +1,16 @@
+// 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.immutable;
+
+import edu.wpi.first.units.Force;
+import edu.wpi.first.units.ForceUnit;
+
+public record ImmutableForce(double magnitude, double baseUnitMagnitude, ForceUnit unit)
+    implements Force {
+  @Override
+  public Force copy() {
+    return this;
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableFrequency.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableFrequency.java
new file mode 100644
index 00000000000..b319d3dd080
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableFrequency.java
@@ -0,0 +1,16 @@
+// 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.immutable;
+
+import edu.wpi.first.units.Frequency;
+import edu.wpi.first.units.FrequencyUnit;
+
+public record ImmutableFrequency(double magnitude, double baseUnitMagnitude, FrequencyUnit unit)
+    implements Frequency {
+  @Override
+  public Frequency copy() {
+    return this;
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearAcceleration.java
new file mode 100644
index 00000000000..f29616240bd
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearAcceleration.java
@@ -0,0 +1,17 @@
+// 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.immutable;
+
+import edu.wpi.first.units.LinearAcceleration;
+import edu.wpi.first.units.LinearAccelerationUnit;
+
+public record ImmutableLinearAcceleration(
+    double magnitude, double baseUnitMagnitude, LinearAccelerationUnit unit)
+    implements LinearAcceleration {
+  @Override
+  public LinearAcceleration copy() {
+    return this;
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearMomentum.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearMomentum.java
new file mode 100644
index 00000000000..653f6675848
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearMomentum.java
@@ -0,0 +1,16 @@
+// 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.immutable;
+
+import edu.wpi.first.units.LinearMomentum;
+import edu.wpi.first.units.LinearMomentumUnit;
+
+public record ImmutableLinearMomentum(
+    double magnitude, double baseUnitMagnitude, LinearMomentumUnit unit) implements LinearMomentum {
+  @Override
+  public LinearMomentum copy() {
+    return this;
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMass.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMass.java
new file mode 100644
index 00000000000..f26151c4626
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMass.java
@@ -0,0 +1,40 @@
+// 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.immutable;
+
+import edu.wpi.first.units.Mass;
+import edu.wpi.first.units.MassUnit;
+import edu.wpi.first.units.Time;
+import edu.wpi.first.units.TimeUnit;
+import edu.wpi.first.units.Velocity;
+
+public record ImmutableMass(double magnitude, double baseUnitMagnitude, MassUnit unit)
+    implements Mass {
+  @Override
+  public Mass copy() {
+    return this;
+  }
+
+  @Override
+  public Velocity<MassUnit> per(Time period) {
+    return new ImmutableVelocity<>(
+        magnitude / period.magnitude(),
+        baseUnitMagnitude / period.baseUnitMagnitude(),
+        unit.per(period.unit()));
+  }
+
+  @Override
+  public Velocity<MassUnit> per(TimeUnit period) {
+    return new ImmutableVelocity<>(
+        magnitude / period.fromBaseUnits(1),
+        baseUnitMagnitude / period.toBaseUnits(1),
+        unit.per(period));
+  }
+
+  @Override
+  public MassUnit unit() {
+    return unit;
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMomentOfInertia.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMomentOfInertia.java
new file mode 100644
index 00000000000..83618aaa1e0
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMomentOfInertia.java
@@ -0,0 +1,18 @@
+// 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.immutable;
+
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.MomentOfInertia;
+import edu.wpi.first.units.MomentOfInertiaUnit;
+
+public record ImmutableMomentOfInertia(
+    double magnitude, double baseUnitMagnitude, MomentOfInertiaUnit unit)
+    implements MomentOfInertia {
+  @Override
+  public Measure<MomentOfInertiaUnit> copy() {
+    return this;
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMult.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMult.java
new file mode 100644
index 00000000000..7d02bdc95f3
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMult.java
@@ -0,0 +1,18 @@
+// 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.immutable;
+
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.Mult;
+import edu.wpi.first.units.MultUnit;
+import edu.wpi.first.units.Unit;
+
+public record ImmutableMult<A extends Unit, B extends Unit>(
+    double magnitude, double baseUnitMagnitude, MultUnit<A, B> unit) implements Mult<A, B> {
+  @Override
+  public Measure<MultUnit<A, B>> copy() {
+    return this;
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutablePower.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutablePower.java
new file mode 100644
index 00000000000..db7d5626fa5
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutablePower.java
@@ -0,0 +1,16 @@
+// 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.immutable;
+
+import edu.wpi.first.units.Power;
+import edu.wpi.first.units.PowerUnit;
+
+public record ImmutablePower(double magnitude, double baseUnitMagnitude, PowerUnit unit)
+    implements Power {
+  @Override
+  public Power copy() {
+    return this;
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTemperature.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTemperature.java
new file mode 100644
index 00000000000..3830d699456
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTemperature.java
@@ -0,0 +1,16 @@
+// 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.immutable;
+
+import edu.wpi.first.units.Temperature;
+import edu.wpi.first.units.TemperatureUnit;
+
+public record ImmutableTemperature(double magnitude, double baseUnitMagnitude, TemperatureUnit unit)
+    implements Temperature {
+  @Override
+  public Temperature copy() {
+    return this;
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTime.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTime.java
new file mode 100644
index 00000000000..ec7222f6949
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTime.java
@@ -0,0 +1,16 @@
+// 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.immutable;
+
+import edu.wpi.first.units.Time;
+import edu.wpi.first.units.TimeUnit;
+
+public record ImmutableTime(double magnitude, double baseUnitMagnitude, TimeUnit unit)
+    implements Time {
+  @Override
+  public Time copy() {
+    return this;
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTorque.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTorque.java
new file mode 100644
index 00000000000..6a8b168a73e
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTorque.java
@@ -0,0 +1,16 @@
+// 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.immutable;
+
+import edu.wpi.first.units.Torque;
+import edu.wpi.first.units.TorqueUnit;
+
+public record ImmutableTorque(double magnitude, double baseUnitMagnitude, TorqueUnit unit)
+    implements Torque {
+  @Override
+  public Torque copy() {
+    return this;
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVelocity.java
new file mode 100644
index 00000000000..2543ddea06c
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVelocity.java
@@ -0,0 +1,17 @@
+// 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.immutable;
+
+import edu.wpi.first.units.Unit;
+import edu.wpi.first.units.Velocity;
+import edu.wpi.first.units.VelocityUnit;
+
+public record ImmutableVelocity<D extends Unit>(
+    double magnitude, double baseUnitMagnitude, VelocityUnit<D> unit) implements Velocity<D> {
+  @Override
+  public Velocity<D> copy() {
+    return this;
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVoltage.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVoltage.java
new file mode 100644
index 00000000000..beec19086ca
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVoltage.java
@@ -0,0 +1,16 @@
+// 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.immutable;
+
+import edu.wpi.first.units.Voltage;
+import edu.wpi.first.units.VoltageUnit;
+
+public record ImmutableVoltage(double magnitude, double baseUnitMagnitude, VoltageUnit unit)
+    implements Voltage {
+  @Override
+  public Voltage copy() {
+    return this;
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAcceleration.java
index 41df2a04dc6..93f4e15f5d5 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAcceleration.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAcceleration.java
@@ -6,26 +6,80 @@
 
 import edu.wpi.first.units.Acceleration;
 import edu.wpi.first.units.AccelerationUnit;
-import edu.wpi.first.units.MutableMeasure;
+import edu.wpi.first.units.Dimensionless;
+import edu.wpi.first.units.MathHelper;
+import edu.wpi.first.units.Time;
 import edu.wpi.first.units.Unit;
+import edu.wpi.first.units.Velocity;
+import edu.wpi.first.units.immutable.ImmutableAcceleration;
 
-public class MutAcceleration<D extends Unit> extends Acceleration<D>
-    implements MutableMeasure<AccelerationUnit<D>, Acceleration<D>, MutAcceleration<D>> {
-  protected MutAcceleration(double magnitude, double baseUnitMagnitude, AccelerationUnit<D> unit) {
+public class MutAcceleration<D extends Unit>
+    extends MutableMeasureBase<AccelerationUnit<D>, Acceleration<D>, MutAcceleration<D>>
+    implements Acceleration<D> {
+  private final MathHelper<AccelerationUnit<D>, Acceleration<D>> mathHelper =
+      new MathHelper<>(baseUnit()::of);
+
+  public MutAcceleration(double magnitude, double baseUnitMagnitude, AccelerationUnit<D> unit) {
     super(magnitude, baseUnitMagnitude, unit);
   }
 
   @Override
-  public MutAcceleration<D> mut_replace(double magnitude, AccelerationUnit<D> newUnit) {
-    this.unit = newUnit;
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
+  public double magnitude() {
+    return magnitude;
+  }
+
+  @Override
+  public double baseUnitMagnitude() {
+    return baseUnitMagnitude;
+  }
 
-    return this;
+  @Override
+  public AccelerationUnit<D> unit() {
+    return unit;
   }
 
   @Override
   public Acceleration<D> copy() {
-    return new Acceleration<>(magnitude, baseUnitMagnitude, unit);
+    return new ImmutableAcceleration<>(magnitude(), baseUnitMagnitude(), unit());
+  }
+
+  @Override
+  public Acceleration<D> plus(Acceleration<D> other) {
+    return mathHelper.add(this, other);
+  }
+
+  @Override
+  public Acceleration<D> minus(Acceleration<D> other) {
+    return mathHelper.minus(this, other);
+  }
+
+  @Override
+  public Dimensionless divide(Acceleration<D> divisor) {
+    return mathHelper.divide(this, divisor);
+  }
+
+  @Override
+  public Acceleration<D> divide(double divisor) {
+    return mathHelper.divide(this, divisor);
+  }
+
+  @Override
+  public Acceleration<D> divide(Dimensionless divisor) {
+    return mathHelper.divide(this, divisor);
+  }
+
+  @Override
+  public Acceleration<D> times(double multiplier) {
+    return mathHelper.multiply(this, multiplier);
+  }
+
+  @Override
+  public Acceleration<D> times(Dimensionless multiplier) {
+    return mathHelper.multiply(this, multiplier);
+  }
+
+  @Override
+  public Velocity<D> times(Time time) {
+    return mathHelper.multiply(this, time, baseUnit().numerator()::of);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngle.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngle.java
index fa27e3aa0f4..36774e70a2e 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngle.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngle.java
@@ -4,25 +4,91 @@
 
 package edu.wpi.first.units.mutable;
 
+import static edu.wpi.first.units.Units.Radians;
+import static edu.wpi.first.units.Units.RadiansPerSecond;
+import static edu.wpi.first.units.Units.Value;
+
 import edu.wpi.first.units.Angle;
 import edu.wpi.first.units.AngleUnit;
+import edu.wpi.first.units.AngularVelocity;
+import edu.wpi.first.units.Dimensionless;
+import edu.wpi.first.units.ImmutableMeasure;
+import edu.wpi.first.units.MathHelper;
+import edu.wpi.first.units.Measure;
 import edu.wpi.first.units.MutableMeasure;
+import edu.wpi.first.units.PerUnit;
+import edu.wpi.first.units.Time;
+import edu.wpi.first.units.TimeUnit;
+import edu.wpi.first.units.Unit;
+import edu.wpi.first.units.immutable.ImmutableAngle;
+
+public final class MutAngle extends MutableMeasureBase<AngleUnit, Angle, MutAngle>
+    implements Angle, MutableMeasure<AngleUnit, Angle, MutAngle> {
+  private static final MathHelper<AngleUnit, Angle> mathHelper = new MathHelper<>(Radians::of);
 
-public class MutAngle extends Angle implements MutableMeasure<AngleUnit, Angle, MutAngle> {
   public MutAngle(double magnitude, double baseUnitMagnitude, AngleUnit unit) {
     super(magnitude, baseUnitMagnitude, unit);
   }
 
   @Override
-  public MutAngle mut_replace(double value, AngleUnit newUnit) {
-    this.unit = newUnit;
-    this.magnitude = value;
-    this.baseUnitMagnitude = newUnit.toBaseUnits(value);
-    return this;
+  public Dimensionless divide(Angle other) {
+    return mathHelper.divide(this, other);
+  }
+
+  @Override
+  public Angle plus(Angle other) {
+    return mathHelper.add(this, other);
+  }
+
+  @Override
+  public Angle minus(Angle other) {
+    return mathHelper.minus(this, other);
+  }
+
+  @Override
+  public Angle divide(double divisor) {
+    return mathHelper.divide(this, divisor);
+  }
+
+  @Override
+  public AngularVelocity divide(Time period) {
+    return mathHelper.divide(this, period, RadiansPerSecond::of);
+  }
+
+  @Override
+  public <Other extends Unit> Measure<Other> divide(
+      Measure<? extends PerUnit<AngleUnit, ? extends Other>> ratio) {
+    return ImmutableMeasure.ofBaseUnits(
+        baseUnitMagnitude / ratio.baseUnitMagnitude(), ratio.unit().denominator());
+  }
+
+  @Override
+  public AngularVelocity per(TimeUnit unit) {
+    return mathHelper.divide(this, unit.of(1), RadiansPerSecond::of);
+  }
+
+  @Override
+  public Dimensionless per(AngleUnit unit) {
+    return mathHelper.divide(this, unit.of(1), Value::of);
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public <Divisor extends Unit> Measure<? extends PerUnit<AngleUnit, Divisor>> per(
+      Divisor divisor) {
+    return PerUnit.combine(this.baseUnit(), (Divisor) divisor.getBaseUnit())
+        .of(baseUnitMagnitude / divisor.fromBaseUnits(1));
+  }
+
+  @Override
+  public <Other extends Unit> Measure<Other> times(
+      Measure<? extends PerUnit<? extends Other, AngleUnit>> ratio) {
+    return ImmutableMeasure.ofBaseUnits(
+        baseUnitMagnitude * ratio.baseUnitMagnitude(), ratio.unit().numerator());
   }
 
   @Override
   public Angle copy() {
-    return new Angle(magnitude, baseUnitMagnitude, unit);
+    return new ImmutableAngle(magnitude, baseUnitMagnitude, unit);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularAcceleration.java
index 5f99450d1ec..df17cba1674 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularAcceleration.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularAcceleration.java
@@ -4,30 +4,20 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.AccelerationUnit;
-import edu.wpi.first.units.AngleUnit;
 import edu.wpi.first.units.AngularAcceleration;
 import edu.wpi.first.units.AngularAccelerationUnit;
-import edu.wpi.first.units.MutableMeasure;
+import edu.wpi.first.units.immutable.ImmutableAngularAcceleration;
 
-public class MutAngularAcceleration extends AngularAcceleration
-    implements MutableMeasure<
-        AccelerationUnit<AngleUnit>, AngularAcceleration, MutAngularAcceleration> {
+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 MutAngularAcceleration mut_replace(double magnitude, AccelerationUnit<AngleUnit> newUnit) {
-    this.unit = newUnit;
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = newUnit.toBaseUnits(magnitude);
-    return this;
-  }
-
   @Override
   public AngularAcceleration copy() {
-    return new AngularAcceleration(magnitude, baseUnitMagnitude, unit());
+    return new ImmutableAngularAcceleration(magnitude(), baseUnitMagnitude(), unit());
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularMomentum.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularMomentum.java
index 78c2a3fe853..df8ce84fcc4 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularMomentum.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularMomentum.java
@@ -6,24 +6,17 @@
 
 import edu.wpi.first.units.AngularMomentum;
 import edu.wpi.first.units.AngularMomentumUnit;
-import edu.wpi.first.units.MutableMeasure;
+import edu.wpi.first.units.immutable.ImmutableAngularMomentum;
 
-public class MutAngularMomentum extends AngularMomentum
-    implements MutableMeasure<AngularMomentumUnit, AngularMomentum, MutAngularMomentum> {
+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 MutAngularMomentum mut_replace(double magnitude, AngularMomentumUnit newUnit) {
-    this.unit = newUnit;
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
-    return this;
-  }
-
   @Override
   public AngularMomentum copy() {
-    return new AngularMomentum(magnitude, baseUnitMagnitude, unit);
+    return new ImmutableAngularMomentum(magnitude, baseUnitMagnitude, unit);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularVelocity.java
index bbbedb8c252..58442099408 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularVelocity.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularVelocity.java
@@ -4,28 +4,21 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.AngleUnit;
 import edu.wpi.first.units.AngularVelocity;
 import edu.wpi.first.units.AngularVelocityUnit;
-import edu.wpi.first.units.MutableMeasure;
-import edu.wpi.first.units.VelocityUnit;
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.immutable.ImmutableAngularVelocity;
 
-public class MutAngularVelocity extends AngularVelocity
-    implements MutableMeasure<VelocityUnit<AngleUnit>, AngularVelocity, MutAngularVelocity> {
+public final class MutAngularVelocity
+    extends MutableMeasureBase<
+        AngularVelocityUnit, Measure<AngularVelocityUnit>, MutAngularVelocity>
+    implements AngularVelocity {
   public MutAngularVelocity(double magnitude, double baseUnitMagnitude, AngularVelocityUnit unit) {
     super(magnitude, baseUnitMagnitude, unit);
   }
 
-  @Override
-  public MutAngularVelocity mut_replace(double magnitude, VelocityUnit<AngleUnit> newUnit) {
-    this.unit = newUnit;
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
-    return null;
-  }
-
   @Override
   public AngularVelocity copy() {
-    return new AngularVelocity(magnitude, baseUnitMagnitude, unit());
+    return new ImmutableAngularVelocity(magnitude, baseUnitMagnitude, unit());
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutCurrent.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutCurrent.java
index 8b6170d2aa9..d3ca2541528 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutCurrent.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutCurrent.java
@@ -6,25 +6,16 @@
 
 import edu.wpi.first.units.Current;
 import edu.wpi.first.units.CurrentUnit;
-import edu.wpi.first.units.MutableMeasure;
+import edu.wpi.first.units.immutable.ImmutableCurrent;
 
-public class MutCurrent extends Current
-    implements MutableMeasure<CurrentUnit, Current, MutCurrent> {
+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 MutCurrent mut_replace(double magnitude, CurrentUnit newUnit) {
-    this.unit = newUnit;
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
-
-    return this;
-  }
-
   @Override
   public Current copy() {
-    return new Current(magnitude, baseUnitMagnitude, unit);
+    return new ImmutableCurrent(magnitude, baseUnitMagnitude, unit);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDimensionless.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDimensionless.java
index b655cfbd98e..d781668a0a1 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDimensionless.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDimensionless.java
@@ -6,25 +6,17 @@
 
 import edu.wpi.first.units.Dimensionless;
 import edu.wpi.first.units.DimensionlessUnit;
-import edu.wpi.first.units.MutableMeasure;
+import edu.wpi.first.units.immutable.ImmutableDimensionless;
 
-public class MutDimensionless extends Dimensionless
-    implements MutableMeasure<DimensionlessUnit, Dimensionless, MutDimensionless> {
+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 MutDimensionless mut_replace(double magnitude, DimensionlessUnit newUnit) {
-    this.unit = newUnit;
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
-
-    return this;
-  }
-
   @Override
   public Dimensionless copy() {
-    return new Dimensionless(magnitude, baseUnitMagnitude, unit);
+    return new ImmutableDimensionless(magnitude, baseUnitMagnitude, unit);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDistance.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDistance.java
index 7ec1d43fab2..d0d1befb732 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDistance.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDistance.java
@@ -6,24 +6,16 @@
 
 import edu.wpi.first.units.Distance;
 import edu.wpi.first.units.DistanceUnit;
-import edu.wpi.first.units.MutableMeasure;
+import edu.wpi.first.units.immutable.ImmutableDistance;
 
-public class MutDistance extends Distance
-    implements MutableMeasure<DistanceUnit, Distance, MutDistance> {
+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 MutDistance mut_replace(double magnitude, DistanceUnit newUnit) {
-    this.unit = newUnit;
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
-    return this;
-  }
-
   @Override
   public Distance copy() {
-    return new Distance(magnitude, baseUnitMagnitude, unit);
+    return new ImmutableDistance(magnitude, baseUnitMagnitude, unit);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutEnergy.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutEnergy.java
index 8493290a6ec..0b0b12a66c8 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutEnergy.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutEnergy.java
@@ -6,24 +6,16 @@
 
 import edu.wpi.first.units.Energy;
 import edu.wpi.first.units.EnergyUnit;
-import edu.wpi.first.units.MutableMeasure;
+import edu.wpi.first.units.immutable.ImmutableEnergy;
 
-public class MutEnergy extends Energy implements MutableMeasure<EnergyUnit, Energy, MutEnergy> {
+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 MutEnergy mut_replace(double magnitude, EnergyUnit newUnit) {
-    this.unit = newUnit;
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
-
-    return this;
-  }
-
   @Override
   public Energy copy() {
-    return new Energy(magnitude, baseUnitMagnitude, unit);
+    return new ImmutableEnergy(magnitude, baseUnitMagnitude, unit);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutForce.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutForce.java
index a11154e565f..8004b51d493 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutForce.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutForce.java
@@ -6,23 +6,16 @@
 
 import edu.wpi.first.units.Force;
 import edu.wpi.first.units.ForceUnit;
-import edu.wpi.first.units.MutableMeasure;
+import edu.wpi.first.units.immutable.ImmutableForce;
 
-public class MutForce extends Force implements MutableMeasure<ForceUnit, Force, MutForce> {
+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 MutForce mut_replace(double magnitude, ForceUnit newUnit) {
-    this.unit = newUnit;
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
-    return this;
-  }
-
   @Override
   public Force copy() {
-    return new Force(magnitude, baseUnitMagnitude, unit);
+    return new ImmutableForce(magnitude, baseUnitMagnitude, unit);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutFrequency.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutFrequency.java
index ea003fafbe2..308e7f1cce3 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutFrequency.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutFrequency.java
@@ -6,25 +6,16 @@
 
 import edu.wpi.first.units.Frequency;
 import edu.wpi.first.units.FrequencyUnit;
-import edu.wpi.first.units.MutableMeasure;
+import edu.wpi.first.units.immutable.ImmutableFrequency;
 
-public class MutFrequency extends Frequency
-    implements MutableMeasure<FrequencyUnit, Frequency, MutFrequency> {
-  protected MutFrequency(double magnitude, double baseUnitMagnitude, FrequencyUnit unit) {
+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 MutFrequency mut_replace(double magnitude, FrequencyUnit newUnit) {
-    this.unit = newUnit;
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
-
-    return this;
-  }
-
   @Override
   public Frequency copy() {
-    return new Frequency(magnitude, baseUnitMagnitude, unit);
+    return new ImmutableFrequency(magnitude, baseUnitMagnitude, unit);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearAcceleration.java
index 1d7813cf3d5..3e32876fb73 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearAcceleration.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearAcceleration.java
@@ -4,32 +4,20 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.AccelerationUnit;
-import edu.wpi.first.units.DistanceUnit;
 import edu.wpi.first.units.LinearAcceleration;
 import edu.wpi.first.units.LinearAccelerationUnit;
-import edu.wpi.first.units.MutableMeasure;
+import edu.wpi.first.units.immutable.ImmutableLinearAcceleration;
 
-public class MutLinearAcceleration extends LinearAcceleration
-    implements MutableMeasure<
-        AccelerationUnit<DistanceUnit>, LinearAcceleration, MutLinearAcceleration> {
+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 MutLinearAcceleration mut_replace(
-      double magnitude, AccelerationUnit<DistanceUnit> newUnit) {
-    this.unit = newUnit;
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
-
-    return this;
-  }
-
   @Override
   public LinearAcceleration copy() {
-    return new LinearAcceleration(magnitude, baseUnitMagnitude, unit());
+    return new ImmutableLinearAcceleration(magnitude, baseUnitMagnitude, unit());
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearMomentum.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearMomentum.java
index 5e5b3625664..39087276bc3 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearMomentum.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearMomentum.java
@@ -6,25 +6,17 @@
 
 import edu.wpi.first.units.LinearMomentum;
 import edu.wpi.first.units.LinearMomentumUnit;
-import edu.wpi.first.units.MutableMeasure;
+import edu.wpi.first.units.immutable.ImmutableLinearMomentum;
 
-public class MutLinearMomentum extends LinearMomentum
-    implements MutableMeasure<LinearMomentumUnit, LinearMomentum, MutLinearMomentum> {
-  protected MutLinearMomentum(double magnitude, double baseUnitMagnitude, LinearMomentumUnit unit) {
+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 MutLinearMomentum mut_replace(double magnitude, LinearMomentumUnit newUnit) {
-    this.unit = newUnit;
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
-
-    return this;
-  }
-
   @Override
   public LinearMomentum copy() {
-    return new LinearMomentum(magnitude, baseUnitMagnitude, unit);
+    return new ImmutableLinearMomentum(magnitude, baseUnitMagnitude, unit);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearVelocity.java
index df6afbb18a2..57b98907c61 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearVelocity.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearVelocity.java
@@ -5,27 +5,25 @@
 package edu.wpi.first.units.mutable;
 
 import edu.wpi.first.units.DistanceUnit;
+import edu.wpi.first.units.ImmutableLinearVelocity;
 import edu.wpi.first.units.LinearVelocity;
 import edu.wpi.first.units.LinearVelocityUnit;
-import edu.wpi.first.units.MutableMeasure;
 import edu.wpi.first.units.VelocityUnit;
 
-public class MutLinearVelocity extends LinearVelocity
-    implements MutableMeasure<VelocityUnit<DistanceUnit>, LinearVelocity, MutLinearVelocity> {
+public final class MutLinearVelocity
+    extends MutableMeasureBase<VelocityUnit<DistanceUnit>, LinearVelocity, MutLinearVelocity>
+    implements LinearVelocity {
   public MutLinearVelocity(double magnitude, double baseUnitMagnitude, LinearVelocityUnit unit) {
     super(magnitude, baseUnitMagnitude, unit);
   }
 
   @Override
-  public MutLinearVelocity mut_replace(double magnitude, VelocityUnit<DistanceUnit> newUnit) {
-    this.unit = newUnit;
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = newUnit.toBaseUnits(magnitude);
-    return this;
+  public LinearVelocityUnit unit() {
+    return (LinearVelocityUnit) super.unit();
   }
 
   @Override
   public LinearVelocity copy() {
-    return new LinearVelocity(magnitude, baseUnitMagnitude, unit());
+    return new ImmutableLinearVelocity(magnitude, baseUnitMagnitude, unit());
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMass.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMass.java
index 943f2181e26..7f996d54321 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMass.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMass.java
@@ -6,24 +6,15 @@
 
 import edu.wpi.first.units.Mass;
 import edu.wpi.first.units.MassUnit;
-import edu.wpi.first.units.MutableMeasure;
+import edu.wpi.first.units.immutable.ImmutableMass;
 
-public class MutMass extends Mass implements MutableMeasure<MassUnit, Mass, MutMass> {
-  protected MutMass(double magnitude, double baseUnitMagnitude, MassUnit unit) {
+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 MutMass mut_replace(double magnitude, MassUnit newUnit) {
-    this.unit = newUnit;
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
-
-    return this;
-  }
-
   @Override
   public Mass copy() {
-    return new Mass(magnitude, baseUnitMagnitude, unit);
+    return new ImmutableMass(magnitude, baseUnitMagnitude, unit);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMomentOfInertia.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMomentOfInertia.java
new file mode 100644
index 00000000000..8e705cffaef
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMomentOfInertia.java
@@ -0,0 +1,22 @@
+// 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.MomentOfInertia;
+import edu.wpi.first.units.MomentOfInertiaUnit;
+import edu.wpi.first.units.immutable.ImmutableMomentOfInertia;
+
+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/main/java/edu/wpi/first/units/mutable/MutMult.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMult.java
index d0d0b3c020b..0b26f16356a 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMult.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMult.java
@@ -9,7 +9,7 @@
 import edu.wpi.first.units.MutableMeasure;
 import edu.wpi.first.units.Unit;
 
-public class MutMult<A extends Unit, B extends Unit> extends Mult<A, B>
+public final class MutMult<A extends Unit, B extends Unit> extends Mult<A, B>
     implements MutableMeasure<MultUnit<A, B>, Mult<A, B>, MutMult<A, B>> {
   public MutMult(double magnitude, double baseUnitMagnitude, MultUnit<A, B> unit) {
     super(magnitude, baseUnitMagnitude, unit);
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutPower.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutPower.java
index c8108722315..b7dab91ec29 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutPower.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutPower.java
@@ -4,26 +4,18 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.MutableMeasure;
 import edu.wpi.first.units.Power;
 import edu.wpi.first.units.PowerUnit;
+import edu.wpi.first.units.immutable.ImmutablePower;
 
-public class MutPower extends Power implements MutableMeasure<PowerUnit, Power, MutPower> {
-  protected MutPower(double magnitude, double baseUnitMagnitude, PowerUnit unit) {
+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 MutPower mut_replace(double magnitude, PowerUnit newUnit) {
-    this.unit = newUnit;
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
-
-    return this;
-  }
-
   @Override
   public Power copy() {
-    return new Power(magnitude, baseUnitMagnitude, unit);
+    return new ImmutablePower(magnitude, baseUnitMagnitude, unit);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTemperature.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTemperature.java
index 9520839c224..19d46c92e85 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTemperature.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTemperature.java
@@ -4,27 +4,19 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.MutableMeasure;
 import edu.wpi.first.units.Temperature;
 import edu.wpi.first.units.TemperatureUnit;
+import edu.wpi.first.units.immutable.ImmutableTemperature;
 
-public class MutTemperature extends Temperature
-    implements MutableMeasure<TemperatureUnit, Temperature, MutTemperature> {
-  protected MutTemperature(double magnitude, double baseUnitMagnitude, TemperatureUnit unit) {
+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 MutTemperature mut_replace(double magnitude, TemperatureUnit newUnit) {
-    this.unit = newUnit;
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
-
-    return this;
-  }
-
   @Override
   public Temperature copy() {
-    return new Temperature(magnitude, baseUnitMagnitude, unit);
+    return new ImmutableTemperature(magnitude, baseUnitMagnitude, unit);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTime.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTime.java
index 62432260da1..f82ba62a4aa 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTime.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTime.java
@@ -4,26 +4,17 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.MutableMeasure;
 import edu.wpi.first.units.Time;
 import edu.wpi.first.units.TimeUnit;
+import edu.wpi.first.units.immutable.ImmutableTime;
 
-public class MutTime extends Time implements MutableMeasure<TimeUnit, Time, MutTime> {
-  protected MutTime(double magnitude, double baseUnitMagnitude, TimeUnit unit) {
+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 MutTime mut_replace(double magnitude, TimeUnit newUnit) {
-    this.unit = newUnit;
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
-
-    return this;
-  }
-
   @Override
   public Time copy() {
-    return new Time(magnitude, baseUnitMagnitude, unit);
+    return new ImmutableTime(magnitude, baseUnitMagnitude, unit);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTorque.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTorque.java
index ce168d3060a..8d78e6dcdb3 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTorque.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTorque.java
@@ -4,26 +4,18 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.MutableMeasure;
 import edu.wpi.first.units.Torque;
 import edu.wpi.first.units.TorqueUnit;
+import edu.wpi.first.units.immutable.ImmutableTorque;
 
-public class MutTorque extends Torque implements MutableMeasure<TorqueUnit, Torque, MutTorque> {
-  protected MutTorque(double magnitude, double baseUnitMagnitude, TorqueUnit unit) {
+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 MutTorque mut_replace(double magnitude, TorqueUnit newUnit) {
-    this.unit = newUnit;
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
-
-    return this;
-  }
-
   @Override
   public Torque copy() {
-    return new Torque(magnitude, baseUnitMagnitude, unit);
+    return new ImmutableTorque(magnitude, baseUnitMagnitude, unit);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVelocity.java
index 5939be60b87..903ff79c02e 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVelocity.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVelocity.java
@@ -4,13 +4,14 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.MutableMeasure;
 import edu.wpi.first.units.Unit;
 import edu.wpi.first.units.Velocity;
 import edu.wpi.first.units.VelocityUnit;
+import edu.wpi.first.units.immutable.ImmutableVelocity;
 
-public class MutVelocity<D extends Unit> extends Velocity<D>
-    implements MutableMeasure<VelocityUnit<D>, Velocity<D>, MutVelocity<D>> {
+public 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);
   }
@@ -25,6 +26,6 @@ public MutVelocity<D> mut_replace(double magnitude, VelocityUnit<D> newUnit) {
 
   @Override
   public Velocity<D> copy() {
-    return new Velocity<>(magnitude, baseUnitMagnitude, unit);
+    return new ImmutableVelocity<>(magnitude, baseUnitMagnitude, unit);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVoltage.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVoltage.java
index 72e155bdb58..9acaaf4209a 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVoltage.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVoltage.java
@@ -4,25 +4,18 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.MutableMeasure;
 import edu.wpi.first.units.Voltage;
 import edu.wpi.first.units.VoltageUnit;
+import edu.wpi.first.units.immutable.ImmutableVoltage;
 
-public class MutVoltage extends Voltage
-    implements MutableMeasure<VoltageUnit, Voltage, MutVoltage> {
+public final class MutVoltage extends MutableMeasureBase<VoltageUnit, Voltage, MutVoltage>
+    implements Voltage {
   public MutVoltage(double magnitude, double baseUnitMagnitude, VoltageUnit unit) {
     super(magnitude, baseUnitMagnitude, unit);
   }
 
-  public MutVoltage mut_replace(double value, VoltageUnit newUnit) {
-    this.unit = newUnit;
-    this.magnitude = value;
-    this.baseUnitMagnitude = unit.toBaseUnits(value);
-    return this;
-  }
-
   @Override
   public Voltage copy() {
-    return new Voltage(magnitude, baseUnitMagnitude, unit);
+    return new ImmutableVoltage(magnitude, baseUnitMagnitude, unit);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MeasureBase.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutableMeasureBase.java
similarity index 58%
rename from wpiunits/src/main/java/edu/wpi/first/units/MeasureBase.java
rename to wpiunits/src/main/java/edu/wpi/first/units/mutable/MutableMeasureBase.java
index d2f49bb6a10..bbce6f4e9e3 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MeasureBase.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutableMeasureBase.java
@@ -2,16 +2,21 @@
 // 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;
+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;
 
-public abstract class MeasureBase<U extends Unit> implements Measure<U> {
+public abstract class MutableMeasureBase<
+        U extends Unit, Base extends Measure<U>, MutSelf extends MutableMeasure<U, Base, MutSelf>>
+    implements Measure<U>, MutableMeasure<U, Base, MutSelf> {
   protected double magnitude;
   protected double baseUnitMagnitude;
   protected U unit;
 
-  protected MeasureBase(double magnitude, double baseUnitMagnitude, U unit) {
+  public MutableMeasureBase(double magnitude, double baseUnitMagnitude, U unit) {
     this.magnitude = magnitude;
     this.baseUnitMagnitude = baseUnitMagnitude;
     this.unit = Objects.requireNonNull(unit, "Unit cannot be null");
@@ -40,7 +45,7 @@ public String toString() {
   @Override
   public boolean equals(Object o) {
     if (this == o) return true;
-    if (!(o instanceof MeasureBase<?> that)) return false;
+    if (!(o instanceof MutableMeasureBase<?, ?, ?> that)) return false;
     return Double.compare(magnitude, that.magnitude) == 0
         && Double.compare(baseUnitMagnitude, that.baseUnitMagnitude) == 0
         && Objects.equals(unit, that.unit);
@@ -50,4 +55,14 @@ public boolean equals(Object o) {
   public int hashCode() {
     return Objects.hash(magnitude, baseUnitMagnitude, unit);
   }
+
+  @SuppressWarnings("unchecked")
+  @Override
+  public MutSelf mut_replace(double magnitude, U newUnit) {
+    this.unit = Objects.requireNonNull(newUnit, "New unit cannot be null");
+    this.magnitude = magnitude;
+    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
+
+    return (MutSelf) this;
+  }
 }

From 158c576253a9e51bf0732bd60cd90244bddb5a99 Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Tue, 25 Jun 2024 22:34:43 -0400
Subject: [PATCH 06/46] Small fixups

---
 .../java/edu/wpi/first/units/CurrentUnit.java   |  8 ++++++++
 .../edu/wpi/first/units/DimensionlessUnit.java  |  7 ++++---
 .../edu/wpi/first/units/MutableMeasure.java     |  7 +++++++
 .../immutable/ImmutableAngularVelocity.java     |  5 -----
 .../edu/wpi/first/units/mutable/MutMult.java    | 17 ++++-------------
 .../java/edu/wpi/first/units/ExampleUnit.java   |  7 +++++++
 6 files changed, 30 insertions(+), 21 deletions(-)

diff --git a/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
index 433587117cf..ff4c5128167 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
@@ -5,6 +5,7 @@
 package edu.wpi.first.units;
 
 import edu.wpi.first.units.immutable.ImmutableCurrent;
+import edu.wpi.first.units.mutable.MutCurrent;
 
 /**
  * Unit of electric current dimension.
@@ -44,14 +45,21 @@ public PowerUnit times(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 MutCurrent mutable(double initialMagnitude) {
+    return new MutCurrent(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+
   public double convertFrom(double magnitude, CurrentUnit otherUnit) {
     return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
index 01d1f7e992b..0f689b9812c 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
@@ -4,6 +4,7 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.immutable.ImmutableDimensionless;
 import edu.wpi.first.units.mutable.MutDimensionless;
 
 /**
@@ -32,12 +33,12 @@ public class DimensionlessUnit extends Unit {
   }
 
   public Dimensionless of(double magnitude) {
-    return new Dimensionless(magnitude, toBaseUnits(magnitude), this);
+    return new ImmutableDimensionless(magnitude, toBaseUnits(magnitude), this);
   }
 
   @Override
-  public Measure<?> ofBaseUnits(double baseUnitMagnitude) {
-    return new Dimensionless(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  public Dimensionless ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableDimensionless(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
   @Override
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 85b4f07e900..b4d17b50afe 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
@@ -70,12 +70,19 @@ default MutSelf mut_divide(Dimensionless divisor) {
     return mut_divide(divisor.baseUnitMagnitude());
   }
 
+  @SuppressWarnings({"unchecked", "rawtypes"})
   static <U extends Unit> MutableMeasure<U, ?, ?> ofRelativeUnits(double initialValue, U unit) {
     return new MutableMeasureBase(initialValue, unit.toBaseUnits(initialValue), unit) {
       @Override
+      @SuppressWarnings("rawtypes")
       public Measure copy() {
         return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude, unit);
       }
+
+      @Override
+      public int compareTo(Object o) {
+        return super.compareTo((Measure<U>) o);
+      }
     };
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularVelocity.java
index 8f8df002c82..fd8d9a86e88 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularVelocity.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularVelocity.java
@@ -14,9 +14,4 @@ public record ImmutableAngularVelocity(
   public AngularVelocity copy() {
     return this;
   }
-
-  @Override
-  public AngularVelocityUnit unit() {
-    return (AngularVelocityUnit) unit;
-  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMult.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMult.java
index 0b26f16356a..4849c7e6976 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMult.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMult.java
@@ -6,26 +6,17 @@
 
 import edu.wpi.first.units.Mult;
 import edu.wpi.first.units.MultUnit;
-import edu.wpi.first.units.MutableMeasure;
 import edu.wpi.first.units.Unit;
+import edu.wpi.first.units.immutable.ImmutableMult;
 
-public final class MutMult<A extends Unit, B extends Unit> extends Mult<A, B>
-    implements MutableMeasure<MultUnit<A, B>, Mult<A, B>, MutMult<A, B>> {
+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 MutMult<A, B> mut_replace(double magnitude, MultUnit<A, B> newUnit) {
-    this.unit = newUnit;
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
-
-    return this;
-  }
-
   @Override
   public Mult<A, B> copy() {
-    return new Mult<>(magnitude, baseUnitMagnitude, unit);
+    return new ImmutableMult<>(magnitude, baseUnitMagnitude, unit);
   }
 }
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 6c93f99bacf..46b8f04e8f1 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/ExampleUnit.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/ExampleUnit.java
@@ -26,11 +26,18 @@ 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 MutableMeasure.ofRelativeUnits(initialMagnitude, this);
+  }
 }

From fd0d2d19e8f9b68eb59376964f82cc541b5f80d8 Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Tue, 25 Jun 2024 22:52:31 -0400
Subject: [PATCH 07/46] Move measure interfaces to their own package

Reduces clutter in the root `units` package
---
 .../wpi/first/wpilibj2/command/Command.java   |  2 +-
 .../wpi/first/wpilibj2/command/Commands.java  |  2 +-
 .../first/wpilibj2/command/WaitCommand.java   |  2 +-
 .../wpilibj2/command/sysid/SysIdRoutine.java  |  6 +-
 .../edu/wpi/first/wpilibj/LEDPattern.java     | 18 ++---
 .../edu/wpi/first/wpilibj/TimedRobot.java     |  2 +-
 .../first/wpilibj/sysid/SysIdRoutineLog.java  |  2 +-
 .../examples/addressableled/Robot.java        |  2 +-
 .../wpilibj/examples/armbot/Constants.java    | 10 ++-
 .../edu/wpi/first/math/geometry/Pose2d.java   |  2 +-
 .../wpi/first/math/geometry/Transform2d.java  |  2 +-
 .../first/math/geometry/Translation2d.java    |  2 +-
 .../first/math/geometry/Translation3d.java    |  2 +-
 .../first/math/kinematics/ChassisSpeeds.java  |  2 +-
 .../DifferentialDriveKinematics.java          |  2 +-
 .../kinematics/DifferentialDriveOdometry.java |  2 +-
 .../DifferentialDriveWheelPositions.java      |  2 +-
 .../MecanumDriveWheelPositions.java           |  2 +-
 .../math/kinematics/SwerveModulePosition.java |  2 +-
 .../math/trajectory/TrapezoidProfile.java     | 16 +++-
 .../edu/wpi/first/units/Acceleration.java     | 26 -------
 .../edu/wpi/first/units/AccelerationUnit.java |  1 +
 .../main/java/edu/wpi/first/units/Angle.java  | 29 -------
 .../java/edu/wpi/first/units/AngleUnit.java   |  1 +
 .../first/units/AngularAccelerationUnit.java  | 10 +--
 .../wpi/first/units/AngularMomentumUnit.java  |  1 +
 .../wpi/first/units/AngularVelocityUnit.java  |  4 +-
 .../java/edu/wpi/first/units/CurrentUnit.java |  1 +
 .../wpi/first/units/DimensionlessUnit.java    |  2 +
 .../edu/wpi/first/units/DistanceUnit.java     | 11 ++-
 .../java/edu/wpi/first/units/EnergyUnit.java  |  1 +
 .../java/edu/wpi/first/units/ForceUnit.java   |  1 +
 .../edu/wpi/first/units/FrequencyUnit.java    |  1 +
 .../first/units/LinearAccelerationUnit.java   |  5 +-
 .../wpi/first/units/LinearMomentumUnit.java   |  1 +
 .../wpi/first/units/LinearVelocityUnit.java   | 14 +++-
 .../java/edu/wpi/first/units/MassUnit.java    |  4 +-
 .../java/edu/wpi/first/units/MathHelper.java  |  3 +
 .../wpi/first/units/MomentOfInertiaUnit.java  |  1 +
 .../edu/wpi/first/units/MutableMeasure.java   |  1 +
 .../java/edu/wpi/first/units/PowerUnit.java   |  1 +
 .../edu/wpi/first/units/TemperatureUnit.java  |  1 +
 .../java/edu/wpi/first/units/TimeUnit.java    |  1 +
 .../java/edu/wpi/first/units/TorqueUnit.java  |  1 +
 .../edu/wpi/first/units/VelocityUnit.java     |  1 +
 .../java/edu/wpi/first/units/VoltageUnit.java |  3 +-
 .../immutable/ImmutableAcceleration.java      | 64 ++-------------
 .../first/units/immutable/ImmutableAngle.java | 72 +----------------
 .../ImmutableAngularAcceleration.java         |  2 +-
 .../immutable/ImmutableAngularMomentum.java   |  2 +-
 .../immutable/ImmutableAngularVelocity.java   |  2 +-
 .../units/immutable/ImmutableCurrent.java     |  2 +-
 .../immutable/ImmutableDimensionless.java     |  2 +-
 .../units/immutable/ImmutableDistance.java    |  2 +-
 .../units/immutable/ImmutableEnergy.java      |  2 +-
 .../first/units/immutable/ImmutableForce.java |  2 +-
 .../units/immutable/ImmutableFrequency.java   |  2 +-
 .../ImmutableLinearAcceleration.java          |  2 +-
 .../immutable/ImmutableLinearMomentum.java    |  2 +-
 .../ImmutableLinearVelocity.java              |  5 +-
 .../first/units/immutable/ImmutableMass.java  | 26 +------
 .../immutable/ImmutableMomentOfInertia.java   |  2 +-
 .../first/units/immutable/ImmutableMult.java  |  2 +-
 .../first/units/immutable/ImmutablePower.java |  2 +-
 .../units/immutable/ImmutableTemperature.java |  2 +-
 .../first/units/immutable/ImmutableTime.java  |  2 +-
 .../units/immutable/ImmutableTorque.java      |  2 +-
 .../units/immutable/ImmutableVelocity.java    |  2 +-
 .../units/immutable/ImmutableVoltage.java     |  2 +-
 .../wpi/first/units/measure/Acceleration.java | 49 ++++++++++++
 .../edu/wpi/first/units/measure/Angle.java    | 68 ++++++++++++++++
 .../{ => measure}/AngularAcceleration.java    | 24 +++---
 .../units/{ => measure}/AngularMomentum.java  |  5 +-
 .../units/{ => measure}/AngularVelocity.java  | 10 ++-
 .../first/units/{ => measure}/Current.java    |  5 +-
 .../units/{ => measure}/Dimensionless.java    |  7 +-
 .../first/units/{ => measure}/Distance.java   | 11 ++-
 .../wpi/first/units/{ => measure}/Energy.java |  6 +-
 .../wpi/first/units/{ => measure}/Force.java  |  9 ++-
 .../first/units/{ => measure}/Frequency.java  | 10 ++-
 .../{ => measure}/LinearAcceleration.java     | 24 +++---
 .../units/{ => measure}/LinearMomentum.java   |  5 +-
 .../units/{ => measure}/LinearVelocity.java   | 15 ++--
 .../wpi/first/units/{ => measure}/Mass.java   |  8 +-
 .../units/{ => measure}/MomentOfInertia.java  |  5 +-
 .../wpi/first/units/{ => measure}/Mult.java   |  6 +-
 .../wpi/first/units/{ => measure}/Power.java  |  8 +-
 .../units/{ => measure}/Temperature.java      |  8 +-
 .../wpi/first/units/{ => measure}/Time.java   | 10 ++-
 .../wpi/first/units/{ => measure}/Torque.java |  5 +-
 .../first/units/{ => measure}/Velocity.java   |  6 +-
 .../first/units/{ => measure}/Voltage.java    | 14 +++-
 .../first/units/mutable/MutAcceleration.java  | 61 +--------------
 .../edu/wpi/first/units/mutable/MutAngle.java | 78 +------------------
 .../units/mutable/MutAngularAcceleration.java |  2 +-
 .../units/mutable/MutAngularMomentum.java     |  2 +-
 .../units/mutable/MutAngularVelocity.java     |  6 +-
 .../wpi/first/units/mutable/MutCurrent.java   |  2 +-
 .../first/units/mutable/MutDimensionless.java |  2 +-
 .../wpi/first/units/mutable/MutDistance.java  |  2 +-
 .../wpi/first/units/mutable/MutEnergy.java    |  2 +-
 .../edu/wpi/first/units/mutable/MutForce.java |  2 +-
 .../wpi/first/units/mutable/MutFrequency.java |  2 +-
 .../units/mutable/MutLinearAcceleration.java  |  2 +-
 .../units/mutable/MutLinearMomentum.java      |  2 +-
 .../units/mutable/MutLinearVelocity.java      | 13 +---
 .../edu/wpi/first/units/mutable/MutMass.java  |  2 +-
 .../units/mutable/MutMomentOfInertia.java     |  2 +-
 .../edu/wpi/first/units/mutable/MutMult.java  |  2 +-
 .../edu/wpi/first/units/mutable/MutPower.java |  2 +-
 .../first/units/mutable/MutTemperature.java   |  2 +-
 .../edu/wpi/first/units/mutable/MutTime.java  |  2 +-
 .../wpi/first/units/mutable/MutTorque.java    |  2 +-
 .../wpi/first/units/mutable/MutVelocity.java  | 10 +--
 .../wpi/first/units/mutable/MutVoltage.java   |  2 +-
 .../edu/wpi/first/units/DistanceUnitTest.java |  4 +-
 .../java/edu/wpi/first/units/MeasureTest.java |  1 +
 117 files changed, 428 insertions(+), 512 deletions(-)
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/Acceleration.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/Angle.java
 rename wpiunits/src/main/java/edu/wpi/first/units/{ => immutable}/ImmutableLinearVelocity.java (74%)
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/measure/Acceleration.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/measure/Angle.java
 rename wpiunits/src/main/java/edu/wpi/first/units/{ => measure}/AngularAcceleration.java (71%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{ => measure}/AngularMomentum.java (74%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{ => measure}/AngularVelocity.java (76%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{ => measure}/Current.java (80%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{ => measure}/Dimensionless.java (81%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{ => measure}/Distance.java (84%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{ => measure}/Energy.java (84%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{ => measure}/Force.java (81%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{ => measure}/Frequency.java (75%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{ => measure}/LinearAcceleration.java (71%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{ => measure}/LinearMomentum.java (71%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{ => measure}/LinearVelocity.java (52%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{ => measure}/Mass.java (75%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{ => measure}/MomentOfInertia.java (72%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{ => measure}/Mult.java (70%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{ => measure}/Power.java (64%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{ => measure}/Temperature.java (75%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{ => measure}/Time.java (78%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{ => measure}/Torque.java (71%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{ => measure}/Velocity.java (74%)
 rename wpiunits/src/main/java/edu/wpi/first/units/{ => measure}/Voltage.java (65%)

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 1ab1595480f..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
@@ -7,7 +7,7 @@
 import static edu.wpi.first.units.Units.Seconds;
 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
-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;
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 ca7197bc9ca..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
@@ -6,7 +6,7 @@
 
 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
-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;
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 011da9def9f..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
@@ -6,7 +6,7 @@
 
 import static edu.wpi.first.units.Units.Seconds;
 
-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;
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 aa6a3988c95..80b0788e411 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
@@ -9,9 +9,9 @@
 import static edu.wpi.first.units.Units.Volts;
 import static java.util.Map.entry;
 
-import edu.wpi.first.units.Time;
-import edu.wpi.first.units.Velocity;
-import edu.wpi.first.units.Voltage;
+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.units.VoltageUnit;
 import edu.wpi.first.units.mutable.MutVoltage;
 import edu.wpi.first.wpilibj.Timer;
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 efb57e37b24..fa8d0c2d0fa 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java
@@ -10,13 +10,13 @@
 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.Frequency;
-import edu.wpi.first.units.LinearVelocity;
 import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Time;
 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;
@@ -100,8 +100,8 @@ 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(Frequency) scroll}, {@link #blink(Measure, Measure) blink}, or {@link
-   * #breathe(Measure) breathe} by intercepting the data writes to transform their behavior to
+   * #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
@@ -188,7 +188,7 @@ default LEDPattern offsetBy(int offset) {
    * @return the scrolling pattern
    */
   default LEDPattern scrollAtRelativeSpeed(Frequency velocity) {
-    final double periodMicros = 1 / velocity.in(Value.per(Microsecond));
+    final double periodMicros = velocity.asPeriod().in(Microseconds);
 
     return (reader, writer) -> {
       int bufLen = reader.getLength();
@@ -281,7 +281,7 @@ default LEDPattern blink(Time onTime, Time offTime) {
   }
 
   /**
-   * Like {@link #blink(Measure, Measure) blink(onTime, offTime)}, but where the "off" time is
+   * 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
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 5bc1cfeee12..7b59f528a6b 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
@@ -11,7 +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.Time;
+import edu.wpi.first.units.measure.Time;
 import java.util.PriorityQueue;
 
 /**
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 3e5e444d1e4..18b1a34a817 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
@@ -16,7 +16,7 @@
 import edu.wpi.first.units.AngularAcceleration;
 import edu.wpi.first.units.AngularVelocity;
 import edu.wpi.first.units.Current;
-import edu.wpi.first.units.Distance;
+import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.units.LinearAcceleration;
 import edu.wpi.first.units.LinearVelocity;
 import edu.wpi.first.units.Voltage;
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 95fa2f3e018..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
@@ -7,7 +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.Distance;
 import edu.wpi.first.wpilibj.AddressableLED;
 import edu.wpi.first.wpilibj.AddressableLEDBuffer;
 import edu.wpi.first.wpilibj.LEDPattern;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Constants.java
index 0fe85f3243c..e770e82c0a4 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Constants.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Constants.java
@@ -4,6 +4,12 @@
 
 package edu.wpi.first.wpilibj.examples.armbot;
 
+import static edu.wpi.first.units.Units.RadiansPerSecond;
+import static edu.wpi.first.units.Units.RadiansPerSecondPerSecond;
+
+import edu.wpi.first.units.measure.AngularAcceleration;
+import edu.wpi.first.units.measure.AngularVelocity;
+
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
  * constants. This class should not be used for any other purpose. All constants should be declared
@@ -42,8 +48,8 @@ public static final class ArmConstants {
     public static final double kVVoltSecondPerRad = 0.5;
     public static final double kAVoltSecondSquaredPerRad = 0.1;
 
-    public static final double kMaxVelocityRadPerSecond = 3;
-    public static final double kMaxAccelerationRadPerSecSquared = 10;
+    public static final AngularVelocity kMaxVelocityRadPerSecond = RadiansPerSecond.of(3);
+    public static final AngularAcceleration kMaxAccelerationRadPerSecSquared = RadiansPerSecondPerSecond.of(10);
 
     public static final int[] kEncoderPorts = new int[] {4, 5};
     public static final int kEncoderPPR = 256;
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 e3c7ae03225..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
@@ -13,7 +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.Distance;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Collections;
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 b375b84c701..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
@@ -8,7 +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.Distance;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
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 465d7de6fb3..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
@@ -17,7 +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.Distance;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Collections;
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 ac757ee350a..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
@@ -17,7 +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.Distance;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
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 3526db9b9da..1b290461541 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
@@ -16,7 +16,7 @@
 import edu.wpi.first.math.kinematics.struct.ChassisSpeedsStruct;
 import edu.wpi.first.units.AngularVelocity;
 import edu.wpi.first.units.LinearVelocity;
-import edu.wpi.first.units.Time;
+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;
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 d562554e62f..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
@@ -11,7 +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.Distance;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 
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 eb4787efec6..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
@@ -10,7 +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.Distance;
 
 /**
  * Class for differential drive odometry. Odometry allows you to track the robot's position on the
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 f8aa2c18b6c..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
@@ -10,7 +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.Distance;
 import java.util.Objects;
 
 /** Represents the wheel positions for a differential drive drivetrain. */
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 6eef212e1a8..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
@@ -10,7 +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.Distance;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
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 f54cd471baf..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
@@ -11,7 +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.Distance;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
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 e9833874434..c7a836edde7 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
@@ -6,10 +6,14 @@
 
 import edu.wpi.first.math.MathSharedStore;
 import edu.wpi.first.math.MathUsageId;
-import edu.wpi.first.units.Acceleration;
 import edu.wpi.first.units.Measure;
 import edu.wpi.first.units.Unit;
-import edu.wpi.first.units.Velocity;
+import edu.wpi.first.units.measure.Acceleration;
+import edu.wpi.first.units.measure.AngularAcceleration;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.LinearAcceleration;
+import edu.wpi.first.units.measure.LinearVelocity;
+import edu.wpi.first.units.measure.Velocity;
 import java.util.Objects;
 
 /**
@@ -83,6 +87,14 @@ public Constraints(double maxVelocity, double maxAcceleration) {
     public <U extends Unit> Constraints(Velocity<U> maxVelocity, Acceleration<U> maxAcceleration) {
       this(maxVelocity.baseUnitMagnitude(), maxAcceleration.baseUnitMagnitude());
     }
+
+    public Constraints(AngularVelocity maxVelocity, AngularAcceleration maxAcceleration) {
+      this(maxVelocity.baseUnitMagnitude(), maxAcceleration.baseUnitMagnitude());
+    }
+
+    public Constraints(LinearVelocity maxVelocity, LinearAcceleration maxAcceleration) {
+      this(maxVelocity.baseUnitMagnitude(), maxAcceleration.baseUnitMagnitude());
+    }
   }
 
   /** Profile state. */
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Acceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/Acceleration.java
deleted file mode 100644
index f7b44997f72..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/Acceleration.java
+++ /dev/null
@@ -1,26 +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;
-
-public interface Acceleration<D extends Unit> extends Measure<AccelerationUnit<D>> {
-  @Override
-  Acceleration<D> copy();
-
-  Acceleration<D> plus(Acceleration<D> other);
-
-  Acceleration<D> minus(Acceleration<D> other);
-
-  Dimensionless divide(Acceleration<D> divisor);
-
-  Acceleration<D> divide(double divisor);
-
-  Acceleration<D> divide(Dimensionless divisor);
-
-  Acceleration<D> times(double multiplier);
-
-  Acceleration<D> times(Dimensionless multiplier);
-
-  Velocity<D> times(Time time);
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
index cd816710d8a..a3970be1ff5 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
@@ -5,6 +5,7 @@
 package edu.wpi.first.units;
 
 import edu.wpi.first.units.immutable.ImmutableAcceleration;
+import edu.wpi.first.units.measure.Acceleration;
 import edu.wpi.first.units.mutable.MutAcceleration;
 
 public class AccelerationUnit<D extends Unit> extends PerUnit<VelocityUnit<D>, TimeUnit> {
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 22a8c5138da..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/Angle.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;
-
-public interface Angle extends Measure<AngleUnit> {
-  Dimensionless divide(Angle other);
-
-  Angle plus(Angle other);
-
-  Angle minus(Angle other);
-
-  Angle divide(double divisor);
-
-  AngularVelocity divide(Time period);
-
-  <Other extends Unit> Measure<Other> divide(
-      Measure<? extends PerUnit<AngleUnit, ? extends Other>> ratio);
-
-  AngularVelocity per(TimeUnit unit);
-
-  Dimensionless per(AngleUnit unit);
-
-  <Divisor extends Unit> Measure<? extends PerUnit<AngleUnit, Divisor>> per(Divisor divisor);
-
-  <Other extends Unit> Measure<Other> times(
-      Measure<? extends PerUnit<? extends Other, AngleUnit>> ratio);
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
index e8d461146b4..b62dbb92a41 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
@@ -5,6 +5,7 @@
 package edu.wpi.first.units;
 
 import edu.wpi.first.units.immutable.ImmutableAngle;
+import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.mutable.MutAngle;
 
 /**
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java
index ae95cf4acb4..42b10d18eee 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java
@@ -5,19 +5,19 @@
 package edu.wpi.first.units;
 
 import edu.wpi.first.units.immutable.ImmutableAngularAcceleration;
+import edu.wpi.first.units.measure.AngularAcceleration;
 import edu.wpi.first.units.mutable.MutAngularAcceleration;
 
-public class AngularAccelerationUnit extends AccelerationUnit<AngleUnit> {
-  private static final CombinatoryUnitCache<
-          VelocityUnit<AngleUnit>, TimeUnit, AngularAccelerationUnit>
+public class AngularAccelerationUnit extends PerUnit<AngularVelocityUnit, TimeUnit> {
+  private static final CombinatoryUnitCache<AngularVelocityUnit, TimeUnit, AngularAccelerationUnit>
       cache = new CombinatoryUnitCache<>(AngularAccelerationUnit::new);
 
-  protected AngularAccelerationUnit(VelocityUnit<AngleUnit> velocity, TimeUnit period) {
+  protected AngularAccelerationUnit(AngularVelocityUnit velocity, TimeUnit period) {
     super(velocity, period);
   }
 
   protected AngularAccelerationUnit(
-      AccelerationUnit<AngleUnit> baseUnit,
+      AngularAccelerationUnit baseUnit,
       UnaryFunction toBaseConverter,
       UnaryFunction fromBaseConverter,
       String name,
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
index 350d5d4ae20..77cd3ae14b6 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
@@ -5,6 +5,7 @@
 package edu.wpi.first.units;
 
 import edu.wpi.first.units.immutable.ImmutableAngularMomentum;
+import edu.wpi.first.units.measure.AngularMomentum;
 import edu.wpi.first.units.mutable.MutAngularMomentum;
 
 public class AngularMomentumUnit extends MultUnit<LinearMomentumUnit, DistanceUnit> {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java
index a8f25499a70..1727eaee247 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java
@@ -5,9 +5,10 @@
 package edu.wpi.first.units;
 
 import edu.wpi.first.units.immutable.ImmutableAngularVelocity;
+import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.units.mutable.MutAngularVelocity;
 
-public class AngularVelocityUnit extends VelocityUnit<AngleUnit> {
+public class AngularVelocityUnit extends PerUnit<AngleUnit, TimeUnit> {
   private static final CombinatoryUnitCache<AngleUnit, TimeUnit, AngularVelocityUnit> cache =
       new CombinatoryUnitCache<>(AngularVelocityUnit::new);
 
@@ -43,7 +44,6 @@ public MutAngularVelocity mutable(double initialMagnitude) {
     return new MutAngularVelocity(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 
-  @Override
   public AngularAccelerationUnit per(TimeUnit period) {
     return AngularAccelerationUnit.combine(this, period);
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
index ff4c5128167..576949e8564 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
@@ -5,6 +5,7 @@
 package edu.wpi.first.units;
 
 import edu.wpi.first.units.immutable.ImmutableCurrent;
+import edu.wpi.first.units.measure.Current;
 import edu.wpi.first.units.mutable.MutCurrent;
 
 /**
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
index 0f689b9812c..1c9e9914c03 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
@@ -5,6 +5,7 @@
 package edu.wpi.first.units;
 
 import edu.wpi.first.units.immutable.ImmutableDimensionless;
+import edu.wpi.first.units.measure.Dimensionless;
 import edu.wpi.first.units.mutable.MutDimensionless;
 
 /**
@@ -32,6 +33,7 @@ public class DimensionlessUnit extends Unit {
     super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
   }
 
+  @Override
   public Dimensionless of(double magnitude) {
     return new ImmutableDimensionless(magnitude, toBaseUnits(magnitude), this);
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
index 666ba46d121..a07cf1f6e99 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
@@ -5,6 +5,7 @@
 package edu.wpi.first.units;
 
 import edu.wpi.first.units.immutable.ImmutableDistance;
+import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.units.mutable.MutDistance;
 
 /**
@@ -43,6 +44,7 @@ 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);
   }
@@ -52,16 +54,17 @@ public Distance ofBaseUnits(double baseUnitMagnitude) {
     return new ImmutableDistance(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
+  @Override
+  public MutDistance mutable(double initialMagnitude) {
+    return new MutDistance(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+
   // distance times force = torque
   // force times distance = energy
   public TorqueUnit mult(ForceUnit force) {
     return TorqueUnit.combine(this, force);
   }
 
-  public MutDistance mutable(double initialMagnitude) {
-    return new MutDistance(initialMagnitude, toBaseUnits(initialMagnitude), this);
-  }
-
   public Distance zero() {
     return of(0);
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
index 44c36ed7ded..cc40a6edb64 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
@@ -5,6 +5,7 @@
 package edu.wpi.first.units;
 
 import edu.wpi.first.units.immutable.ImmutableEnergy;
+import edu.wpi.first.units.measure.Energy;
 import edu.wpi.first.units.mutable.MutEnergy;
 
 /**
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
index 3cb6a74f513..90a14ae0c72 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
@@ -5,6 +5,7 @@
 package edu.wpi.first.units;
 
 import edu.wpi.first.units.immutable.ImmutableForce;
+import edu.wpi.first.units.measure.Force;
 import edu.wpi.first.units.mutable.MutForce;
 
 public class ForceUnit extends MultUnit<MassUnit, LinearAccelerationUnit> {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java
index d31c4e02e9d..3af93f3b8fc 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java
@@ -7,6 +7,7 @@
 import static edu.wpi.first.units.Units.Value;
 
 import edu.wpi.first.units.immutable.ImmutableFrequency;
+import edu.wpi.first.units.measure.Frequency;
 import edu.wpi.first.units.mutable.MutFrequency;
 
 public class FrequencyUnit extends PerUnit<DimensionlessUnit, TimeUnit> {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearAccelerationUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearAccelerationUnit.java
index be18ac585a8..1f646e67d44 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearAccelerationUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearAccelerationUnit.java
@@ -5,9 +5,10 @@
 package edu.wpi.first.units;
 
 import edu.wpi.first.units.immutable.ImmutableLinearAcceleration;
+import edu.wpi.first.units.measure.LinearAcceleration;
 import edu.wpi.first.units.mutable.MutLinearAcceleration;
 
-public class LinearAccelerationUnit extends AccelerationUnit<DistanceUnit> {
+public class LinearAccelerationUnit extends PerUnit<LinearVelocityUnit, TimeUnit> {
   private static final CombinatoryUnitCache<LinearVelocityUnit, TimeUnit, LinearAccelerationUnit>
       cache = new CombinatoryUnitCache<>(LinearAccelerationUnit::new);
 
@@ -50,7 +51,7 @@ public MutLinearAcceleration mutable(double initialMagnitude) {
   }
 
   public LinearVelocityUnit getUnit() {
-    return (LinearVelocityUnit) numerator();
+    return numerator();
   }
 
   public TimeUnit getPeriod() {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
index 5229b3fee4c..869cbe6edc4 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
@@ -5,6 +5,7 @@
 package edu.wpi.first.units;
 
 import edu.wpi.first.units.immutable.ImmutableLinearMomentum;
+import edu.wpi.first.units.measure.LinearMomentum;
 import edu.wpi.first.units.mutable.MutLinearMomentum;
 
 public class LinearMomentumUnit extends MultUnit<MassUnit, LinearVelocityUnit> {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java
index 5b68ff0e6b5..ff0504f27e2 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java
@@ -4,9 +4,11 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.immutable.ImmutableLinearVelocity;
+import edu.wpi.first.units.measure.LinearVelocity;
 import edu.wpi.first.units.mutable.MutLinearVelocity;
 
-public class LinearVelocityUnit extends VelocityUnit<DistanceUnit> {
+public class LinearVelocityUnit extends PerUnit<DistanceUnit, TimeUnit> {
   private static final CombinatoryUnitCache<DistanceUnit, TimeUnit, LinearVelocityUnit> cache =
       new CombinatoryUnitCache<>(LinearVelocityUnit::new);
 
@@ -15,7 +17,7 @@ public class LinearVelocityUnit extends VelocityUnit<DistanceUnit> {
   }
 
   LinearVelocityUnit(
-      VelocityUnit<DistanceUnit> baseUnit,
+      PerUnit<DistanceUnit, TimeUnit> baseUnit,
       UnaryFunction toBaseConverter,
       UnaryFunction fromBaseConverter,
       String name,
@@ -33,12 +35,16 @@ public LinearVelocity of(double magnitude) {
   }
 
   @Override
-  public LinearAccelerationUnit per(TimeUnit period) {
-    return LinearAccelerationUnit.combine(this, period);
+  public LinearVelocity ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableLinearVelocity(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
   @Override
   public MutLinearVelocity mutable(double value) {
     return new MutLinearVelocity(value, toBaseUnits(value), this);
   }
+
+  public LinearAccelerationUnit per(TimeUnit period) {
+    return LinearAccelerationUnit.combine(this, period);
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
index 1acbf42a8ca..0b3b1e59773 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
@@ -5,6 +5,7 @@
 package edu.wpi.first.units;
 
 import edu.wpi.first.units.immutable.ImmutableMass;
+import edu.wpi.first.units.measure.Mass;
 import edu.wpi.first.units.mutable.MutMass;
 
 /**
@@ -36,12 +37,13 @@ public MassUnit getBaseUnit() {
     return (MassUnit) super.getBaseUnit();
   }
 
+  @Override
   public Mass of(double magnitude) {
     return new ImmutableMass(magnitude, toBaseUnits(magnitude), this);
   }
 
   @Override
-  public Measure<?> ofBaseUnits(double baseUnitMagnitude) {
+  public Mass ofBaseUnits(double baseUnitMagnitude) {
     return new ImmutableMass(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MathHelper.java b/wpiunits/src/main/java/edu/wpi/first/units/MathHelper.java
index cd205049c06..4118badd49a 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MathHelper.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MathHelper.java
@@ -6,6 +6,9 @@
 
 import static edu.wpi.first.units.Units.Value;
 
+import edu.wpi.first.units.measure.Dimensionless;
+import edu.wpi.first.units.measure.Time;
+import edu.wpi.first.units.measure.Velocity;
 import java.util.function.DoubleFunction;
 
 public class MathHelper<U extends Unit, M extends Measure<U>> {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java
index b5d64dee372..c409097d8c9 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java
@@ -5,6 +5,7 @@
 package edu.wpi.first.units;
 
 import edu.wpi.first.units.immutable.ImmutableMomentOfInertia;
+import edu.wpi.first.units.measure.MomentOfInertia;
 import edu.wpi.first.units.mutable.MutMomentOfInertia;
 
 public class MomentOfInertiaUnit extends PerUnit<AngularMomentumUnit, AngularVelocityUnit> {
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 b4d17b50afe..0630e0a3483 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
@@ -4,6 +4,7 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.measure.Dimensionless;
 import edu.wpi.first.units.mutable.MutableMeasureBase;
 
 /**
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
index e16e799968a..63ae228b484 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
@@ -8,6 +8,7 @@
 import static edu.wpi.first.units.Units.Seconds;
 
 import edu.wpi.first.units.immutable.ImmutablePower;
+import edu.wpi.first.units.measure.Power;
 import edu.wpi.first.units.mutable.MutPower;
 
 /**
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
index 26901d37973..9a0d81ee7a1 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
@@ -5,6 +5,7 @@
 package edu.wpi.first.units;
 
 import edu.wpi.first.units.immutable.ImmutableTemperature;
+import edu.wpi.first.units.measure.Temperature;
 import edu.wpi.first.units.mutable.MutTemperature;
 
 /**
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
index ece3ca3ed28..5ae21383c12 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
@@ -5,6 +5,7 @@
 package edu.wpi.first.units;
 
 import edu.wpi.first.units.immutable.ImmutableTime;
+import edu.wpi.first.units.measure.Time;
 import edu.wpi.first.units.mutable.MutTime;
 
 /**
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
index a51e86fd821..fe87289a18d 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
@@ -5,6 +5,7 @@
 package edu.wpi.first.units;
 
 import edu.wpi.first.units.immutable.ImmutableTorque;
+import edu.wpi.first.units.measure.Torque;
 import edu.wpi.first.units.mutable.MutTorque;
 
 public class TorqueUnit extends MultUnit<DistanceUnit, ForceUnit> {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
index 4b9b6044634..dc303ed19d4 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
@@ -5,6 +5,7 @@
 package edu.wpi.first.units;
 
 import edu.wpi.first.units.immutable.ImmutableVelocity;
+import edu.wpi.first.units.measure.Velocity;
 import edu.wpi.first.units.mutable.MutVelocity;
 
 /**
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
index 81fe6c47f15..5c4aaebe173 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
@@ -5,6 +5,7 @@
 package edu.wpi.first.units;
 
 import edu.wpi.first.units.immutable.ImmutableVoltage;
+import edu.wpi.first.units.measure.Voltage;
 import edu.wpi.first.units.mutable.MutVoltage;
 
 /**
@@ -51,7 +52,7 @@ public Voltage of(double magnitude) {
   }
 
   @Override
-  public Measure<?> ofBaseUnits(double baseUnitMagnitude) {
+  public Voltage ofBaseUnits(double baseUnitMagnitude) {
     return new ImmutableVoltage(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAcceleration.java
index 7336a27528e..1b706d4439f 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAcceleration.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAcceleration.java
@@ -4,14 +4,10 @@
 
 package edu.wpi.first.units.immutable;
 
-import edu.wpi.first.units.Acceleration;
 import edu.wpi.first.units.AccelerationUnit;
-import edu.wpi.first.units.Dimensionless;
 import edu.wpi.first.units.MathHelper;
-import edu.wpi.first.units.Time;
 import edu.wpi.first.units.Unit;
-import edu.wpi.first.units.Velocity;
-import java.util.Objects;
+import edu.wpi.first.units.measure.Acceleration;
 
 public final class ImmutableAcceleration<D extends Unit> implements Acceleration<D> {
   private final MathHelper<AccelerationUnit<D>, Acceleration<D>> mathHelper =
@@ -28,6 +24,10 @@ public ImmutableAcceleration(
     this.unit = unit;
   }
 
+  public MathHelper<AccelerationUnit<D>, Acceleration<D>> getMathHelper() {
+    return mathHelper;
+  }
+
   @Override
   public double magnitude() {
     return magnitude;
@@ -48,62 +48,8 @@ public Acceleration<D> copy() {
     return this;
   }
 
-  @Override
-  public Acceleration<D> plus(Acceleration<D> other) {
-    return mathHelper.add(this, other);
-  }
-
-  @Override
-  public Acceleration<D> minus(Acceleration<D> other) {
-    return mathHelper.minus(this, other);
-  }
-
-  @Override
-  public Dimensionless divide(Acceleration<D> divisor) {
-    return mathHelper.divide(this, divisor);
-  }
-
-  @Override
-  public Acceleration<D> divide(double divisor) {
-    return mathHelper.divide(this, divisor);
-  }
-
-  @Override
-  public Acceleration<D> divide(Dimensionless divisor) {
-    return mathHelper.divide(this, divisor);
-  }
-
-  @Override
-  public Acceleration<D> times(double multiplier) {
-    return mathHelper.multiply(this, multiplier);
-  }
-
-  @Override
-  public Acceleration<D> times(Dimensionless multiplier) {
-    return mathHelper.multiply(this, multiplier);
-  }
-
-  @Override
-  public Velocity<D> times(Time time) {
-    return mathHelper.multiply(this, time, baseUnit().numerator()::of);
-  }
-
   @Override
   public String toString() {
     return toShortString();
   }
-
-  @Override
-  public boolean equals(Object o) {
-    if (this == o) return true;
-    if (!(o instanceof ImmutableAcceleration<?> that)) return false;
-    return Double.compare(magnitude, that.magnitude) == 0
-        && Double.compare(baseUnitMagnitude, that.baseUnitMagnitude) == 0
-        && Objects.equals(unit, that.unit);
-  }
-
-  @Override
-  public int hashCode() {
-    return Objects.hash(magnitude, baseUnitMagnitude, unit);
-  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngle.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngle.java
index 8d0e7ab5604..e4972f31363 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngle.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngle.java
@@ -4,85 +4,15 @@
 
 package edu.wpi.first.units.immutable;
 
-import static edu.wpi.first.units.Units.Radians;
-import static edu.wpi.first.units.Units.RadiansPerSecond;
-import static edu.wpi.first.units.Units.Value;
-
-import edu.wpi.first.units.Angle;
 import edu.wpi.first.units.AngleUnit;
-import edu.wpi.first.units.AngularVelocity;
-import edu.wpi.first.units.Dimensionless;
-import edu.wpi.first.units.ImmutableMeasure;
-import edu.wpi.first.units.MathHelper;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.PerUnit;
-import edu.wpi.first.units.Time;
-import edu.wpi.first.units.TimeUnit;
-import edu.wpi.first.units.Unit;
+import edu.wpi.first.units.measure.Angle;
 
 public record ImmutableAngle(double magnitude, double baseUnitMagnitude, AngleUnit unit)
     implements Angle {
-  private static final MathHelper<AngleUnit, Angle> mathHelper = new MathHelper<>(Radians::of);
 
   @Override
   public Angle copy() {
     return this;
   }
 
-  @Override
-  public Dimensionless divide(Angle other) {
-    return mathHelper.divide(this, other);
-  }
-
-  @Override
-  public Angle plus(Angle other) {
-    return mathHelper.add(this, other);
-  }
-
-  @Override
-  public Angle minus(Angle other) {
-    return mathHelper.minus(this, other);
-  }
-
-  @Override
-  public Angle divide(double divisor) {
-    return mathHelper.divide(this, divisor);
-  }
-
-  @Override
-  public AngularVelocity divide(Time period) {
-    return mathHelper.divide(this, period, RadiansPerSecond::of);
-  }
-
-  @Override
-  public <Other extends Unit> Measure<Other> divide(
-      Measure<? extends PerUnit<AngleUnit, ? extends Other>> ratio) {
-    return ImmutableMeasure.ofBaseUnits(
-        baseUnitMagnitude / ratio.baseUnitMagnitude(), ratio.unit().denominator());
-  }
-
-  @Override
-  public AngularVelocity per(TimeUnit unit) {
-    return mathHelper.divide(this, unit.of(1), RadiansPerSecond::of);
-  }
-
-  @Override
-  public Dimensionless per(AngleUnit unit) {
-    return mathHelper.divide(this, unit.of(1), Value::of);
-  }
-
-  @Override
-  @SuppressWarnings("unchecked")
-  public <Divisor extends Unit> Measure<? extends PerUnit<AngleUnit, Divisor>> per(
-      Divisor divisor) {
-    return PerUnit.combine(this.baseUnit(), (Divisor) divisor.getBaseUnit())
-        .of(baseUnitMagnitude / divisor.fromBaseUnits(1));
-  }
-
-  @Override
-  public <Other extends Unit> Measure<Other> times(
-      Measure<? extends PerUnit<? extends Other, AngleUnit>> ratio) {
-    return ImmutableMeasure.ofBaseUnits(
-        baseUnitMagnitude * ratio.baseUnitMagnitude(), ratio.unit().numerator());
-  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularAcceleration.java
index 32d5d0d1fc2..5b665c5c9b1 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularAcceleration.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularAcceleration.java
@@ -4,8 +4,8 @@
 
 package edu.wpi.first.units.immutable;
 
-import edu.wpi.first.units.AngularAcceleration;
 import edu.wpi.first.units.AngularAccelerationUnit;
+import edu.wpi.first.units.measure.AngularAcceleration;
 
 public record ImmutableAngularAcceleration(
     double magnitude, double baseUnitMagnitude, AngularAccelerationUnit unit)
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularMomentum.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularMomentum.java
index c661205cdd2..a64ef424960 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularMomentum.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularMomentum.java
@@ -4,8 +4,8 @@
 
 package edu.wpi.first.units.immutable;
 
-import edu.wpi.first.units.AngularMomentum;
 import edu.wpi.first.units.AngularMomentumUnit;
+import edu.wpi.first.units.measure.AngularMomentum;
 
 public record ImmutableAngularMomentum(
     double magnitude, double baseUnitMagnitude, AngularMomentumUnit unit)
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularVelocity.java
index fd8d9a86e88..a074d8281fa 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularVelocity.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularVelocity.java
@@ -4,8 +4,8 @@
 
 package edu.wpi.first.units.immutable;
 
-import edu.wpi.first.units.AngularVelocity;
 import edu.wpi.first.units.AngularVelocityUnit;
+import edu.wpi.first.units.measure.AngularVelocity;
 
 public record ImmutableAngularVelocity(
     double magnitude, double baseUnitMagnitude, AngularVelocityUnit unit)
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableCurrent.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableCurrent.java
index 387490e3b8b..89cac1bed2a 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableCurrent.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableCurrent.java
@@ -4,8 +4,8 @@
 
 package edu.wpi.first.units.immutable;
 
-import edu.wpi.first.units.Current;
 import edu.wpi.first.units.CurrentUnit;
+import edu.wpi.first.units.measure.Current;
 
 public record ImmutableCurrent(double magnitude, double baseUnitMagnitude, CurrentUnit unit)
     implements Current {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDimensionless.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDimensionless.java
index 3ef7a332d1a..9d05a573cc3 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDimensionless.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDimensionless.java
@@ -4,8 +4,8 @@
 
 package edu.wpi.first.units.immutable;
 
-import edu.wpi.first.units.Dimensionless;
 import edu.wpi.first.units.DimensionlessUnit;
+import edu.wpi.first.units.measure.Dimensionless;
 
 public record ImmutableDimensionless(
     double magnitude, double baseUnitMagnitude, DimensionlessUnit unit) implements Dimensionless {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDistance.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDistance.java
index 6af977db4b7..7aeec48db73 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDistance.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDistance.java
@@ -4,8 +4,8 @@
 
 package edu.wpi.first.units.immutable;
 
-import edu.wpi.first.units.Distance;
 import edu.wpi.first.units.DistanceUnit;
+import edu.wpi.first.units.measure.Distance;
 
 public record ImmutableDistance(double magnitude, double baseUnitMagnitude, DistanceUnit unit)
     implements Distance {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableEnergy.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableEnergy.java
index b9cfb3681a7..6348b4c6896 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableEnergy.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableEnergy.java
@@ -4,8 +4,8 @@
 
 package edu.wpi.first.units.immutable;
 
-import edu.wpi.first.units.Energy;
 import edu.wpi.first.units.EnergyUnit;
+import edu.wpi.first.units.measure.Energy;
 
 public record ImmutableEnergy(double magnitude, double baseUnitMagnitude, EnergyUnit unit)
     implements Energy {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableForce.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableForce.java
index 5557e6b14ea..5db53dd7509 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableForce.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableForce.java
@@ -4,8 +4,8 @@
 
 package edu.wpi.first.units.immutable;
 
-import edu.wpi.first.units.Force;
 import edu.wpi.first.units.ForceUnit;
+import edu.wpi.first.units.measure.Force;
 
 public record ImmutableForce(double magnitude, double baseUnitMagnitude, ForceUnit unit)
     implements Force {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableFrequency.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableFrequency.java
index b319d3dd080..5dcd6ee5b4b 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableFrequency.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableFrequency.java
@@ -4,8 +4,8 @@
 
 package edu.wpi.first.units.immutable;
 
-import edu.wpi.first.units.Frequency;
 import edu.wpi.first.units.FrequencyUnit;
+import edu.wpi.first.units.measure.Frequency;
 
 public record ImmutableFrequency(double magnitude, double baseUnitMagnitude, FrequencyUnit unit)
     implements Frequency {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearAcceleration.java
index f29616240bd..a42d73848a9 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearAcceleration.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearAcceleration.java
@@ -4,8 +4,8 @@
 
 package edu.wpi.first.units.immutable;
 
-import edu.wpi.first.units.LinearAcceleration;
 import edu.wpi.first.units.LinearAccelerationUnit;
+import edu.wpi.first.units.measure.LinearAcceleration;
 
 public record ImmutableLinearAcceleration(
     double magnitude, double baseUnitMagnitude, LinearAccelerationUnit unit)
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearMomentum.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearMomentum.java
index 653f6675848..514a7328e8b 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearMomentum.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearMomentum.java
@@ -4,8 +4,8 @@
 
 package edu.wpi.first.units.immutable;
 
-import edu.wpi.first.units.LinearMomentum;
 import edu.wpi.first.units.LinearMomentumUnit;
+import edu.wpi.first.units.measure.LinearMomentum;
 
 public record ImmutableLinearMomentum(
     double magnitude, double baseUnitMagnitude, LinearMomentumUnit unit) implements LinearMomentum {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/ImmutableLinearVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearVelocity.java
similarity index 74%
rename from wpiunits/src/main/java/edu/wpi/first/units/ImmutableLinearVelocity.java
rename to wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearVelocity.java
index dc33fa615da..f1eaf95afbc 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/ImmutableLinearVelocity.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearVelocity.java
@@ -2,7 +2,10 @@
 // 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;
+package edu.wpi.first.units.immutable;
+
+import edu.wpi.first.units.LinearVelocityUnit;
+import edu.wpi.first.units.measure.LinearVelocity;
 
 public record ImmutableLinearVelocity(
     double magnitude, double baseUnitMagnitude, LinearVelocityUnit unit) implements LinearVelocity {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMass.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMass.java
index f26151c4626..86a21c2123b 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMass.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMass.java
@@ -4,11 +4,8 @@
 
 package edu.wpi.first.units.immutable;
 
-import edu.wpi.first.units.Mass;
 import edu.wpi.first.units.MassUnit;
-import edu.wpi.first.units.Time;
-import edu.wpi.first.units.TimeUnit;
-import edu.wpi.first.units.Velocity;
+import edu.wpi.first.units.measure.Mass;
 
 public record ImmutableMass(double magnitude, double baseUnitMagnitude, MassUnit unit)
     implements Mass {
@@ -16,25 +13,4 @@ public record ImmutableMass(double magnitude, double baseUnitMagnitude, MassUnit
   public Mass copy() {
     return this;
   }
-
-  @Override
-  public Velocity<MassUnit> per(Time period) {
-    return new ImmutableVelocity<>(
-        magnitude / period.magnitude(),
-        baseUnitMagnitude / period.baseUnitMagnitude(),
-        unit.per(period.unit()));
-  }
-
-  @Override
-  public Velocity<MassUnit> per(TimeUnit period) {
-    return new ImmutableVelocity<>(
-        magnitude / period.fromBaseUnits(1),
-        baseUnitMagnitude / period.toBaseUnits(1),
-        unit.per(period));
-  }
-
-  @Override
-  public MassUnit unit() {
-    return unit;
-  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMomentOfInertia.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMomentOfInertia.java
index 83618aaa1e0..bd766bea697 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMomentOfInertia.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMomentOfInertia.java
@@ -5,8 +5,8 @@
 package edu.wpi.first.units.immutable;
 
 import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.MomentOfInertia;
 import edu.wpi.first.units.MomentOfInertiaUnit;
+import edu.wpi.first.units.measure.MomentOfInertia;
 
 public record ImmutableMomentOfInertia(
     double magnitude, double baseUnitMagnitude, MomentOfInertiaUnit unit)
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMult.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMult.java
index 7d02bdc95f3..0b275622086 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMult.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMult.java
@@ -5,9 +5,9 @@
 package edu.wpi.first.units.immutable;
 
 import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Mult;
 import edu.wpi.first.units.MultUnit;
 import edu.wpi.first.units.Unit;
+import edu.wpi.first.units.measure.Mult;
 
 public record ImmutableMult<A extends Unit, B extends Unit>(
     double magnitude, double baseUnitMagnitude, MultUnit<A, B> unit) implements Mult<A, B> {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutablePower.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutablePower.java
index db7d5626fa5..0e3ef97bc1e 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutablePower.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutablePower.java
@@ -4,8 +4,8 @@
 
 package edu.wpi.first.units.immutable;
 
-import edu.wpi.first.units.Power;
 import edu.wpi.first.units.PowerUnit;
+import edu.wpi.first.units.measure.Power;
 
 public record ImmutablePower(double magnitude, double baseUnitMagnitude, PowerUnit unit)
     implements Power {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTemperature.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTemperature.java
index 3830d699456..72edbd239d1 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTemperature.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTemperature.java
@@ -4,8 +4,8 @@
 
 package edu.wpi.first.units.immutable;
 
-import edu.wpi.first.units.Temperature;
 import edu.wpi.first.units.TemperatureUnit;
+import edu.wpi.first.units.measure.Temperature;
 
 public record ImmutableTemperature(double magnitude, double baseUnitMagnitude, TemperatureUnit unit)
     implements Temperature {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTime.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTime.java
index ec7222f6949..69a5dbfeb6c 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTime.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTime.java
@@ -4,8 +4,8 @@
 
 package edu.wpi.first.units.immutable;
 
-import edu.wpi.first.units.Time;
 import edu.wpi.first.units.TimeUnit;
+import edu.wpi.first.units.measure.Time;
 
 public record ImmutableTime(double magnitude, double baseUnitMagnitude, TimeUnit unit)
     implements Time {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTorque.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTorque.java
index 6a8b168a73e..810d707e235 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTorque.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTorque.java
@@ -4,8 +4,8 @@
 
 package edu.wpi.first.units.immutable;
 
-import edu.wpi.first.units.Torque;
 import edu.wpi.first.units.TorqueUnit;
+import edu.wpi.first.units.measure.Torque;
 
 public record ImmutableTorque(double magnitude, double baseUnitMagnitude, TorqueUnit unit)
     implements Torque {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVelocity.java
index 2543ddea06c..6f40540d4f3 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVelocity.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVelocity.java
@@ -5,8 +5,8 @@
 package edu.wpi.first.units.immutable;
 
 import edu.wpi.first.units.Unit;
-import edu.wpi.first.units.Velocity;
 import edu.wpi.first.units.VelocityUnit;
+import edu.wpi.first.units.measure.Velocity;
 
 public record ImmutableVelocity<D extends Unit>(
     double magnitude, double baseUnitMagnitude, VelocityUnit<D> unit) implements Velocity<D> {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVoltage.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVoltage.java
index beec19086ca..6b67e86f38d 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVoltage.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVoltage.java
@@ -4,8 +4,8 @@
 
 package edu.wpi.first.units.immutable;
 
-import edu.wpi.first.units.Voltage;
 import edu.wpi.first.units.VoltageUnit;
+import edu.wpi.first.units.measure.Voltage;
 
 public record ImmutableVoltage(double magnitude, double baseUnitMagnitude, VoltageUnit unit)
     implements Voltage {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/measure/Acceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Acceleration.java
new file mode 100644
index 00000000000..eed7cd1687a
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/measure/Acceleration.java
@@ -0,0 +1,49 @@
+// 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.measure;
+
+import edu.wpi.first.units.AccelerationUnit;
+import edu.wpi.first.units.MathHelper;
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.Unit;
+
+public interface Acceleration<D extends Unit> extends Measure<AccelerationUnit<D>> {
+  @Override
+  Acceleration<D> copy();
+  
+  MathHelper<AccelerationUnit<D>, Acceleration<D>> getMathHelper();
+
+  default Acceleration<D> plus(Acceleration<D> other) {
+    return getMathHelper().add(this, other);
+  }
+
+  default Acceleration<D> minus(Acceleration<D> other) {
+    return getMathHelper().minus(this, other);
+  }
+
+  default Dimensionless divide(Acceleration<D> divisor) {
+    return getMathHelper().divide(this, divisor);
+  }
+
+  default Acceleration<D> divide(double divisor) {
+    return getMathHelper().divide(this, divisor);
+  }
+
+  default Acceleration<D> divide(Dimensionless divisor) {
+    return getMathHelper().divide(this, divisor);
+  }
+
+  default Acceleration<D> times(double multiplier) {
+    return getMathHelper().multiply(this, multiplier);
+  }
+
+  default Acceleration<D> times(Dimensionless multiplier) {
+    return getMathHelper().multiply(this, multiplier);
+  }
+
+  default Velocity<D> times(Time time) {
+    return getMathHelper().multiply(this, time, baseUnit().numerator()::of);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/measure/Angle.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Angle.java
new file mode 100644
index 00000000000..ebf765749c7
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/measure/Angle.java
@@ -0,0 +1,68 @@
+// 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.measure;
+
+import static edu.wpi.first.units.Units.Radians;
+import static edu.wpi.first.units.Units.RadiansPerSecond;
+import static edu.wpi.first.units.Units.Value;
+
+import edu.wpi.first.units.AngleUnit;
+import edu.wpi.first.units.ImmutableMeasure;
+import edu.wpi.first.units.MathHelper;
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.PerUnit;
+import edu.wpi.first.units.TimeUnit;
+import edu.wpi.first.units.Unit;
+
+public interface Angle extends Measure<AngleUnit> {
+  MathHelper<AngleUnit, Angle> mathHelper = new MathHelper<>(Radians::of);
+
+  default Dimensionless divide(Angle other) {
+    return mathHelper.divide(this, other);
+  }
+
+  default Angle plus(Angle other) {
+    return mathHelper.add(this, other);
+  }
+
+  default Angle minus(Angle other) {
+    return mathHelper.minus(this, other);
+  }
+
+  default Angle divide(double divisor) {
+    return mathHelper.divide(this, divisor);
+  }
+
+  default AngularVelocity divide(Time period) {
+    return mathHelper.divide(this, period, RadiansPerSecond::of);
+  }
+
+  default <Other extends Unit> Measure<Other> divide(
+      Measure<? extends PerUnit<AngleUnit, ? extends Other>> ratio) {
+    return ImmutableMeasure.ofBaseUnits(
+        baseUnitMagnitude() / ratio.baseUnitMagnitude(), ratio.unit().denominator());
+  }
+
+  default AngularVelocity per(TimeUnit unit) {
+    return mathHelper.divide(this, unit.of(1), RadiansPerSecond::of);
+  }
+
+  default Dimensionless per(AngleUnit unit) {
+    return mathHelper.divide(this, unit.of(1), Value::of);
+  }
+
+  @SuppressWarnings("unchecked")
+  default <Divisor extends Unit> Measure<? extends PerUnit<AngleUnit, Divisor>> per(
+      Divisor divisor) {
+    return PerUnit.combine(this.baseUnit(), (Divisor) divisor.getBaseUnit())
+        .of(baseUnitMagnitude() / divisor.fromBaseUnits(1));
+  }
+
+  default <Other extends Unit> Measure<Other> times(
+      Measure<? extends PerUnit<? extends Other, AngleUnit>> ratio) {
+    return ImmutableMeasure.ofBaseUnits(
+        baseUnitMagnitude() * ratio.baseUnitMagnitude(), ratio.unit().numerator());
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/AngularAcceleration.java
similarity index 71%
rename from wpiunits/src/main/java/edu/wpi/first/units/AngularAcceleration.java
rename to wpiunits/src/main/java/edu/wpi/first/units/measure/AngularAcceleration.java
index e1796df6d28..c9ac6aff5f7 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularAcceleration.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/measure/AngularAcceleration.java
@@ -2,13 +2,17 @@
 // 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;
+package edu.wpi.first.units.measure;
 
 import static edu.wpi.first.units.Units.RadiansPerSecond;
 import static edu.wpi.first.units.Units.RadiansPerSecondPerSecond;
 
-public interface AngularAcceleration extends Acceleration<AngleUnit> {
-  MathHelper<AccelerationUnit<AngleUnit>, AngularAcceleration> mathHelper =
+import edu.wpi.first.units.AngularAccelerationUnit;
+import edu.wpi.first.units.MathHelper;
+import edu.wpi.first.units.Measure;
+
+public interface AngularAcceleration extends Measure<AngularAccelerationUnit> {
+  MathHelper<AngularAccelerationUnit, AngularAcceleration> mathHelper =
       new MathHelper<>(RadiansPerSecondPerSecond::of);
 
   @Override
@@ -21,42 +25,34 @@ default double in(AngularAccelerationUnit otherUnit) {
     return otherUnit.fromBaseUnits(baseUnitMagnitude());
   }
 
-  @Override
-  default AngularAcceleration plus(Acceleration<AngleUnit> other) {
+  default AngularAcceleration plus(AngularAcceleration other) {
     return mathHelper.add(this, other);
   }
 
-  @Override
-  default AngularAcceleration minus(Acceleration<AngleUnit> other) {
+  default AngularAcceleration minus(AngularAcceleration other) {
     return mathHelper.minus(this, other);
   }
 
-  @Override
-  default Dimensionless divide(Acceleration<AngleUnit> divisor) {
+  default Dimensionless divide(AngularAcceleration divisor) {
     return mathHelper.divide(this, divisor);
   }
 
-  @Override
   default AngularAcceleration divide(double divisor) {
     return mathHelper.divide(this, divisor);
   }
 
-  @Override
   default AngularAcceleration divide(Dimensionless divisor) {
     return mathHelper.divide(this, divisor);
   }
 
-  @Override
   default AngularAcceleration times(double multiplier) {
     return mathHelper.multiply(this, multiplier);
   }
 
-  @Override
   default AngularAcceleration times(Dimensionless multiplier) {
     return mathHelper.multiply(this, multiplier);
   }
 
-  @Override
   default AngularVelocity times(Time time) {
     return mathHelper.multiply(this, time, RadiansPerSecond::of);
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentum.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/AngularMomentum.java
similarity index 74%
rename from wpiunits/src/main/java/edu/wpi/first/units/AngularMomentum.java
rename to wpiunits/src/main/java/edu/wpi/first/units/measure/AngularMomentum.java
index 738eb2fe0af..19b4dd3349a 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentum.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/measure/AngularMomentum.java
@@ -2,7 +2,10 @@
 // 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;
+package edu.wpi.first.units.measure;
+
+import edu.wpi.first.units.AngularMomentumUnit;
+import edu.wpi.first.units.Measure;
 
 public interface AngularMomentum extends Measure<AngularMomentumUnit> {
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/AngularVelocity.java
similarity index 76%
rename from wpiunits/src/main/java/edu/wpi/first/units/AngularVelocity.java
rename to wpiunits/src/main/java/edu/wpi/first/units/measure/AngularVelocity.java
index 3146bc38ffe..9b7004bdc88 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocity.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/measure/AngularVelocity.java
@@ -2,15 +2,19 @@
 // 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;
+package edu.wpi.first.units.measure;
 
 import static edu.wpi.first.units.Units.Hertz;
 import static edu.wpi.first.units.Units.Radians;
 import static edu.wpi.first.units.Units.RadiansPerSecond;
 import static edu.wpi.first.units.Units.RadiansPerSecondPerSecond;
 
-public interface AngularVelocity extends Velocity<AngleUnit> {
-  MathHelper<VelocityUnit<AngleUnit>, AngularVelocity> mathHelper =
+import edu.wpi.first.units.AngularVelocityUnit;
+import edu.wpi.first.units.MathHelper;
+import edu.wpi.first.units.Measure;
+
+public interface AngularVelocity extends Measure<AngularVelocityUnit> {
+  MathHelper<AngularVelocityUnit, AngularVelocity> mathHelper =
       new MathHelper<>(RadiansPerSecond::of);
 
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Current.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Current.java
similarity index 80%
rename from wpiunits/src/main/java/edu/wpi/first/units/Current.java
rename to wpiunits/src/main/java/edu/wpi/first/units/measure/Current.java
index 9bb6cb428e3..47055d82e06 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Current.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/measure/Current.java
@@ -2,10 +2,13 @@
 // 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;
+package edu.wpi.first.units.measure;
 
 import static edu.wpi.first.units.Units.Watts;
 
+import edu.wpi.first.units.CurrentUnit;
+import edu.wpi.first.units.Measure;
+
 public interface Current extends Measure<CurrentUnit> {
   @Override
   Current copy();
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Dimensionless.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Dimensionless.java
similarity index 81%
rename from wpiunits/src/main/java/edu/wpi/first/units/Dimensionless.java
rename to wpiunits/src/main/java/edu/wpi/first/units/measure/Dimensionless.java
index e4daae589be..f7511e50835 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Dimensionless.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/measure/Dimensionless.java
@@ -2,11 +2,16 @@
 // 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;
+package edu.wpi.first.units.measure;
 
 import static edu.wpi.first.units.Units.Hertz;
 import static edu.wpi.first.units.Units.Value;
 
+import edu.wpi.first.units.DimensionlessUnit;
+import edu.wpi.first.units.MathHelper;
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.Unit;
+
 public interface Dimensionless extends Measure<DimensionlessUnit> {
   MathHelper<DimensionlessUnit, Dimensionless> mathHelper = new MathHelper<>(Value::of);
 
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Distance.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Distance.java
similarity index 84%
rename from wpiunits/src/main/java/edu/wpi/first/units/Distance.java
rename to wpiunits/src/main/java/edu/wpi/first/units/measure/Distance.java
index aefbf63c93c..069405b38f8 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Distance.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/measure/Distance.java
@@ -2,12 +2,21 @@
 // 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;
+package edu.wpi.first.units.measure;
 
 import static edu.wpi.first.units.Units.Meters;
 import static edu.wpi.first.units.Units.MetersPerSecond;
 import static edu.wpi.first.units.Units.Seconds;
 
+import edu.wpi.first.units.DistanceUnit;
+import edu.wpi.first.units.ImmutableMeasure;
+import edu.wpi.first.units.MathHelper;
+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.immutable.ImmutableLinearVelocity;
+
 public interface Distance extends Measure<DistanceUnit> {
   MathHelper<DistanceUnit, Distance> mathHelper = new MathHelper<>(Meters::of);
 
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Energy.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Energy.java
similarity index 84%
rename from wpiunits/src/main/java/edu/wpi/first/units/Energy.java
rename to wpiunits/src/main/java/edu/wpi/first/units/measure/Energy.java
index 72331a1cf33..5b8a8ca170d 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Energy.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/measure/Energy.java
@@ -2,11 +2,15 @@
 // 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;
+package edu.wpi.first.units.measure;
 
 import static edu.wpi.first.units.Units.Joules;
 import static edu.wpi.first.units.Units.Watts;
 
+import edu.wpi.first.units.EnergyUnit;
+import edu.wpi.first.units.MathHelper;
+import edu.wpi.first.units.Measure;
+
 public interface Energy extends Measure<EnergyUnit> {
   MathHelper<EnergyUnit, Energy> mathHelper = new MathHelper<>(Joules::of);
 
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Force.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Force.java
similarity index 81%
rename from wpiunits/src/main/java/edu/wpi/first/units/Force.java
rename to wpiunits/src/main/java/edu/wpi/first/units/measure/Force.java
index 11fbd15f4c2..e2ef5bddaf2 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Force.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/measure/Force.java
@@ -2,12 +2,19 @@
 // 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;
+package edu.wpi.first.units.measure;
 
 import static edu.wpi.first.units.Units.Joules;
 import static edu.wpi.first.units.Units.Newtons;
 import static edu.wpi.first.units.Units.Seconds;
 
+import edu.wpi.first.units.DistanceUnit;
+import edu.wpi.first.units.ForceUnit;
+import edu.wpi.first.units.MathHelper;
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.TimeUnit;
+import edu.wpi.first.units.VelocityUnit;
+
 public interface Force extends Measure<ForceUnit> {
   MathHelper<ForceUnit, Force> mathHelper = new MathHelper<>(Newtons::of);
 
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Frequency.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Frequency.java
similarity index 75%
rename from wpiunits/src/main/java/edu/wpi/first/units/Frequency.java
rename to wpiunits/src/main/java/edu/wpi/first/units/measure/Frequency.java
index 2ea7df5dcb2..1a30a5e89f5 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Frequency.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/measure/Frequency.java
@@ -2,11 +2,15 @@
 // 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;
+package edu.wpi.first.units.measure;
 
 import static edu.wpi.first.units.Units.Hertz;
 import static edu.wpi.first.units.Units.Seconds;
 
+import edu.wpi.first.units.FrequencyUnit;
+import edu.wpi.first.units.MathHelper;
+import edu.wpi.first.units.Measure;
+
 public interface Frequency extends Measure<FrequencyUnit> {
   MathHelper<FrequencyUnit, Frequency> mathHelper = new MathHelper<>(Hertz::of);
 
@@ -20,4 +24,8 @@ default Dimensionless divide(Frequency other) {
   default Time inverse() {
     return Seconds.of(1 / baseUnitMagnitude());
   }
+
+  default Time asPeriod() {
+    return inverse();
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/LinearAcceleration.java
similarity index 71%
rename from wpiunits/src/main/java/edu/wpi/first/units/LinearAcceleration.java
rename to wpiunits/src/main/java/edu/wpi/first/units/measure/LinearAcceleration.java
index 691bff6ca12..89bf08896a8 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearAcceleration.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/measure/LinearAcceleration.java
@@ -2,13 +2,17 @@
 // 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;
+package edu.wpi.first.units.measure;
 
 import static edu.wpi.first.units.Units.MetersPerSecond;
 import static edu.wpi.first.units.Units.MetersPerSecondPerSecond;
 
-public interface LinearAcceleration extends Acceleration<DistanceUnit> {
-  MathHelper<AccelerationUnit<DistanceUnit>, LinearAcceleration> mathHelper =
+import edu.wpi.first.units.LinearAccelerationUnit;
+import edu.wpi.first.units.MathHelper;
+import edu.wpi.first.units.Measure;
+
+public interface LinearAcceleration extends Measure<LinearAccelerationUnit> {
+  MathHelper<LinearAccelerationUnit, LinearAcceleration> mathHelper =
       new MathHelper<>(MetersPerSecondPerSecond::of);
 
   @Override
@@ -21,43 +25,35 @@ default double in(LinearAccelerationUnit otherUnit) {
     return otherUnit.fromBaseUnits(baseUnitMagnitude());
   }
 
-  @Override
   default LinearVelocity times(Time time) {
     return mathHelper.multiply(this, time, MetersPerSecond::of);
   }
 
-  @Override
   default LinearAcceleration times(Dimensionless multiplier) {
     return mathHelper.multiply(this, multiplier);
   }
 
-  @Override
   default LinearAcceleration times(double multiplier) {
     return mathHelper.multiply(this, multiplier);
   }
 
-  @Override
   default LinearAcceleration divide(Dimensionless divisor) {
     return mathHelper.divide(this, divisor);
   }
 
-  @Override
   default LinearAcceleration divide(double divisor) {
     return mathHelper.divide(this, divisor);
   }
 
-  @Override
-  default Dimensionless divide(Acceleration<DistanceUnit> divisor) {
+  default Dimensionless divide(LinearAcceleration divisor) {
     return mathHelper.divide(this, divisor);
   }
 
-  @Override
-  default Acceleration<DistanceUnit> minus(Acceleration<DistanceUnit> other) {
+  default LinearAcceleration minus(LinearAcceleration other) {
     return mathHelper.minus(this, other);
   }
 
-  @Override
-  default Acceleration<DistanceUnit> plus(Acceleration<DistanceUnit> other) {
+  default LinearAcceleration plus(LinearAcceleration other) {
     return mathHelper.add(this, other);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentum.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/LinearMomentum.java
similarity index 71%
rename from wpiunits/src/main/java/edu/wpi/first/units/LinearMomentum.java
rename to wpiunits/src/main/java/edu/wpi/first/units/measure/LinearMomentum.java
index 79437b781e6..f1958b4b0e9 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentum.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/measure/LinearMomentum.java
@@ -2,7 +2,10 @@
 // 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;
+package edu.wpi.first.units.measure;
+
+import edu.wpi.first.units.LinearMomentumUnit;
+import edu.wpi.first.units.Measure;
 
 public interface LinearMomentum extends Measure<LinearMomentumUnit> {
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/LinearVelocity.java
similarity index 52%
rename from wpiunits/src/main/java/edu/wpi/first/units/LinearVelocity.java
rename to wpiunits/src/main/java/edu/wpi/first/units/measure/LinearVelocity.java
index 823a9c34ebe..e7c664fc4bb 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocity.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/measure/LinearVelocity.java
@@ -2,13 +2,18 @@
 // 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;
+package edu.wpi.first.units.measure;
 
 import static edu.wpi.first.units.Units.MetersPerSecond;
 
-public interface LinearVelocity extends Velocity<DistanceUnit> {
-  MathHelper<VelocityUnit<DistanceUnit>, LinearVelocity> mathHelper =
-      new MathHelper<>(MetersPerSecond::of);
+import edu.wpi.first.units.DistanceUnit;
+import edu.wpi.first.units.LinearVelocityUnit;
+import edu.wpi.first.units.MathHelper;
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.VelocityUnit;
+
+public interface LinearVelocity extends Measure<LinearVelocityUnit> {
+  MathHelper<LinearVelocityUnit, LinearVelocity> mathHelper = new MathHelper<>(MetersPerSecond::of);
 
   @Override
   LinearVelocityUnit unit();
@@ -16,7 +21,7 @@ public interface LinearVelocity extends Velocity<DistanceUnit> {
   @Override
   LinearVelocity copy();
 
-  default double in(LinearVelocityUnit otherUnit) {
+  default double in(VelocityUnit<DistanceUnit> otherUnit) {
     return otherUnit.fromBaseUnits(baseUnitMagnitude());
   }
 
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Mass.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Mass.java
similarity index 75%
rename from wpiunits/src/main/java/edu/wpi/first/units/Mass.java
rename to wpiunits/src/main/java/edu/wpi/first/units/measure/Mass.java
index 8921ea90d2f..7743287f980 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Mass.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/measure/Mass.java
@@ -2,10 +2,16 @@
 // 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;
+package edu.wpi.first.units.measure;
 
 import static edu.wpi.first.units.Units.Kilograms;
 
+import edu.wpi.first.units.MassUnit;
+import edu.wpi.first.units.MathHelper;
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.TimeUnit;
+import edu.wpi.first.units.VelocityUnit;
+
 public interface Mass extends Measure<MassUnit> {
   MathHelper<MassUnit, Mass> mathHelper = new MathHelper<>(Kilograms::of);
 
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertia.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/MomentOfInertia.java
similarity index 72%
rename from wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertia.java
rename to wpiunits/src/main/java/edu/wpi/first/units/measure/MomentOfInertia.java
index b5c8c2fe675..21727dddb29 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertia.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/measure/MomentOfInertia.java
@@ -2,7 +2,10 @@
 // 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;
+package edu.wpi.first.units.measure;
+
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.MomentOfInertiaUnit;
 
 public interface MomentOfInertia extends Measure<MomentOfInertiaUnit> {
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Mult.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Mult.java
similarity index 70%
rename from wpiunits/src/main/java/edu/wpi/first/units/Mult.java
rename to wpiunits/src/main/java/edu/wpi/first/units/measure/Mult.java
index 7f8d202e79d..2ef7a5f3225 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Mult.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/measure/Mult.java
@@ -2,7 +2,11 @@
 // 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;
+package edu.wpi.first.units.measure;
+
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.MultUnit;
+import edu.wpi.first.units.Unit;
 
 public interface Mult<A extends Unit, B extends Unit> extends Measure<MultUnit<A, B>> {
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Power.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Power.java
similarity index 64%
rename from wpiunits/src/main/java/edu/wpi/first/units/Power.java
rename to wpiunits/src/main/java/edu/wpi/first/units/measure/Power.java
index 563207d5d30..6aef9c0d896 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Power.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/measure/Power.java
@@ -2,7 +2,13 @@
 // 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;
+package edu.wpi.first.units.measure;
+
+import edu.wpi.first.units.EnergyUnit;
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.PerUnit;
+import edu.wpi.first.units.PowerUnit;
+import edu.wpi.first.units.TimeUnit;
 
 public interface Power extends Measure<PowerUnit> {
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Temperature.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Temperature.java
similarity index 75%
rename from wpiunits/src/main/java/edu/wpi/first/units/Temperature.java
rename to wpiunits/src/main/java/edu/wpi/first/units/measure/Temperature.java
index 4c51a390c2f..9e8a1b1990e 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Temperature.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/measure/Temperature.java
@@ -2,10 +2,16 @@
 // 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;
+package edu.wpi.first.units.measure;
 
 import static edu.wpi.first.units.Units.Kelvin;
 
+import edu.wpi.first.units.MathHelper;
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.TemperatureUnit;
+import edu.wpi.first.units.TimeUnit;
+import edu.wpi.first.units.VelocityUnit;
+
 public interface Temperature extends Measure<TemperatureUnit> {
   MathHelper<TemperatureUnit, Temperature> mathHelper = new MathHelper<>(Kelvin::of);
 
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Time.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Time.java
similarity index 78%
rename from wpiunits/src/main/java/edu/wpi/first/units/Time.java
rename to wpiunits/src/main/java/edu/wpi/first/units/measure/Time.java
index bd6f981a8b1..bb57b6d044f 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Time.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/measure/Time.java
@@ -2,11 +2,15 @@
 // 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;
+package edu.wpi.first.units.measure;
 
 import static edu.wpi.first.units.Units.Hertz;
 import static edu.wpi.first.units.Units.Seconds;
 
+import edu.wpi.first.units.MathHelper;
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.TimeUnit;
+
 public interface Time extends Measure<TimeUnit> {
   MathHelper<TimeUnit, Time> mathHelper = new MathHelper<>(Seconds::of);
 
@@ -17,6 +21,10 @@ default Frequency inverse() {
     return Hertz.of(1 / baseUnitMagnitude());
   }
 
+  default Frequency asFrequency() {
+    return inverse();
+  }
+
   default Dimensionless divide(Time other) {
     return mathHelper.divide(this, other);
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Torque.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Torque.java
similarity index 71%
rename from wpiunits/src/main/java/edu/wpi/first/units/Torque.java
rename to wpiunits/src/main/java/edu/wpi/first/units/measure/Torque.java
index 2086bd363f8..9055bf1f9d0 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Torque.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/measure/Torque.java
@@ -2,7 +2,10 @@
 // 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;
+package edu.wpi.first.units.measure;
+
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.TorqueUnit;
 
 public interface Torque extends Measure<TorqueUnit> {
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Velocity.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Velocity.java
similarity index 74%
rename from wpiunits/src/main/java/edu/wpi/first/units/Velocity.java
rename to wpiunits/src/main/java/edu/wpi/first/units/measure/Velocity.java
index 16e6d2bbae9..5bc67d58048 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Velocity.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/measure/Velocity.java
@@ -2,7 +2,11 @@
 // 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;
+package edu.wpi.first.units.measure;
+
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.Unit;
+import edu.wpi.first.units.VelocityUnit;
 
 public interface Velocity<D extends Unit> extends Measure<VelocityUnit<D>> {
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Voltage.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Voltage.java
similarity index 65%
rename from wpiunits/src/main/java/edu/wpi/first/units/Voltage.java
rename to wpiunits/src/main/java/edu/wpi/first/units/measure/Voltage.java
index 247305b56af..fb1e26fc5a4 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Voltage.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/measure/Voltage.java
@@ -2,11 +2,18 @@
 // 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;
+package edu.wpi.first.units.measure;
 
 import static edu.wpi.first.units.Units.Second;
 import static edu.wpi.first.units.Units.Volts;
 
+import edu.wpi.first.units.MathHelper;
+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.VoltageUnit;
+
 public interface Voltage extends Measure<VoltageUnit> {
   MathHelper<VoltageUnit, Voltage> mathHelper = new MathHelper<>(Volts::of);
 
@@ -22,7 +29,8 @@ default Velocity<VoltageUnit> per(TimeUnit period) {
   }
 
   @SuppressWarnings("unchecked")
-  default <U extends Unit> Measure<U> divide(Measure<? extends PerUnit<VoltageUnit, U>> m) {
-    return (Measure<U>) mathHelper.divide(this, m, m.unit().denominator()::ofBaseUnits);
+  default <U extends Unit> Measure<U> divide(Measure<? extends PerUnit<VoltageUnit, U>> divisor) {
+    return mathHelper.divide(
+        this, divisor, x -> (Measure<U>) divisor.unit().denominator().ofBaseUnits(x));
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAcceleration.java
index 93f4e15f5d5..4c402517e82 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAcceleration.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAcceleration.java
@@ -4,16 +4,13 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.Acceleration;
 import edu.wpi.first.units.AccelerationUnit;
-import edu.wpi.first.units.Dimensionless;
 import edu.wpi.first.units.MathHelper;
-import edu.wpi.first.units.Time;
 import edu.wpi.first.units.Unit;
-import edu.wpi.first.units.Velocity;
 import edu.wpi.first.units.immutable.ImmutableAcceleration;
+import edu.wpi.first.units.measure.Acceleration;
 
-public class MutAcceleration<D extends Unit>
+public final class MutAcceleration<D extends Unit>
     extends MutableMeasureBase<AccelerationUnit<D>, Acceleration<D>, MutAcceleration<D>>
     implements Acceleration<D> {
   private final MathHelper<AccelerationUnit<D>, Acceleration<D>> mathHelper =
@@ -24,62 +21,12 @@ public MutAcceleration(double magnitude, double baseUnitMagnitude, AccelerationU
   }
 
   @Override
-  public double magnitude() {
-    return magnitude;
-  }
-
-  @Override
-  public double baseUnitMagnitude() {
-    return baseUnitMagnitude;
-  }
-
-  @Override
-  public AccelerationUnit<D> unit() {
-    return unit;
+  public MathHelper<AccelerationUnit<D>, Acceleration<D>> getMathHelper() {
+    return mathHelper;
   }
 
   @Override
   public Acceleration<D> copy() {
     return new ImmutableAcceleration<>(magnitude(), baseUnitMagnitude(), unit());
   }
-
-  @Override
-  public Acceleration<D> plus(Acceleration<D> other) {
-    return mathHelper.add(this, other);
-  }
-
-  @Override
-  public Acceleration<D> minus(Acceleration<D> other) {
-    return mathHelper.minus(this, other);
-  }
-
-  @Override
-  public Dimensionless divide(Acceleration<D> divisor) {
-    return mathHelper.divide(this, divisor);
-  }
-
-  @Override
-  public Acceleration<D> divide(double divisor) {
-    return mathHelper.divide(this, divisor);
-  }
-
-  @Override
-  public Acceleration<D> divide(Dimensionless divisor) {
-    return mathHelper.divide(this, divisor);
-  }
-
-  @Override
-  public Acceleration<D> times(double multiplier) {
-    return mathHelper.multiply(this, multiplier);
-  }
-
-  @Override
-  public Acceleration<D> times(Dimensionless multiplier) {
-    return mathHelper.multiply(this, multiplier);
-  }
-
-  @Override
-  public Velocity<D> times(Time time) {
-    return mathHelper.multiply(this, time, baseUnit().numerator()::of);
-  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngle.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngle.java
index 36774e70a2e..0f02e165365 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngle.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngle.java
@@ -4,89 +4,15 @@
 
 package edu.wpi.first.units.mutable;
 
-import static edu.wpi.first.units.Units.Radians;
-import static edu.wpi.first.units.Units.RadiansPerSecond;
-import static edu.wpi.first.units.Units.Value;
-
-import edu.wpi.first.units.Angle;
 import edu.wpi.first.units.AngleUnit;
-import edu.wpi.first.units.AngularVelocity;
-import edu.wpi.first.units.Dimensionless;
-import edu.wpi.first.units.ImmutableMeasure;
-import edu.wpi.first.units.MathHelper;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.MutableMeasure;
-import edu.wpi.first.units.PerUnit;
-import edu.wpi.first.units.Time;
-import edu.wpi.first.units.TimeUnit;
-import edu.wpi.first.units.Unit;
 import edu.wpi.first.units.immutable.ImmutableAngle;
+import edu.wpi.first.units.measure.Angle;
 
-public final class MutAngle extends MutableMeasureBase<AngleUnit, Angle, MutAngle>
-    implements Angle, MutableMeasure<AngleUnit, Angle, MutAngle> {
-  private static final MathHelper<AngleUnit, Angle> mathHelper = new MathHelper<>(Radians::of);
-
+public final class MutAngle extends MutableMeasureBase<AngleUnit, Angle, MutAngle> {
   public MutAngle(double magnitude, double baseUnitMagnitude, AngleUnit unit) {
     super(magnitude, baseUnitMagnitude, unit);
   }
 
-  @Override
-  public Dimensionless divide(Angle other) {
-    return mathHelper.divide(this, other);
-  }
-
-  @Override
-  public Angle plus(Angle other) {
-    return mathHelper.add(this, other);
-  }
-
-  @Override
-  public Angle minus(Angle other) {
-    return mathHelper.minus(this, other);
-  }
-
-  @Override
-  public Angle divide(double divisor) {
-    return mathHelper.divide(this, divisor);
-  }
-
-  @Override
-  public AngularVelocity divide(Time period) {
-    return mathHelper.divide(this, period, RadiansPerSecond::of);
-  }
-
-  @Override
-  public <Other extends Unit> Measure<Other> divide(
-      Measure<? extends PerUnit<AngleUnit, ? extends Other>> ratio) {
-    return ImmutableMeasure.ofBaseUnits(
-        baseUnitMagnitude / ratio.baseUnitMagnitude(), ratio.unit().denominator());
-  }
-
-  @Override
-  public AngularVelocity per(TimeUnit unit) {
-    return mathHelper.divide(this, unit.of(1), RadiansPerSecond::of);
-  }
-
-  @Override
-  public Dimensionless per(AngleUnit unit) {
-    return mathHelper.divide(this, unit.of(1), Value::of);
-  }
-
-  @Override
-  @SuppressWarnings("unchecked")
-  public <Divisor extends Unit> Measure<? extends PerUnit<AngleUnit, Divisor>> per(
-      Divisor divisor) {
-    return PerUnit.combine(this.baseUnit(), (Divisor) divisor.getBaseUnit())
-        .of(baseUnitMagnitude / divisor.fromBaseUnits(1));
-  }
-
-  @Override
-  public <Other extends Unit> Measure<Other> times(
-      Measure<? extends PerUnit<? extends Other, AngleUnit>> ratio) {
-    return ImmutableMeasure.ofBaseUnits(
-        baseUnitMagnitude * ratio.baseUnitMagnitude(), ratio.unit().numerator());
-  }
-
   @Override
   public Angle copy() {
     return new ImmutableAngle(magnitude, baseUnitMagnitude, unit);
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularAcceleration.java
index df17cba1674..25815329595 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularAcceleration.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularAcceleration.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.AngularAcceleration;
 import edu.wpi.first.units.AngularAccelerationUnit;
 import edu.wpi.first.units.immutable.ImmutableAngularAcceleration;
+import edu.wpi.first.units.measure.AngularAcceleration;
 
 public final class MutAngularAcceleration
     extends MutableMeasureBase<AngularAccelerationUnit, AngularAcceleration, MutAngularAcceleration>
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularMomentum.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularMomentum.java
index df8ce84fcc4..d55863b3df6 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularMomentum.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularMomentum.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.AngularMomentum;
 import edu.wpi.first.units.AngularMomentumUnit;
 import edu.wpi.first.units.immutable.ImmutableAngularMomentum;
+import edu.wpi.first.units.measure.AngularMomentum;
 
 public final class MutAngularMomentum
     extends MutableMeasureBase<AngularMomentumUnit, AngularMomentum, MutAngularMomentum>
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularVelocity.java
index 58442099408..8098a88423e 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularVelocity.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularVelocity.java
@@ -4,14 +4,12 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.AngularVelocity;
 import edu.wpi.first.units.AngularVelocityUnit;
-import edu.wpi.first.units.Measure;
 import edu.wpi.first.units.immutable.ImmutableAngularVelocity;
+import edu.wpi.first.units.measure.AngularVelocity;
 
 public final class MutAngularVelocity
-    extends MutableMeasureBase<
-        AngularVelocityUnit, Measure<AngularVelocityUnit>, MutAngularVelocity>
+    extends MutableMeasureBase<AngularVelocityUnit, AngularVelocity, MutAngularVelocity>
     implements AngularVelocity {
   public MutAngularVelocity(double magnitude, double baseUnitMagnitude, AngularVelocityUnit unit) {
     super(magnitude, baseUnitMagnitude, unit);
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutCurrent.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutCurrent.java
index d3ca2541528..31c28017682 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutCurrent.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutCurrent.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.Current;
 import edu.wpi.first.units.CurrentUnit;
 import edu.wpi.first.units.immutable.ImmutableCurrent;
+import edu.wpi.first.units.measure.Current;
 
 public final class MutCurrent extends MutableMeasureBase<CurrentUnit, Current, MutCurrent>
     implements Current {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDimensionless.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDimensionless.java
index d781668a0a1..90b430da1cc 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDimensionless.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDimensionless.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.Dimensionless;
 import edu.wpi.first.units.DimensionlessUnit;
 import edu.wpi.first.units.immutable.ImmutableDimensionless;
+import edu.wpi.first.units.measure.Dimensionless;
 
 public final class MutDimensionless
     extends MutableMeasureBase<DimensionlessUnit, Dimensionless, MutDimensionless>
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDistance.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDistance.java
index d0d1befb732..ab5a613876a 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDistance.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDistance.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.Distance;
 import edu.wpi.first.units.DistanceUnit;
 import edu.wpi.first.units.immutable.ImmutableDistance;
+import edu.wpi.first.units.measure.Distance;
 
 public final class MutDistance extends MutableMeasureBase<DistanceUnit, Distance, MutDistance>
     implements Distance {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutEnergy.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutEnergy.java
index 0b0b12a66c8..5a416c03877 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutEnergy.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutEnergy.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.Energy;
 import edu.wpi.first.units.EnergyUnit;
 import edu.wpi.first.units.immutable.ImmutableEnergy;
+import edu.wpi.first.units.measure.Energy;
 
 public final class MutEnergy extends MutableMeasureBase<EnergyUnit, Energy, MutEnergy>
     implements Energy {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutForce.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutForce.java
index 8004b51d493..6304561dcd3 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutForce.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutForce.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.Force;
 import edu.wpi.first.units.ForceUnit;
 import edu.wpi.first.units.immutable.ImmutableForce;
+import edu.wpi.first.units.measure.Force;
 
 public final class MutForce extends MutableMeasureBase<ForceUnit, Force, MutForce>
     implements Force {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutFrequency.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutFrequency.java
index 308e7f1cce3..7547362ea2d 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutFrequency.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutFrequency.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.Frequency;
 import edu.wpi.first.units.FrequencyUnit;
 import edu.wpi.first.units.immutable.ImmutableFrequency;
+import edu.wpi.first.units.measure.Frequency;
 
 public final class MutFrequency extends MutableMeasureBase<FrequencyUnit, Frequency, MutFrequency>
     implements Frequency {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearAcceleration.java
index 3e32876fb73..0fc0339d0a7 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearAcceleration.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearAcceleration.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.LinearAcceleration;
 import edu.wpi.first.units.LinearAccelerationUnit;
 import edu.wpi.first.units.immutable.ImmutableLinearAcceleration;
+import edu.wpi.first.units.measure.LinearAcceleration;
 
 public final class MutLinearAcceleration
     extends MutableMeasureBase<LinearAccelerationUnit, LinearAcceleration, MutLinearAcceleration>
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearMomentum.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearMomentum.java
index 39087276bc3..b84e7d2b418 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearMomentum.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearMomentum.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.LinearMomentum;
 import edu.wpi.first.units.LinearMomentumUnit;
 import edu.wpi.first.units.immutable.ImmutableLinearMomentum;
+import edu.wpi.first.units.measure.LinearMomentum;
 
 public final class MutLinearMomentum
     extends MutableMeasureBase<LinearMomentumUnit, LinearMomentum, MutLinearMomentum>
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearVelocity.java
index 57b98907c61..8e5f2669bbb 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearVelocity.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearVelocity.java
@@ -4,24 +4,17 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.DistanceUnit;
-import edu.wpi.first.units.ImmutableLinearVelocity;
-import edu.wpi.first.units.LinearVelocity;
 import edu.wpi.first.units.LinearVelocityUnit;
-import edu.wpi.first.units.VelocityUnit;
+import edu.wpi.first.units.immutable.ImmutableLinearVelocity;
+import edu.wpi.first.units.measure.LinearVelocity;
 
 public final class MutLinearVelocity
-    extends MutableMeasureBase<VelocityUnit<DistanceUnit>, LinearVelocity, MutLinearVelocity>
+    extends MutableMeasureBase<LinearVelocityUnit, LinearVelocity, MutLinearVelocity>
     implements LinearVelocity {
   public MutLinearVelocity(double magnitude, double baseUnitMagnitude, LinearVelocityUnit unit) {
     super(magnitude, baseUnitMagnitude, unit);
   }
 
-  @Override
-  public LinearVelocityUnit unit() {
-    return (LinearVelocityUnit) super.unit();
-  }
-
   @Override
   public LinearVelocity copy() {
     return new ImmutableLinearVelocity(magnitude, baseUnitMagnitude, unit());
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMass.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMass.java
index 7f996d54321..8e33c9b0ecf 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMass.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMass.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.Mass;
 import edu.wpi.first.units.MassUnit;
 import edu.wpi.first.units.immutable.ImmutableMass;
+import edu.wpi.first.units.measure.Mass;
 
 public final class MutMass extends MutableMeasureBase<MassUnit, Mass, MutMass> implements Mass {
   public MutMass(double magnitude, double baseUnitMagnitude, MassUnit unit) {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMomentOfInertia.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMomentOfInertia.java
index 8e705cffaef..f2f3ebb991f 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMomentOfInertia.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMomentOfInertia.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.MomentOfInertia;
 import edu.wpi.first.units.MomentOfInertiaUnit;
 import edu.wpi.first.units.immutable.ImmutableMomentOfInertia;
+import edu.wpi.first.units.measure.MomentOfInertia;
 
 public final class MutMomentOfInertia
     extends MutableMeasureBase<MomentOfInertiaUnit, MomentOfInertia, MutMomentOfInertia>
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMult.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMult.java
index 4849c7e6976..832ad430399 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMult.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMult.java
@@ -4,10 +4,10 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.Mult;
 import edu.wpi.first.units.MultUnit;
 import edu.wpi.first.units.Unit;
 import edu.wpi.first.units.immutable.ImmutableMult;
+import edu.wpi.first.units.measure.Mult;
 
 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> {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutPower.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutPower.java
index b7dab91ec29..b859d372a17 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutPower.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutPower.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.Power;
 import edu.wpi.first.units.PowerUnit;
 import edu.wpi.first.units.immutable.ImmutablePower;
+import edu.wpi.first.units.measure.Power;
 
 public final class MutPower extends MutableMeasureBase<PowerUnit, Power, MutPower>
     implements Power {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTemperature.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTemperature.java
index 19d46c92e85..ff2764f71fd 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTemperature.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTemperature.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.Temperature;
 import edu.wpi.first.units.TemperatureUnit;
 import edu.wpi.first.units.immutable.ImmutableTemperature;
+import edu.wpi.first.units.measure.Temperature;
 
 public final class MutTemperature
     extends MutableMeasureBase<TemperatureUnit, Temperature, MutTemperature>
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTime.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTime.java
index f82ba62a4aa..c26f223acbf 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTime.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTime.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.Time;
 import edu.wpi.first.units.TimeUnit;
 import edu.wpi.first.units.immutable.ImmutableTime;
+import edu.wpi.first.units.measure.Time;
 
 public final class MutTime extends MutableMeasureBase<TimeUnit, Time, MutTime> implements Time {
   public MutTime(double magnitude, double baseUnitMagnitude, TimeUnit unit) {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTorque.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTorque.java
index 8d78e6dcdb3..78cda59b4de 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTorque.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTorque.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.Torque;
 import edu.wpi.first.units.TorqueUnit;
 import edu.wpi.first.units.immutable.ImmutableTorque;
+import edu.wpi.first.units.measure.Torque;
 
 public final class MutTorque extends MutableMeasureBase<TorqueUnit, Torque, MutTorque>
     implements Torque {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVelocity.java
index 903ff79c02e..38a85680afe 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVelocity.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVelocity.java
@@ -5,9 +5,9 @@
 package edu.wpi.first.units.mutable;
 
 import edu.wpi.first.units.Unit;
-import edu.wpi.first.units.Velocity;
 import edu.wpi.first.units.VelocityUnit;
 import edu.wpi.first.units.immutable.ImmutableVelocity;
+import edu.wpi.first.units.measure.Velocity;
 
 public class MutVelocity<D extends Unit>
     extends MutableMeasureBase<VelocityUnit<D>, Velocity<D>, MutVelocity<D>>
@@ -16,14 +16,6 @@ public MutVelocity(double magnitude, double baseUnitMagnitude, VelocityUnit<D> u
     super(magnitude, baseUnitMagnitude, unit);
   }
 
-  @Override
-  public MutVelocity<D> mut_replace(double magnitude, VelocityUnit<D> newUnit) {
-    this.unit = newUnit;
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
-    return this;
-  }
-
   @Override
   public Velocity<D> copy() {
     return new ImmutableVelocity<>(magnitude, baseUnitMagnitude, unit);
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVoltage.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVoltage.java
index 9acaaf4209a..76ca913724c 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVoltage.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVoltage.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units.mutable;
 
-import edu.wpi.first.units.Voltage;
 import edu.wpi.first.units.VoltageUnit;
 import edu.wpi.first.units.immutable.ImmutableVoltage;
+import edu.wpi.first.units.measure.Voltage;
 
 public final class MutVoltage extends MutableMeasureBase<VoltageUnit, Voltage, MutVoltage>
     implements Voltage {
diff --git a/wpiunits/src/test/java/edu/wpi/first/units/DistanceUnitTest.java b/wpiunits/src/test/java/edu/wpi/first/units/DistanceUnitTest.java
index 061ddaaba8a..08a6612172b 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/DistanceUnitTest.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/DistanceUnitTest.java
@@ -12,7 +12,7 @@
 class DistanceUnitTest {
   @Test
   void testBaseUnitDistancePerTime() {
-    VelocityUnit<DistanceUnit> anonBaseUnit =
+    LinearVelocityUnit anonBaseUnit =
         new DistanceUnit(null, 1, "D", "d").per(new TimeUnit(null, 1, "T", "t"));
 
     assertTrue(Units.MetersPerSecond.equivalent(anonBaseUnit));
@@ -20,7 +20,7 @@ void testBaseUnitDistancePerTime() {
 
   @Test
   void testFeetPerSecond() {
-    VelocityUnit<DistanceUnit> 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/MeasureTest.java b/wpiunits/src/test/java/edu/wpi/first/units/MeasureTest.java
index 6ae6224296f..db1eed3a2e3 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/MeasureTest.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/MeasureTest.java
@@ -11,6 +11,7 @@
 import static org.junit.jupiter.api.Assertions.assertSame;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import edu.wpi.first.units.measure.Distance;
 import org.junit.jupiter.api.Test;
 
 class MeasureTest {

From 29b1e685bd7cb54f5fbacc593a02a835c2c14768 Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Tue, 25 Jun 2024 23:35:29 -0400
Subject: [PATCH 08/46] Implement toString for immutable measures

---
 .../java/edu/wpi/first/units/immutable/ImmutableAngle.java   | 4 ++++
 .../first/units/immutable/ImmutableAngularAcceleration.java  | 5 +++++
 .../wpi/first/units/immutable/ImmutableAngularMomentum.java  | 5 +++++
 .../wpi/first/units/immutable/ImmutableAngularVelocity.java  | 5 +++++
 .../java/edu/wpi/first/units/immutable/ImmutableCurrent.java | 5 +++++
 .../wpi/first/units/immutable/ImmutableDimensionless.java    | 5 +++++
 .../edu/wpi/first/units/immutable/ImmutableDistance.java     | 5 +++++
 .../java/edu/wpi/first/units/immutable/ImmutableEnergy.java  | 5 +++++
 .../java/edu/wpi/first/units/immutable/ImmutableForce.java   | 5 +++++
 .../edu/wpi/first/units/immutable/ImmutableFrequency.java    | 5 +++++
 .../first/units/immutable/ImmutableLinearAcceleration.java   | 5 +++++
 .../wpi/first/units/immutable/ImmutableLinearMomentum.java   | 5 +++++
 .../wpi/first/units/immutable/ImmutableLinearVelocity.java   | 5 +++++
 .../java/edu/wpi/first/units/immutable/ImmutableMass.java    | 5 +++++
 .../wpi/first/units/immutable/ImmutableMomentOfInertia.java  | 5 +++++
 .../java/edu/wpi/first/units/immutable/ImmutableMult.java    | 5 +++++
 .../java/edu/wpi/first/units/immutable/ImmutablePower.java   | 5 +++++
 .../edu/wpi/first/units/immutable/ImmutableTemperature.java  | 5 +++++
 .../java/edu/wpi/first/units/immutable/ImmutableTime.java    | 5 +++++
 .../java/edu/wpi/first/units/immutable/ImmutableTorque.java  | 5 +++++
 .../edu/wpi/first/units/immutable/ImmutableVelocity.java     | 5 +++++
 .../java/edu/wpi/first/units/immutable/ImmutableVoltage.java | 5 +++++
 .../main/java/edu/wpi/first/units/measure/Acceleration.java  | 2 +-
 23 files changed, 110 insertions(+), 1 deletion(-)

diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngle.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngle.java
index e4972f31363..e8c1965cfb3 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngle.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngle.java
@@ -15,4 +15,8 @@ public Angle copy() {
     return this;
   }
 
+  @Override
+  public String toString() {
+    return toShortString();
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularAcceleration.java
index 5b665c5c9b1..e1329554a21 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularAcceleration.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularAcceleration.java
@@ -19,4 +19,9 @@ public AngularAcceleration copy() {
   public AngularAccelerationUnit unit() {
     return unit;
   }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularMomentum.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularMomentum.java
index a64ef424960..38046a052fd 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularMomentum.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularMomentum.java
@@ -14,4 +14,9 @@ public record ImmutableAngularMomentum(
   public AngularMomentum copy() {
     return this;
   }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularVelocity.java
index a074d8281fa..915326e33a4 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularVelocity.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularVelocity.java
@@ -14,4 +14,9 @@ public record ImmutableAngularVelocity(
   public AngularVelocity copy() {
     return this;
   }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableCurrent.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableCurrent.java
index 89cac1bed2a..06b3f814665 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableCurrent.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableCurrent.java
@@ -13,4 +13,9 @@ public record ImmutableCurrent(double magnitude, double baseUnitMagnitude, Curre
   public Current copy() {
     return this;
   }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDimensionless.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDimensionless.java
index 9d05a573cc3..ed2165d1790 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDimensionless.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDimensionless.java
@@ -13,4 +13,9 @@ public record ImmutableDimensionless(
   public Dimensionless copy() {
     return this;
   }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDistance.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDistance.java
index 7aeec48db73..661e8c846d7 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDistance.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDistance.java
@@ -13,4 +13,9 @@ public record ImmutableDistance(double magnitude, double baseUnitMagnitude, Dist
   public Distance copy() {
     return this;
   }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableEnergy.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableEnergy.java
index 6348b4c6896..24ca07ca32c 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableEnergy.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableEnergy.java
@@ -13,4 +13,9 @@ public record ImmutableEnergy(double magnitude, double baseUnitMagnitude, Energy
   public Energy copy() {
     return this;
   }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableForce.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableForce.java
index 5db53dd7509..ab674e3670b 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableForce.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableForce.java
@@ -13,4 +13,9 @@ public record ImmutableForce(double magnitude, double baseUnitMagnitude, ForceUn
   public Force copy() {
     return this;
   }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableFrequency.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableFrequency.java
index 5dcd6ee5b4b..9fe51729a43 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableFrequency.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableFrequency.java
@@ -13,4 +13,9 @@ public record ImmutableFrequency(double magnitude, double baseUnitMagnitude, Fre
   public Frequency copy() {
     return this;
   }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearAcceleration.java
index a42d73848a9..02b6ff6d1fc 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearAcceleration.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearAcceleration.java
@@ -14,4 +14,9 @@ public record ImmutableLinearAcceleration(
   public LinearAcceleration copy() {
     return this;
   }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearMomentum.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearMomentum.java
index 514a7328e8b..4e9fb8cd5c4 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearMomentum.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearMomentum.java
@@ -13,4 +13,9 @@ public record ImmutableLinearMomentum(
   public LinearMomentum copy() {
     return this;
   }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearVelocity.java
index f1eaf95afbc..083fdaa2b9f 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearVelocity.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearVelocity.java
@@ -13,4 +13,9 @@ public record ImmutableLinearVelocity(
   public LinearVelocity copy() {
     return this;
   }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMass.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMass.java
index 86a21c2123b..64d48007f30 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMass.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMass.java
@@ -13,4 +13,9 @@ public record ImmutableMass(double magnitude, double baseUnitMagnitude, MassUnit
   public Mass copy() {
     return this;
   }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMomentOfInertia.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMomentOfInertia.java
index bd766bea697..741c0a3a064 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMomentOfInertia.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMomentOfInertia.java
@@ -15,4 +15,9 @@ public record ImmutableMomentOfInertia(
   public Measure<MomentOfInertiaUnit> copy() {
     return this;
   }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMult.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMult.java
index 0b275622086..af61c606ee9 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMult.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMult.java
@@ -15,4 +15,9 @@ public record ImmutableMult<A extends Unit, B extends Unit>(
   public Measure<MultUnit<A, B>> copy() {
     return this;
   }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutablePower.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutablePower.java
index 0e3ef97bc1e..656def303ed 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutablePower.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutablePower.java
@@ -13,4 +13,9 @@ public record ImmutablePower(double magnitude, double baseUnitMagnitude, PowerUn
   public Power copy() {
     return this;
   }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTemperature.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTemperature.java
index 72edbd239d1..91125075701 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTemperature.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTemperature.java
@@ -13,4 +13,9 @@ public record ImmutableTemperature(double magnitude, double baseUnitMagnitude, T
   public Temperature copy() {
     return this;
   }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTime.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTime.java
index 69a5dbfeb6c..ac28fe90f15 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTime.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTime.java
@@ -13,4 +13,9 @@ public record ImmutableTime(double magnitude, double baseUnitMagnitude, TimeUnit
   public Time copy() {
     return this;
   }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTorque.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTorque.java
index 810d707e235..0aef08dfd87 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTorque.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTorque.java
@@ -13,4 +13,9 @@ public record ImmutableTorque(double magnitude, double baseUnitMagnitude, Torque
   public Torque copy() {
     return this;
   }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVelocity.java
index 6f40540d4f3..0a7091d5cd8 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVelocity.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVelocity.java
@@ -14,4 +14,9 @@ public record ImmutableVelocity<D extends Unit>(
   public Velocity<D> copy() {
     return this;
   }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVoltage.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVoltage.java
index 6b67e86f38d..7d5446fc85c 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVoltage.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVoltage.java
@@ -13,4 +13,9 @@ public record ImmutableVoltage(double magnitude, double baseUnitMagnitude, Volta
   public Voltage copy() {
     return this;
   }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/measure/Acceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Acceleration.java
index eed7cd1687a..9247617fcb4 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/measure/Acceleration.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/measure/Acceleration.java
@@ -12,7 +12,7 @@
 public interface Acceleration<D extends Unit> extends Measure<AccelerationUnit<D>> {
   @Override
   Acceleration<D> copy();
-  
+
   MathHelper<AccelerationUnit<D>, Acceleration<D>> getMathHelper();
 
   default Acceleration<D> plus(Acceleration<D> other) {

From 542b0f6850798d947890001a4c48eb14ad9b805a Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Thu, 27 Jun 2024 19:31:31 -0400
Subject: [PATCH 09/46] Misc cleanup

---
 .../first/wpilibj2/command/sysid/SysIdRoutine.java |  2 +-
 .../java/edu/wpi/first/wpilibj/LEDPattern.java     |  9 ++++-----
 .../wpilibj/motorcontrol/MotorController.java      |  2 +-
 .../wpi/first/wpilibj/simulation/FlywheelSim.java  |  7 +++----
 .../wpi/first/wpilibj/sysid/SysIdRoutineLog.java   | 14 +++++++-------
 .../wpilibj/examples/sysid/subsystems/Drive.java   |  2 +-
 .../wpi/first/math/kinematics/ChassisSpeeds.java   |  4 ++--
 .../kinematics/DifferentialDriveWheelSpeeds.java   |  2 +-
 .../math/kinematics/MecanumDriveWheelSpeeds.java   |  2 +-
 .../math/kinematics/SwerveDriveKinematics.java     |  4 ++--
 .../first/math/kinematics/SwerveModuleState.java   |  2 +-
 .../first/math/trajectory/TrajectoryConfig.java    |  4 ++--
 .../java/edu/wpi/first/units/AccelerationUnit.java |  1 +
 13 files changed, 27 insertions(+), 28 deletions(-)

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 80b0788e411..908957e2e9f 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
@@ -9,10 +9,10 @@
 import static edu.wpi.first.units.Units.Volts;
 import static java.util.Map.entry;
 
+import edu.wpi.first.units.VoltageUnit;
 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.units.VoltageUnit;
 import edu.wpi.first.units.mutable.MutVoltage;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.sysid.SysIdRoutineLog;
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 fa8d0c2d0fa..9842de0c344 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java
@@ -10,7 +10,6 @@
 import static edu.wpi.first.units.Units.Value;
 
 import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.units.Measure;
 import edu.wpi.first.units.collections.LongToObjectHashMap;
 import edu.wpi.first.units.measure.Dimensionless;
 import edu.wpi.first.units.measure.Distance;
@@ -101,8 +100,8 @@ 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(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.
+   * #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
@@ -281,8 +280,8 @@ default LEDPattern blink(Time onTime, Time offTime) {
   }
 
   /**
-   * Like {@link #blink(Time, Time) 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
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 0f44ac67ab8..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
@@ -6,7 +6,7 @@
 
 import static edu.wpi.first.units.Units.Volts;
 
-import edu.wpi.first.units.Voltage;
+import edu.wpi.first.units.measure.Voltage;
 import edu.wpi.first.wpilibj.RobotController;
 
 /** Interface for motor controlling devices. */
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 bd0e3280355..231c3d43dd9 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
@@ -13,8 +13,8 @@
 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.AngularAcceleration;
-import edu.wpi.first.units.AngularVelocity;
+import edu.wpi.first.units.measure.AngularAcceleration;
+import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.units.mutable.MutAngularAcceleration;
 import edu.wpi.first.units.mutable.MutAngularVelocity;
 import edu.wpi.first.wpilibj.RobotController;
@@ -34,8 +34,7 @@ public class FlywheelSim extends LinearSystemSim<N1, N1, N1> {
   private final MutAngularVelocity m_angularVelocity = RadiansPerSecond.mutable(0);
 
   // The angular acceleration of the system.
-  private final MutAngularAcceleration m_angularAcceleration =
-      RadiansPerSecondPerSecond.mutable(0);
+  private final MutAngularAcceleration m_angularAcceleration = RadiansPerSecondPerSecond.mutable(0);
 
   /**
    * Creates a simulated flywheel mechanism.
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 18b1a34a817..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
@@ -12,14 +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.AngularAcceleration;
-import edu.wpi.first.units.AngularVelocity;
-import edu.wpi.first.units.Current;
+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.LinearAcceleration;
-import edu.wpi.first.units.LinearVelocity;
-import edu.wpi.first.units.Voltage;
+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;
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 5b7073977fd..589b8a62330 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
@@ -8,8 +8,8 @@
 import static edu.wpi.first.units.Units.MetersPerSecond;
 import static edu.wpi.first.units.Units.Volts;
 
-import edu.wpi.first.units.mutable.MutLinearVelocity;
 import edu.wpi.first.units.mutable.MutDistance;
+import edu.wpi.first.units.mutable.MutLinearVelocity;
 import edu.wpi.first.units.mutable.MutVoltage;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.RobotController;
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 1b290461541..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
@@ -14,8 +14,8 @@
 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.AngularVelocity;
-import edu.wpi.first.units.LinearVelocity;
+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;
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 c2c2383360b..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
@@ -8,7 +8,7 @@
 
 import edu.wpi.first.math.kinematics.proto.DifferentialDriveWheelSpeedsProto;
 import edu.wpi.first.math.kinematics.struct.DifferentialDriveWheelSpeedsStruct;
-import edu.wpi.first.units.LinearVelocity;
+import edu.wpi.first.units.measure.LinearVelocity;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 
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 934d6ab870e..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
@@ -8,7 +8,7 @@
 
 import edu.wpi.first.math.kinematics.proto.MecanumDriveWheelSpeedsProto;
 import edu.wpi.first.math.kinematics.struct.MecanumDriveWheelSpeedsStruct;
-import edu.wpi.first.units.LinearVelocity;
+import edu.wpi.first.units.measure.LinearVelocity;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 
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 17fbfdea787..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
@@ -14,8 +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.AngularVelocity;
-import edu.wpi.first.units.LinearVelocity;
+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;
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 d24ff9ddd93..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
@@ -9,7 +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.LinearVelocity;
+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;
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 bd5fdbd458d..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
@@ -14,8 +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.LinearAcceleration;
-import edu.wpi.first.units.LinearVelocity;
+import edu.wpi.first.units.measure.LinearAcceleration;
+import edu.wpi.first.units.measure.LinearVelocity;
 import java.util.ArrayList;
 import java.util.List;
 
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
index a3970be1ff5..81a947daffd 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
@@ -26,6 +26,7 @@ protected AccelerationUnit(
     super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
   }
 
+  @Override
   public Acceleration<D> of(double magnitude) {
     return new ImmutableAcceleration<>(magnitude, toBaseUnits(magnitude), this);
   }

From a44bf477ab44f7459f14ddb669d34ff88ec5c35e Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Thu, 27 Jun 2024 19:32:48 -0400
Subject: [PATCH 10/46] Add generic constructor to trapezoid profile
 constraints

Instead of separate discrete constructors for different unit types
---
 .../math/trajectory/TrapezoidProfile.java     | 20 ++++++-------------
 .../first/units/immutable/ImmutableAngle.java |  1 -
 2 files changed, 6 insertions(+), 15 deletions(-)

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 c7a836edde7..5fb5ed4803c 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
@@ -7,12 +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.measure.Acceleration;
-import edu.wpi.first.units.measure.AngularAcceleration;
-import edu.wpi.first.units.measure.AngularVelocity;
-import edu.wpi.first.units.measure.LinearAcceleration;
-import edu.wpi.first.units.measure.LinearVelocity;
 import edu.wpi.first.units.measure.Velocity;
 import java.util.Objects;
 
@@ -84,15 +81,10 @@ public Constraints(double maxVelocity, double maxAcceleration) {
      * @param maxVelocity maximum velocity
      * @param maxAcceleration maximum acceleration
      */
-    public <U extends Unit> Constraints(Velocity<U> maxVelocity, Acceleration<U> maxAcceleration) {
-      this(maxVelocity.baseUnitMagnitude(), maxAcceleration.baseUnitMagnitude());
-    }
-
-    public Constraints(AngularVelocity maxVelocity, AngularAcceleration maxAcceleration) {
-      this(maxVelocity.baseUnitMagnitude(), maxAcceleration.baseUnitMagnitude());
-    }
-
-    public Constraints(LinearVelocity maxVelocity, LinearAcceleration 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());
     }
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngle.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngle.java
index e8c1965cfb3..ec2fd1fe5c7 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngle.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngle.java
@@ -9,7 +9,6 @@
 
 public record ImmutableAngle(double magnitude, double baseUnitMagnitude, AngleUnit unit)
     implements Angle {
-
   @Override
   public Angle copy() {
     return this;

From 38d18ba77d2a969357fd6d6d410a560b61c6e822 Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Thu, 27 Jun 2024 19:40:53 -0400
Subject: [PATCH 11/46] Add ratio measure type

---
 .../java/edu/wpi/first/units/PerUnit.java     |  8 ++--
 .../first/units/immutable/ImmutableRatio.java | 17 +++++++++
 .../edu/wpi/first/units/measure/Ratio.java    | 38 +++++++++++++++++++
 .../edu/wpi/first/units/mutable/MutRatio.java | 22 +++++++++++
 4 files changed, 82 insertions(+), 3 deletions(-)
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableRatio.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/measure/Ratio.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutRatio.java

diff --git a/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
index a42313859bd..3bed5c4e7b6 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
@@ -4,6 +4,8 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.immutable.ImmutableRatio;
+import edu.wpi.first.units.mutable.MutRatio;
 import java.util.Objects;
 
 /**
@@ -121,17 +123,17 @@ public N mult(D denom) {
 
   @Override
   public Measure<? extends PerUnit<N, D>> of(double magnitude) {
-    return ImmutableMeasure.ofRelativeUnits(magnitude, this);
+    return new ImmutableRatio<>(magnitude, toBaseUnits(magnitude), this);
   }
 
   @Override
   public Measure<? extends PerUnit<N, D>> ofBaseUnits(double baseUnitMagnitude) {
-    return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude, this);
+    return new ImmutableRatio<>(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
   @Override
   public MutableMeasure<? extends PerUnit<N, D>, ?, ?> mutable(double initialMagnitude) {
-    return MutableMeasure.ofRelativeUnits(initialMagnitude, this);
+    return new MutRatio<>(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 
   public double convertFrom(double magnitude, PerUnit<? extends N, ? extends D> otherUnit) {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableRatio.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableRatio.java
new file mode 100644
index 00000000000..e2e9c95d226
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableRatio.java
@@ -0,0 +1,17 @@
+// 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.immutable;
+
+import edu.wpi.first.units.PerUnit;
+import edu.wpi.first.units.Unit;
+import edu.wpi.first.units.measure.Ratio;
+
+public record ImmutableRatio<N extends Unit, D extends Unit>(
+    double magnitude, double baseUnitMagnitude, PerUnit<N, D> unit) implements Ratio<N, D> {
+  @Override
+  public ImmutableRatio<N, D> copy() {
+    return this;
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/measure/Ratio.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Ratio.java
new file mode 100644
index 00000000000..4061535e18b
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/measure/Ratio.java
@@ -0,0 +1,38 @@
+// 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.measure;
+
+import static edu.wpi.first.units.Units.Hertz;
+import static edu.wpi.first.units.Units.Value;
+
+import edu.wpi.first.units.DimensionlessUnit;
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.PerUnit;
+import edu.wpi.first.units.TimeUnit;
+import edu.wpi.first.units.Unit;
+
+public interface Ratio<N extends Unit, D extends Unit> extends Measure<PerUnit<N, D>> {
+  @Override
+  Ratio<N, D> copy();
+
+  @SuppressWarnings("unchecked")
+  default Measure<? extends N> times(Measure<? extends D> divisor) {
+    return (Measure<? extends N>)
+        baseUnit().numerator().ofBaseUnits(baseUnitMagnitude() * divisor.baseUnitMagnitude());
+  }
+
+  @SuppressWarnings("unchecked")
+  default Measure<? extends PerUnit<DimensionlessUnit, D>> divide(Measure<? extends N> dividend) {
+    if (unit().denominator() instanceof TimeUnit timeUnit) {
+      // Divisor is time; return frequency
+      return (Measure<? extends PerUnit<DimensionlessUnit, D>>)
+          Hertz.ofBaseUnits(baseUnitMagnitude() / dividend.baseUnitMagnitude());
+    } else {
+      // Generic
+      return PerUnit.combine(Value, unit().denominator())
+          .ofBaseUnits(baseUnitMagnitude() / dividend.baseUnitMagnitude());
+    }
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutRatio.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutRatio.java
new file mode 100644
index 00000000000..7de0e46e4e0
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutRatio.java
@@ -0,0 +1,22 @@
+// 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.PerUnit;
+import edu.wpi.first.units.Unit;
+import edu.wpi.first.units.immutable.ImmutableRatio;
+import edu.wpi.first.units.measure.Ratio;
+
+public final class MutRatio<N extends Unit, D extends Unit>
+    extends MutableMeasureBase<PerUnit<N, D>, Ratio<N, D>, MutRatio<N, D>> implements Ratio<N, D> {
+  public MutRatio(double magnitude, double baseUnitMagnitude, PerUnit<N, D> unit) {
+    super(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public Ratio<N, D> copy() {
+    return new ImmutableRatio<>(magnitude(), baseUnitMagnitude(), unit());
+  }
+}

From d23b27f21249851459ec42c83b822ab1a9871de8 Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Fri, 28 Jun 2024 19:05:15 -0400
Subject: [PATCH 12/46] Add math operator overloads for all known dimensions

Add code generation for the measure implementations (eg Distance, ImmutableDistance, and MutDistance) due to the sheer volume of manual work that would have been required to write (or copy/paste) ten thousand lines of code

Reconsolidate the measure implementations into a single package

Rename `negate` to `unaryMinus` and some variants of `per` to `divide` for consistent naming.  Overloads of `divide` may be renamed to `per`; TBD

Rename `Ratio` measure type back to `Per` to ease code generation. May be renamed back to `Ratio` or `Quotient`; TBD
---
 .../wpilibj2/command/sysid/SysIdRoutine.java  |   2 +-
 .../first/wpilibj/simulation/FlywheelSim.java |   4 +-
 .../examples/sysid/subsystems/Drive.java      |   6 +-
 .../examples/sysid/subsystems/Shooter.java    |   6 +-
 wpiunits/build.gradle                         |   2 +
 wpiunits/generate_units.py                    | 404 +++++++++++++++
 .../main/java/Measure-immutable.java.jinja    |  23 +
 .../main/java/Measure-interface.java.jinja    | 117 +++++
 .../main/java/Measure-mutable.java.jinja      |  26 +
 .../wpi/first/units/measure/Acceleration.java | 334 ++++++++++++
 .../edu/wpi/first/units/measure/Angle.java    | 334 ++++++++++++
 .../units/measure/AngularAcceleration.java    | 334 ++++++++++++
 .../first/units/measure/AngularMomentum.java  | 334 ++++++++++++
 .../first/units/measure/AngularVelocity.java  | 334 ++++++++++++
 .../edu/wpi/first/units/measure/Current.java  | 334 ++++++++++++
 .../first/units/measure/Dimensionless.java    | 334 ++++++++++++
 .../edu/wpi/first/units/measure/Distance.java | 334 ++++++++++++
 .../edu/wpi/first/units/measure/Energy.java   | 334 ++++++++++++
 .../edu/wpi/first/units/measure/Force.java    | 334 ++++++++++++
 .../wpi/first/units/measure/Frequency.java    | 335 ++++++++++++
 .../units/measure/ImmutableAcceleration.java  |  23 +
 .../first/units/measure}/ImmutableAngle.java  |  12 +-
 .../measure/ImmutableAngularAcceleration.java |  23 +
 .../measure/ImmutableAngularMomentum.java     |  23 +
 .../measure/ImmutableAngularVelocity.java     |  23 +
 .../units/measure}/ImmutableCurrent.java      |  12 +-
 .../units/measure/ImmutableDimensionless.java |  23 +
 .../units/measure}/ImmutableDistance.java     |  12 +-
 .../first/units/measure}/ImmutableEnergy.java |  12 +-
 .../first/units/measure}/ImmutableForce.java  |  12 +-
 .../units/measure}/ImmutableFrequency.java    |  12 +-
 .../measure/ImmutableLinearAcceleration.java  |  23 +
 .../measure/ImmutableLinearMomentum.java      |  23 +
 .../measure/ImmutableLinearVelocity.java      |  23 +
 .../first/units/measure}/ImmutableMass.java   |  12 +-
 .../measure/ImmutableMomentOfInertia.java     |  23 +
 .../first/units/measure/ImmutableMult.java    |  23 +
 .../wpi/first/units/measure/ImmutablePer.java |  23 +
 .../first/units/measure}/ImmutablePower.java  |  12 +-
 .../units/measure}/ImmutableTemperature.java  |  12 +-
 .../first/units/measure}/ImmutableTime.java   |  12 +-
 .../first/units/measure}/ImmutableTorque.java |  12 +-
 .../units/measure/ImmutableVelocity.java      |  23 +
 .../units/measure}/ImmutableVoltage.java      |  12 +-
 .../units/measure/LinearAcceleration.java     | 334 ++++++++++++
 .../first/units/measure/LinearMomentum.java   | 334 ++++++++++++
 .../first/units/measure/LinearVelocity.java   | 334 ++++++++++++
 .../edu/wpi/first/units/measure/Mass.java     | 334 ++++++++++++
 .../first/units/measure/MomentOfInertia.java  | 334 ++++++++++++
 .../edu/wpi/first/units/measure/Mult.java     | 334 ++++++++++++
 .../first/units/measure/MutAcceleration.java  |  26 +
 .../wpi/first/units/measure}/MutAngle.java    |  16 +-
 .../units/measure/MutAngularAcceleration.java |  26 +
 .../units/measure}/MutAngularMomentum.java    |  16 +-
 .../units/measure}/MutAngularVelocity.java    |  18 +-
 .../wpi/first/units/measure}/MutCurrent.java  |  17 +-
 .../units/measure}/MutDimensionless.java      |  16 +-
 .../wpi/first/units/measure}/MutDistance.java |  17 +-
 .../wpi/first/units/measure}/MutEnergy.java   |  17 +-
 .../wpi/first/units/measure}/MutForce.java    |  17 +-
 .../first/units/measure}/MutFrequency.java    |  17 +-
 .../units/measure/MutLinearAcceleration.java  |  26 +
 .../units/measure}/MutLinearMomentum.java     |  16 +-
 .../units/measure}/MutLinearVelocity.java     |  18 +-
 .../edu/wpi/first/units/measure}/MutMass.java |  16 +-
 .../units/measure/MutMomentOfInertia.java     |  26 +
 .../edu/wpi/first/units/measure/MutMult.java  |  26 +
 .../edu/wpi/first/units/measure/MutPer.java   |  26 +
 .../wpi/first/units/measure}/MutPower.java    |  17 +-
 .../first/units/measure}/MutTemperature.java  |  16 +-
 .../edu/wpi/first/units/measure}/MutTime.java |  16 +-
 .../wpi/first/units/measure}/MutTorque.java   |  17 +-
 .../wpi/first/units/measure/MutVelocity.java  |  26 +
 .../wpi/first/units/measure}/MutVoltage.java  |  17 +-
 .../java/edu/wpi/first/units/measure/Per.java | 334 ++++++++++++
 .../edu/wpi/first/units/measure/Power.java    | 334 ++++++++++++
 .../wpi/first/units/measure/Temperature.java  | 334 ++++++++++++
 .../edu/wpi/first/units/measure/Time.java     | 334 ++++++++++++
 .../edu/wpi/first/units/measure/Torque.java   | 334 ++++++++++++
 .../edu/wpi/first/units/measure/Velocity.java | 334 ++++++++++++
 .../edu/wpi/first/units/measure/Voltage.java  | 334 ++++++++++++
 .../edu/wpi/first/units/AccelerationUnit.java |   4 +-
 .../java/edu/wpi/first/units/AngleUnit.java   |  17 +-
 .../first/units/AngularAccelerationUnit.java  |   4 +-
 .../wpi/first/units/AngularMomentumUnit.java  |   4 +-
 .../wpi/first/units/AngularVelocityUnit.java  |   4 +-
 .../java/edu/wpi/first/units/CurrentUnit.java |   4 +-
 .../wpi/first/units/DimensionlessUnit.java    |   4 +-
 .../edu/wpi/first/units/DistanceUnit.java     |   4 +-
 .../java/edu/wpi/first/units/EnergyUnit.java  |   4 +-
 .../java/edu/wpi/first/units/ForceUnit.java   |   4 +-
 .../edu/wpi/first/units/FrequencyUnit.java    |   4 +-
 .../edu/wpi/first/units/ImmutableMeasure.java |  43 ++
 .../first/units/LinearAccelerationUnit.java   |   4 +-
 .../wpi/first/units/LinearMomentumUnit.java   |   4 +-
 .../wpi/first/units/LinearVelocityUnit.java   |   4 +-
 .../java/edu/wpi/first/units/MassUnit.java    |   4 +-
 .../java/edu/wpi/first/units/MathHelper.java  |  83 ---
 .../java/edu/wpi/first/units/Measure.java     | 475 ++++++++++++++++++
 .../wpi/first/units/MomentOfInertiaUnit.java  |   4 +-
 .../java/edu/wpi/first/units/MultUnit.java    |   4 +-
 .../edu/wpi/first/units/MutableMeasure.java   |  16 +-
 .../java/edu/wpi/first/units/PerUnit.java     |  40 +-
 .../java/edu/wpi/first/units/PowerUnit.java   |   4 +-
 .../edu/wpi/first/units/TemperatureUnit.java  |   4 +-
 .../java/edu/wpi/first/units/TimeUnit.java    |   4 +-
 .../java/edu/wpi/first/units/TorqueUnit.java  |   4 +-
 .../edu/wpi/first/units/VelocityUnit.java     |   4 +-
 .../java/edu/wpi/first/units/VoltageUnit.java |   4 +-
 .../immutable/ImmutableAcceleration.java      |  55 --
 .../ImmutableAngularAcceleration.java         |  27 -
 .../immutable/ImmutableAngularMomentum.java   |  22 -
 .../immutable/ImmutableAngularVelocity.java   |  22 -
 .../immutable/ImmutableDimensionless.java     |  21 -
 .../ImmutableLinearAcceleration.java          |  22 -
 .../immutable/ImmutableLinearMomentum.java    |  21 -
 .../immutable/ImmutableLinearVelocity.java    |  21 -
 .../immutable/ImmutableMomentOfInertia.java   |  23 -
 .../first/units/immutable/ImmutableMult.java  |  23 -
 .../first/units/immutable/ImmutableRatio.java |  17 -
 .../units/immutable/ImmutableVelocity.java    |  22 -
 .../wpi/first/units/measure/Acceleration.java |  49 --
 .../edu/wpi/first/units/measure/Angle.java    |  68 ---
 .../units/measure/AngularAcceleration.java    |  59 ---
 .../first/units/measure/AngularMomentum.java  |  16 -
 .../first/units/measure/AngularVelocity.java  |  41 --
 .../edu/wpi/first/units/measure/Current.java  |  19 -
 .../first/units/measure/Dimensionless.java    |  30 --
 .../edu/wpi/first/units/measure/Distance.java |  81 ---
 .../edu/wpi/first/units/measure/Energy.java   |  35 --
 .../edu/wpi/first/units/measure/Force.java    |  51 --
 .../wpi/first/units/measure/Frequency.java    |  31 --
 .../units/measure/LinearAcceleration.java     |  59 ---
 .../first/units/measure/LinearMomentum.java   |  13 -
 .../first/units/measure/LinearVelocity.java   |  31 --
 .../edu/wpi/first/units/measure/Mass.java     |  29 --
 .../first/units/measure/MomentOfInertia.java  |  13 -
 .../edu/wpi/first/units/measure/Mult.java     |  14 -
 .../edu/wpi/first/units/measure/Power.java    |  20 -
 .../edu/wpi/first/units/measure/Ratio.java    |  38 --
 .../wpi/first/units/measure/Temperature.java  |  29 --
 .../edu/wpi/first/units/measure/Time.java     |  39 --
 .../edu/wpi/first/units/measure/Torque.java   |  13 -
 .../edu/wpi/first/units/measure/Velocity.java |  18 -
 .../edu/wpi/first/units/measure/Voltage.java  |  36 --
 .../mutable/GenericMutableMeasureImpl.java    |  63 +++
 .../first/units/mutable/MutAcceleration.java  |  32 --
 .../units/mutable/MutAngularAcceleration.java |  23 -
 .../units/mutable/MutLinearAcceleration.java  |  23 -
 .../units/mutable/MutMomentOfInertia.java     |  22 -
 .../edu/wpi/first/units/mutable/MutMult.java  |  22 -
 .../edu/wpi/first/units/mutable/MutRatio.java |  22 -
 .../wpi/first/units/mutable/MutVelocity.java  |  23 -
 .../java/edu/wpi/first/units/MeasureTest.java |  40 +-
 154 files changed, 10013 insertions(+), 1640 deletions(-)
 create mode 100755 wpiunits/generate_units.py
 create mode 100644 wpiunits/src/generate/main/java/Measure-immutable.java.jinja
 create mode 100644 wpiunits/src/generate/main/java/Measure-interface.java.jinja
 create mode 100644 wpiunits/src/generate/main/java/Measure-mutable.java.jinja
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Acceleration.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Angle.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/AngularAcceleration.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/AngularMomentum.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/AngularVelocity.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Current.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Dimensionless.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Distance.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Energy.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Force.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Frequency.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAcceleration.java
 rename wpiunits/src/{main/java/edu/wpi/first/units/immutable => generated/main/java/edu/wpi/first/units/measure}/ImmutableAngle.java (59%)
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAngularAcceleration.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAngularMomentum.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAngularVelocity.java
 rename wpiunits/src/{main/java/edu/wpi/first/units/immutable => generated/main/java/edu/wpi/first/units/measure}/ImmutableCurrent.java (58%)
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableDimensionless.java
 rename wpiunits/src/{main/java/edu/wpi/first/units/immutable => generated/main/java/edu/wpi/first/units/measure}/ImmutableDistance.java (58%)
 rename wpiunits/src/{main/java/edu/wpi/first/units/immutable => generated/main/java/edu/wpi/first/units/measure}/ImmutableEnergy.java (58%)
 rename wpiunits/src/{main/java/edu/wpi/first/units/immutable => generated/main/java/edu/wpi/first/units/measure}/ImmutableForce.java (59%)
 rename wpiunits/src/{main/java/edu/wpi/first/units/immutable => generated/main/java/edu/wpi/first/units/measure}/ImmutableFrequency.java (58%)
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableLinearAcceleration.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableLinearMomentum.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableLinearVelocity.java
 rename wpiunits/src/{main/java/edu/wpi/first/units/immutable => generated/main/java/edu/wpi/first/units/measure}/ImmutableMass.java (59%)
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableMomentOfInertia.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableMult.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutablePer.java
 rename wpiunits/src/{main/java/edu/wpi/first/units/immutable => generated/main/java/edu/wpi/first/units/measure}/ImmutablePower.java (59%)
 rename wpiunits/src/{main/java/edu/wpi/first/units/immutable => generated/main/java/edu/wpi/first/units/measure}/ImmutableTemperature.java (58%)
 rename wpiunits/src/{main/java/edu/wpi/first/units/immutable => generated/main/java/edu/wpi/first/units/measure}/ImmutableTime.java (59%)
 rename wpiunits/src/{main/java/edu/wpi/first/units/immutable => generated/main/java/edu/wpi/first/units/measure}/ImmutableTorque.java (58%)
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableVelocity.java
 rename wpiunits/src/{main/java/edu/wpi/first/units/immutable => generated/main/java/edu/wpi/first/units/measure}/ImmutableVoltage.java (58%)
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/LinearAcceleration.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/LinearMomentum.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/LinearVelocity.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Mass.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MomentOfInertia.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Mult.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAcceleration.java
 rename wpiunits/src/{main/java/edu/wpi/first/units/mutable => generated/main/java/edu/wpi/first/units/measure}/MutAngle.java (52%)
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAngularAcceleration.java
 rename wpiunits/src/{main/java/edu/wpi/first/units/mutable => generated/main/java/edu/wpi/first/units/measure}/MutAngularMomentum.java (56%)
 rename wpiunits/src/{main/java/edu/wpi/first/units/mutable => generated/main/java/edu/wpi/first/units/measure}/MutAngularVelocity.java (54%)
 rename wpiunits/src/{main/java/edu/wpi/first/units/mutable => generated/main/java/edu/wpi/first/units/measure}/MutCurrent.java (52%)
 rename wpiunits/src/{main/java/edu/wpi/first/units/mutable => generated/main/java/edu/wpi/first/units/measure}/MutDimensionless.java (56%)
 rename wpiunits/src/{main/java/edu/wpi/first/units/mutable => generated/main/java/edu/wpi/first/units/measure}/MutDistance.java (52%)
 rename wpiunits/src/{main/java/edu/wpi/first/units/mutable => generated/main/java/edu/wpi/first/units/measure}/MutEnergy.java (52%)
 rename wpiunits/src/{main/java/edu/wpi/first/units/mutable => generated/main/java/edu/wpi/first/units/measure}/MutForce.java (52%)
 rename wpiunits/src/{main/java/edu/wpi/first/units/mutable => generated/main/java/edu/wpi/first/units/measure}/MutFrequency.java (52%)
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutLinearAcceleration.java
 rename wpiunits/src/{main/java/edu/wpi/first/units/mutable => generated/main/java/edu/wpi/first/units/measure}/MutLinearMomentum.java (56%)
 rename wpiunits/src/{main/java/edu/wpi/first/units/mutable => generated/main/java/edu/wpi/first/units/measure}/MutLinearVelocity.java (54%)
 rename wpiunits/src/{main/java/edu/wpi/first/units/mutable => generated/main/java/edu/wpi/first/units/measure}/MutMass.java (53%)
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutMomentOfInertia.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutMult.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutPer.java
 rename wpiunits/src/{main/java/edu/wpi/first/units/mutable => generated/main/java/edu/wpi/first/units/measure}/MutPower.java (52%)
 rename wpiunits/src/{main/java/edu/wpi/first/units/mutable => generated/main/java/edu/wpi/first/units/measure}/MutTemperature.java (56%)
 rename wpiunits/src/{main/java/edu/wpi/first/units/mutable => generated/main/java/edu/wpi/first/units/measure}/MutTime.java (53%)
 rename wpiunits/src/{main/java/edu/wpi/first/units/mutable => generated/main/java/edu/wpi/first/units/measure}/MutTorque.java (52%)
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutVelocity.java
 rename wpiunits/src/{main/java/edu/wpi/first/units/mutable => generated/main/java/edu/wpi/first/units/measure}/MutVoltage.java (52%)
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Per.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Power.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Temperature.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Time.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Torque.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Velocity.java
 create mode 100644 wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Voltage.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/MathHelper.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAcceleration.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularAcceleration.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularMomentum.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularVelocity.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDimensionless.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearAcceleration.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearMomentum.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearVelocity.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMomentOfInertia.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMult.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableRatio.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVelocity.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/measure/Acceleration.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/measure/Angle.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/measure/AngularAcceleration.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/measure/AngularMomentum.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/measure/AngularVelocity.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/measure/Current.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/measure/Dimensionless.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/measure/Distance.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/measure/Energy.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/measure/Force.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/measure/Frequency.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/measure/LinearAcceleration.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/measure/LinearMomentum.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/measure/LinearVelocity.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/measure/Mass.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/measure/MomentOfInertia.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/measure/Mult.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/measure/Power.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/measure/Ratio.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/measure/Temperature.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/measure/Time.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/measure/Torque.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/measure/Velocity.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/measure/Voltage.java
 create mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/GenericMutableMeasureImpl.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAcceleration.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularAcceleration.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearAcceleration.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMomentOfInertia.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMult.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutRatio.java
 delete mode 100644 wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVelocity.java

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 908957e2e9f..efc958f4013 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
@@ -13,7 +13,7 @@
 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.units.mutable.MutVoltage;
+import edu.wpi.first.units.measure.MutVoltage;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.sysid.SysIdRoutineLog;
 import edu.wpi.first.wpilibj2.command.Command;
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 231c3d43dd9..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
@@ -15,8 +15,8 @@
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.units.measure.AngularAcceleration;
 import edu.wpi.first.units.measure.AngularVelocity;
-import edu.wpi.first.units.mutable.MutAngularAcceleration;
-import edu.wpi.first.units.mutable.MutAngularVelocity;
+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. */
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 589b8a62330..956eb41f96f 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
@@ -8,9 +8,9 @@
 import static edu.wpi.first.units.Units.MetersPerSecond;
 import static edu.wpi.first.units.Units.Volts;
 
-import edu.wpi.first.units.mutable.MutDistance;
-import edu.wpi.first.units.mutable.MutLinearVelocity;
-import edu.wpi.first.units.mutable.MutVoltage;
+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;
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 8d13f16145e..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
@@ -12,9 +12,9 @@
 
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
-import edu.wpi.first.units.mutable.MutAngle;
-import edu.wpi.first.units.mutable.MutAngularVelocity;
-import edu.wpi.first.units.mutable.MutVoltage;
+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;
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..0841d1b9c69
--- /dev/null
+++ b/wpiunits/generate_units.py
@@ -0,0 +1,404 @@
+#!/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.
+
+import inspect
+import os
+import re
+import sys
+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": {}
+    },
+    "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..f45f45ea527
--- /dev/null
+++ b/wpiunits/src/generate/main/java/Measure-immutable.java.jinja
@@ -0,0 +1,23 @@
+// 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"})
+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();
+  }
+}
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..9c85d8307f9
--- /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"})
+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..291f6de0b8d
--- /dev/null
+++ b/wpiunits/src/generate/main/java/Measure-mutable.java.jinja
@@ -0,0 +1,26 @@
+// 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"})
+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..50fd7f8f38f
--- /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"})
+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..1535aac29cf
--- /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"})
+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..ac70d707cf3
--- /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"})
+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..3d02f5d4be9
--- /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"})
+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..21ae9fedf10
--- /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"})
+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..8f94e453b10
--- /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"})
+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..9e0bbfd9d7b
--- /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"})
+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..868a4f410e5
--- /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"})
+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..e5b6edaa7af
--- /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"})
+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..5f8e94b085b
--- /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"})
+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..486a7e718eb
--- /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"})
+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..3da99a4b980
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAcceleration.java
@@ -0,0 +1,23 @@
+// 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"})
+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();
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngle.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAngle.java
similarity index 59%
rename from wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngle.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAngle.java
index ec2fd1fe5c7..e84e8e587a0 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngle.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAngle.java
@@ -2,13 +2,15 @@
 // 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.immutable;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.AngleUnit;
-import edu.wpi.first.units.measure.Angle;
+package edu.wpi.first.units.measure;
 
-public record ImmutableAngle(double magnitude, double baseUnitMagnitude, AngleUnit unit)
-    implements Angle {
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast"})
+public record ImmutableAngle(double magnitude, double baseUnitMagnitude, AngleUnit unit) implements Angle {
   @Override
   public Angle copy() {
     return this;
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..aecd4472c6d
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAngularAcceleration.java
@@ -0,0 +1,23 @@
+// 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"})
+public record ImmutableAngularAcceleration(double magnitude, double baseUnitMagnitude, AngularAccelerationUnit unit) implements AngularAcceleration {
+  @Override
+  public AngularAcceleration copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+}
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..239ab47bd30
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAngularMomentum.java
@@ -0,0 +1,23 @@
+// 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"})
+public record ImmutableAngularMomentum(double magnitude, double baseUnitMagnitude, AngularMomentumUnit unit) implements AngularMomentum {
+  @Override
+  public AngularMomentum copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+}
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..eedd7d78848
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAngularVelocity.java
@@ -0,0 +1,23 @@
+// 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"})
+public record ImmutableAngularVelocity(double magnitude, double baseUnitMagnitude, AngularVelocityUnit unit) implements AngularVelocity {
+  @Override
+  public AngularVelocity copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableCurrent.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableCurrent.java
similarity index 58%
rename from wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableCurrent.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableCurrent.java
index 06b3f814665..2219ab35d4a 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableCurrent.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableCurrent.java
@@ -2,13 +2,15 @@
 // 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.immutable;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.CurrentUnit;
-import edu.wpi.first.units.measure.Current;
+package edu.wpi.first.units.measure;
 
-public record ImmutableCurrent(double magnitude, double baseUnitMagnitude, CurrentUnit unit)
-    implements Current {
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast"})
+public record ImmutableCurrent(double magnitude, double baseUnitMagnitude, CurrentUnit unit) implements Current {
   @Override
   public Current copy() {
     return this;
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..7cb34341f0d
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableDimensionless.java
@@ -0,0 +1,23 @@
+// 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"})
+public record ImmutableDimensionless(double magnitude, double baseUnitMagnitude, DimensionlessUnit unit) implements Dimensionless {
+  @Override
+  public Dimensionless copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDistance.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableDistance.java
similarity index 58%
rename from wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDistance.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableDistance.java
index 661e8c846d7..defdae44134 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDistance.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableDistance.java
@@ -2,13 +2,15 @@
 // 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.immutable;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.DistanceUnit;
-import edu.wpi.first.units.measure.Distance;
+package edu.wpi.first.units.measure;
 
-public record ImmutableDistance(double magnitude, double baseUnitMagnitude, DistanceUnit unit)
-    implements Distance {
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast"})
+public record ImmutableDistance(double magnitude, double baseUnitMagnitude, DistanceUnit unit) implements Distance {
   @Override
   public Distance copy() {
     return this;
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableEnergy.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableEnergy.java
similarity index 58%
rename from wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableEnergy.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableEnergy.java
index 24ca07ca32c..1f3a4445fd2 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableEnergy.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableEnergy.java
@@ -2,13 +2,15 @@
 // 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.immutable;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.EnergyUnit;
-import edu.wpi.first.units.measure.Energy;
+package edu.wpi.first.units.measure;
 
-public record ImmutableEnergy(double magnitude, double baseUnitMagnitude, EnergyUnit unit)
-    implements Energy {
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast"})
+public record ImmutableEnergy(double magnitude, double baseUnitMagnitude, EnergyUnit unit) implements Energy {
   @Override
   public Energy copy() {
     return this;
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableForce.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableForce.java
similarity index 59%
rename from wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableForce.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableForce.java
index ab674e3670b..a5a9e3d6bf9 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableForce.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableForce.java
@@ -2,13 +2,15 @@
 // 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.immutable;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.ForceUnit;
-import edu.wpi.first.units.measure.Force;
+package edu.wpi.first.units.measure;
 
-public record ImmutableForce(double magnitude, double baseUnitMagnitude, ForceUnit unit)
-    implements Force {
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast"})
+public record ImmutableForce(double magnitude, double baseUnitMagnitude, ForceUnit unit) implements Force {
   @Override
   public Force copy() {
     return this;
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableFrequency.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableFrequency.java
similarity index 58%
rename from wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableFrequency.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableFrequency.java
index 9fe51729a43..3decd8d195d 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableFrequency.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableFrequency.java
@@ -2,13 +2,15 @@
 // 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.immutable;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.FrequencyUnit;
-import edu.wpi.first.units.measure.Frequency;
+package edu.wpi.first.units.measure;
 
-public record ImmutableFrequency(double magnitude, double baseUnitMagnitude, FrequencyUnit unit)
-    implements Frequency {
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast"})
+public record ImmutableFrequency(double magnitude, double baseUnitMagnitude, FrequencyUnit unit) implements Frequency {
   @Override
   public Frequency copy() {
     return this;
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..5fcc4bf8d4b
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableLinearAcceleration.java
@@ -0,0 +1,23 @@
+// 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"})
+public record ImmutableLinearAcceleration(double magnitude, double baseUnitMagnitude, LinearAccelerationUnit unit) implements LinearAcceleration {
+  @Override
+  public LinearAcceleration copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+}
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..7a060a01699
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableLinearMomentum.java
@@ -0,0 +1,23 @@
+// 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"})
+public record ImmutableLinearMomentum(double magnitude, double baseUnitMagnitude, LinearMomentumUnit unit) implements LinearMomentum {
+  @Override
+  public LinearMomentum copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+}
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..ab1fa4d2c78
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableLinearVelocity.java
@@ -0,0 +1,23 @@
+// 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"})
+public record ImmutableLinearVelocity(double magnitude, double baseUnitMagnitude, LinearVelocityUnit unit) implements LinearVelocity {
+  @Override
+  public LinearVelocity copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMass.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableMass.java
similarity index 59%
rename from wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMass.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableMass.java
index 64d48007f30..abe28193cec 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMass.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableMass.java
@@ -2,13 +2,15 @@
 // 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.immutable;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.MassUnit;
-import edu.wpi.first.units.measure.Mass;
+package edu.wpi.first.units.measure;
 
-public record ImmutableMass(double magnitude, double baseUnitMagnitude, MassUnit unit)
-    implements Mass {
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast"})
+public record ImmutableMass(double magnitude, double baseUnitMagnitude, MassUnit unit) implements Mass {
   @Override
   public Mass copy() {
     return this;
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..f130e9d1863
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableMomentOfInertia.java
@@ -0,0 +1,23 @@
+// 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"})
+public record ImmutableMomentOfInertia(double magnitude, double baseUnitMagnitude, MomentOfInertiaUnit unit) implements MomentOfInertia {
+  @Override
+  public MomentOfInertia copy() {
+    return this;
+  }
+
+  @Override
+  public String toString() {
+    return toShortString();
+  }
+}
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..ed12f20be38
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableMult.java
@@ -0,0 +1,23 @@
+// 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"})
+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();
+  }
+}
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..7cffc082dcd
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutablePer.java
@@ -0,0 +1,23 @@
+// 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"})
+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();
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutablePower.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutablePower.java
similarity index 59%
rename from wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutablePower.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutablePower.java
index 656def303ed..601b546223b 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutablePower.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutablePower.java
@@ -2,13 +2,15 @@
 // 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.immutable;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.PowerUnit;
-import edu.wpi.first.units.measure.Power;
+package edu.wpi.first.units.measure;
 
-public record ImmutablePower(double magnitude, double baseUnitMagnitude, PowerUnit unit)
-    implements Power {
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast"})
+public record ImmutablePower(double magnitude, double baseUnitMagnitude, PowerUnit unit) implements Power {
   @Override
   public Power copy() {
     return this;
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTemperature.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableTemperature.java
similarity index 58%
rename from wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTemperature.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableTemperature.java
index 91125075701..b1c7dd20fbf 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTemperature.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableTemperature.java
@@ -2,13 +2,15 @@
 // 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.immutable;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.TemperatureUnit;
-import edu.wpi.first.units.measure.Temperature;
+package edu.wpi.first.units.measure;
 
-public record ImmutableTemperature(double magnitude, double baseUnitMagnitude, TemperatureUnit unit)
-    implements Temperature {
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast"})
+public record ImmutableTemperature(double magnitude, double baseUnitMagnitude, TemperatureUnit unit) implements Temperature {
   @Override
   public Temperature copy() {
     return this;
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTime.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableTime.java
similarity index 59%
rename from wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTime.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableTime.java
index ac28fe90f15..a5ec1b6b4f7 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTime.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableTime.java
@@ -2,13 +2,15 @@
 // 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.immutable;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.TimeUnit;
-import edu.wpi.first.units.measure.Time;
+package edu.wpi.first.units.measure;
 
-public record ImmutableTime(double magnitude, double baseUnitMagnitude, TimeUnit unit)
-    implements Time {
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast"})
+public record ImmutableTime(double magnitude, double baseUnitMagnitude, TimeUnit unit) implements Time {
   @Override
   public Time copy() {
     return this;
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTorque.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableTorque.java
similarity index 58%
rename from wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTorque.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableTorque.java
index 0aef08dfd87..47407ec6293 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableTorque.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableTorque.java
@@ -2,13 +2,15 @@
 // 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.immutable;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.TorqueUnit;
-import edu.wpi.first.units.measure.Torque;
+package edu.wpi.first.units.measure;
 
-public record ImmutableTorque(double magnitude, double baseUnitMagnitude, TorqueUnit unit)
-    implements Torque {
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast"})
+public record ImmutableTorque(double magnitude, double baseUnitMagnitude, TorqueUnit unit) implements Torque {
   @Override
   public Torque copy() {
     return this;
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..2a32ec9fade
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableVelocity.java
@@ -0,0 +1,23 @@
+// 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"})
+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();
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVoltage.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableVoltage.java
similarity index 58%
rename from wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVoltage.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableVoltage.java
index 7d5446fc85c..ecbe3ecddac 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVoltage.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableVoltage.java
@@ -2,13 +2,15 @@
 // 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.immutable;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.VoltageUnit;
-import edu.wpi.first.units.measure.Voltage;
+package edu.wpi.first.units.measure;
 
-public record ImmutableVoltage(double magnitude, double baseUnitMagnitude, VoltageUnit unit)
-    implements Voltage {
+import static edu.wpi.first.units.Units.*;
+import edu.wpi.first.units.*;
+
+@SuppressWarnings({"unchecked", "cast"})
+public record ImmutableVoltage(double magnitude, double baseUnitMagnitude, VoltageUnit unit) implements Voltage {
   @Override
   public Voltage copy() {
     return this;
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..03263059dc8
--- /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"})
+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..fe89fabce48
--- /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"})
+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..cde7a069ede
--- /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"})
+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..0638ff7ee64
--- /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"})
+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..b48b4e7c739
--- /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"})
+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..969b4e33a62
--- /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"})
+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..5b7f64c1c15
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAcceleration.java
@@ -0,0 +1,26 @@
+// 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"})
+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/main/java/edu/wpi/first/units/mutable/MutAngle.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAngle.java
similarity index 52%
rename from wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngle.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAngle.java
index 0f02e165365..6ba0433e241 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngle.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAngle.java
@@ -2,13 +2,19 @@
 // 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;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.AngleUnit;
-import edu.wpi.first.units.immutable.ImmutableAngle;
-import edu.wpi.first.units.measure.Angle;
+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"})
+public final class MutAngle
+  extends MutableMeasureBase<AngleUnit, Angle, MutAngle>
+  implements Angle {
 
-public final class MutAngle extends MutableMeasureBase<AngleUnit, Angle, MutAngle> {
   public MutAngle(double magnitude, double baseUnitMagnitude, AngleUnit unit) {
     super(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..c21df22b4a2
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAngularAcceleration.java
@@ -0,0 +1,26 @@
+// 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"})
+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/main/java/edu/wpi/first/units/mutable/MutAngularMomentum.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAngularMomentum.java
similarity index 56%
rename from wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularMomentum.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAngularMomentum.java
index d55863b3df6..cd682cce0c2 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularMomentum.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAngularMomentum.java
@@ -2,15 +2,19 @@
 // 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;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.AngularMomentumUnit;
-import edu.wpi.first.units.immutable.ImmutableAngularMomentum;
-import edu.wpi.first.units.measure.AngularMomentum;
+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"})
 public final class MutAngularMomentum
-    extends MutableMeasureBase<AngularMomentumUnit, AngularMomentum, MutAngularMomentum>
-    implements AngularMomentum {
+  extends MutableMeasureBase<AngularMomentumUnit, AngularMomentum, MutAngularMomentum>
+  implements AngularMomentum {
+
   public MutAngularMomentum(double magnitude, double baseUnitMagnitude, AngularMomentumUnit unit) {
     super(magnitude, baseUnitMagnitude, unit);
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularVelocity.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAngularVelocity.java
similarity index 54%
rename from wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularVelocity.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAngularVelocity.java
index 8098a88423e..7b303926b3d 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularVelocity.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutAngularVelocity.java
@@ -2,21 +2,25 @@
 // 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;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.AngularVelocityUnit;
-import edu.wpi.first.units.immutable.ImmutableAngularVelocity;
-import edu.wpi.first.units.measure.AngularVelocity;
+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"})
 public final class MutAngularVelocity
-    extends MutableMeasureBase<AngularVelocityUnit, AngularVelocity, MutAngularVelocity>
-    implements AngularVelocity {
+  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());
+    return new ImmutableAngularVelocity(magnitude, baseUnitMagnitude, unit);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutCurrent.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutCurrent.java
similarity index 52%
rename from wpiunits/src/main/java/edu/wpi/first/units/mutable/MutCurrent.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutCurrent.java
index 31c28017682..389a1750f85 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutCurrent.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutCurrent.java
@@ -2,14 +2,19 @@
 // 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;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.CurrentUnit;
-import edu.wpi.first.units.immutable.ImmutableCurrent;
-import edu.wpi.first.units.measure.Current;
+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"})
+public final class MutCurrent
+  extends MutableMeasureBase<CurrentUnit, Current, MutCurrent>
+  implements Current {
 
-public final class MutCurrent extends MutableMeasureBase<CurrentUnit, Current, MutCurrent>
-    implements Current {
   public MutCurrent(double magnitude, double baseUnitMagnitude, CurrentUnit unit) {
     super(magnitude, baseUnitMagnitude, unit);
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDimensionless.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutDimensionless.java
similarity index 56%
rename from wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDimensionless.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutDimensionless.java
index 90b430da1cc..b5bc2b835de 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDimensionless.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutDimensionless.java
@@ -2,15 +2,19 @@
 // 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;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.DimensionlessUnit;
-import edu.wpi.first.units.immutable.ImmutableDimensionless;
-import edu.wpi.first.units.measure.Dimensionless;
+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"})
 public final class MutDimensionless
-    extends MutableMeasureBase<DimensionlessUnit, Dimensionless, MutDimensionless>
-    implements Dimensionless {
+  extends MutableMeasureBase<DimensionlessUnit, Dimensionless, MutDimensionless>
+  implements Dimensionless {
+
   public MutDimensionless(double magnitude, double baseUnitMagnitude, DimensionlessUnit unit) {
     super(magnitude, baseUnitMagnitude, unit);
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDistance.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutDistance.java
similarity index 52%
rename from wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDistance.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutDistance.java
index ab5a613876a..547a3ae8b61 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutDistance.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutDistance.java
@@ -2,14 +2,19 @@
 // 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;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.DistanceUnit;
-import edu.wpi.first.units.immutable.ImmutableDistance;
-import edu.wpi.first.units.measure.Distance;
+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"})
+public final class MutDistance
+  extends MutableMeasureBase<DistanceUnit, Distance, MutDistance>
+  implements Distance {
 
-public final class MutDistance extends MutableMeasureBase<DistanceUnit, Distance, MutDistance>
-    implements Distance {
   public MutDistance(double magnitude, double baseUnitMagnitude, DistanceUnit unit) {
     super(magnitude, baseUnitMagnitude, unit);
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutEnergy.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutEnergy.java
similarity index 52%
rename from wpiunits/src/main/java/edu/wpi/first/units/mutable/MutEnergy.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutEnergy.java
index 5a416c03877..96b7e7509fe 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutEnergy.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutEnergy.java
@@ -2,14 +2,19 @@
 // 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;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.EnergyUnit;
-import edu.wpi.first.units.immutable.ImmutableEnergy;
-import edu.wpi.first.units.measure.Energy;
+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"})
+public final class MutEnergy
+  extends MutableMeasureBase<EnergyUnit, Energy, MutEnergy>
+  implements Energy {
 
-public final class MutEnergy extends MutableMeasureBase<EnergyUnit, Energy, MutEnergy>
-    implements Energy {
   public MutEnergy(double magnitude, double baseUnitMagnitude, EnergyUnit unit) {
     super(magnitude, baseUnitMagnitude, unit);
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutForce.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutForce.java
similarity index 52%
rename from wpiunits/src/main/java/edu/wpi/first/units/mutable/MutForce.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutForce.java
index 6304561dcd3..fd2946baddc 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutForce.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutForce.java
@@ -2,14 +2,19 @@
 // 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;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.ForceUnit;
-import edu.wpi.first.units.immutable.ImmutableForce;
-import edu.wpi.first.units.measure.Force;
+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"})
+public final class MutForce
+  extends MutableMeasureBase<ForceUnit, Force, MutForce>
+  implements Force {
 
-public final class MutForce extends MutableMeasureBase<ForceUnit, Force, MutForce>
-    implements Force {
   public MutForce(double magnitude, double baseUnitMagnitude, ForceUnit unit) {
     super(magnitude, baseUnitMagnitude, unit);
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutFrequency.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutFrequency.java
similarity index 52%
rename from wpiunits/src/main/java/edu/wpi/first/units/mutable/MutFrequency.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutFrequency.java
index 7547362ea2d..576eb35c391 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutFrequency.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutFrequency.java
@@ -2,14 +2,19 @@
 // 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;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.FrequencyUnit;
-import edu.wpi.first.units.immutable.ImmutableFrequency;
-import edu.wpi.first.units.measure.Frequency;
+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"})
+public final class MutFrequency
+  extends MutableMeasureBase<FrequencyUnit, Frequency, MutFrequency>
+  implements Frequency {
 
-public final class MutFrequency extends MutableMeasureBase<FrequencyUnit, Frequency, MutFrequency>
-    implements Frequency {
   public MutFrequency(double magnitude, double baseUnitMagnitude, FrequencyUnit unit) {
     super(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..dc44beaf00e
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutLinearAcceleration.java
@@ -0,0 +1,26 @@
+// 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"})
+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/main/java/edu/wpi/first/units/mutable/MutLinearMomentum.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutLinearMomentum.java
similarity index 56%
rename from wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearMomentum.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutLinearMomentum.java
index b84e7d2b418..29f361c5786 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearMomentum.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutLinearMomentum.java
@@ -2,15 +2,19 @@
 // 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;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.LinearMomentumUnit;
-import edu.wpi.first.units.immutable.ImmutableLinearMomentum;
-import edu.wpi.first.units.measure.LinearMomentum;
+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"})
 public final class MutLinearMomentum
-    extends MutableMeasureBase<LinearMomentumUnit, LinearMomentum, MutLinearMomentum>
-    implements LinearMomentum {
+  extends MutableMeasureBase<LinearMomentumUnit, LinearMomentum, MutLinearMomentum>
+  implements LinearMomentum {
+
   public MutLinearMomentum(double magnitude, double baseUnitMagnitude, LinearMomentumUnit unit) {
     super(magnitude, baseUnitMagnitude, unit);
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearVelocity.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutLinearVelocity.java
similarity index 54%
rename from wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearVelocity.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutLinearVelocity.java
index 8e5f2669bbb..b4616cedcdc 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearVelocity.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutLinearVelocity.java
@@ -2,21 +2,25 @@
 // 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;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.LinearVelocityUnit;
-import edu.wpi.first.units.immutable.ImmutableLinearVelocity;
-import edu.wpi.first.units.measure.LinearVelocity;
+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"})
 public final class MutLinearVelocity
-    extends MutableMeasureBase<LinearVelocityUnit, LinearVelocity, MutLinearVelocity>
-    implements LinearVelocity {
+  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());
+    return new ImmutableLinearVelocity(magnitude, baseUnitMagnitude, unit);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMass.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutMass.java
similarity index 53%
rename from wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMass.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutMass.java
index 8e33c9b0ecf..19abcfdbdb0 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMass.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutMass.java
@@ -2,13 +2,19 @@
 // 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;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.MassUnit;
-import edu.wpi.first.units.immutable.ImmutableMass;
-import edu.wpi.first.units.measure.Mass;
+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"})
+public final class MutMass
+  extends MutableMeasureBase<MassUnit, Mass, MutMass>
+  implements Mass {
 
-public final class MutMass extends MutableMeasureBase<MassUnit, Mass, MutMass> implements Mass {
   public MutMass(double magnitude, double baseUnitMagnitude, MassUnit unit) {
     super(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..bf69d308a94
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutMomentOfInertia.java
@@ -0,0 +1,26 @@
+// 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"})
+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..70422f30b1a
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutMult.java
@@ -0,0 +1,26 @@
+// 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"})
+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..deccf7cae2f
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutPer.java
@@ -0,0 +1,26 @@
+// 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"})
+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/main/java/edu/wpi/first/units/mutable/MutPower.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutPower.java
similarity index 52%
rename from wpiunits/src/main/java/edu/wpi/first/units/mutable/MutPower.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutPower.java
index b859d372a17..a38c0f2daea 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutPower.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutPower.java
@@ -2,14 +2,19 @@
 // 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;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.PowerUnit;
-import edu.wpi.first.units.immutable.ImmutablePower;
-import edu.wpi.first.units.measure.Power;
+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"})
+public final class MutPower
+  extends MutableMeasureBase<PowerUnit, Power, MutPower>
+  implements Power {
 
-public final class MutPower extends MutableMeasureBase<PowerUnit, Power, MutPower>
-    implements Power {
   public MutPower(double magnitude, double baseUnitMagnitude, PowerUnit unit) {
     super(magnitude, baseUnitMagnitude, unit);
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTemperature.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutTemperature.java
similarity index 56%
rename from wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTemperature.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutTemperature.java
index ff2764f71fd..314517d2eaf 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTemperature.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutTemperature.java
@@ -2,15 +2,19 @@
 // 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;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.TemperatureUnit;
-import edu.wpi.first.units.immutable.ImmutableTemperature;
-import edu.wpi.first.units.measure.Temperature;
+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"})
 public final class MutTemperature
-    extends MutableMeasureBase<TemperatureUnit, Temperature, MutTemperature>
-    implements Temperature {
+  extends MutableMeasureBase<TemperatureUnit, Temperature, MutTemperature>
+  implements Temperature {
+
   public MutTemperature(double magnitude, double baseUnitMagnitude, TemperatureUnit unit) {
     super(magnitude, baseUnitMagnitude, unit);
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTime.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutTime.java
similarity index 53%
rename from wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTime.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutTime.java
index c26f223acbf..b8512de04fb 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTime.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutTime.java
@@ -2,13 +2,19 @@
 // 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;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.TimeUnit;
-import edu.wpi.first.units.immutable.ImmutableTime;
-import edu.wpi.first.units.measure.Time;
+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"})
+public final class MutTime
+  extends MutableMeasureBase<TimeUnit, Time, MutTime>
+  implements Time {
 
-public final class MutTime extends MutableMeasureBase<TimeUnit, Time, MutTime> implements Time {
   public MutTime(double magnitude, double baseUnitMagnitude, TimeUnit unit) {
     super(magnitude, baseUnitMagnitude, unit);
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTorque.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutTorque.java
similarity index 52%
rename from wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTorque.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutTorque.java
index 78cda59b4de..a9b579d1db9 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutTorque.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutTorque.java
@@ -2,14 +2,19 @@
 // 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;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.TorqueUnit;
-import edu.wpi.first.units.immutable.ImmutableTorque;
-import edu.wpi.first.units.measure.Torque;
+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"})
+public final class MutTorque
+  extends MutableMeasureBase<TorqueUnit, Torque, MutTorque>
+  implements Torque {
 
-public final class MutTorque extends MutableMeasureBase<TorqueUnit, Torque, MutTorque>
-    implements Torque {
   public MutTorque(double magnitude, double baseUnitMagnitude, TorqueUnit unit) {
     super(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..817bc3bafd3
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutVelocity.java
@@ -0,0 +1,26 @@
+// 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"})
+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/main/java/edu/wpi/first/units/mutable/MutVoltage.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutVoltage.java
similarity index 52%
rename from wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVoltage.java
rename to wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutVoltage.java
index 76ca913724c..c31c0cd060e 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVoltage.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/MutVoltage.java
@@ -2,14 +2,19 @@
 // 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;
+// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
 
-import edu.wpi.first.units.VoltageUnit;
-import edu.wpi.first.units.immutable.ImmutableVoltage;
-import edu.wpi.first.units.measure.Voltage;
+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"})
+public final class MutVoltage
+  extends MutableMeasureBase<VoltageUnit, Voltage, MutVoltage>
+  implements Voltage {
 
-public final class MutVoltage extends MutableMeasureBase<VoltageUnit, Voltage, MutVoltage>
-    implements Voltage {
   public MutVoltage(double magnitude, double baseUnitMagnitude, VoltageUnit unit) {
     super(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..f161d9e4010
--- /dev/null
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Per.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"})
+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);
+  }
+
+}
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..34bb627c6dd
--- /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"})
+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..ace5dbc3f07
--- /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"})
+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..d8ab8fef746
--- /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"})
+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..d7762ed19e6
--- /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"})
+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..3dfa3936666
--- /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"})
+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..bf6e888be33
--- /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"})
+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
index 81a947daffd..e3e9ce92d6e 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units;
 
-import edu.wpi.first.units.immutable.ImmutableAcceleration;
 import edu.wpi.first.units.measure.Acceleration;
-import edu.wpi.first.units.mutable.MutAcceleration;
+import edu.wpi.first.units.measure.ImmutableAcceleration;
+import edu.wpi.first.units.measure.MutAcceleration;
 
 public class AccelerationUnit<D extends Unit> extends PerUnit<VelocityUnit<D>, TimeUnit> {
   @SuppressWarnings({"rawtypes", "unchecked"})
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
index b62dbb92a41..af720a7bdf4 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
@@ -4,9 +4,8 @@
 
 package edu.wpi.first.units;
 
-import edu.wpi.first.units.immutable.ImmutableAngle;
 import edu.wpi.first.units.measure.Angle;
-import edu.wpi.first.units.mutable.MutAngle;
+import edu.wpi.first.units.measure.MutAngle;
 
 /**
  * Unit of angular dimension.
@@ -37,12 +36,17 @@ public class AngleUnit extends Unit {
 
   @Override
   public Angle of(double magnitude) {
-    return new ImmutableAngle(magnitude, toBaseUnits(magnitude), this);
+    return Angle.ofRelativeUnits(magnitude, this);
   }
 
   @Override
   public Angle ofBaseUnits(double baseUnitMagnitude) {
-    return new ImmutableAngle(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+    return Angle.ofBaseUnits(baseUnitMagnitude, this);
+  }
+
+  @Override
+  public MutAngle mutable(double initialMagnitude) {
+    return new MutAngle(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 
   public AngularVelocityUnit per(TimeUnit second) {
@@ -52,9 +56,4 @@ public AngularVelocityUnit per(TimeUnit second) {
   public double convertFrom(double magnitude, AngleUnit otherUnit) {
     return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
   }
-
-  @Override
-  public MutAngle mutable(double initialMagnitude) {
-    return new MutAngle(initialMagnitude, toBaseUnits(initialMagnitude), this);
-  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java
index 42b10d18eee..3eb97f04cbe 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units;
 
-import edu.wpi.first.units.immutable.ImmutableAngularAcceleration;
 import edu.wpi.first.units.measure.AngularAcceleration;
-import edu.wpi.first.units.mutable.MutAngularAcceleration;
+import edu.wpi.first.units.measure.ImmutableAngularAcceleration;
+import edu.wpi.first.units.measure.MutAngularAcceleration;
 
 public class AngularAccelerationUnit extends PerUnit<AngularVelocityUnit, TimeUnit> {
   private static final CombinatoryUnitCache<AngularVelocityUnit, TimeUnit, AngularAccelerationUnit>
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
index 77cd3ae14b6..64c8570cc91 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units;
 
-import edu.wpi.first.units.immutable.ImmutableAngularMomentum;
 import edu.wpi.first.units.measure.AngularMomentum;
-import edu.wpi.first.units.mutable.MutAngularMomentum;
+import edu.wpi.first.units.measure.ImmutableAngularMomentum;
+import edu.wpi.first.units.measure.MutAngularMomentum;
 
 public class AngularMomentumUnit extends MultUnit<LinearMomentumUnit, DistanceUnit> {
   private static final CombinatoryUnitCache<LinearMomentumUnit, DistanceUnit, AngularMomentumUnit>
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java
index 1727eaee247..c8dd6cd8395 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units;
 
-import edu.wpi.first.units.immutable.ImmutableAngularVelocity;
 import edu.wpi.first.units.measure.AngularVelocity;
-import edu.wpi.first.units.mutable.MutAngularVelocity;
+import edu.wpi.first.units.measure.ImmutableAngularVelocity;
+import edu.wpi.first.units.measure.MutAngularVelocity;
 
 public class AngularVelocityUnit extends PerUnit<AngleUnit, TimeUnit> {
   private static final CombinatoryUnitCache<AngleUnit, TimeUnit, AngularVelocityUnit> cache =
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
index 576949e8564..e23989c74f7 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units;
 
-import edu.wpi.first.units.immutable.ImmutableCurrent;
 import edu.wpi.first.units.measure.Current;
-import edu.wpi.first.units.mutable.MutCurrent;
+import edu.wpi.first.units.measure.ImmutableCurrent;
+import edu.wpi.first.units.measure.MutCurrent;
 
 /**
  * Unit of electric current dimension.
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
index 1c9e9914c03..70b82b815da 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units;
 
-import edu.wpi.first.units.immutable.ImmutableDimensionless;
 import edu.wpi.first.units.measure.Dimensionless;
-import edu.wpi.first.units.mutable.MutDimensionless;
+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.
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
index a07cf1f6e99..4749c695d73 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units;
 
-import edu.wpi.first.units.immutable.ImmutableDistance;
 import edu.wpi.first.units.measure.Distance;
-import edu.wpi.first.units.mutable.MutDistance;
+import edu.wpi.first.units.measure.ImmutableDistance;
+import edu.wpi.first.units.measure.MutDistance;
 
 /**
  * Unit of linear dimension.
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
index cc40a6edb64..720dee5955d 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units;
 
-import edu.wpi.first.units.immutable.ImmutableEnergy;
 import edu.wpi.first.units.measure.Energy;
-import edu.wpi.first.units.mutable.MutEnergy;
+import edu.wpi.first.units.measure.ImmutableEnergy;
+import edu.wpi.first.units.measure.MutEnergy;
 
 /**
  * Unit of energy dimension.
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
index 90a14ae0c72..9ac1a9ad9de 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units;
 
-import edu.wpi.first.units.immutable.ImmutableForce;
 import edu.wpi.first.units.measure.Force;
-import edu.wpi.first.units.mutable.MutForce;
+import edu.wpi.first.units.measure.ImmutableForce;
+import edu.wpi.first.units.measure.MutForce;
 
 public class ForceUnit extends MultUnit<MassUnit, LinearAccelerationUnit> {
   private static final CombinatoryUnitCache<MassUnit, LinearAccelerationUnit, ForceUnit> cache =
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java
index 3af93f3b8fc..5068c91f04f 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java
@@ -6,9 +6,9 @@
 
 import static edu.wpi.first.units.Units.Value;
 
-import edu.wpi.first.units.immutable.ImmutableFrequency;
 import edu.wpi.first.units.measure.Frequency;
-import edu.wpi.first.units.mutable.MutFrequency;
+import edu.wpi.first.units.measure.ImmutableFrequency;
+import edu.wpi.first.units.measure.MutFrequency;
 
 public class FrequencyUnit extends PerUnit<DimensionlessUnit, TimeUnit> {
   private static final CombinatoryUnitCache<DimensionlessUnit, TimeUnit, FrequencyUnit> cache =
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 d6182b26581..9b955822007 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/ImmutableMeasure.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/ImmutableMeasure.java
@@ -4,6 +4,9 @@
 
 package edu.wpi.first.units;
 
+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
  * immutable measure is <i>immutable</i> and <i>type safe</i>, making it easy to use in concurrent
@@ -43,4 +46,44 @@ public static <U extends Unit> ImmutableMeasure<U> ofRelativeUnits(
   public Measure<U> copy() {
     return this; // already immutable, no need to allocate a new object
   }
+
+  @Override
+  public MutableMeasure<U, ?, ?> mutableCopy() {
+    return new GenericMutableMeasureImpl<>(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public Measure<U> unaryMinus() {
+    return ofBaseUnits(0 - baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public Measure<U> plus(Measure<? extends U> other) {
+    return ofBaseUnits(baseUnitMagnitude + other.baseUnitMagnitude(), unit);
+  }
+
+  @Override
+  public Measure<U> minus(Measure<? extends U> other) {
+    return ofBaseUnits(baseUnitMagnitude - other.baseUnitMagnitude(), unit);
+  }
+
+  @Override
+  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 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
index 1f646e67d44..0ca33a2227e 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearAccelerationUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearAccelerationUnit.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units;
 
-import edu.wpi.first.units.immutable.ImmutableLinearAcceleration;
+import edu.wpi.first.units.measure.ImmutableLinearAcceleration;
 import edu.wpi.first.units.measure.LinearAcceleration;
-import edu.wpi.first.units.mutable.MutLinearAcceleration;
+import edu.wpi.first.units.measure.MutLinearAcceleration;
 
 public class LinearAccelerationUnit extends PerUnit<LinearVelocityUnit, TimeUnit> {
   private static final CombinatoryUnitCache<LinearVelocityUnit, TimeUnit, LinearAccelerationUnit>
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
index 869cbe6edc4..9eb65a04fe9 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units;
 
-import edu.wpi.first.units.immutable.ImmutableLinearMomentum;
+import edu.wpi.first.units.measure.ImmutableLinearMomentum;
 import edu.wpi.first.units.measure.LinearMomentum;
-import edu.wpi.first.units.mutable.MutLinearMomentum;
+import edu.wpi.first.units.measure.MutLinearMomentum;
 
 public class LinearMomentumUnit extends MultUnit<MassUnit, LinearVelocityUnit> {
   private static final CombinatoryUnitCache<MassUnit, LinearVelocityUnit, LinearMomentumUnit>
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java
index ff0504f27e2..86ea34c14bc 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units;
 
-import edu.wpi.first.units.immutable.ImmutableLinearVelocity;
+import edu.wpi.first.units.measure.ImmutableLinearVelocity;
 import edu.wpi.first.units.measure.LinearVelocity;
-import edu.wpi.first.units.mutable.MutLinearVelocity;
+import edu.wpi.first.units.measure.MutLinearVelocity;
 
 public class LinearVelocityUnit extends PerUnit<DistanceUnit, TimeUnit> {
   private static final CombinatoryUnitCache<DistanceUnit, TimeUnit, LinearVelocityUnit> cache =
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
index 0b3b1e59773..cb90798e7bd 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units;
 
-import edu.wpi.first.units.immutable.ImmutableMass;
+import edu.wpi.first.units.measure.ImmutableMass;
 import edu.wpi.first.units.measure.Mass;
-import edu.wpi.first.units.mutable.MutMass;
+import edu.wpi.first.units.measure.MutMass;
 
 /**
  * Unit of mass dimension.
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MathHelper.java b/wpiunits/src/main/java/edu/wpi/first/units/MathHelper.java
deleted file mode 100644
index 4118badd49a..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/MathHelper.java
+++ /dev/null
@@ -1,83 +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.Value;
-
-import edu.wpi.first.units.measure.Dimensionless;
-import edu.wpi.first.units.measure.Time;
-import edu.wpi.first.units.measure.Velocity;
-import java.util.function.DoubleFunction;
-
-public class MathHelper<U extends Unit, M extends Measure<U>> {
-  private final DoubleFunction<M> constructor;
-
-  /**
-   * Creates a new unit math helper object.
-   *
-   * @param constructor the function to use to create new instances of the measure type. This should
-   *     accept values in terms of base units.
-   */
-  public MathHelper(DoubleFunction<M> constructor) {
-    this.constructor = constructor;
-  }
-
-  public M zero() {
-    return constructor.apply(0);
-  }
-
-  public M negate(M measure) {
-    // 0 minus to avoid negative zero
-    return constructor.apply(0 - measure.baseUnitMagnitude());
-  }
-
-  public M add(M first, Measure<? extends U> second) {
-    return constructor.apply(first.baseUnitMagnitude() + second.baseUnitMagnitude());
-  }
-
-  public M minus(M first, Measure<? extends U> second) {
-    return constructor.apply(first.baseUnitMagnitude() - second.baseUnitMagnitude());
-  }
-
-  public M divide(M measure, double divisor) {
-    return constructor.apply(measure.baseUnitMagnitude() / divisor);
-  }
-
-  public M divide(M measure, Dimensionless divisor) {
-    return constructor.apply(measure.baseUnitMagnitude() / divisor.baseUnitMagnitude());
-  }
-
-  public Dimensionless divide(M dividend, Measure<? extends U> divisor) {
-    return divide(dividend, divisor, Value::of);
-  }
-
-  public <VU extends Unit, VM extends Measure<VU>> VM divide(
-      M dividend, Time divisor, DoubleFunction<? extends VM> ctor) {
-    return ctor.apply(dividend.baseUnitMagnitude() / divisor.baseUnitMagnitude());
-  }
-
-  public <VU extends Unit, VM extends Measure<VU>> Velocity<U> divide(
-      M dividend, TimeUnit divisor) {
-    return VelocityUnit.combine(dividend.unit(), divisor).ofBaseUnits(dividend.baseUnitMagnitude());
-  }
-
-  public <ResultUnit extends Unit, Result extends Measure<ResultUnit>> Result divide(
-      M dividend, Measure<?> divisor, DoubleFunction<? extends Result> ctor) {
-    return ctor.apply(dividend.baseUnitMagnitude() / divisor.baseUnitMagnitude());
-  }
-
-  public <ResultUnit extends Unit, Result extends Measure<ResultUnit>> Result multiply(
-      M first, Measure<?> second, DoubleFunction<? extends Result> ctor) {
-    return ctor.apply(first.baseUnitMagnitude() * second.baseUnitMagnitude());
-  }
-
-  public M multiply(M measure, double scalar) {
-    return constructor.apply(measure.baseUnitMagnitude() * scalar);
-  }
-
-  public M multiply(M measure, Dimensionless scalar) {
-    return constructor.apply(measure.baseUnitMagnitude() * scalar.baseUnitMagnitude());
-  }
-}
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 28facf473a0..78b0181af96 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Measure.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Measure.java
@@ -4,6 +4,33 @@
 
 package edu.wpi.first.units;
 
+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
  * measures with the same <i>unit</i> and <i>magnitude</i> are effectively equivalent objects.
@@ -72,6 +99,454 @@ default U baseUnit() {
    */
   Measure<U> copy();
 
+  MutableMeasure<U, ?, ?> mutableCopy();
+
+  Measure<U> unaryMinus();
+
+  Measure<U> plus(Measure<? extends U> other);
+
+  Measure<U> minus(Measure<? extends U> other);
+
+  Measure<U> times(double multiplier);
+
+  Measure<U> times(Dimensionless multiplier);
+
+  default Measure<?> times(Measure<?> multiplier) {
+    final double baseUnitResult = baseUnitMagnitude() * multiplier.baseUnitMagnitude();
+
+    // 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 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());
+    }
+
+    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);
+    }
+  }
+
+  default Measure<?> times(Acceleration<?> multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  default Measure<?> times(Angle multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  default Measure<?> times(AngularAcceleration multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  default Measure<?> times(AngularMomentum multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  default Measure<?> times(AngularVelocity multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  default Measure<?> times(Current multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  default Measure<?> times(Distance multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  default Measure<?> times(Energy multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  default Measure<?> times(Force multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  default Measure<?> times(Frequency multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  default Measure<?> times(LinearAcceleration multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  default Measure<?> times(LinearMomentum multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  default Measure<?> times(LinearVelocity multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  default Measure<?> times(Mass multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  default Measure<?> times(MomentOfInertia multiplier) {
+    return null;
+  }
+
+  default Measure<?> times(Mult<?, ?> multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  default Measure<?> times(Power multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  default Measure<?> times(Per<?, ?> multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  default Measure<?> times(Temperature multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  default Measure<?> times(Time multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  default Measure<?> times(Torque multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  default Measure<?> times(Velocity<?> multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  default Measure<?> times(Voltage multiplier) {
+    return MultUnit.combine(unit(), multiplier.unit())
+        .ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  default Dimensionless timesInverse(
+      Measure<? extends PerUnit<DimensionlessUnit, ? extends U>> multiplier) {
+    return Value.ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+  }
+
+  default <Other extends Unit> Measure<Other> timesRatio(
+      Measure<? extends PerUnit<? extends Other, U>> ratio) {
+    return ImmutableMeasure.ofBaseUnits(
+        baseUnitMagnitude() * ratio.baseUnitMagnitude(), ratio.unit().numerator());
+  }
+
+  Measure<U> divide(double divisor);
+
+  Measure<U> divide(Dimensionless divisor);
+
+  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 (divisor instanceof Dimensionless) {
+      // Dividing by a dimensionless, do a scalar division
+      return unit().ofBaseUnits(baseUnitResult);
+    }
+
+    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 (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);
+    }
+  }
+
+  // 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());
+  }
+
+  default Measure<?> per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+
+  default Measure<?> divide(Acceleration<?> divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  default Measure<?> divide(Angle divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  default Measure<?> divide(AngularAcceleration divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  default Measure<?> divide(AngularMomentum divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  default Measure<?> divide(AngularVelocity divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  default Measure<?> divide(Current divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  default Measure<?> divide(Distance divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  default Measure<?> divide(Energy divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  default Measure<?> divide(Force divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  default Measure<?> divide(Frequency divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  default Measure<?> divide(LinearAcceleration divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  default Measure<?> divide(LinearMomentum divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  default Measure<?> divide(LinearVelocity divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  default Measure<?> divide(Mass divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  default Measure<?> divide(MomentOfInertia divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  default Measure<?> divide(Mult<?, ?> divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  default Measure<?> divide(Power divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  default Measure<?> divide(Per<?, ?> divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  default Measure<?> divide(Temperature divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  default Measure<?> divide(Time divisor) {
+    return VelocityUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  default Measure<?> divide(Torque divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  default Measure<?> divide(Velocity<?> divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
+  default Measure<?> divide(Voltage divisor) {
+    return PerUnit.combine(unit(), divisor.unit())
+        .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
+  }
+
   /**
    * Checks if this measure is near another measure of the same unit. Provide a variance threshold
    * for use for a +/- scalar, such as 0.05 for +/- 5%.
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java
index c409097d8c9..3b89ae66aef 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units;
 
-import edu.wpi.first.units.immutable.ImmutableMomentOfInertia;
+import edu.wpi.first.units.measure.ImmutableMomentOfInertia;
 import edu.wpi.first.units.measure.MomentOfInertia;
-import edu.wpi.first.units.mutable.MutMomentOfInertia;
+import edu.wpi.first.units.measure.MutMomentOfInertia;
 
 public class MomentOfInertiaUnit extends PerUnit<AngularMomentumUnit, AngularVelocityUnit> {
   private static final CombinatoryUnitCache<
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java
index b2da29c9586..982948b89f4 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java
@@ -4,8 +4,8 @@
 
 package edu.wpi.first.units;
 
-import edu.wpi.first.units.immutable.ImmutableMult;
-import edu.wpi.first.units.mutable.MutMult;
+import edu.wpi.first.units.measure.ImmutableMult;
+import edu.wpi.first.units.measure.MutMult;
 import java.util.Objects;
 
 /**
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 0630e0a3483..b11a92ecf41 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
@@ -5,7 +5,7 @@
 package edu.wpi.first.units;
 
 import edu.wpi.first.units.measure.Dimensionless;
-import edu.wpi.first.units.mutable.MutableMeasureBase;
+import edu.wpi.first.units.mutable.GenericMutableMeasureImpl;
 
 /**
  * @param <U> The dimension of measurement.
@@ -71,19 +71,7 @@ default MutSelf mut_divide(Dimensionless divisor) {
     return mut_divide(divisor.baseUnitMagnitude());
   }
 
-  @SuppressWarnings({"unchecked", "rawtypes"})
   static <U extends Unit> MutableMeasure<U, ?, ?> ofRelativeUnits(double initialValue, U unit) {
-    return new MutableMeasureBase(initialValue, unit.toBaseUnits(initialValue), unit) {
-      @Override
-      @SuppressWarnings("rawtypes")
-      public Measure copy() {
-        return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude, unit);
-      }
-
-      @Override
-      public int compareTo(Object o) {
-        return super.compareTo((Measure<U>) o);
-      }
-    };
+    return new GenericMutableMeasureImpl<>(initialValue, unit);
   }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
index 3bed5c4e7b6..62fbb3eabb0 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
@@ -4,8 +4,8 @@
 
 package edu.wpi.first.units;
 
-import edu.wpi.first.units.immutable.ImmutableRatio;
-import edu.wpi.first.units.mutable.MutRatio;
+import edu.wpi.first.units.measure.ImmutablePer;
+import edu.wpi.first.units.measure.MutPer;
 import java.util.Objects;
 
 /**
@@ -104,8 +104,15 @@ public D denominator() {
    *
    * @return the reciprocal
    */
+  @SuppressWarnings("unchecked")
   public PerUnit<D, N> reciprocal() {
-    return combine(m_denominator, m_numerator);
+    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);
+    }
   }
 
   public N mult(D denom) {
@@ -121,19 +128,40 @@ public N mult(D denom) {
         .make();
   }
 
+  /**
+   * 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.
+   *
+   * @param magnitude the magnitude of the measure
+   * @return the ratio measure
+   */
   @Override
   public Measure<? extends PerUnit<N, D>> of(double magnitude) {
-    return new ImmutableRatio<>(magnitude, toBaseUnits(magnitude), this);
+    return new ImmutablePer<>(magnitude, toBaseUnits(magnitude), this);
   }
 
+  /**
+   * 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.
+   *
+   * @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 new ImmutableRatio<>(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+    return new ImmutablePer<>(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
+  /**
+   * 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 new MutRatio<>(initialMagnitude, toBaseUnits(initialMagnitude), this);
+    return new MutPer<>(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 
   public double convertFrom(double magnitude, PerUnit<? extends N, ? extends D> otherUnit) {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
index 63ae228b484..4b6a46e69c9 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
@@ -7,9 +7,9 @@
 import static edu.wpi.first.units.Units.Joules;
 import static edu.wpi.first.units.Units.Seconds;
 
-import edu.wpi.first.units.immutable.ImmutablePower;
+import edu.wpi.first.units.measure.ImmutablePower;
+import edu.wpi.first.units.measure.MutPower;
 import edu.wpi.first.units.measure.Power;
-import edu.wpi.first.units.mutable.MutPower;
 
 /**
  * Unit of power dimension.
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
index 9a0d81ee7a1..a0d1f82f6cf 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units;
 
-import edu.wpi.first.units.immutable.ImmutableTemperature;
+import edu.wpi.first.units.measure.ImmutableTemperature;
+import edu.wpi.first.units.measure.MutTemperature;
 import edu.wpi.first.units.measure.Temperature;
-import edu.wpi.first.units.mutable.MutTemperature;
 
 /**
  * Unit of temperature dimension.
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
index 5ae21383c12..0f506bf7c54 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units;
 
-import edu.wpi.first.units.immutable.ImmutableTime;
+import edu.wpi.first.units.measure.ImmutableTime;
+import edu.wpi.first.units.measure.MutTime;
 import edu.wpi.first.units.measure.Time;
-import edu.wpi.first.units.mutable.MutTime;
 
 /**
  * Unit of time dimension.
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
index fe87289a18d..c37e87c3804 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units;
 
-import edu.wpi.first.units.immutable.ImmutableTorque;
+import edu.wpi.first.units.measure.ImmutableTorque;
+import edu.wpi.first.units.measure.MutTorque;
 import edu.wpi.first.units.measure.Torque;
-import edu.wpi.first.units.mutable.MutTorque;
 
 public class TorqueUnit extends MultUnit<DistanceUnit, ForceUnit> {
   private static final CombinatoryUnitCache<DistanceUnit, ForceUnit, TorqueUnit> cache =
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
index dc303ed19d4..098310f892d 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units;
 
-import edu.wpi.first.units.immutable.ImmutableVelocity;
+import edu.wpi.first.units.measure.ImmutableVelocity;
+import edu.wpi.first.units.measure.MutVelocity;
 import edu.wpi.first.units.measure.Velocity;
-import edu.wpi.first.units.mutable.MutVelocity;
 
 /**
  * Unit of velocity dimension that is a combination of a distance unit (numerator) and a time unit
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
index 5c4aaebe173..e5b28ff2730 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.units;
 
-import edu.wpi.first.units.immutable.ImmutableVoltage;
+import edu.wpi.first.units.measure.ImmutableVoltage;
+import edu.wpi.first.units.measure.MutVoltage;
 import edu.wpi.first.units.measure.Voltage;
-import edu.wpi.first.units.mutable.MutVoltage;
 
 /**
  * Unit of electric voltage dimension.
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAcceleration.java
deleted file mode 100644
index 1b706d4439f..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAcceleration.java
+++ /dev/null
@@ -1,55 +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.immutable;
-
-import edu.wpi.first.units.AccelerationUnit;
-import edu.wpi.first.units.MathHelper;
-import edu.wpi.first.units.Unit;
-import edu.wpi.first.units.measure.Acceleration;
-
-public final class ImmutableAcceleration<D extends Unit> implements Acceleration<D> {
-  private final MathHelper<AccelerationUnit<D>, Acceleration<D>> mathHelper =
-      new MathHelper<>(baseUnit()::of);
-
-  private final double magnitude;
-  private final double baseUnitMagnitude;
-  private final AccelerationUnit<D> unit;
-
-  public ImmutableAcceleration(
-      double magnitude, double baseUnitMagnitude, AccelerationUnit<D> unit) {
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = baseUnitMagnitude;
-    this.unit = unit;
-  }
-
-  public MathHelper<AccelerationUnit<D>, Acceleration<D>> getMathHelper() {
-    return mathHelper;
-  }
-
-  @Override
-  public double magnitude() {
-    return magnitude;
-  }
-
-  @Override
-  public double baseUnitMagnitude() {
-    return baseUnitMagnitude;
-  }
-
-  @Override
-  public AccelerationUnit<D> unit() {
-    return unit;
-  }
-
-  @Override
-  public Acceleration<D> copy() {
-    return this;
-  }
-
-  @Override
-  public String toString() {
-    return toShortString();
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularAcceleration.java
deleted file mode 100644
index e1329554a21..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularAcceleration.java
+++ /dev/null
@@ -1,27 +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.immutable;
-
-import edu.wpi.first.units.AngularAccelerationUnit;
-import edu.wpi.first.units.measure.AngularAcceleration;
-
-public record ImmutableAngularAcceleration(
-    double magnitude, double baseUnitMagnitude, AngularAccelerationUnit unit)
-    implements AngularAcceleration {
-  @Override
-  public AngularAcceleration copy() {
-    return this;
-  }
-
-  @Override
-  public AngularAccelerationUnit unit() {
-    return unit;
-  }
-
-  @Override
-  public String toString() {
-    return toShortString();
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularMomentum.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularMomentum.java
deleted file mode 100644
index 38046a052fd..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularMomentum.java
+++ /dev/null
@@ -1,22 +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.immutable;
-
-import edu.wpi.first.units.AngularMomentumUnit;
-import edu.wpi.first.units.measure.AngularMomentum;
-
-public record ImmutableAngularMomentum(
-    double magnitude, double baseUnitMagnitude, AngularMomentumUnit unit)
-    implements AngularMomentum {
-  @Override
-  public AngularMomentum copy() {
-    return this;
-  }
-
-  @Override
-  public String toString() {
-    return toShortString();
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularVelocity.java
deleted file mode 100644
index 915326e33a4..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableAngularVelocity.java
+++ /dev/null
@@ -1,22 +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.immutable;
-
-import edu.wpi.first.units.AngularVelocityUnit;
-import edu.wpi.first.units.measure.AngularVelocity;
-
-public record ImmutableAngularVelocity(
-    double magnitude, double baseUnitMagnitude, AngularVelocityUnit unit)
-    implements AngularVelocity {
-  @Override
-  public AngularVelocity copy() {
-    return this;
-  }
-
-  @Override
-  public String toString() {
-    return toShortString();
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDimensionless.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDimensionless.java
deleted file mode 100644
index ed2165d1790..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableDimensionless.java
+++ /dev/null
@@ -1,21 +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.immutable;
-
-import edu.wpi.first.units.DimensionlessUnit;
-import edu.wpi.first.units.measure.Dimensionless;
-
-public record ImmutableDimensionless(
-    double magnitude, double baseUnitMagnitude, DimensionlessUnit unit) implements Dimensionless {
-  @Override
-  public Dimensionless copy() {
-    return this;
-  }
-
-  @Override
-  public String toString() {
-    return toShortString();
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearAcceleration.java
deleted file mode 100644
index 02b6ff6d1fc..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearAcceleration.java
+++ /dev/null
@@ -1,22 +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.immutable;
-
-import edu.wpi.first.units.LinearAccelerationUnit;
-import edu.wpi.first.units.measure.LinearAcceleration;
-
-public record ImmutableLinearAcceleration(
-    double magnitude, double baseUnitMagnitude, LinearAccelerationUnit unit)
-    implements LinearAcceleration {
-  @Override
-  public LinearAcceleration copy() {
-    return this;
-  }
-
-  @Override
-  public String toString() {
-    return toShortString();
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearMomentum.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearMomentum.java
deleted file mode 100644
index 4e9fb8cd5c4..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearMomentum.java
+++ /dev/null
@@ -1,21 +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.immutable;
-
-import edu.wpi.first.units.LinearMomentumUnit;
-import edu.wpi.first.units.measure.LinearMomentum;
-
-public record ImmutableLinearMomentum(
-    double magnitude, double baseUnitMagnitude, LinearMomentumUnit unit) implements LinearMomentum {
-  @Override
-  public LinearMomentum copy() {
-    return this;
-  }
-
-  @Override
-  public String toString() {
-    return toShortString();
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearVelocity.java
deleted file mode 100644
index 083fdaa2b9f..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableLinearVelocity.java
+++ /dev/null
@@ -1,21 +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.immutable;
-
-import edu.wpi.first.units.LinearVelocityUnit;
-import edu.wpi.first.units.measure.LinearVelocity;
-
-public record ImmutableLinearVelocity(
-    double magnitude, double baseUnitMagnitude, LinearVelocityUnit unit) implements LinearVelocity {
-  @Override
-  public LinearVelocity copy() {
-    return this;
-  }
-
-  @Override
-  public String toString() {
-    return toShortString();
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMomentOfInertia.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMomentOfInertia.java
deleted file mode 100644
index 741c0a3a064..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMomentOfInertia.java
+++ /dev/null
@@ -1,23 +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.immutable;
-
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.MomentOfInertiaUnit;
-import edu.wpi.first.units.measure.MomentOfInertia;
-
-public record ImmutableMomentOfInertia(
-    double magnitude, double baseUnitMagnitude, MomentOfInertiaUnit unit)
-    implements MomentOfInertia {
-  @Override
-  public Measure<MomentOfInertiaUnit> copy() {
-    return this;
-  }
-
-  @Override
-  public String toString() {
-    return toShortString();
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMult.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMult.java
deleted file mode 100644
index af61c606ee9..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableMult.java
+++ /dev/null
@@ -1,23 +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.immutable;
-
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.MultUnit;
-import edu.wpi.first.units.Unit;
-import edu.wpi.first.units.measure.Mult;
-
-public record ImmutableMult<A extends Unit, B extends Unit>(
-    double magnitude, double baseUnitMagnitude, MultUnit<A, B> unit) implements Mult<A, B> {
-  @Override
-  public Measure<MultUnit<A, B>> copy() {
-    return this;
-  }
-
-  @Override
-  public String toString() {
-    return toShortString();
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableRatio.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableRatio.java
deleted file mode 100644
index e2e9c95d226..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableRatio.java
+++ /dev/null
@@ -1,17 +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.immutable;
-
-import edu.wpi.first.units.PerUnit;
-import edu.wpi.first.units.Unit;
-import edu.wpi.first.units.measure.Ratio;
-
-public record ImmutableRatio<N extends Unit, D extends Unit>(
-    double magnitude, double baseUnitMagnitude, PerUnit<N, D> unit) implements Ratio<N, D> {
-  @Override
-  public ImmutableRatio<N, D> copy() {
-    return this;
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVelocity.java
deleted file mode 100644
index 0a7091d5cd8..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/immutable/ImmutableVelocity.java
+++ /dev/null
@@ -1,22 +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.immutable;
-
-import edu.wpi.first.units.Unit;
-import edu.wpi.first.units.VelocityUnit;
-import edu.wpi.first.units.measure.Velocity;
-
-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();
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/measure/Acceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Acceleration.java
deleted file mode 100644
index 9247617fcb4..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/measure/Acceleration.java
+++ /dev/null
@@ -1,49 +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.measure;
-
-import edu.wpi.first.units.AccelerationUnit;
-import edu.wpi.first.units.MathHelper;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Unit;
-
-public interface Acceleration<D extends Unit> extends Measure<AccelerationUnit<D>> {
-  @Override
-  Acceleration<D> copy();
-
-  MathHelper<AccelerationUnit<D>, Acceleration<D>> getMathHelper();
-
-  default Acceleration<D> plus(Acceleration<D> other) {
-    return getMathHelper().add(this, other);
-  }
-
-  default Acceleration<D> minus(Acceleration<D> other) {
-    return getMathHelper().minus(this, other);
-  }
-
-  default Dimensionless divide(Acceleration<D> divisor) {
-    return getMathHelper().divide(this, divisor);
-  }
-
-  default Acceleration<D> divide(double divisor) {
-    return getMathHelper().divide(this, divisor);
-  }
-
-  default Acceleration<D> divide(Dimensionless divisor) {
-    return getMathHelper().divide(this, divisor);
-  }
-
-  default Acceleration<D> times(double multiplier) {
-    return getMathHelper().multiply(this, multiplier);
-  }
-
-  default Acceleration<D> times(Dimensionless multiplier) {
-    return getMathHelper().multiply(this, multiplier);
-  }
-
-  default Velocity<D> times(Time time) {
-    return getMathHelper().multiply(this, time, baseUnit().numerator()::of);
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/measure/Angle.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Angle.java
deleted file mode 100644
index ebf765749c7..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/measure/Angle.java
+++ /dev/null
@@ -1,68 +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.measure;
-
-import static edu.wpi.first.units.Units.Radians;
-import static edu.wpi.first.units.Units.RadiansPerSecond;
-import static edu.wpi.first.units.Units.Value;
-
-import edu.wpi.first.units.AngleUnit;
-import edu.wpi.first.units.ImmutableMeasure;
-import edu.wpi.first.units.MathHelper;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.PerUnit;
-import edu.wpi.first.units.TimeUnit;
-import edu.wpi.first.units.Unit;
-
-public interface Angle extends Measure<AngleUnit> {
-  MathHelper<AngleUnit, Angle> mathHelper = new MathHelper<>(Radians::of);
-
-  default Dimensionless divide(Angle other) {
-    return mathHelper.divide(this, other);
-  }
-
-  default Angle plus(Angle other) {
-    return mathHelper.add(this, other);
-  }
-
-  default Angle minus(Angle other) {
-    return mathHelper.minus(this, other);
-  }
-
-  default Angle divide(double divisor) {
-    return mathHelper.divide(this, divisor);
-  }
-
-  default AngularVelocity divide(Time period) {
-    return mathHelper.divide(this, period, RadiansPerSecond::of);
-  }
-
-  default <Other extends Unit> Measure<Other> divide(
-      Measure<? extends PerUnit<AngleUnit, ? extends Other>> ratio) {
-    return ImmutableMeasure.ofBaseUnits(
-        baseUnitMagnitude() / ratio.baseUnitMagnitude(), ratio.unit().denominator());
-  }
-
-  default AngularVelocity per(TimeUnit unit) {
-    return mathHelper.divide(this, unit.of(1), RadiansPerSecond::of);
-  }
-
-  default Dimensionless per(AngleUnit unit) {
-    return mathHelper.divide(this, unit.of(1), Value::of);
-  }
-
-  @SuppressWarnings("unchecked")
-  default <Divisor extends Unit> Measure<? extends PerUnit<AngleUnit, Divisor>> per(
-      Divisor divisor) {
-    return PerUnit.combine(this.baseUnit(), (Divisor) divisor.getBaseUnit())
-        .of(baseUnitMagnitude() / divisor.fromBaseUnits(1));
-  }
-
-  default <Other extends Unit> Measure<Other> times(
-      Measure<? extends PerUnit<? extends Other, AngleUnit>> ratio) {
-    return ImmutableMeasure.ofBaseUnits(
-        baseUnitMagnitude() * ratio.baseUnitMagnitude(), ratio.unit().numerator());
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/measure/AngularAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/AngularAcceleration.java
deleted file mode 100644
index c9ac6aff5f7..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/measure/AngularAcceleration.java
+++ /dev/null
@@ -1,59 +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.measure;
-
-import static edu.wpi.first.units.Units.RadiansPerSecond;
-import static edu.wpi.first.units.Units.RadiansPerSecondPerSecond;
-
-import edu.wpi.first.units.AngularAccelerationUnit;
-import edu.wpi.first.units.MathHelper;
-import edu.wpi.first.units.Measure;
-
-public interface AngularAcceleration extends Measure<AngularAccelerationUnit> {
-  MathHelper<AngularAccelerationUnit, AngularAcceleration> mathHelper =
-      new MathHelper<>(RadiansPerSecondPerSecond::of);
-
-  @Override
-  AngularAcceleration copy();
-
-  @Override
-  AngularAccelerationUnit unit();
-
-  default double in(AngularAccelerationUnit otherUnit) {
-    return otherUnit.fromBaseUnits(baseUnitMagnitude());
-  }
-
-  default AngularAcceleration plus(AngularAcceleration other) {
-    return mathHelper.add(this, other);
-  }
-
-  default AngularAcceleration minus(AngularAcceleration other) {
-    return mathHelper.minus(this, other);
-  }
-
-  default Dimensionless divide(AngularAcceleration divisor) {
-    return mathHelper.divide(this, divisor);
-  }
-
-  default AngularAcceleration divide(double divisor) {
-    return mathHelper.divide(this, divisor);
-  }
-
-  default AngularAcceleration divide(Dimensionless divisor) {
-    return mathHelper.divide(this, divisor);
-  }
-
-  default AngularAcceleration times(double multiplier) {
-    return mathHelper.multiply(this, multiplier);
-  }
-
-  default AngularAcceleration times(Dimensionless multiplier) {
-    return mathHelper.multiply(this, multiplier);
-  }
-
-  default AngularVelocity times(Time time) {
-    return mathHelper.multiply(this, time, RadiansPerSecond::of);
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/measure/AngularMomentum.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/AngularMomentum.java
deleted file mode 100644
index 19b4dd3349a..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/measure/AngularMomentum.java
+++ /dev/null
@@ -1,16 +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.measure;
-
-import edu.wpi.first.units.AngularMomentumUnit;
-import edu.wpi.first.units.Measure;
-
-public interface AngularMomentum extends Measure<AngularMomentumUnit> {
-  @Override
-  AngularMomentum copy();
-
-  @Override
-  AngularMomentumUnit unit();
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/measure/AngularVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/AngularVelocity.java
deleted file mode 100644
index 9b7004bdc88..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/measure/AngularVelocity.java
+++ /dev/null
@@ -1,41 +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.measure;
-
-import static edu.wpi.first.units.Units.Hertz;
-import static edu.wpi.first.units.Units.Radians;
-import static edu.wpi.first.units.Units.RadiansPerSecond;
-import static edu.wpi.first.units.Units.RadiansPerSecondPerSecond;
-
-import edu.wpi.first.units.AngularVelocityUnit;
-import edu.wpi.first.units.MathHelper;
-import edu.wpi.first.units.Measure;
-
-public interface AngularVelocity extends Measure<AngularVelocityUnit> {
-  MathHelper<AngularVelocityUnit, AngularVelocity> mathHelper =
-      new MathHelper<>(RadiansPerSecond::of);
-
-  @Override
-  AngularVelocity copy();
-
-  default double in(AngularVelocityUnit otherUnit) {
-    return otherUnit.fromBaseUnits(baseUnitMagnitude());
-  }
-
-  default Angle times(Time period) {
-    return mathHelper.multiply(this, period, Radians::of);
-  }
-
-  default AngularAcceleration divide(Time period) {
-    return mathHelper.divide(this, period, RadiansPerSecondPerSecond::of);
-  }
-
-  default Frequency asFrequency() {
-    return Hertz.of(baseUnitMagnitude());
-  }
-
-  @Override
-  AngularVelocityUnit unit();
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/measure/Current.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Current.java
deleted file mode 100644
index 47055d82e06..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/measure/Current.java
+++ /dev/null
@@ -1,19 +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.measure;
-
-import static edu.wpi.first.units.Units.Watts;
-
-import edu.wpi.first.units.CurrentUnit;
-import edu.wpi.first.units.Measure;
-
-public interface Current extends Measure<CurrentUnit> {
-  @Override
-  Current copy();
-
-  default Power times(Voltage voltage) {
-    return Watts.ofBaseUnits(baseUnitMagnitude() * voltage.baseUnitMagnitude());
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/measure/Dimensionless.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Dimensionless.java
deleted file mode 100644
index f7511e50835..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/measure/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.measure;
-
-import static edu.wpi.first.units.Units.Hertz;
-import static edu.wpi.first.units.Units.Value;
-
-import edu.wpi.first.units.DimensionlessUnit;
-import edu.wpi.first.units.MathHelper;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Unit;
-
-public interface Dimensionless extends Measure<DimensionlessUnit> {
-  MathHelper<DimensionlessUnit, Dimensionless> mathHelper = new MathHelper<>(Value::of);
-
-  @Override
-  Dimensionless copy();
-
-  @SuppressWarnings("unchecked")
-  default <U extends Unit> Measure<U> times(Measure<U> other) {
-    return (Measure<U>)
-        other.unit().ofBaseUnits(other.baseUnitMagnitude() * this.baseUnitMagnitude());
-  }
-
-  default Frequency divide(Time time) {
-    return Hertz.of(baseUnitMagnitude() / time.baseUnitMagnitude());
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/measure/Distance.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Distance.java
deleted file mode 100644
index 069405b38f8..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/measure/Distance.java
+++ /dev/null
@@ -1,81 +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.measure;
-
-import static edu.wpi.first.units.Units.Meters;
-import static edu.wpi.first.units.Units.MetersPerSecond;
-import static edu.wpi.first.units.Units.Seconds;
-
-import edu.wpi.first.units.DistanceUnit;
-import edu.wpi.first.units.ImmutableMeasure;
-import edu.wpi.first.units.MathHelper;
-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.immutable.ImmutableLinearVelocity;
-
-public interface Distance extends Measure<DistanceUnit> {
-  MathHelper<DistanceUnit, Distance> mathHelper = new MathHelper<>(Meters::of);
-
-  @Override
-  Distance copy();
-
-  default LinearVelocity per(Time period) {
-    return new ImmutableLinearVelocity(
-        magnitude() / period.magnitude(),
-        baseUnitMagnitude() / period.baseUnitMagnitude(),
-        this.unit().per(period.unit()));
-  }
-
-  default LinearVelocity per(TimeUnit period) {
-    return new ImmutableLinearVelocity(
-        magnitude() / period.fromBaseUnits(1),
-        baseUnitMagnitude() / period.toBaseUnits(1),
-        this.unit().per(period));
-  }
-
-  default Distance plus(Distance other) {
-    return mathHelper.add(this, other);
-  }
-
-  default Distance minus(Distance other) {
-    return mathHelper.minus(this, other);
-  }
-
-  default Distance times(double scalar) {
-    return mathHelper.multiply(this, scalar);
-  }
-
-  default <U extends Unit> Measure<U> times(Measure<? extends PerUnit<U, DistanceUnit>> term) {
-    return mathHelper.multiply(
-        this,
-        term,
-        mag -> {
-          var u = term.baseUnit().numerator();
-          return ImmutableMeasure.ofBaseUnits(mag, u);
-        });
-  }
-
-  default LinearVelocity times(Frequency frequency) {
-    return mathHelper.multiply(this, frequency, MetersPerSecond::of);
-  }
-
-  default Distance divide(double divisor) {
-    return mathHelper.divide(this, divisor);
-  }
-
-  default Distance negate() {
-    return mathHelper.negate(this);
-  }
-
-  default Distance divide(Dimensionless divisor) {
-    return mathHelper.divide(this, divisor);
-  }
-
-  default Time divide(LinearVelocity velocity) {
-    return mathHelper.divide(this, velocity, Seconds::of);
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/measure/Energy.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Energy.java
deleted file mode 100644
index 5b8a8ca170d..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/measure/Energy.java
+++ /dev/null
@@ -1,35 +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.measure;
-
-import static edu.wpi.first.units.Units.Joules;
-import static edu.wpi.first.units.Units.Watts;
-
-import edu.wpi.first.units.EnergyUnit;
-import edu.wpi.first.units.MathHelper;
-import edu.wpi.first.units.Measure;
-
-public interface Energy extends Measure<EnergyUnit> {
-  MathHelper<EnergyUnit, Energy> mathHelper = new MathHelper<>(Joules::of);
-
-  @Override
-  Energy copy();
-
-  default Energy plus(Energy other) {
-    return mathHelper.add(this, other);
-  }
-
-  default Energy minus(Energy other) {
-    return mathHelper.minus(this, other);
-  }
-
-  default Dimensionless divide(Energy other) {
-    return mathHelper.divide(this, other);
-  }
-
-  default Power divide(Time period) {
-    return mathHelper.divide(this, period, Watts::of);
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/measure/Force.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Force.java
deleted file mode 100644
index e2ef5bddaf2..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/measure/Force.java
+++ /dev/null
@@ -1,51 +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.measure;
-
-import static edu.wpi.first.units.Units.Joules;
-import static edu.wpi.first.units.Units.Newtons;
-import static edu.wpi.first.units.Units.Seconds;
-
-import edu.wpi.first.units.DistanceUnit;
-import edu.wpi.first.units.ForceUnit;
-import edu.wpi.first.units.MathHelper;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.TimeUnit;
-import edu.wpi.first.units.VelocityUnit;
-
-public interface Force extends Measure<ForceUnit> {
-  MathHelper<ForceUnit, Force> mathHelper = new MathHelper<>(Newtons::of);
-
-  @Override
-  Force copy();
-
-  default Force plus(Force other) {
-    return mathHelper.add(this, other);
-  }
-
-  default Force minus(Force other) {
-    return mathHelper.minus(this, other);
-  }
-
-  default Dimensionless divide(Force other) {
-    return mathHelper.divide(this, other);
-  }
-
-  default Velocity<ForceUnit> divide(Time time) {
-    return mathHelper.divide(this, time, VelocityUnit.combine(baseUnit(), Seconds)::of);
-  }
-
-  default Velocity<ForceUnit> per(TimeUnit time) {
-    return divide(time.of(1));
-  }
-
-  default Energy mult(Distance distance) {
-    return mathHelper.multiply(this, distance, Joules::of);
-  }
-
-  default Energy mult(DistanceUnit distance) {
-    return mult(distance.of(1));
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/measure/Frequency.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Frequency.java
deleted file mode 100644
index 1a30a5e89f5..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/measure/Frequency.java
+++ /dev/null
@@ -1,31 +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.measure;
-
-import static edu.wpi.first.units.Units.Hertz;
-import static edu.wpi.first.units.Units.Seconds;
-
-import edu.wpi.first.units.FrequencyUnit;
-import edu.wpi.first.units.MathHelper;
-import edu.wpi.first.units.Measure;
-
-public interface Frequency extends Measure<FrequencyUnit> {
-  MathHelper<FrequencyUnit, Frequency> mathHelper = new MathHelper<>(Hertz::of);
-
-  @Override
-  Frequency copy();
-
-  default Dimensionless divide(Frequency other) {
-    return mathHelper.divide(this, other);
-  }
-
-  default Time inverse() {
-    return Seconds.of(1 / baseUnitMagnitude());
-  }
-
-  default Time asPeriod() {
-    return inverse();
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/measure/LinearAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/LinearAcceleration.java
deleted file mode 100644
index 89bf08896a8..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/measure/LinearAcceleration.java
+++ /dev/null
@@ -1,59 +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.measure;
-
-import static edu.wpi.first.units.Units.MetersPerSecond;
-import static edu.wpi.first.units.Units.MetersPerSecondPerSecond;
-
-import edu.wpi.first.units.LinearAccelerationUnit;
-import edu.wpi.first.units.MathHelper;
-import edu.wpi.first.units.Measure;
-
-public interface LinearAcceleration extends Measure<LinearAccelerationUnit> {
-  MathHelper<LinearAccelerationUnit, LinearAcceleration> mathHelper =
-      new MathHelper<>(MetersPerSecondPerSecond::of);
-
-  @Override
-  LinearAcceleration copy();
-
-  @Override
-  LinearAccelerationUnit unit();
-
-  default double in(LinearAccelerationUnit otherUnit) {
-    return otherUnit.fromBaseUnits(baseUnitMagnitude());
-  }
-
-  default LinearVelocity times(Time time) {
-    return mathHelper.multiply(this, time, MetersPerSecond::of);
-  }
-
-  default LinearAcceleration times(Dimensionless multiplier) {
-    return mathHelper.multiply(this, multiplier);
-  }
-
-  default LinearAcceleration times(double multiplier) {
-    return mathHelper.multiply(this, multiplier);
-  }
-
-  default LinearAcceleration divide(Dimensionless divisor) {
-    return mathHelper.divide(this, divisor);
-  }
-
-  default LinearAcceleration divide(double divisor) {
-    return mathHelper.divide(this, divisor);
-  }
-
-  default Dimensionless divide(LinearAcceleration divisor) {
-    return mathHelper.divide(this, divisor);
-  }
-
-  default LinearAcceleration minus(LinearAcceleration other) {
-    return mathHelper.minus(this, other);
-  }
-
-  default LinearAcceleration plus(LinearAcceleration other) {
-    return mathHelper.add(this, other);
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/measure/LinearMomentum.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/LinearMomentum.java
deleted file mode 100644
index f1958b4b0e9..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/measure/LinearMomentum.java
+++ /dev/null
@@ -1,13 +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.measure;
-
-import edu.wpi.first.units.LinearMomentumUnit;
-import edu.wpi.first.units.Measure;
-
-public interface LinearMomentum extends Measure<LinearMomentumUnit> {
-  @Override
-  LinearMomentum copy();
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/measure/LinearVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/LinearVelocity.java
deleted file mode 100644
index e7c664fc4bb..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/measure/LinearVelocity.java
+++ /dev/null
@@ -1,31 +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.measure;
-
-import static edu.wpi.first.units.Units.MetersPerSecond;
-
-import edu.wpi.first.units.DistanceUnit;
-import edu.wpi.first.units.LinearVelocityUnit;
-import edu.wpi.first.units.MathHelper;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.VelocityUnit;
-
-public interface LinearVelocity extends Measure<LinearVelocityUnit> {
-  MathHelper<LinearVelocityUnit, LinearVelocity> mathHelper = new MathHelper<>(MetersPerSecond::of);
-
-  @Override
-  LinearVelocityUnit unit();
-
-  @Override
-  LinearVelocity copy();
-
-  default double in(VelocityUnit<DistanceUnit> otherUnit) {
-    return otherUnit.fromBaseUnits(baseUnitMagnitude());
-  }
-
-  default Distance times(Time period) {
-    return mathHelper.multiply(this, period, unit().numerator()::ofBaseUnits);
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/measure/Mass.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Mass.java
deleted file mode 100644
index 7743287f980..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/measure/Mass.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.measure;
-
-import static edu.wpi.first.units.Units.Kilograms;
-
-import edu.wpi.first.units.MassUnit;
-import edu.wpi.first.units.MathHelper;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.TimeUnit;
-import edu.wpi.first.units.VelocityUnit;
-
-public interface Mass extends Measure<MassUnit> {
-  MathHelper<MassUnit, Mass> mathHelper = new MathHelper<>(Kilograms::of);
-
-  @Override
-  Mass copy();
-
-  default Velocity<MassUnit> per(Time period) {
-    return mathHelper.divide(
-        this, period, VelocityUnit.combine(unit(), period.unit())::ofBaseUnits);
-  }
-
-  default Velocity<MassUnit> per(TimeUnit period) {
-    return VelocityUnit.combine(unit(), period).of(magnitude());
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/measure/MomentOfInertia.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/MomentOfInertia.java
deleted file mode 100644
index 21727dddb29..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/measure/MomentOfInertia.java
+++ /dev/null
@@ -1,13 +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.measure;
-
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.MomentOfInertiaUnit;
-
-public interface MomentOfInertia extends Measure<MomentOfInertiaUnit> {
-  @Override
-  Measure<MomentOfInertiaUnit> copy();
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/measure/Mult.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Mult.java
deleted file mode 100644
index 2ef7a5f3225..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/measure/Mult.java
+++ /dev/null
@@ -1,14 +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.measure;
-
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.MultUnit;
-import edu.wpi.first.units.Unit;
-
-public interface Mult<A extends Unit, B extends Unit> extends Measure<MultUnit<A, B>> {
-  @Override
-  Measure<MultUnit<A, B>> copy();
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/measure/Power.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Power.java
deleted file mode 100644
index 6aef9c0d896..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/measure/Power.java
+++ /dev/null
@@ -1,20 +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.measure;
-
-import edu.wpi.first.units.EnergyUnit;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.PerUnit;
-import edu.wpi.first.units.PowerUnit;
-import edu.wpi.first.units.TimeUnit;
-
-public interface Power extends Measure<PowerUnit> {
-  @Override
-  Power copy();
-
-  default double in(PerUnit<EnergyUnit, TimeUnit> otherUnit) {
-    return otherUnit.fromBaseUnits(baseUnitMagnitude());
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/measure/Ratio.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Ratio.java
deleted file mode 100644
index 4061535e18b..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/measure/Ratio.java
+++ /dev/null
@@ -1,38 +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.measure;
-
-import static edu.wpi.first.units.Units.Hertz;
-import static edu.wpi.first.units.Units.Value;
-
-import edu.wpi.first.units.DimensionlessUnit;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.PerUnit;
-import edu.wpi.first.units.TimeUnit;
-import edu.wpi.first.units.Unit;
-
-public interface Ratio<N extends Unit, D extends Unit> extends Measure<PerUnit<N, D>> {
-  @Override
-  Ratio<N, D> copy();
-
-  @SuppressWarnings("unchecked")
-  default Measure<? extends N> times(Measure<? extends D> divisor) {
-    return (Measure<? extends N>)
-        baseUnit().numerator().ofBaseUnits(baseUnitMagnitude() * divisor.baseUnitMagnitude());
-  }
-
-  @SuppressWarnings("unchecked")
-  default Measure<? extends PerUnit<DimensionlessUnit, D>> divide(Measure<? extends N> dividend) {
-    if (unit().denominator() instanceof TimeUnit timeUnit) {
-      // Divisor is time; return frequency
-      return (Measure<? extends PerUnit<DimensionlessUnit, D>>)
-          Hertz.ofBaseUnits(baseUnitMagnitude() / dividend.baseUnitMagnitude());
-    } else {
-      // Generic
-      return PerUnit.combine(Value, unit().denominator())
-          .ofBaseUnits(baseUnitMagnitude() / dividend.baseUnitMagnitude());
-    }
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/measure/Temperature.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Temperature.java
deleted file mode 100644
index 9e8a1b1990e..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/measure/Temperature.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.measure;
-
-import static edu.wpi.first.units.Units.Kelvin;
-
-import edu.wpi.first.units.MathHelper;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.TemperatureUnit;
-import edu.wpi.first.units.TimeUnit;
-import edu.wpi.first.units.VelocityUnit;
-
-public interface Temperature extends Measure<TemperatureUnit> {
-  MathHelper<TemperatureUnit, Temperature> mathHelper = new MathHelper<>(Kelvin::of);
-
-  @Override
-  Temperature copy();
-
-  default Velocity<TemperatureUnit> per(Time period) {
-    return mathHelper.divide(
-        this, period, VelocityUnit.combine(unit(), period.unit())::ofBaseUnits);
-  }
-
-  default Velocity<TemperatureUnit> per(TimeUnit period) {
-    return mathHelper.divide(this, period);
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/measure/Time.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Time.java
deleted file mode 100644
index bb57b6d044f..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/measure/Time.java
+++ /dev/null
@@ -1,39 +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.measure;
-
-import static edu.wpi.first.units.Units.Hertz;
-import static edu.wpi.first.units.Units.Seconds;
-
-import edu.wpi.first.units.MathHelper;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.TimeUnit;
-
-public interface Time extends Measure<TimeUnit> {
-  MathHelper<TimeUnit, Time> mathHelper = new MathHelper<>(Seconds::of);
-
-  @Override
-  Time copy();
-
-  default Frequency inverse() {
-    return Hertz.of(1 / baseUnitMagnitude());
-  }
-
-  default Frequency asFrequency() {
-    return inverse();
-  }
-
-  default Dimensionless divide(Time other) {
-    return mathHelper.divide(this, other);
-  }
-
-  default Time plus(Time other) {
-    return mathHelper.add(this, other);
-  }
-
-  default Time minus(Time other) {
-    return mathHelper.minus(this, other);
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/measure/Torque.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Torque.java
deleted file mode 100644
index 9055bf1f9d0..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/measure/Torque.java
+++ /dev/null
@@ -1,13 +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.measure;
-
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.TorqueUnit;
-
-public interface Torque extends Measure<TorqueUnit> {
-  @Override
-  Torque copy();
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/measure/Velocity.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Velocity.java
deleted file mode 100644
index 5bc67d58048..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/measure/Velocity.java
+++ /dev/null
@@ -1,18 +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.measure;
-
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Unit;
-import edu.wpi.first.units.VelocityUnit;
-
-public interface Velocity<D extends Unit> extends Measure<VelocityUnit<D>> {
-  @Override
-  Velocity<D> copy();
-
-  default double in(VelocityUnit<? extends D> otherUnit) {
-    return otherUnit.fromBaseUnits(baseUnitMagnitude());
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/measure/Voltage.java b/wpiunits/src/main/java/edu/wpi/first/units/measure/Voltage.java
deleted file mode 100644
index fb1e26fc5a4..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/measure/Voltage.java
+++ /dev/null
@@ -1,36 +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.measure;
-
-import static edu.wpi.first.units.Units.Second;
-import static edu.wpi.first.units.Units.Volts;
-
-import edu.wpi.first.units.MathHelper;
-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.VoltageUnit;
-
-public interface Voltage extends Measure<VoltageUnit> {
-  MathHelper<VoltageUnit, Voltage> mathHelper = new MathHelper<>(Volts::of);
-
-  @Override
-  Voltage copy();
-
-  default Velocity<VoltageUnit> divide(Time period) {
-    return mathHelper.divide(this, period, Volts.per(Second)::of);
-  }
-
-  default Velocity<VoltageUnit> per(TimeUnit period) {
-    return mathHelper.divide(this, period);
-  }
-
-  @SuppressWarnings("unchecked")
-  default <U extends Unit> Measure<U> divide(Measure<? extends PerUnit<VoltageUnit, U>> divisor) {
-    return mathHelper.divide(
-        this, divisor, x -> (Measure<U>) divisor.unit().denominator().ofBaseUnits(x));
-  }
-}
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..eff0200e443
--- /dev/null
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/GenericMutableMeasureImpl.java
@@ -0,0 +1,63 @@
+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;
+
+public final class GenericMutableMeasureImpl<U extends Unit>
+    extends MutableMeasureBase<U, Measure<U>, GenericMutableMeasureImpl<U>> {
+  public GenericMutableMeasureImpl(double initialValue, double baseUnitMagnitude, U unit) {
+    super(initialValue, baseUnitMagnitude, unit);
+  }
+
+  public GenericMutableMeasureImpl(double initialValue, U unit) {
+    this(initialValue, unit.toBaseUnits(initialValue), unit);
+  }
+
+  @Override
+  public Measure<U> copy() {
+    return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public MutableMeasure<U, ?, ?> mutableCopy() {
+    return new GenericMutableMeasureImpl<>(magnitude, baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public Measure<U> unaryMinus() {
+    return ImmutableMeasure.ofBaseUnits(0 - baseUnitMagnitude, unit);
+  }
+
+  @Override
+  public Measure<U> plus(Measure<? extends U> other) {
+    return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude + other.baseUnitMagnitude(), unit);
+  }
+
+  @Override
+  public Measure<U> minus(Measure<? extends U> other) {
+    return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude - other.baseUnitMagnitude(), unit);
+  }
+
+  @Override
+  public Measure<U> times(double multiplier) {
+    return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude * multiplier, unit);
+  }
+
+  @Override
+  public Measure<U> times(Dimensionless multiplier) {
+    return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude * multiplier.baseUnitMagnitude(), unit);
+  }
+
+  @Override
+  public Measure<U> divide(double divisor) {
+    return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude / divisor, unit);
+  }
+
+  @Override
+  public Measure<U> divide(Dimensionless divisor) {
+    return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude / divisor.baseUnitMagnitude(), unit);
+  }
+}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAcceleration.java
deleted file mode 100644
index 4c402517e82..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAcceleration.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.mutable;
-
-import edu.wpi.first.units.AccelerationUnit;
-import edu.wpi.first.units.MathHelper;
-import edu.wpi.first.units.Unit;
-import edu.wpi.first.units.immutable.ImmutableAcceleration;
-import edu.wpi.first.units.measure.Acceleration;
-
-public final class MutAcceleration<D extends Unit>
-    extends MutableMeasureBase<AccelerationUnit<D>, Acceleration<D>, MutAcceleration<D>>
-    implements Acceleration<D> {
-  private final MathHelper<AccelerationUnit<D>, Acceleration<D>> mathHelper =
-      new MathHelper<>(baseUnit()::of);
-
-  public MutAcceleration(double magnitude, double baseUnitMagnitude, AccelerationUnit<D> unit) {
-    super(magnitude, baseUnitMagnitude, unit);
-  }
-
-  @Override
-  public MathHelper<AccelerationUnit<D>, Acceleration<D>> getMathHelper() {
-    return mathHelper;
-  }
-
-  @Override
-  public Acceleration<D> copy() {
-    return new ImmutableAcceleration<>(magnitude(), baseUnitMagnitude(), unit());
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularAcceleration.java
deleted file mode 100644
index 25815329595..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutAngularAcceleration.java
+++ /dev/null
@@ -1,23 +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.mutable;
-
-import edu.wpi.first.units.AngularAccelerationUnit;
-import edu.wpi.first.units.immutable.ImmutableAngularAcceleration;
-import edu.wpi.first.units.measure.AngularAcceleration;
-
-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/main/java/edu/wpi/first/units/mutable/MutLinearAcceleration.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearAcceleration.java
deleted file mode 100644
index 0fc0339d0a7..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutLinearAcceleration.java
+++ /dev/null
@@ -1,23 +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.mutable;
-
-import edu.wpi.first.units.LinearAccelerationUnit;
-import edu.wpi.first.units.immutable.ImmutableLinearAcceleration;
-import edu.wpi.first.units.measure.LinearAcceleration;
-
-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/main/java/edu/wpi/first/units/mutable/MutMomentOfInertia.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMomentOfInertia.java
deleted file mode 100644
index f2f3ebb991f..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMomentOfInertia.java
+++ /dev/null
@@ -1,22 +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.mutable;
-
-import edu.wpi.first.units.MomentOfInertiaUnit;
-import edu.wpi.first.units.immutable.ImmutableMomentOfInertia;
-import edu.wpi.first.units.measure.MomentOfInertia;
-
-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/main/java/edu/wpi/first/units/mutable/MutMult.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMult.java
deleted file mode 100644
index 832ad430399..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutMult.java
+++ /dev/null
@@ -1,22 +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.mutable;
-
-import edu.wpi.first.units.MultUnit;
-import edu.wpi.first.units.Unit;
-import edu.wpi.first.units.immutable.ImmutableMult;
-import edu.wpi.first.units.measure.Mult;
-
-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<>(magnitude, baseUnitMagnitude, unit);
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutRatio.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutRatio.java
deleted file mode 100644
index 7de0e46e4e0..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutRatio.java
+++ /dev/null
@@ -1,22 +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.mutable;
-
-import edu.wpi.first.units.PerUnit;
-import edu.wpi.first.units.Unit;
-import edu.wpi.first.units.immutable.ImmutableRatio;
-import edu.wpi.first.units.measure.Ratio;
-
-public final class MutRatio<N extends Unit, D extends Unit>
-    extends MutableMeasureBase<PerUnit<N, D>, Ratio<N, D>, MutRatio<N, D>> implements Ratio<N, D> {
-  public MutRatio(double magnitude, double baseUnitMagnitude, PerUnit<N, D> unit) {
-    super(magnitude, baseUnitMagnitude, unit);
-  }
-
-  @Override
-  public Ratio<N, D> copy() {
-    return new ImmutableRatio<>(magnitude(), baseUnitMagnitude(), unit());
-  }
-}
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVelocity.java b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVelocity.java
deleted file mode 100644
index 38a85680afe..00000000000
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutVelocity.java
+++ /dev/null
@@ -1,23 +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.mutable;
-
-import edu.wpi.first.units.Unit;
-import edu.wpi.first.units.VelocityUnit;
-import edu.wpi.first.units.immutable.ImmutableVelocity;
-import edu.wpi.first.units.measure.Velocity;
-
-public 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<>(magnitude, baseUnitMagnitude, unit);
-  }
-}
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 db1eed3a2e3..70a91ec1267 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/MeasureTest.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/MeasureTest.java
@@ -57,11 +57,11 @@ void testSubtract() {
   }
 
   @Test
-  void testNegate() {
+  void testUnaryMinus() {
     Distance m = Units.Feet.of(123);
-    Distance n = m.negate();
-    assertEquals(-m.in(Units.Feet), n.in(Units.Feet), 1e-12);
-    assertEquals(m.baseUnit(), n.baseUnit());
+    Distance negated = m.unaryMinus();
+    assertEquals(-123, negated.in(Units.Feet), 1e-12);
+    assertEquals(Units.Feet, negated.unit());
   }
 
   @Test
@@ -85,7 +85,7 @@ 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());
   }
@@ -106,20 +106,22 @@ void testDivideMeasure() {
     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);
     var time = m3.divide(m4);
-    assertEquals(time.magnitude(), 2);
-    assertEquals(time.unit(), Units.Second);
+    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);
+
+    // Voltage/(Voltage/Distance) -> Voltage * Distance/Voltage -> Distance
     var dist = m5.divide(m6);
-    assertEquals(dist.magnitude(), 3);
-    assertEquals(dist.unit(), Units.Meter);
+    assertEquals(3, dist.magnitude());
+    assertEquals(Units.Meter, dist.unit());
   }
 
   @Test
@@ -263,29 +265,29 @@ 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)));

From 0e6c8d01edd0338fdec10dfc897b82d380db6711 Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Fri, 28 Jun 2024 19:46:30 -0400
Subject: [PATCH 13/46] Formatting and linting

Checkstyle and PMD are disabled for generated files
---
 styleguide/checkstyle-suppressions.xml        |   2 +
 wpiunits/generate_units.py                    | 209 +++++++-----------
 .../main/java/Measure-immutable.java.jinja    |   2 +-
 .../main/java/Measure-interface.java.jinja    |   2 +-
 .../main/java/Measure-mutable.java.jinja      |   5 +-
 .../wpi/first/units/measure/Acceleration.java |   2 +-
 .../edu/wpi/first/units/measure/Angle.java    |   2 +-
 .../units/measure/AngularAcceleration.java    |   2 +-
 .../first/units/measure/AngularMomentum.java  |   2 +-
 .../first/units/measure/AngularVelocity.java  |   2 +-
 .../edu/wpi/first/units/measure/Current.java  |   2 +-
 .../first/units/measure/Dimensionless.java    |   2 +-
 .../edu/wpi/first/units/measure/Distance.java |   2 +-
 .../edu/wpi/first/units/measure/Energy.java   |   2 +-
 .../edu/wpi/first/units/measure/Force.java    |   2 +-
 .../wpi/first/units/measure/Frequency.java    |   2 +-
 .../units/measure/ImmutableAcceleration.java  |   2 +-
 .../first/units/measure/ImmutableAngle.java   |   2 +-
 .../measure/ImmutableAngularAcceleration.java |   2 +-
 .../measure/ImmutableAngularMomentum.java     |   2 +-
 .../measure/ImmutableAngularVelocity.java     |   2 +-
 .../first/units/measure/ImmutableCurrent.java |   2 +-
 .../units/measure/ImmutableDimensionless.java |   2 +-
 .../units/measure/ImmutableDistance.java      |   2 +-
 .../first/units/measure/ImmutableEnergy.java  |   2 +-
 .../first/units/measure/ImmutableForce.java   |   2 +-
 .../units/measure/ImmutableFrequency.java     |   2 +-
 .../measure/ImmutableLinearAcceleration.java  |   2 +-
 .../measure/ImmutableLinearMomentum.java      |   2 +-
 .../measure/ImmutableLinearVelocity.java      |   2 +-
 .../first/units/measure/ImmutableMass.java    |   2 +-
 .../measure/ImmutableMomentOfInertia.java     |   2 +-
 .../first/units/measure/ImmutableMult.java    |   2 +-
 .../wpi/first/units/measure/ImmutablePer.java |   2 +-
 .../first/units/measure/ImmutablePower.java   |   2 +-
 .../units/measure/ImmutableTemperature.java   |   2 +-
 .../first/units/measure/ImmutableTime.java    |   2 +-
 .../first/units/measure/ImmutableTorque.java  |   2 +-
 .../units/measure/ImmutableVelocity.java      |   2 +-
 .../first/units/measure/ImmutableVoltage.java |   2 +-
 .../units/measure/LinearAcceleration.java     |   2 +-
 .../first/units/measure/LinearMomentum.java   |   2 +-
 .../first/units/measure/LinearVelocity.java   |   2 +-
 .../edu/wpi/first/units/measure/Mass.java     |   2 +-
 .../first/units/measure/MomentOfInertia.java  |   2 +-
 .../edu/wpi/first/units/measure/Mult.java     |   2 +-
 .../first/units/measure/MutAcceleration.java  |   5 +-
 .../edu/wpi/first/units/measure/MutAngle.java |   5 +-
 .../units/measure/MutAngularAcceleration.java |   5 +-
 .../units/measure/MutAngularMomentum.java     |   5 +-
 .../units/measure/MutAngularVelocity.java     |   5 +-
 .../wpi/first/units/measure/MutCurrent.java   |   5 +-
 .../first/units/measure/MutDimensionless.java |   5 +-
 .../wpi/first/units/measure/MutDistance.java  |   5 +-
 .../wpi/first/units/measure/MutEnergy.java    |   5 +-
 .../edu/wpi/first/units/measure/MutForce.java |   5 +-
 .../wpi/first/units/measure/MutFrequency.java |   5 +-
 .../units/measure/MutLinearAcceleration.java  |   5 +-
 .../units/measure/MutLinearMomentum.java      |   5 +-
 .../units/measure/MutLinearVelocity.java      |   5 +-
 .../edu/wpi/first/units/measure/MutMass.java  |   5 +-
 .../units/measure/MutMomentOfInertia.java     |   5 +-
 .../edu/wpi/first/units/measure/MutMult.java  |   5 +-
 .../edu/wpi/first/units/measure/MutPer.java   |   5 +-
 .../edu/wpi/first/units/measure/MutPower.java |   5 +-
 .../first/units/measure/MutTemperature.java   |   5 +-
 .../edu/wpi/first/units/measure/MutTime.java  |   5 +-
 .../wpi/first/units/measure/MutTorque.java    |   5 +-
 .../wpi/first/units/measure/MutVelocity.java  |   5 +-
 .../wpi/first/units/measure/MutVoltage.java   |   5 +-
 .../java/edu/wpi/first/units/measure/Per.java |   2 +-
 .../edu/wpi/first/units/measure/Power.java    |   2 +-
 .../wpi/first/units/measure/Temperature.java  |   2 +-
 .../edu/wpi/first/units/measure/Time.java     |   2 +-
 .../edu/wpi/first/units/measure/Torque.java   |   2 +-
 .../edu/wpi/first/units/measure/Velocity.java |   2 +-
 .../edu/wpi/first/units/measure/Voltage.java  |   2 +-
 .../wpi/first/units/CombinatoryUnitCache.java |  23 +-
 .../wpi/first/units/DimensionlessUnit.java    |   8 -
 .../java/edu/wpi/first/units/Measure.java     |  39 +++-
 .../edu/wpi/first/units/MutableMeasure.java   |  21 +-
 .../java/edu/wpi/first/units/PerUnit.java     |   6 +
 .../java/edu/wpi/first/units/PowerUnit.java   |  32 ++-
 .../edu/wpi/first/units/TemperatureUnit.java  |   1 +
 .../java/edu/wpi/first/units/TimeUnit.java    |   7 +
 .../java/edu/wpi/first/units/UnitBuilder.java |   3 +-
 .../edu/wpi/first/units/VelocityUnit.java     |   2 +
 .../mutable/GenericMutableMeasureImpl.java    |  23 +-
 .../units/mutable/MutableMeasureBase.java     |  53 +++--
 .../edu/wpi/first/units/VelocityUnitTest.java |   2 +-
 90 files changed, 331 insertions(+), 325 deletions(-)

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/wpiunits/generate_units.py b/wpiunits/generate_units.py
index 0841d1b9c69..e152c989785 100755
--- a/wpiunits/generate_units.py
+++ b/wpiunits/generate_units.py
@@ -52,68 +52,43 @@ def output(outPath, outfn, contents):
     "Time",
     "Torque",
     "Velocity<?>",
-    "Voltage"
+    "Voltage",
 ]
 
 # Configurations for all generated units
 UNIT_CONFIGURATIONS = {
     "Acceleration": {
         "base_unit": "unit()",
-        "generics": {
-            "D": {
-                "extends": "Unit"
-            }
-        },
-        "multiply": {
-        },
-        "divide": {
-        }
+        "generics": {"D": {"extends": "Unit"}},
+        "multiply": {},
+        "divide": {},
     },
     "Angle": {
         "base_unit": "Radians",
-        "multiply": {
-            "Frequency": "AngularVelocity"
-        },
-        "divide": {
-            "Time": "AngularVelocity"
-        }
+        "multiply": {"Frequency": "AngularVelocity"},
+        "divide": {"Time": "AngularVelocity"},
     },
     "AngularAcceleration": {
         "base_unit": "RadiansPerSecondPerSecond",
-        "multiply": {
-            "Time": "AngularVelocity"
-        },
-        "divide": {
-            "Frequency": "AngularVelocity"
-        }
+        "multiply": {"Time": "AngularVelocity"},
+        "divide": {"Frequency": "AngularVelocity"},
     },
     "AngularMomentum": {
         "base_unit": "KilogramMetersSquaredPerSecond",
         "multiply": {},
-        "divide": {
-            "AngularVelocity": "MomentOfInertia"
-        }
+        "divide": {"AngularVelocity": "MomentOfInertia"},
     },
     "AngularVelocity": {
         "base_unit": "RadiansPerSecond",
-        "multiply": {
-            "Time": "Angle",
-            "Frequency": "AngularAcceleration"
-        },
-        "divide": {
-            "Time": "AngularAcceleration"
-        },
-        "extra": inspect.cleandoc("""
+        "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": {}
+        """
+        ),
     },
+    "Current": {"base_unit": "Amps", "multiply": {"Voltage": "Power"}, "divide": {}},
     "Dimensionless": {
         "base_unit": "Value",
         "multiply": {
@@ -148,7 +123,7 @@ def output(outPath, outfn, contents):
             # "Velocity<?>": "Per<TimeUnit, ?>",
             # "Acceleration<?>": "Per<TimeUnit, VelocityUnit<?>>
             # "Per<N, D>": "Per<D, N>"
-        }
+        },
     },
     "Distance": {
         "base_unit": "Meters",
@@ -156,21 +131,14 @@ def output(outPath, outfn, contents):
             "Frequency": "LinearVelocity",
             # Distance x Force = Torque
             # Force x Distance = Energy
-            "Force": "Torque"
+            "Force": "Torque",
         },
-        "divide": {
-            "Time": "LinearVelocity",
-            "LinearVelocity": "Time"
-        }
+        "divide": {"Time": "LinearVelocity", "LinearVelocity": "Time"},
     },
     "Energy": {
         "base_unit": "Joules",
-        "multiply": {
-            "Frequency": "Power"
-        },
-        "divide": {
-            "Time": "Power"
-        }
+        "multiply": {"Frequency": "Power"},
+        "divide": {"Time": "Power"},
     },
     "Force": {
         "base_unit": "Newtons",
@@ -179,10 +147,7 @@ def output(outPath, outfn, contents):
             # Force x Distance = Energy
             "Distance": "Energy"
         },
-        "divide": {
-            "Mass": "LinearAcceleration",
-            "LinearAcceleration": "Mass"
-        }
+        "divide": {"Mass": "LinearAcceleration", "LinearAcceleration": "Mass"},
     },
     "Frequency": {
         "base_unit": "Hertz",
@@ -191,92 +156,61 @@ def output(outPath, outfn, contents):
             "Distance": "LinearVelocity",
             "LinearVelocity": "LinearAcceleration",
             "Angle": "AngularVelocity",
-            "AngularVelocity": "AngularAcceleration"
+            "AngularVelocity": "AngularAcceleration",
         },
         "divide": {},
-        "extra": inspect.cleandoc("""
+        "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"
-        }
+        "multiply": {"Time": "LinearVelocity"},
+        "divide": {"Frequency": "LinearVelocity"},
     },
     "LinearMomentum": {
         "base_unit": "KilogramMetersPerSecond",
-        "multiply": {
-            "Frequency": "Force"
-        },
-        "divide": {
-            "Mass": "LinearVelocity",
-            "LinearVelocity": "Mass",
-            "Time": "Force"
-        }
+        "multiply": {"Frequency": "Force"},
+        "divide": {"Mass": "LinearVelocity", "LinearVelocity": "Mass", "Time": "Force"},
     },
     "LinearVelocity": {
         "base_unit": "MetersPerSecond",
-        "multiply": {
-            "Time": "Distance",
-            "Frequency": "LinearAcceleration"
-        },
-        "divide": {
-            "Time": "LinearAcceleration"
-        }
+        "multiply": {"Time": "Distance", "Frequency": "LinearAcceleration"},
+        "divide": {"Time": "LinearAcceleration"},
     },
     "Mass": {
         "base_unit": "Kilograms",
-        "multiply": {
-            "LinearAcceleration": "Force"
-        },
-        "divide": {}
+        "multiply": {"LinearAcceleration": "Force"},
+        "divide": {},
     },
     "MomentOfInertia": {
         "base_unit": "KilogramSquareMeters",
-        "multiply": {
-            "AngularVelocity": "AngularMomentum"
-        },
-        "divide": {}
+        "multiply": {"AngularVelocity": "AngularMomentum"},
+        "divide": {},
     },
     "Mult": {
         "base_unit": "unit()",
-        "generics": {
-            "A": { "extends": "Unit" },
-            "B": { "extends": "Unit" }
-        },
+        "generics": {"A": {"extends": "Unit"}, "B": {"extends": "Unit"}},
         "multiply": {},
-        "divide": {}
+        "divide": {},
     },
     "Per": {
         "base_unit": "unit()",
-        "generics": {
-            "Dividend": { "extends": "Unit" },
-            "Divisor": { "extends": "Unit" }
-        },
+        "generics": {"Dividend": {"extends": "Unit"}, "Divisor": {"extends": "Unit"}},
         "multiply": {},
-        "divide": {}
+        "divide": {},
     },
     "Power": {
         "base_unit": "Watts",
         "multiply": {
             "Time": "Energy",
         },
-        "divide": {
-            "Voltage": "Current",
-            "Current": "Voltage",
-            "Energy": "Frequency"
-        }
-    },
-    "Temperature": {
-        "base_unit": "Kelvin",
-        "multiply": {},
-        "divide": {}
+        "divide": {"Voltage": "Current", "Current": "Voltage", "Energy": "Frequency"},
     },
+    "Temperature": {"base_unit": "Kelvin", "multiply": {}, "divide": {}},
     "Time": {
         "base_unit": "Seconds",
         "multiply": {
@@ -284,7 +218,7 @@ def output(outPath, outfn, contents):
             "AngularVelocity": "Angle",
             "AngularAcceleration": "AngularVelocity",
             "LinearVelocity": "Distance",
-            "LinearAcceleration": "LinearVelocity"
+            "LinearAcceleration": "LinearVelocity",
             # TODO:
             # "Acceleration<D>": "Velocity<D>"
             # "Velocity<D>": "Measure<D>"
@@ -295,35 +229,27 @@ def output(outPath, outfn, contents):
             # `Velocity<TimeUnit>` (i.e. a time per unit time ratio)
             "Time": "Dimensionless"
         },
-        "extra": inspect.cleandoc("""
+        "extra": inspect.cleandoc(
+            """
           default Frequency asFrequency() { return Hertz.of(1 / baseUnitMagnitude()); }
-        """)
+        """
+        ),
     },
     "Torque": {
         "base_unit": "NewtonMeters",
         "multiply": {},
-        "divide": {
-            "Distance": "Force",
-            "Force": "Distance"
-        }
+        "divide": {"Distance": "Force", "Force": "Distance"},
     },
     "Velocity": {
         "base_unit": "unit()",
-        "generics": {
-            "D": { "extends": "Unit" }
-        },
+        "generics": {"D": {"extends": "Unit"}},
         "multiply": {},
-        "divide": {}
+        "divide": {},
     },
-    "Voltage": {
-        "base_unit": "Volts",
-        "multiply": {
-            "Current": "Power"
-        },
-        "divide": {}
-    }
+    "Voltage": {"base_unit": "Volts", "multiply": {"Current": "Power"}, "divide": {}},
 }
 
+
 def generics_list(measure_name):
     if "generics" in UNIT_CONFIGURATIONS[measure_name]:
         args = []
@@ -340,7 +266,6 @@ def generics_list(measure_name):
         return ""
 
 
-
 def generics_usage(measure_name):
     if "generics" in UNIT_CONFIGURATIONS[measure_name]:
         args = UNIT_CONFIGURATIONS[measure_name]["generics"].keys()
@@ -360,7 +285,10 @@ def type_usage(measure_name):
 
 # measure-to-unit
 def mtou(measure_name):
-    if measure_name in UNIT_CONFIGURATIONS and "generics" in UNIT_CONFIGURATIONS[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"^(.*?)(<.*>)?$")
@@ -387,13 +315,28 @@ def main():
         "type_usage": type_usage,
         "generics_list": generics_list,
         "generics_usage": generics_usage,
-        "mtou": mtou
+        "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)
+        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)
diff --git a/wpiunits/src/generate/main/java/Measure-immutable.java.jinja b/wpiunits/src/generate/main/java/Measure-immutable.java.jinja
index f45f45ea527..dc4da4ace59 100644
--- a/wpiunits/src/generate/main/java/Measure-immutable.java.jinja
+++ b/wpiunits/src/generate/main/java/Measure-immutable.java.jinja
@@ -9,7 +9,7 @@ package edu.wpi.first.units.measure;
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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() {
diff --git a/wpiunits/src/generate/main/java/Measure-interface.java.jinja b/wpiunits/src/generate/main/java/Measure-interface.java.jinja
index 9c85d8307f9..83c7025d9f1 100644
--- a/wpiunits/src/generate/main/java/Measure-interface.java.jinja
+++ b/wpiunits/src/generate/main/java/Measure-interface.java.jinja
@@ -9,7 +9,7 @@ package edu.wpi.first.units.measure;
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
diff --git a/wpiunits/src/generate/main/java/Measure-mutable.java.jinja b/wpiunits/src/generate/main/java/Measure-mutable.java.jinja
index 291f6de0b8d..8adf22f74dd 100644
--- a/wpiunits/src/generate/main/java/Measure-mutable.java.jinja
+++ b/wpiunits/src/generate/main/java/Measure-mutable.java.jinja
@@ -10,17 +10,16 @@ import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 import edu.wpi.first.units.mutable.MutableMeasureBase;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
+    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
index 50fd7f8f38f..f4ceb282439 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
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
index 1535aac29cf..c182d48f3c1 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
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
index ac70d707cf3..44ff1c395b1 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
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
index 3d02f5d4be9..631ac45cafa 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
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
index 21ae9fedf10..5c017c5c8f1 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
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
index 8f94e453b10..e7af53dfdac 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
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
index 9e0bbfd9d7b..942f55d4155 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
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
index 868a4f410e5..f87106362ef 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
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
index e5b6edaa7af..d20f8f19622 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
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
index 5f8e94b085b..2f69f808b8b 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
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
index 486a7e718eb..ebce2a9a31c 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
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
index 3da99a4b980..f2dd5d76ad7 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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() {
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
index e84e8e587a0..762fed8afbe 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
 public record ImmutableAngle(double magnitude, double baseUnitMagnitude, AngleUnit unit) implements Angle {
   @Override
   public Angle copy() {
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
index aecd4472c6d..043ca138dd8 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
 public record ImmutableAngularAcceleration(double magnitude, double baseUnitMagnitude, AngularAccelerationUnit unit) implements AngularAcceleration {
   @Override
   public AngularAcceleration copy() {
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
index 239ab47bd30..e6fa5e280bb 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
 public record ImmutableAngularMomentum(double magnitude, double baseUnitMagnitude, AngularMomentumUnit unit) implements AngularMomentum {
   @Override
   public AngularMomentum copy() {
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
index eedd7d78848..c5eb37181f4 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
 public record ImmutableAngularVelocity(double magnitude, double baseUnitMagnitude, AngularVelocityUnit unit) implements AngularVelocity {
   @Override
   public AngularVelocity copy() {
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
index 2219ab35d4a..e8c87ff53c5 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
 public record ImmutableCurrent(double magnitude, double baseUnitMagnitude, CurrentUnit unit) implements Current {
   @Override
   public Current copy() {
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
index 7cb34341f0d..6230728770b 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
 public record ImmutableDimensionless(double magnitude, double baseUnitMagnitude, DimensionlessUnit unit) implements Dimensionless {
   @Override
   public Dimensionless copy() {
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
index defdae44134..8383254a747 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
 public record ImmutableDistance(double magnitude, double baseUnitMagnitude, DistanceUnit unit) implements Distance {
   @Override
   public Distance copy() {
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
index 1f3a4445fd2..068f28493e3 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
 public record ImmutableEnergy(double magnitude, double baseUnitMagnitude, EnergyUnit unit) implements Energy {
   @Override
   public Energy copy() {
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
index a5a9e3d6bf9..f24a4ab2fc0 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
 public record ImmutableForce(double magnitude, double baseUnitMagnitude, ForceUnit unit) implements Force {
   @Override
   public Force copy() {
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
index 3decd8d195d..9bfcc5a7c6a 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
 public record ImmutableFrequency(double magnitude, double baseUnitMagnitude, FrequencyUnit unit) implements Frequency {
   @Override
   public Frequency copy() {
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
index 5fcc4bf8d4b..7b3e0ae450d 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
 public record ImmutableLinearAcceleration(double magnitude, double baseUnitMagnitude, LinearAccelerationUnit unit) implements LinearAcceleration {
   @Override
   public LinearAcceleration copy() {
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
index 7a060a01699..b68c7c1b403 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
 public record ImmutableLinearMomentum(double magnitude, double baseUnitMagnitude, LinearMomentumUnit unit) implements LinearMomentum {
   @Override
   public LinearMomentum copy() {
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
index ab1fa4d2c78..d68c7f30f5a 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
 public record ImmutableLinearVelocity(double magnitude, double baseUnitMagnitude, LinearVelocityUnit unit) implements LinearVelocity {
   @Override
   public LinearVelocity copy() {
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
index abe28193cec..9f001e95362 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
 public record ImmutableMass(double magnitude, double baseUnitMagnitude, MassUnit unit) implements Mass {
   @Override
   public Mass copy() {
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
index f130e9d1863..a60c765f01e 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
 public record ImmutableMomentOfInertia(double magnitude, double baseUnitMagnitude, MomentOfInertiaUnit unit) implements MomentOfInertia {
   @Override
   public MomentOfInertia copy() {
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
index ed12f20be38..cdc7e66b8fe 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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() {
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
index 7cffc082dcd..93b220c63f5 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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() {
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
index 601b546223b..2c30781f180 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
 public record ImmutablePower(double magnitude, double baseUnitMagnitude, PowerUnit unit) implements Power {
   @Override
   public Power copy() {
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
index b1c7dd20fbf..f009aa261f2 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
 public record ImmutableTemperature(double magnitude, double baseUnitMagnitude, TemperatureUnit unit) implements Temperature {
   @Override
   public Temperature copy() {
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
index a5ec1b6b4f7..1c8df42af2d 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
 public record ImmutableTime(double magnitude, double baseUnitMagnitude, TimeUnit unit) implements Time {
   @Override
   public Time copy() {
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
index 47407ec6293..924aa224e0c 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
 public record ImmutableTorque(double magnitude, double baseUnitMagnitude, TorqueUnit unit) implements Torque {
   @Override
   public Torque copy() {
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
index 2a32ec9fade..68fd23fac8c 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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() {
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
index ecbe3ecddac..55abb06d0e9 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
 public record ImmutableVoltage(double magnitude, double baseUnitMagnitude, VoltageUnit unit) implements Voltage {
   @Override
   public Voltage copy() {
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
index 03263059dc8..f595bcc33ff 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
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
index fe89fabce48..92177a9598c 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
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
index cde7a069ede..4f3d1c389de 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
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
index 0638ff7ee64..6046be68d45 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
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
index b48b4e7c739..c56c6ba0015 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
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
index 969b4e33a62..9ea6033054f 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
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
index 5b7f64c1c15..ed74009c457 100644
--- 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
@@ -10,17 +10,16 @@
 import edu.wpi.first.units.*;
 import edu.wpi.first.units.mutable.MutableMeasureBase;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
+    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
index 6ba0433e241..ff356e33c2d 100644
--- 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
@@ -10,17 +10,16 @@
 import edu.wpi.first.units.*;
 import edu.wpi.first.units.mutable.MutableMeasureBase;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
+    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
index c21df22b4a2..8d7cecc8037 100644
--- 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
@@ -10,17 +10,16 @@
 import edu.wpi.first.units.*;
 import edu.wpi.first.units.mutable.MutableMeasureBase;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
+    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
index cd682cce0c2..c7ee4726224 100644
--- 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
@@ -10,17 +10,16 @@
 import edu.wpi.first.units.*;
 import edu.wpi.first.units.mutable.MutableMeasureBase;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
+    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
index 7b303926b3d..d4083e179c1 100644
--- 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
@@ -10,17 +10,16 @@
 import edu.wpi.first.units.*;
 import edu.wpi.first.units.mutable.MutableMeasureBase;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
+    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
index 389a1750f85..3dab503de20 100644
--- 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
@@ -10,17 +10,16 @@
 import edu.wpi.first.units.*;
 import edu.wpi.first.units.mutable.MutableMeasureBase;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
+    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
index b5bc2b835de..13ee3f6e8c3 100644
--- 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
@@ -10,17 +10,16 @@
 import edu.wpi.first.units.*;
 import edu.wpi.first.units.mutable.MutableMeasureBase;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
+    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
index 547a3ae8b61..35f1e3faa95 100644
--- 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
@@ -10,17 +10,16 @@
 import edu.wpi.first.units.*;
 import edu.wpi.first.units.mutable.MutableMeasureBase;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
+    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
index 96b7e7509fe..bd23cd1e9b6 100644
--- 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
@@ -10,17 +10,16 @@
 import edu.wpi.first.units.*;
 import edu.wpi.first.units.mutable.MutableMeasureBase;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
+    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
index fd2946baddc..da6c973164d 100644
--- 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
@@ -10,17 +10,16 @@
 import edu.wpi.first.units.*;
 import edu.wpi.first.units.mutable.MutableMeasureBase;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
+    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
index 576eb35c391..091afd130bb 100644
--- 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
@@ -10,17 +10,16 @@
 import edu.wpi.first.units.*;
 import edu.wpi.first.units.mutable.MutableMeasureBase;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
+    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
index dc44beaf00e..dd074db5f8a 100644
--- 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
@@ -10,17 +10,16 @@
 import edu.wpi.first.units.*;
 import edu.wpi.first.units.mutable.MutableMeasureBase;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
+    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
index 29f361c5786..da3113c3456 100644
--- 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
@@ -10,17 +10,16 @@
 import edu.wpi.first.units.*;
 import edu.wpi.first.units.mutable.MutableMeasureBase;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
+    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
index b4616cedcdc..ffd19e3a7e0 100644
--- 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
@@ -10,17 +10,16 @@
 import edu.wpi.first.units.*;
 import edu.wpi.first.units.mutable.MutableMeasureBase;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
+    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
index 19abcfdbdb0..c1b80c191e2 100644
--- 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
@@ -10,17 +10,16 @@
 import edu.wpi.first.units.*;
 import edu.wpi.first.units.mutable.MutableMeasureBase;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
+    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
index bf69d308a94..b6f7481fa5a 100644
--- 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
@@ -10,17 +10,16 @@
 import edu.wpi.first.units.*;
 import edu.wpi.first.units.mutable.MutableMeasureBase;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
+    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
index 70422f30b1a..b743c950fd2 100644
--- 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
@@ -10,17 +10,16 @@
 import edu.wpi.first.units.*;
 import edu.wpi.first.units.mutable.MutableMeasureBase;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
+    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
index deccf7cae2f..054d87f19b8 100644
--- 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
@@ -10,17 +10,16 @@
 import edu.wpi.first.units.*;
 import edu.wpi.first.units.mutable.MutableMeasureBase;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
+    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
index a38c0f2daea..7a08663a7d4 100644
--- 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
@@ -10,17 +10,16 @@
 import edu.wpi.first.units.*;
 import edu.wpi.first.units.mutable.MutableMeasureBase;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
+    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
index 314517d2eaf..31ae1fe7b53 100644
--- 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
@@ -10,17 +10,16 @@
 import edu.wpi.first.units.*;
 import edu.wpi.first.units.mutable.MutableMeasureBase;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
+    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
index b8512de04fb..4b9b81a745d 100644
--- 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
@@ -10,17 +10,16 @@
 import edu.wpi.first.units.*;
 import edu.wpi.first.units.mutable.MutableMeasureBase;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
+    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
index a9b579d1db9..30f91523291 100644
--- 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
@@ -10,17 +10,16 @@
 import edu.wpi.first.units.*;
 import edu.wpi.first.units.mutable.MutableMeasureBase;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
+    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
index 817bc3bafd3..660cfa9de2d 100644
--- 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
@@ -10,17 +10,16 @@
 import edu.wpi.first.units.*;
 import edu.wpi.first.units.mutable.MutableMeasureBase;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
+    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
index c31c0cd060e..7002767b9ed 100644
--- 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
@@ -10,17 +10,16 @@
 import edu.wpi.first.units.*;
 import edu.wpi.first.units.mutable.MutableMeasureBase;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
+    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
index f161d9e4010..67c5e7fdc1e 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
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
index 34bb627c6dd..054bfa785d4 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
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
index ace5dbc3f07..c9396f79223 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
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
index d8ab8fef746..aa4945c2a8d 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
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
index d7762ed19e6..ff1ccee5260 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
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
index 3dfa3936666..bc1c9ce8c25 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
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
index bf6e888be33..403bb7080ae 100644
--- 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
@@ -9,7 +9,7 @@
 import static edu.wpi.first.units.Units.*;
 import edu.wpi.first.units.*;
 
-@SuppressWarnings({"unchecked", "cast"})
+@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);
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/CombinatoryUnitCache.java b/wpiunits/src/main/java/edu/wpi/first/units/CombinatoryUnitCache.java
index 267d8124c96..4196ff53a00 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/CombinatoryUnitCache.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/CombinatoryUnitCache.java
@@ -5,6 +5,7 @@
 package edu.wpi.first.units;
 
 import edu.wpi.first.units.collections.LongToObjectHashMap;
+import java.util.Objects;
 import java.util.function.BiFunction;
 
 public final class CombinatoryUnitCache<A extends Unit, B extends Unit, Out extends Unit> {
@@ -12,24 +13,34 @@ public final class CombinatoryUnitCache<A extends Unit, B extends Unit, Out exte
    * Keep a cache of created instances so expressions like Volts.per(Meter) don't do any allocations
    * after the first.
    */
-  private final LongToObjectHashMap<Out> cache = new LongToObjectHashMap<>();
+  private final LongToObjectHashMap<Out> m_cache = new LongToObjectHashMap<>();
 
-  private final BiFunction<? super A, ? super B, ? extends Out> constructor;
+  private final BiFunction<? super A, ? super B, ? extends Out> m_constructor;
 
   public CombinatoryUnitCache(BiFunction<? super A, ? super B, ? extends Out> constructor) {
-    this.constructor = 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 = cache.get(key);
+    var existing = m_cache.get(key);
     if (existing != null) {
       return existing;
     }
 
-    var newUnit = constructor.apply(a, b);
-    cache.put(key, newUnit);
+    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/DimensionlessUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
index 70b82b815da..39266df7ea9 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
@@ -48,14 +48,6 @@ public MutDimensionless mutable(double initialMagnitude) {
     return new MutDimensionless(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 
-  public <U extends Unit> U mult(U other) {
-    return Units.derive(other)
-        .toBase(other.getConverterToBase().mult(this.getConverterToBase()))
-        .fromBase(other.getConverterFromBase().mult(this.getConverterFromBase()))
-        // TODO: name, symbol
-        .make();
-  }
-
   public double convertFrom(double magnitude, DimensionlessUnit otherUnit) {
     return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
   }
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 78b0181af96..e049355afe3 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Measure.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Measure.java
@@ -111,6 +111,16 @@ default U baseUnit() {
 
   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
+   * Measure<Time>} by a {@code Measure<Velocity<Distance>>} will return just a {@code
+   * Measure<Distance>} instead of the naive {@code Measure<Mult<Time, Velocity<Distance>>}. This is
+   * not guaranteed to perform perfect dimensional analysis.
+   *
+   * @param multiplier the unit to multiply by
+   * @return the multiplicative unit
+   */
   default Measure<?> times(Measure<?> multiplier) {
     final double baseUnitResult = baseUnitMagnitude() * multiplier.baseUnitMagnitude();
 
@@ -328,6 +338,13 @@ default <Other extends Unit> Measure<Other> timesRatio(
 
   Measure<U> divide(Dimensionless divisor);
 
+  /**
+   * Divides this measurement by another measure and performs some dimensional analysis to reduce
+   * the units.
+   *
+   * @param divisor the unit to divide by
+   * @return the resulting measure
+   */
   default Measure<?> divide(Measure<?> divisor) {
     final double baseUnitResult = baseUnitMagnitude() / divisor.baseUnitMagnitude();
 
@@ -421,17 +438,6 @@ default Measure<?> divide(Measure<?> divisor) {
     }
   }
 
-  // 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());
-  }
-
-  default Measure<?> per(TimeUnit period) {
-    return divide(period.of(1));
-  }
-
   default Measure<?> divide(Acceleration<?> divisor) {
     return PerUnit.combine(unit(), divisor.unit())
         .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
@@ -547,6 +553,17 @@ default Measure<?> divide(Voltage divisor) {
         .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
   }
 
+  // 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());
+  }
+
+  default Measure<?> per(TimeUnit period) {
+    return divide(period.of(1));
+  }
+
   /**
    * Checks if this measure is near another measure of the same unit. Provide a variance threshold
    * for use for a +/- scalar, such as 0.05 for +/- 5%.
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 b11a92ecf41..e32b5df9d58 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
@@ -8,6 +8,10 @@
 import edu.wpi.first.units.mutable.GenericMutableMeasureImpl;
 
 /**
+ * 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.
+ *
  * @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.
@@ -15,8 +19,17 @@
 public interface MutableMeasure<
         U extends Unit, Base extends Measure<U>, MutSelf extends MutableMeasure<U, Base, MutSelf>>
     extends Measure<U> {
+  static <U extends Unit> MutableMeasure<U, ?, ?> ofRelativeUnits(double initialValue, U unit) {
+    return new GenericMutableMeasureImpl<>(initialValue, unit);
+  }
+
   MutSelf mut_replace(double magnitude, U newUnit);
 
+  default MutSelf mut_replace(Base other) {
+    return mut_replace(other.magnitude(), other.unit());
+  }
+
+  @Override
   Base copy();
 
   default MutSelf mut_setMagnitude(double magnitude) {
@@ -27,10 +40,6 @@ default MutSelf mut_setBaseUnitMagnitude(double baseUnitMagnitude) {
     return mut_replace(unit().fromBaseUnits(baseUnitMagnitude), unit());
   }
 
-  default MutSelf mut_replace(Base other) {
-    return mut_replace(other.magnitude(), other.unit());
-  }
-
   default MutSelf mut_acc(double raw) {
     return mut_setBaseUnitMagnitude(magnitude() + raw);
   }
@@ -70,8 +79,4 @@ default MutSelf mut_divide(double divisor) {
   default MutSelf mut_divide(Dimensionless divisor) {
     return mut_divide(divisor.baseUnitMagnitude());
   }
-
-  static <U extends Unit> MutableMeasure<U, ?, ?> ofRelativeUnits(double initialValue, U unit) {
-    return new GenericMutableMeasureImpl<>(initialValue, unit);
-  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
index 62fbb3eabb0..47091d273ba 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
@@ -115,6 +115,12 @@ public PerUnit<D, N> reciprocal() {
     }
   }
 
+  /**
+   * 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();
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
index 4b6a46e69c9..255aed87d19 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
@@ -29,8 +29,8 @@ protected PowerUnit(EnergyUnit energy, TimeUnit time) {
         energy.isBaseUnit() && time.isBaseUnit()
             ? null
             : combine(energy.getBaseUnit(), time.getBaseUnit()),
-        (x) -> x * energy.toBaseUnits(1) / time.toBaseUnits(1),
-        (x) -> x * time.toBaseUnits(1) / energy.toBaseUnits(1),
+        x -> x * energy.toBaseUnits(1) / time.toBaseUnits(1),
+        x -> x * time.toBaseUnits(1) / energy.toBaseUnits(1),
         energy.name() + " per " + time.name(),
         energy.symbol() + "/" + time.symbol());
   }
@@ -48,6 +48,13 @@ 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(
@@ -58,16 +65,37 @@ public static PowerUnit combine(VoltageUnit voltage, CurrentUnit current) {
         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);
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
index a0d1f82f6cf..1695bfeb77d 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
@@ -31,6 +31,7 @@ public VelocityUnit<TemperatureUnit> per(TimeUnit period) {
     return VelocityUnit.combine(this, period);
   }
 
+  @Override
   public Temperature of(double magnitude) {
     return new ImmutableTemperature(magnitude, toBaseUnits(magnitude), this);
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
index 0f506bf7c54..6ef292a7c44 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
@@ -36,6 +36,13 @@ 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
+   */
   public DimensionlessUnit per(TimeUnit other) {
     return Units.derive(Units.Value)
         .toBase(this.getConverterToBase().div(other.getConverterToBase()))
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 613db3fbaf5..f3541b28744 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/UnitBuilder.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/UnitBuilder.java
@@ -243,7 +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) -> {
@@ -252,7 +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) {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
index 098310f892d..8d1e9a35ee2 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
@@ -66,6 +66,7 @@ public AccelerationUnit<D> per(TimeUnit period) {
     return AccelerationUnit.combine(this, period);
   }
 
+  @Override
   public Velocity<D> of(double magnitude) {
     return new ImmutableVelocity<>(magnitude, toBaseUnits(magnitude), this);
   }
@@ -75,6 +76,7 @@ public Velocity<D> ofBaseUnits(double baseUnitMagnitude) {
     return new ImmutableVelocity<>(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
+  @Override
   public MutableMeasure<VelocityUnit<D>, ?, ?> mutable(double initialMagnitude) {
     return new MutVelocity<>(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
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
index eff0200e443..b337fdb0739 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/GenericMutableMeasureImpl.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/GenericMutableMeasureImpl.java
@@ -1,3 +1,7 @@
+// 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;
@@ -18,46 +22,47 @@ public GenericMutableMeasureImpl(double initialValue, U unit) {
 
   @Override
   public Measure<U> copy() {
-    return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude, unit);
+    return ImmutableMeasure.ofBaseUnits(m_baseUnitMagnitude, m_unit);
   }
 
   @Override
   public MutableMeasure<U, ?, ?> mutableCopy() {
-    return new GenericMutableMeasureImpl<>(magnitude, baseUnitMagnitude, unit);
+    return new GenericMutableMeasureImpl<>(m_magnitude, m_baseUnitMagnitude, m_unit);
   }
 
   @Override
   public Measure<U> unaryMinus() {
-    return ImmutableMeasure.ofBaseUnits(0 - baseUnitMagnitude, unit);
+    return ImmutableMeasure.ofBaseUnits(0 - m_baseUnitMagnitude, m_unit);
   }
 
   @Override
   public Measure<U> plus(Measure<? extends U> other) {
-    return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude + other.baseUnitMagnitude(), unit);
+    return ImmutableMeasure.ofBaseUnits(m_baseUnitMagnitude + other.baseUnitMagnitude(), m_unit);
   }
 
   @Override
   public Measure<U> minus(Measure<? extends U> other) {
-    return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude - other.baseUnitMagnitude(), unit);
+    return ImmutableMeasure.ofBaseUnits(m_baseUnitMagnitude - other.baseUnitMagnitude(), m_unit);
   }
 
   @Override
   public Measure<U> times(double multiplier) {
-    return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude * multiplier, unit);
+    return ImmutableMeasure.ofBaseUnits(m_baseUnitMagnitude * multiplier, m_unit);
   }
 
   @Override
   public Measure<U> times(Dimensionless multiplier) {
-    return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude * multiplier.baseUnitMagnitude(), unit);
+    return ImmutableMeasure.ofBaseUnits(
+        m_baseUnitMagnitude * multiplier.baseUnitMagnitude(), m_unit);
   }
 
   @Override
   public Measure<U> divide(double divisor) {
-    return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude / divisor, unit);
+    return ImmutableMeasure.ofBaseUnits(m_baseUnitMagnitude / divisor, m_unit);
   }
 
   @Override
   public Measure<U> divide(Dimensionless divisor) {
-    return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude / divisor.baseUnitMagnitude(), unit);
+    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
index bbce6f4e9e3..ac1fbdd348a 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutableMeasureBase.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutableMeasureBase.java
@@ -12,29 +12,38 @@
 public abstract class MutableMeasureBase<
         U extends Unit, Base extends Measure<U>, MutSelf extends MutableMeasure<U, Base, MutSelf>>
     implements Measure<U>, MutableMeasure<U, Base, MutSelf> {
-  protected double magnitude;
-  protected double baseUnitMagnitude;
-  protected U unit;
+  protected double m_magnitude;
+  protected double m_baseUnitMagnitude;
+  protected U m_unit;
 
-  public MutableMeasureBase(double magnitude, double baseUnitMagnitude, U unit) {
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = baseUnitMagnitude;
-    this.unit = Objects.requireNonNull(unit, "Unit cannot be null");
+  /**
+   * 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 magnitude;
+    return m_magnitude;
   }
 
   @Override
   public double baseUnitMagnitude() {
-    return baseUnitMagnitude;
+    return m_baseUnitMagnitude;
   }
 
   @Override
   public U unit() {
-    return unit;
+    return m_unit;
   }
 
   @Override
@@ -44,24 +53,28 @@ public String toString() {
 
   @Override
   public boolean equals(Object o) {
-    if (this == o) return true;
-    if (!(o instanceof MutableMeasureBase<?, ?, ?> that)) return false;
-    return Double.compare(magnitude, that.magnitude) == 0
-        && Double.compare(baseUnitMagnitude, that.baseUnitMagnitude) == 0
-        && Objects.equals(unit, that.unit);
+    if (this == o) {
+      return true;
+    }
+    if (!(o instanceof MutableMeasureBase<?, ?, ?> that)) {
+      return false;
+    }
+    return Double.compare(m_magnitude, that.m_magnitude) == 0
+        && Double.compare(m_baseUnitMagnitude, that.m_baseUnitMagnitude) == 0
+        && Objects.equals(m_unit, that.m_unit);
   }
 
   @Override
   public int hashCode() {
-    return Objects.hash(magnitude, baseUnitMagnitude, unit);
+    return Objects.hash(m_magnitude, m_baseUnitMagnitude, m_unit);
   }
 
-  @SuppressWarnings("unchecked")
   @Override
+  @SuppressWarnings("unchecked")
   public MutSelf mut_replace(double magnitude, U newUnit) {
-    this.unit = Objects.requireNonNull(newUnit, "New unit cannot be null");
-    this.magnitude = magnitude;
-    this.baseUnitMagnitude = unit.toBaseUnits(magnitude);
+    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/VelocityUnitTest.java b/wpiunits/src/test/java/edu/wpi/first/units/VelocityUnitTest.java
index 2952a3ca740..f392ceca37c 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/VelocityUnitTest.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/VelocityUnitTest.java
@@ -57,7 +57,7 @@ void testMult() {
     var baseUnit = new ExampleUnit(92);
     var vel = VelocityUnit.combine(baseUnit, Millisecond);
     var mult = vel.mult(Minute);
-    assertEquals(1 / 92000., mult.fromBaseUnits(1), 1e-5);
+    assertEquals(1 / 92000.0, mult.fromBaseUnits(1), 1e-5);
     assertEquals(5_520_000, mult.toBaseUnits(1), 1e-5);
   }
 }

From acfea5062568df8c1bda3d2d3beacf4e7b48ea14 Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Fri, 28 Jun 2024 23:01:17 -0400
Subject: [PATCH 14/46] Linting, documentation, and seal nonextensible unit
 types

Add `per(TimeUnit)` abstract method to Unit for subclasses to implement. Often returns a velocity
---
 docs/build.gradle                             |   5 +-
 .../wpilibj/examples/armbot/Constants.java    |   3 +-
 .../examples/sysid/subsystems/Drive.java      |   6 +-
 .../edu/wpi/first/units/AccelerationUnit.java |  31 +-
 .../java/edu/wpi/first/units/AngleUnit.java   |  14 +-
 .../first/units/AngularAccelerationUnit.java  |  19 +-
 .../wpi/first/units/AngularMomentumUnit.java  |  26 +-
 .../wpi/first/units/AngularVelocityUnit.java  |  13 +-
 .../wpi/first/units/CombinatoryUnitCache.java |  14 +
 .../java/edu/wpi/first/units/CurrentUnit.java |  14 +-
 .../wpi/first/units/DimensionlessUnit.java    |  17 +-
 .../edu/wpi/first/units/DistanceUnit.java     |  27 +-
 .../java/edu/wpi/first/units/EnergyUnit.java  |   9 +-
 .../java/edu/wpi/first/units/ForceUnit.java   |  29 +-
 .../edu/wpi/first/units/FrequencyUnit.java    |  28 +-
 .../edu/wpi/first/units/ImmutableMeasure.java |   3 +
 .../first/units/LinearAccelerationUnit.java   |  32 +-
 .../wpi/first/units/LinearMomentumUnit.java   |  23 +-
 .../wpi/first/units/LinearVelocityUnit.java   |  17 +-
 .../java/edu/wpi/first/units/MassUnit.java    |  25 +-
 .../java/edu/wpi/first/units/Measure.java     | 399 +++++++++++++++++-
 .../wpi/first/units/MomentOfInertiaUnit.java  |  21 +-
 .../java/edu/wpi/first/units/MultUnit.java    |   5 +
 .../edu/wpi/first/units/MutableMeasure.java   | 117 ++++-
 .../java/edu/wpi/first/units/PerUnit.java     |  13 +
 .../java/edu/wpi/first/units/PowerUnit.java   |  23 +-
 .../edu/wpi/first/units/TemperatureUnit.java  |  18 +-
 .../java/edu/wpi/first/units/TimeUnit.java    |  17 +-
 .../java/edu/wpi/first/units/TorqueUnit.java  |  17 +-
 .../main/java/edu/wpi/first/units/Unit.java   |  33 ++
 .../main/java/edu/wpi/first/units/Units.java  |  81 +++-
 .../edu/wpi/first/units/VelocityUnit.java     |  43 +-
 .../java/edu/wpi/first/units/VoltageUnit.java |  25 +-
 .../mutable/GenericMutableMeasureImpl.java    |  19 +-
 .../units/mutable/MutableMeasureBase.java     |  13 +
 .../java/edu/wpi/first/units/ExampleUnit.java |   5 +
 36 files changed, 1121 insertions(+), 83 deletions(-)

diff --git a/docs/build.gradle b/docs/build.gradle
index cccaf36ef05..b8598e0375b 100644
--- a/docs/build.gradle
+++ b/docs/build.gradle
@@ -240,7 +240,10 @@ 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/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Constants.java
index e770e82c0a4..ac1f54a0d34 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Constants.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Constants.java
@@ -49,7 +49,8 @@ public static final class ArmConstants {
     public static final double kAVoltSecondSquaredPerRad = 0.1;
 
     public static final AngularVelocity kMaxVelocityRadPerSecond = RadiansPerSecond.of(3);
-    public static final AngularAcceleration kMaxAccelerationRadPerSecSquared = RadiansPerSecondPerSecond.of(10);
+    public static final AngularAcceleration kMaxAccelerationRadPerSecSquared =
+        RadiansPerSecondPerSecond.of(10);
 
     public static final int[] kEncoderPorts = new int[] {4, 5};
     public static final int kEncoderPPR = 256;
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 956eb41f96f..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
@@ -60,9 +60,9 @@ public class Drive extends SubsystemBase {
           new SysIdRoutine.Config(),
           new SysIdRoutine.Mechanism(
               // Tell SysId how to plumb the driving voltage to the motors.
-              (voltage) -> {
-                m_leftMotor.setVoltage(voltage.in(Volts));
-                m_rightMotor.setVoltage(voltage.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/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
index e3e9ce92d6e..b97cfe06139 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
@@ -8,16 +8,28 @@
 import edu.wpi.first.units.measure.ImmutableAcceleration;
 import edu.wpi.first.units.measure.MutAcceleration;
 
-public class AccelerationUnit<D extends Unit> extends PerUnit<VelocityUnit<D>, TimeUnit> {
+/**
+ * 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);
 
-  protected AccelerationUnit(VelocityUnit<D> velocity, TimeUnit period) {
+  AccelerationUnit(VelocityUnit<D> velocity, TimeUnit period) {
     super(velocity, period);
   }
 
-  protected AccelerationUnit(
+  AccelerationUnit(
       AccelerationUnit<D> baseUnit,
       UnaryFunction toBaseConverter,
       UnaryFunction fromBaseConverter,
@@ -41,6 +53,19 @@ 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);
+  }
+
+  /**
+   * 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) {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
index af720a7bdf4..4573519b9ec 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
@@ -20,7 +20,7 @@
 // eg MassUnit * DistanceUnit * VelocityUnit<AngleUnit> is equivalent to (MassUnit * DistanceUnit) /
 // TimeUnit - otherwise known
 // as PowerUnit - in other words, VelocityUnit<AngleUnit> is /actually/ Frequency
-public class AngleUnit extends Unit {
+public final class AngleUnit extends Unit {
   AngleUnit(AngleUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
     super(baseUnit, baseUnitEquivalent, name, symbol);
   }
@@ -49,10 +49,18 @@ public MutAngle mutable(double initialMagnitude) {
     return new MutAngle(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 
-  public AngularVelocityUnit per(TimeUnit second) {
-    return AngularVelocityUnit.combine(this, second);
+  @Override
+  public AngularVelocityUnit per(TimeUnit period) {
+    return AngularVelocityUnit.combine(this, period);
   }
 
+  /**
+   * 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));
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java
index 3eb97f04cbe..35383854892 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java
@@ -8,15 +8,16 @@
 import edu.wpi.first.units.measure.ImmutableAngularAcceleration;
 import edu.wpi.first.units.measure.MutAngularAcceleration;
 
-public class AngularAccelerationUnit extends PerUnit<AngularVelocityUnit, TimeUnit> {
+/** 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);
 
-  protected AngularAccelerationUnit(AngularVelocityUnit velocity, TimeUnit period) {
+  AngularAccelerationUnit(AngularVelocityUnit velocity, TimeUnit period) {
     super(velocity, period);
   }
 
-  protected AngularAccelerationUnit(
+  AngularAccelerationUnit(
       AngularAccelerationUnit baseUnit,
       UnaryFunction toBaseConverter,
       UnaryFunction fromBaseConverter,
@@ -25,6 +26,13 @@ protected AngularAccelerationUnit(
     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);
   }
@@ -44,4 +52,9 @@ public AngularAcceleration ofBaseUnits(double baseUnitMagnitude) {
   public MutAngularAcceleration mutable(double initialMagnitude) {
     return new MutAngularAcceleration(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
+
+  @Override
+  public VelocityUnit<AngularAccelerationUnit> per(TimeUnit time) {
+    return VelocityUnit.combine(this, time);
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
index 64c8570cc91..542b9188a2f 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
@@ -8,11 +8,15 @@
 import edu.wpi.first.units.measure.ImmutableAngularMomentum;
 import edu.wpi.first.units.measure.MutAngularMomentum;
 
-public class AngularMomentumUnit extends MultUnit<LinearMomentumUnit, DistanceUnit> {
+/**
+ * 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);
 
-  protected AngularMomentumUnit(LinearMomentumUnit momentumUnit, DistanceUnit distanceUnit) {
+  AngularMomentumUnit(LinearMomentumUnit momentumUnit, DistanceUnit distanceUnit) {
     super(momentumUnit, distanceUnit);
   }
 
@@ -25,6 +29,13 @@ protected AngularMomentumUnit(LinearMomentumUnit momentumUnit, DistanceUnit dist
     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);
   }
@@ -44,6 +55,17 @@ public MutAngularMomentum mutable(double magnitude) {
     return new MutAngularMomentum(magnitude, toBaseUnits(magnitude), this);
   }
 
+  @Override
+  public VelocityUnit<AngularMomentumUnit> per(TimeUnit time) {
+    return VelocityUnit.combine(this, time);
+  }
+
+  /**
+   * 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
index c8dd6cd8395..890b749b6ff 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java
@@ -8,11 +8,12 @@
 import edu.wpi.first.units.measure.ImmutableAngularVelocity;
 import edu.wpi.first.units.measure.MutAngularVelocity;
 
-public class AngularVelocityUnit extends PerUnit<AngleUnit, TimeUnit> {
+/** 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);
 
-  protected AngularVelocityUnit(AngleUnit numerator, TimeUnit denominator) {
+  AngularVelocityUnit(AngleUnit numerator, TimeUnit denominator) {
     super(numerator, denominator);
   }
 
@@ -25,6 +26,13 @@ protected AngularVelocityUnit(AngleUnit numerator, TimeUnit denominator) {
     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);
   }
@@ -44,6 +52,7 @@ public MutAngularVelocity mutable(double initialMagnitude) {
     return new MutAngularVelocity(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 
+  @Override
   public AngularAccelerationUnit per(TimeUnit period) {
     return AngularAccelerationUnit.combine(this, period);
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/CombinatoryUnitCache.java b/wpiunits/src/main/java/edu/wpi/first/units/CombinatoryUnitCache.java
index 4196ff53a00..53dc51cb471 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/CombinatoryUnitCache.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/CombinatoryUnitCache.java
@@ -8,6 +8,14 @@
 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
@@ -17,6 +25,12 @@ public final class CombinatoryUnitCache<A extends Unit, B extends Unit, Out exte
 
   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");
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
index e23989c74f7..5cc50f746b1 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
@@ -17,7 +17,7 @@
  * <p>Actual units (such as {@link Units#Amps} and {@link Units#Milliamps}) can be found in the
  * {@link Units} class.
  */
-public class CurrentUnit extends Unit {
+public final class CurrentUnit extends Unit {
   CurrentUnit(CurrentUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
     super(baseUnit, baseUnitEquivalent, name, symbol);
   }
@@ -61,6 +61,18 @@ public MutCurrent mutable(double initialMagnitude) {
     return new MutCurrent(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 
+  @Override
+  public VelocityUnit<CurrentUnit> per(TimeUnit time) {
+    return VelocityUnit.combine(this, time);
+  }
+
+  /**
+   * 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/DimensionlessUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
index 39266df7ea9..4b7ba834657 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
@@ -11,7 +11,7 @@
 /**
  * A type of unit that corresponds to raw values and not any physical dimension, such as percentage.
  */
-public class DimensionlessUnit extends Unit {
+public final class DimensionlessUnit extends Unit {
   /**
    * Creates a new unit with the given name and multiplier to the base unit.
    *
@@ -48,10 +48,25 @@ 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);
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
index 4749c695d73..cd4032f6190 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
@@ -17,7 +17,7 @@
  * <p>Actual units (such as {@link Units#Meters} and {@link Units#Inches}) can be found in the
  * {@link Units} class.
  */
-public class DistanceUnit extends Unit {
+public final class DistanceUnit extends Unit {
   DistanceUnit(DistanceUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
     super(baseUnit, baseUnitEquivalent, name, symbol);
   }
@@ -36,10 +36,18 @@ public DistanceUnit getBaseUnit() {
     return (DistanceUnit) super.getBaseUnit();
   }
 
+  @Override
   public LinearVelocityUnit per(TimeUnit period) {
     return LinearVelocityUnit.combine(this, period);
   }
 
+  /**
+   * 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));
   }
@@ -59,12 +67,25 @@ public MutDistance mutable(double initialMagnitude) {
     return new MutDistance(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 
-  // distance times force = torque
-  // force times distance = energy
+  /**
+   * Multiplies this distance unit by a unit of force to create a unit of torque.
+   *
+   * <p>Note: because torque and energy have the same dimensions (force multiplied by distance), we
+   * cannot define methods with the same name for both. Instead, use {@link
+   * ForceUnit#mult(DistanceUnit)} if you want a unit of energy.
+   *
+   * @param force the unit of force
+   * @return the combined torque unit
+   */
   public TorqueUnit mult(ForceUnit force) {
     return TorqueUnit.combine(this, force);
   }
 
+  /**
+   * Creates a measurement of zero magnitude in terms of this unit.
+   *
+   * @return the zero-valued measure
+   */
   public Distance zero() {
     return of(0);
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
index 720dee5955d..b93942703a6 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
@@ -17,7 +17,7 @@
  * <p>Actual units (such as {@link Units#Joules} and {@link Units#Kilojoules}) can be found in the
  * {@link Units} class.
  */
-public class EnergyUnit extends Unit {
+public final class EnergyUnit extends Unit {
   EnergyUnit(
       EnergyUnit baseUnit,
       UnaryFunction toBaseConverter,
@@ -36,6 +36,13 @@ 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);
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
index 9ac1a9ad9de..17f8f12f57c 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
@@ -8,11 +8,12 @@
 import edu.wpi.first.units.measure.ImmutableForce;
 import edu.wpi.first.units.measure.MutForce;
 
-public class ForceUnit extends MultUnit<MassUnit, LinearAccelerationUnit> {
+/** 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);
 
-  protected ForceUnit(MassUnit mass, LinearAccelerationUnit acceleration) {
+  ForceUnit(MassUnit mass, LinearAccelerationUnit acceleration) {
     this(
         mass.isBaseUnit() && acceleration.isBaseUnit()
             ? null
@@ -32,6 +33,13 @@ protected ForceUnit(MassUnit mass, LinearAccelerationUnit acceleration) {
     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);
   }
@@ -41,8 +49,16 @@ public ForceUnit getBaseUnit() {
     return (ForceUnit) super.getBaseUnit();
   }
 
-  // force times distance = energy
-  // distance times force = torque
+  /**
+   * Multiplies this force unit by a unit of distance to create a unit of energy.
+   *
+   * <p>Note: because torque and energy have the same dimensions (force multiplied by distance), we
+   * cannot define methods with the same name for both. Instead, use {@link
+   * DistanceUnit#mult(ForceUnit)} if you want a unit of torque.
+   *
+   * @param distance the unit of distance
+   * @return the combined energy unit
+   */
   public EnergyUnit mult(DistanceUnit distance) {
     // TODO
     throw new UnsupportedOperationException();
@@ -62,4 +78,9 @@ public Force ofBaseUnits(double baseUnitMagnitude) {
   public MutForce mutable(double initialMagnitude) {
     return new MutForce(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
+
+  @Override
+  public VelocityUnit<ForceUnit> per(TimeUnit time) {
+    return VelocityUnit.combine(this, time);
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java
index 5068c91f04f..ce29795c2cc 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java
@@ -10,11 +10,12 @@
 import edu.wpi.first.units.measure.ImmutableFrequency;
 import edu.wpi.first.units.measure.MutFrequency;
 
-public class FrequencyUnit extends PerUnit<DimensionlessUnit, TimeUnit> {
+/** 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);
 
-  protected FrequencyUnit(DimensionlessUnit numerator, TimeUnit denominator) {
+  FrequencyUnit(DimensionlessUnit numerator, TimeUnit denominator) {
     super(numerator, denominator);
   }
 
@@ -27,10 +28,24 @@ protected FrequencyUnit(DimensionlessUnit numerator, TimeUnit denominator) {
     super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
   }
 
-  public static FrequencyUnit combine(DimensionlessUnit dim, TimeUnit time) {
-    return cache.combine(dim, time);
+  /**
+   * 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);
   }
 
+  /**
+   * 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);
   }
@@ -49,4 +64,9 @@ public Frequency ofBaseUnits(double baseUnitMagnitude) {
   public MutFrequency mutable(double initialMagnitude) {
     return new MutFrequency(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
+
+  @Override
+  public VelocityUnit<FrequencyUnit> per(TimeUnit time) {
+    return VelocityUnit.combine(this, time);
+  }
 }
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 9b955822007..1abb789f991 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/ImmutableMeasure.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/ImmutableMeasure.java
@@ -13,6 +13,9 @@
  * 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 record ImmutableMeasure<U extends Unit>(double magnitude, double baseUnitMagnitude, U 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
index 0ca33a2227e..4a4fa4fef67 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearAccelerationUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearAccelerationUnit.java
@@ -8,11 +8,14 @@
 import edu.wpi.first.units.measure.LinearAcceleration;
 import edu.wpi.first.units.measure.MutLinearAcceleration;
 
-public class LinearAccelerationUnit extends PerUnit<LinearVelocityUnit, TimeUnit> {
+/**
+ * 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);
 
-  protected LinearAccelerationUnit(LinearVelocityUnit numerator, TimeUnit denominator) {
+  LinearAccelerationUnit(LinearVelocityUnit numerator, TimeUnit denominator) {
     super(numerator, denominator);
   }
 
@@ -25,6 +28,13 @@ protected LinearAccelerationUnit(LinearVelocityUnit numerator, TimeUnit denomina
     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);
   }
@@ -50,10 +60,28 @@ public MutLinearAcceleration mutable(double initialMagnitude) {
     return new MutLinearAcceleration(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 
+  @Override
+  public VelocityUnit<LinearAccelerationUnit> per(TimeUnit time) {
+    return VelocityUnit.combine(this, time);
+  }
+
+  /**
+   * 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
index 9eb65a04fe9..a4759db5b8c 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
@@ -8,11 +8,12 @@
 import edu.wpi.first.units.measure.LinearMomentum;
 import edu.wpi.first.units.measure.MutLinearMomentum;
 
-public class LinearMomentumUnit extends MultUnit<MassUnit, LinearVelocityUnit> {
+/** 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);
 
-  protected LinearMomentumUnit(MassUnit unit, LinearVelocityUnit linearVelocityUnit) {
+  LinearMomentumUnit(MassUnit unit, LinearVelocityUnit linearVelocityUnit) {
     super(unit, linearVelocityUnit);
   }
 
@@ -25,6 +26,13 @@ protected LinearMomentumUnit(MassUnit unit, LinearVelocityUnit linearVelocityUni
     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);
   }
@@ -44,6 +52,17 @@ public MutLinearMomentum mutable(double initialMagnitude) {
     return new MutLinearMomentum(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 
+  @Override
+  public VelocityUnit<LinearMomentumUnit> per(TimeUnit time) {
+    return VelocityUnit.combine(this, time);
+  }
+
+  /**
+   * 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
index 86ea34c14bc..03f51830295 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java
@@ -8,7 +8,8 @@
 import edu.wpi.first.units.measure.LinearVelocity;
 import edu.wpi.first.units.measure.MutLinearVelocity;
 
-public class LinearVelocityUnit extends PerUnit<DistanceUnit, TimeUnit> {
+/** 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);
 
@@ -25,6 +26,13 @@ public class LinearVelocityUnit extends PerUnit<DistanceUnit, TimeUnit> {
     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);
   }
@@ -44,6 +52,13 @@ 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);
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
index cb90798e7bd..a84cce5d82f 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
@@ -12,12 +12,12 @@
  * 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;MassUnit&gt;</code>.
+ * 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 class MassUnit extends Unit {
+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);
@@ -52,18 +52,39 @@ public MutMass mutable(double initialMagnitude) {
     return new MutMass(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 
+  @Override
   public VelocityUnit<MassUnit> per(TimeUnit period) {
     return VelocityUnit.combine(this, period);
   }
 
+  /**
+   * 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 e049355afe3..ddd61b57126 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Measure.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Measure.java
@@ -86,6 +86,12 @@ default double in(U unit) {
     }
   }
 
+  /**
+   * A convenience method to get the base unit of the measurement. Equivalent to {@code
+   * unit().getBaseUnit()}.
+   *
+   * @return the base unit of measure.
+   */
   @SuppressWarnings("unchecked")
   default U baseUnit() {
     return (U) unit().getBaseUnit();
@@ -99,16 +105,54 @@ default U baseUnit() {
    */
   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);
 
   /**
@@ -209,133 +253,323 @@ && baseUnit().equals(ratio.denominator().getBaseUnit())) {
     }
   }
 
+  /**
+   * Multiplies this measure by an 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(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 null;
+    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<?> 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 measreument 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 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);
 
   /**
@@ -438,121 +672,277 @@ default Measure<?> divide(Measure<?> divisor) {
     }
   }
 
+  /**
+   * Divides this measure by a generic acceleration and returns the result in the most appropriate
+   * unit.
+   *
+   * @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 divisor the measurement to divide by.
+   * @return the division result
+   */
   default Measure<?> divide(Angle divisor) {
     return PerUnit.combine(unit(), divisor.unit())
         .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
   }
 
+  /**
+   * Divides this measure by an angular acceleration and returns the result in the most appropriate
+   * unit.
+   *
+   * @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 divisor the measurement to divide by.
+   * @return the division result
+   */
   default Measure<?> divide(AngularMomentum divisor) {
     return PerUnit.combine(unit(), divisor.unit())
         .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
   }
 
+  /**
+   * Divides this measure by an angular velocity and returns the result in the most appropriate
+   * unit.
+   *
+   * @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 divisor the measurement to divide by.
+   * @return the division result
+   */
   default Measure<?> divide(Current divisor) {
     return PerUnit.combine(unit(), divisor.unit())
         .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
   }
 
+  /**
+   * Divides this measure by a distance and returns the result in the most appropriate unit.
+   *
+   * @param divisor the measurement to divide by.
+   * @return the division result
+   */
   default Measure<?> divide(Distance divisor) {
     return PerUnit.combine(unit(), divisor.unit())
         .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
   }
 
+  /**
+   * Divides this measure by an energy and returns the result in the most appropriate unit.
+   *
+   * @param divisor the measurement to divide by.
+   * @return the division result
+   */
   default Measure<?> divide(Energy divisor) {
     return PerUnit.combine(unit(), divisor.unit())
         .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
   }
 
+  /**
+   * Divides this measure by a force and returns the result in the most appropriate unit.
+   *
+   * @param divisor the measurement to divide by.
+   * @return the division result
+   */
   default Measure<?> divide(Force divisor) {
     return PerUnit.combine(unit(), divisor.unit())
         .ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
   }
 
+  /**
+   * Divides this measure by a frequency and returns the result in the most appropriate unit.
+   *
+   * @param divisor the measurement to divide by.
+   * @return the division result
+   */
   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) {
@@ -560,6 +950,13 @@ default <Other extends Unit> Measure<Other> divideRatio(
         baseUnitMagnitude() / divisor.baseUnitMagnitude(), divisor.unit().denominator());
   }
 
+  /**
+   * 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))}.
+   *
+   * @param period the time period measurement to divide by.
+   * @return the division result
+   */
   default Measure<?> per(TimeUnit period) {
     return divide(period.of(1));
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java
index 3b89ae66aef..bb453ab734d 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java
@@ -8,12 +8,17 @@
 import edu.wpi.first.units.measure.MomentOfInertia;
 import edu.wpi.first.units.measure.MutMomentOfInertia;
 
-public class MomentOfInertiaUnit extends PerUnit<AngularMomentumUnit, AngularVelocityUnit> {
+/**
+ * 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);
 
-  protected MomentOfInertiaUnit(AngularMomentumUnit numerator, AngularVelocityUnit denominator) {
+  MomentOfInertiaUnit(AngularMomentumUnit numerator, AngularVelocityUnit denominator) {
     super(numerator, denominator);
   }
 
@@ -26,6 +31,13 @@ protected MomentOfInertiaUnit(AngularMomentumUnit numerator, AngularVelocityUnit
     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);
@@ -45,4 +57,9 @@ public MomentOfInertia ofBaseUnits(double baseUnitMagnitude) {
   public MutMomentOfInertia mutable(double initialMagnitude) {
     return new MutMomentOfInertia(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
+
+  @Override
+  public VelocityUnit<MomentOfInertiaUnit> per(TimeUnit time) {
+    return VelocityUnit.combine(this, time);
+  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java
index 982948b89f4..e7da39105ba 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java
@@ -85,6 +85,11 @@ public Measure<? extends MultUnit<A, B>> ofBaseUnits(double baseUnitMagnitude) {
     return new MutMult<>(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 
+  @Override
+  public Unit per(TimeUnit time) {
+    return VelocityUnit.combine(this, time);
+  }
+
   @Override
   @SuppressWarnings("unchecked")
   public MultUnit<A, B> getBaseUnit() {
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 e32b5df9d58..115c5483da1 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
@@ -19,12 +19,36 @@
 public interface MutableMeasure<
         U extends Unit, Base extends Measure<U>, MutSelf extends MutableMeasure<U, Base, MutSelf>>
     extends Measure<U> {
+  /**
+   * Creates a new mutable measure starting with the given initial magnitude and unit.
+   *
+   * @param initialValue the initial magnitude of the measure, in terms of the initial unit
+   * @param unit the initial unit of the measurement
+   * @param <U> the unit of measurement
+   * @return a new mutable measure
+   */
   static <U extends Unit> MutableMeasure<U, ?, ?> ofRelativeUnits(double initialValue, U unit) {
-    return new GenericMutableMeasureImpl<>(initialValue, unit);
+    return new GenericMutableMeasureImpl<>(initialValue, unit.toBaseUnits(initialValue), unit);
   }
 
+  /**
+   * Overwrites the state of this measure with new values.
+   *
+   * @param magnitude the new magnitude in terms of the new unit
+   * @param newUnit the new unit
+   * @return this measure
+   */
   MutSelf mut_replace(double magnitude, U newUnit);
 
+  /**
+   * 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 other the other measure to copy values from
+   * @return this measure
+   */
   default MutSelf mut_replace(Base other) {
     return mut_replace(other.magnitude(), other.unit());
   }
@@ -32,50 +56,137 @@ default MutSelf mut_replace(Base other) {
   @Override
   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
+   */
   default MutSelf mut_setMagnitude(double magnitude) {
     return mut_replace(magnitude, unit());
   }
 
+  /**
+   * Sets the new magnitude of the measurement. The magnitude must be in terms of the base unit of
+   * the current unit.
+   *
+   * @param baseUnitMagnitude the new magnitude of the measurement
+   * @return this mutable measure
+   */
   default MutSelf mut_setBaseUnitMagnitude(double baseUnitMagnitude) {
     return mut_replace(unit().fromBaseUnits(baseUnitMagnitude), unit());
   }
 
+  /**
+   * Increments the current magnitude of the measure by the given value. The value must be in terms
+   * of the current {@link #unit() unit}.
+   *
+   * @param raw the raw value to accumulate by
+   * @return the measure
+   */
   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 this measure
+   */
   default MutSelf mut_acc(Base other) {
     return mut_setMagnitude(magnitude() + unit().fromBaseUnits(other.baseUnitMagnitude()));
   }
 
+  /**
+   * Adds another measurement to this one. This will mutate the object instead of generating a new
+   * measurement object.
+   *
+   * @param other the measurement to add
+   * @return this measure
+   */
   default MutSelf mut_plus(Base other) {
     return mut_acc(other);
   }
 
+  /**
+   * Adds 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_plus(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 otherUnit the unit of the other measurement
+   * @return this measure
+   */
   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 subtract from this one
+   * @return this measure
+   */
   default MutSelf mut_minus(Base other) {
     return mut_setBaseUnitMagnitude(baseUnitMagnitude() - other.baseUnitMagnitude());
   }
 
+  /**
+   * 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 otherUnit the unit of the other measurement
+   * @return this measure
+   */
   default MutSelf mut_minus(double magnitude, U otherUnit) {
     return mut_setBaseUnitMagnitude(baseUnitMagnitude() - otherUnit.toBaseUnits(magnitude));
   }
 
+  /**
+   * Multiplies this measurement by some constant value. This will mutate the object instead of
+   * generating a new measurement object.
+   *
+   * @param multiplier the multiplier to scale the measurement by
+   * @return this measure
+   */
   default MutSelf mut_times(double multiplier) {
     return mut_setBaseUnitMagnitude(baseUnitMagnitude() * multiplier);
   }
 
-  default MutSelf mut_times(Dimensionless scalar) {
-    return mut_times(scalar.baseUnitMagnitude());
+  /**
+   * Multiplies this measurement by some constant value. This will mutate the object instead of
+   * generating a new measurement object.
+   *
+   * @param multiplier the multiplier to scale the measurement by
+   * @return this measure
+   */
+  default MutSelf mut_times(Dimensionless multiplier) {
+    return mut_times(multiplier.baseUnitMagnitude());
   }
 
+  /**
+   * Divides this measurement by some constant value. This will mutate the object instead of
+   * generating a new measurement object.
+   *
+   * @param divisor the divisor to scale the measurement by
+   * @return this measure
+   */
   default MutSelf mut_divide(double divisor) {
     return mut_times(1 / divisor);
   }
 
+  /**
+   * Divides this measurement by some constant value. This will mutate the object instead of
+   * generating a new measurement object.
+   *
+   * @param divisor the divisor to scale the measurement by
+   * @return this measure
+   */
   default MutSelf mut_divide(Dimensionless divisor) {
     return mut_divide(divisor.baseUnitMagnitude());
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
index 47091d273ba..7704da53206 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
@@ -46,6 +46,7 @@ protected PerUnit(N numerator, D denominator) {
     m_denominator = denominator;
   }
 
+  /** {@inheritDoc} */
   PerUnit(
       PerUnit<N, D> baseUnit,
       UnaryFunction toBaseConverter,
@@ -170,6 +171,18 @@ public Measure<? extends PerUnit<N, D>> ofBaseUnits(double baseUnitMagnitude) {
     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));
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
index 255aed87d19..683d6cbb963 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
@@ -20,11 +20,11 @@
  * <p>Actual units (such as {@link Units#Watts} and {@link Units#Horsepower}) can be found in the
  * {@link Units} class.
  */
-public class PowerUnit extends PerUnit<EnergyUnit, TimeUnit> {
+public final class PowerUnit extends PerUnit<EnergyUnit, TimeUnit> {
   private static final CombinatoryUnitCache<EnergyUnit, TimeUnit, PowerUnit> cache =
       new CombinatoryUnitCache<>(PowerUnit::new);
 
-  protected PowerUnit(EnergyUnit energy, TimeUnit time) {
+  PowerUnit(EnergyUnit energy, TimeUnit time) {
     this(
         energy.isBaseUnit() && time.isBaseUnit()
             ? null
@@ -44,6 +44,13 @@ protected PowerUnit(EnergyUnit energy, TimeUnit time) {
     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);
   }
@@ -115,6 +122,18 @@ public MutPower mutable(double initialMagnitude) {
     return new MutPower(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 
+  @Override
+  public VelocityUnit<PowerUnit> per(TimeUnit time) {
+    return VelocityUnit.combine(this, time);
+  }
+
+  /**
+   * 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/TemperatureUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
index 1695bfeb77d..91e32406067 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
@@ -17,7 +17,7 @@
  * <p>Actual units (such as {@link Units#Celsius} and {@link Units#Fahrenheit}) can be found in the
  * {@link Units} class.
  */
-public class TemperatureUnit extends Unit {
+public final class TemperatureUnit extends Unit {
   TemperatureUnit(
       TemperatureUnit baseUnit,
       UnaryFunction toBaseConverter,
@@ -27,10 +27,6 @@ public class TemperatureUnit extends Unit {
     super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
   }
 
-  public VelocityUnit<TemperatureUnit> per(TimeUnit period) {
-    return VelocityUnit.combine(this, period);
-  }
-
   @Override
   public Temperature of(double magnitude) {
     return new ImmutableTemperature(magnitude, toBaseUnits(magnitude), this);
@@ -46,6 +42,18 @@ public MutTemperature mutable(double initialMagnitude) {
     return new MutTemperature(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 
+  @Override
+  public VelocityUnit<TemperatureUnit> per(TimeUnit period) {
+    return VelocityUnit.combine(this, period);
+  }
+
+  /**
+   * 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/TimeUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
index 6ef292a7c44..296b12b3b8a 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
@@ -17,7 +17,7 @@
  * <p>Actual units (such as {@link Units#Seconds} and {@link Units#Milliseconds}) can be found in
  * the {@link Units} class.
  */
-public class TimeUnit extends Unit {
+public final class TimeUnit extends Unit {
   TimeUnit(TimeUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
     super(baseUnit, baseUnitEquivalent, name, symbol);
   }
@@ -43,6 +43,7 @@ public TimeUnit getBaseUnit() {
    * @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()))
@@ -52,10 +53,24 @@ public DimensionlessUnit per(TimeUnit other) {
         .make();
   }
 
+  /**
+   * Creates a ratio unit between this unit of time 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 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, TimeUnit otherUnit) {
     return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
index c37e87c3804..919d17eeb43 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
@@ -8,11 +8,12 @@
 import edu.wpi.first.units.measure.MutTorque;
 import edu.wpi.first.units.measure.Torque;
 
-public class TorqueUnit extends MultUnit<DistanceUnit, ForceUnit> {
+/** 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);
 
-  protected TorqueUnit(DistanceUnit distanceUnit, ForceUnit forceUnit) {
+  TorqueUnit(DistanceUnit distanceUnit, ForceUnit forceUnit) {
     super(distanceUnit, forceUnit);
   }
 
@@ -25,6 +26,13 @@ protected TorqueUnit(DistanceUnit distanceUnit, ForceUnit forceUnit) {
     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);
   }
@@ -43,4 +51,9 @@ public Torque ofBaseUnits(double baseUnitMagnitude) {
   public MutTorque mutable(double initialMagnitude) {
     return new MutTorque(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
+
+  @Override
+  public VelocityUnit<TorqueUnit> per(TimeUnit time) {
+    return VelocityUnit.combine(this, time);
+  }
 }
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 e5784271ee7..3b2c36f675f 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Unit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Unit.java
@@ -58,12 +58,45 @@ protected Unit(Unit baseUnit, double baseUnitEquivalent, String name, String sym
     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);
 
+  /**
+   * 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.
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 8e6b7801b52..492b7150ced 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Units.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Units.java
@@ -87,13 +87,13 @@ private Units() {
 
   // 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 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 AngleUnit Radian = Radians; // alias
@@ -180,9 +180,14 @@ private Units() {
    */
   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
@@ -226,10 +231,10 @@ private Units() {
       derive(MetersPerSecondPerSecond).aggregate(9.80665).named("G").symbol("G").make();
 
   // MassUnit
-  /** The base SI unit of mass. */
+  /** The standard SI unit of mass. */
   public static final MassUnit Kilograms = BaseUnits.MassUnit;
 
-  /** The base SI unit of mass. */
+  /** The standard SI unit of mass. */
   public static final MassUnit Kilogram = Kilograms; // alias
 
   /** 1/1000 of a {@link #Kilogram}. */
@@ -242,6 +247,8 @@ private Units() {
    * 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 MassUnit Pounds =
       derive(Grams).aggregate(453.592).named("Pound").symbol("lb.").make();
@@ -250,6 +257,8 @@ private Units() {
    * 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 MassUnit Pound = Pounds; // alias
 
@@ -262,48 +271,106 @@ private Units() {
 
   // Force
 
+  /**
+   * The standard unit of force, equivalent to the standard force of gravity applied to a one {@link
+   * #Kilogram} mass.
+   */
   public static final ForceUnit Newtons =
       derive(Kilograms.mult(Gs)).named("Newton").symbol("N").make();
 
+  /**
+   * The standard unit of force, equivalent to the standard force of gravity applied to a one {@link
+   * #Kilogram} mass.
+   */
   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.mult(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.mult(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.mult(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.mult(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 base SI unit for moment of inertia. */
+  /** The standard SI unit for moment of inertia. */
   public static final MomentOfInertiaUnit KilogramSquareMeters =
       KilogramMetersSquaredPerSecond.mult(RadiansPerSecond);
 
@@ -407,8 +474,8 @@ private Units() {
   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 TemperatureUnit Celsius =
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
index 8d1e9a35ee2..deff1dee5e2 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
@@ -12,16 +12,13 @@
  * 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;VelocityUnit&lt;DistanceUnit&gt;&gt;</code>.
+ * <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).
  *
- * <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 AngleUnit} or {@link DistanceUnit}
+ * @param <D> the unit of the changing quantity, such as {@link VoltageUnit} or {@link
+ *     TemperatureUnit}
  */
-public class VelocityUnit<D extends Unit> extends PerUnit<D, TimeUnit> {
+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);
@@ -39,6 +36,14 @@ public class VelocityUnit<D extends Unit> extends PerUnit<D, TimeUnit> {
     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);
@@ -62,10 +67,6 @@ public TimeUnit getPeriod() {
     return denominator();
   }
 
-  public AccelerationUnit<D> per(TimeUnit period) {
-    return AccelerationUnit.combine(this, period);
-  }
-
   @Override
   public Velocity<D> of(double magnitude) {
     return new ImmutableVelocity<>(magnitude, toBaseUnits(magnitude), this);
@@ -81,6 +82,24 @@ public Velocity<D> ofBaseUnits(double baseUnitMagnitude) {
     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);
+  }
+
+  /**
+   * 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/VoltageUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
index e5b28ff2730..86540c0c224 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
@@ -17,7 +17,7 @@
  * <p>Actual units (such as {@link Units#Volts} and {@link Units#Millivolts}) can be found in the
  * {@link Units} class.
  */
-public class VoltageUnit extends Unit {
+public final class VoltageUnit extends Unit {
   VoltageUnit(VoltageUnit baseUnit, double baseUnitEquivalent, String name, String symbol) {
     super(baseUnit, baseUnitEquivalent, name, symbol);
   }
@@ -61,14 +61,29 @@ public MutVoltage mutable(double magnitude) {
     return new MutVoltage(magnitude, toBaseUnits(magnitude), this);
   }
 
-  public <U extends Unit> PerUnit<VoltageUnit, U> per(U other) {
-    return PerUnit.combine(this, other);
-  }
-
+  @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
index b337fdb0739..c5ae7916504 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/GenericMutableMeasureImpl.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/GenericMutableMeasureImpl.java
@@ -10,16 +10,27 @@
 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);
   }
 
-  public GenericMutableMeasureImpl(double initialValue, U unit) {
-    this(initialValue, unit.toBaseUnits(initialValue), unit);
-  }
-
   @Override
   public Measure<U> copy() {
     return ImmutableMeasure.ofBaseUnits(m_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
index ac1fbdd348a..7b23e87a83c 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutableMeasureBase.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutableMeasureBase.java
@@ -9,11 +9,24 @@
 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;
 
   /**
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 46b8f04e8f1..399dfdb680b 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/ExampleUnit.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/ExampleUnit.java
@@ -40,4 +40,9 @@ public Measure<ExampleUnit> ofBaseUnits(double baseUnitMagnitude) {
   public MutableMeasure<ExampleUnit, ?, ?> mutable(double initialMagnitude) {
     return MutableMeasure.ofRelativeUnits(initialMagnitude, this);
   }
+
+  @Override
+  public VelocityUnit<ExampleUnit> per(TimeUnit time) {
+    return VelocityUnit.combine(this, time);
+  }
 }

From ab96bf3853eb8eba81938a1f11233ca44bdd6982 Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Fri, 28 Jun 2024 23:14:17 -0400
Subject: [PATCH 15/46] Fix import ordering

---
 .../java/edu/wpi/first/wpilibj2/command/sysid/SysIdRoutine.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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 efc958f4013..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
@@ -10,10 +10,10 @@
 import static java.util.Map.entry;
 
 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.units.measure.MutVoltage;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.sysid.SysIdRoutineLog;
 import edu.wpi.first.wpilibj2.command.Command;

From 04cb95a278cc0923610bcef10ca619da6e221b81 Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Fri, 28 Jun 2024 23:40:35 -0400
Subject: [PATCH 16/46] Improve `equals` logic

Instead of relying on the default record implementation for immutable types and the autogenerated logic for mutables, check for measure equivalence

This allows for comparisons of eg `Measure<DistanceUnit>` to `ImmutableDistance` to `MutDistance` to all work correctly
---
 .../generate/main/java/Measure-immutable.java.jinja    |  5 +++++
 .../wpi/first/units/measure/ImmutableAcceleration.java |  5 +++++
 .../edu/wpi/first/units/measure/ImmutableAngle.java    |  5 +++++
 .../units/measure/ImmutableAngularAcceleration.java    |  5 +++++
 .../first/units/measure/ImmutableAngularMomentum.java  |  5 +++++
 .../first/units/measure/ImmutableAngularVelocity.java  |  5 +++++
 .../edu/wpi/first/units/measure/ImmutableCurrent.java  |  5 +++++
 .../first/units/measure/ImmutableDimensionless.java    |  5 +++++
 .../edu/wpi/first/units/measure/ImmutableDistance.java |  5 +++++
 .../edu/wpi/first/units/measure/ImmutableEnergy.java   |  5 +++++
 .../edu/wpi/first/units/measure/ImmutableForce.java    |  5 +++++
 .../wpi/first/units/measure/ImmutableFrequency.java    |  5 +++++
 .../units/measure/ImmutableLinearAcceleration.java     |  5 +++++
 .../first/units/measure/ImmutableLinearMomentum.java   |  5 +++++
 .../first/units/measure/ImmutableLinearVelocity.java   |  5 +++++
 .../edu/wpi/first/units/measure/ImmutableMass.java     |  5 +++++
 .../first/units/measure/ImmutableMomentOfInertia.java  |  5 +++++
 .../edu/wpi/first/units/measure/ImmutableMult.java     |  5 +++++
 .../java/edu/wpi/first/units/measure/ImmutablePer.java |  5 +++++
 .../edu/wpi/first/units/measure/ImmutablePower.java    |  5 +++++
 .../wpi/first/units/measure/ImmutableTemperature.java  |  5 +++++
 .../edu/wpi/first/units/measure/ImmutableTime.java     |  5 +++++
 .../edu/wpi/first/units/measure/ImmutableTorque.java   |  5 +++++
 .../edu/wpi/first/units/measure/ImmutableVelocity.java |  5 +++++
 .../edu/wpi/first/units/measure/ImmutableVoltage.java  |  5 +++++
 .../wpi/first/units/mutable/MutableMeasureBase.java    | 10 +---------
 26 files changed, 126 insertions(+), 9 deletions(-)

diff --git a/wpiunits/src/generate/main/java/Measure-immutable.java.jinja b/wpiunits/src/generate/main/java/Measure-immutable.java.jinja
index dc4da4ace59..526c9509778 100644
--- a/wpiunits/src/generate/main/java/Measure-immutable.java.jinja
+++ b/wpiunits/src/generate/main/java/Measure-immutable.java.jinja
@@ -20,4 +20,9 @@ public record Immutable{{ helpers['type_decl'](name) }}(double magnitude, double
   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/ImmutableAcceleration.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/ImmutableAcceleration.java
index f2dd5d76ad7..ab6f0449bfe 100644
--- 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
@@ -20,4 +20,9 @@ public Acceleration<D> copy() {
   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
index 762fed8afbe..352e19ea38a 100644
--- 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
@@ -20,4 +20,9 @@ public Angle copy() {
   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
index 043ca138dd8..0c417e08c6f 100644
--- 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
@@ -20,4 +20,9 @@ public AngularAcceleration copy() {
   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
index e6fa5e280bb..7d00dd669ed 100644
--- 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
@@ -20,4 +20,9 @@ public AngularMomentum copy() {
   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
index c5eb37181f4..c692a116d50 100644
--- 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
@@ -20,4 +20,9 @@ public AngularVelocity copy() {
   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
index e8c87ff53c5..8710f57efee 100644
--- 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
@@ -20,4 +20,9 @@ public Current copy() {
   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
index 6230728770b..455bd2b4026 100644
--- 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
@@ -20,4 +20,9 @@ public Dimensionless copy() {
   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
index 8383254a747..f9197822361 100644
--- 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
@@ -20,4 +20,9 @@ public Distance copy() {
   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
index 068f28493e3..7e443075b05 100644
--- 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
@@ -20,4 +20,9 @@ public Energy copy() {
   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
index f24a4ab2fc0..14f11ec7a19 100644
--- 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
@@ -20,4 +20,9 @@ public Force copy() {
   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
index 9bfcc5a7c6a..f9084ed569d 100644
--- 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
@@ -20,4 +20,9 @@ public Frequency copy() {
   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
index 7b3e0ae450d..3212588d059 100644
--- 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
@@ -20,4 +20,9 @@ public LinearAcceleration copy() {
   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
index b68c7c1b403..0d7afd654b6 100644
--- 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
@@ -20,4 +20,9 @@ public LinearMomentum copy() {
   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
index d68c7f30f5a..7373307d39f 100644
--- 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
@@ -20,4 +20,9 @@ public LinearVelocity copy() {
   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
index 9f001e95362..c74ad2711a6 100644
--- 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
@@ -20,4 +20,9 @@ public Mass copy() {
   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
index a60c765f01e..ea903c7652a 100644
--- 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
@@ -20,4 +20,9 @@ public MomentOfInertia copy() {
   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
index cdc7e66b8fe..fc69825ee4a 100644
--- 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
@@ -20,4 +20,9 @@ public Mult<A, B> copy() {
   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
index 93b220c63f5..3d9ad1fe14b 100644
--- 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
@@ -20,4 +20,9 @@ public Per<Dividend, Divisor> copy() {
   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
index 2c30781f180..0c7ffc0d95b 100644
--- 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
@@ -20,4 +20,9 @@ public Power copy() {
   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
index f009aa261f2..e035d809222 100644
--- 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
@@ -20,4 +20,9 @@ public Temperature copy() {
   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
index 1c8df42af2d..1230d92028b 100644
--- 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
@@ -20,4 +20,9 @@ public Time copy() {
   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
index 924aa224e0c..7c756e75dcb 100644
--- 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
@@ -20,4 +20,9 @@ public Torque copy() {
   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
index 68fd23fac8c..89256f9d055 100644
--- 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
@@ -20,4 +20,9 @@ public Velocity<D> copy() {
   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
index 55abb06d0e9..ca5dfebbf3d 100644
--- 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
@@ -20,4 +20,9 @@ public Voltage copy() {
   public String toString() {
     return toShortString();
   }
+
+  @Override
+  public boolean equals(Object o) {
+    return o instanceof Measure<?> m && isEquivalent(m);
+  }
 }
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
index 7b23e87a83c..4fe4025962f 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutableMeasureBase.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutableMeasureBase.java
@@ -66,15 +66,7 @@ public String toString() {
 
   @Override
   public boolean equals(Object o) {
-    if (this == o) {
-      return true;
-    }
-    if (!(o instanceof MutableMeasureBase<?, ?, ?> that)) {
-      return false;
-    }
-    return Double.compare(m_magnitude, that.m_magnitude) == 0
-        && Double.compare(m_baseUnitMagnitude, that.m_baseUnitMagnitude) == 0
-        && Objects.equals(m_unit, that.m_unit);
+    return this == o || (o instanceof Measure<?> m && isEquivalent(m));
   }
 
   @Override

From d44ac50456368cf13e475980862bcd9c08dde108 Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Tue, 13 Aug 2024 15:48:01 -0400
Subject: [PATCH 17/46] Checkstyle

---
 .../java/edu/wpi/first/units/mutable/MutableMeasureBase.java    | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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
index 4fe4025962f..3314e809b2b 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutableMeasureBase.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/mutable/MutableMeasureBase.java
@@ -66,7 +66,7 @@ public String toString() {
 
   @Override
   public boolean equals(Object o) {
-    return this == o || (o instanceof Measure<?> m && isEquivalent(m));
+    return this == o || o instanceof Measure<?> m && isEquivalent(m);
   }
 
   @Override

From 88ecf042c8177374288ea3e6a6c274fa7b8be696 Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Tue, 13 Aug 2024 15:50:07 -0400
Subject: [PATCH 18/46] Consistent API in unit subclasses for non-inherited
 methods

For example, `convertFrom` cannot be declared in the base unit class and must therefore be declared and implemented in every subclass, and `getBaseUnit` must be overridden to return the correct type in every subclass

Make composite units consistently use the correct base units
---
 .../edu/wpi/first/units/AccelerationUnit.java | 29 +++++++++++++++-
 .../java/edu/wpi/first/units/AngleUnit.java   | 16 +++++++++
 .../first/units/AngularAccelerationUnit.java  | 34 ++++++++++++++++++-
 .../wpi/first/units/AngularMomentumUnit.java  | 34 ++++++++++++++++++-
 .../wpi/first/units/AngularVelocityUnit.java  | 34 ++++++++++++++++++-
 .../java/edu/wpi/first/units/CurrentUnit.java | 18 +++++++++-
 .../wpi/first/units/DimensionlessUnit.java    | 16 +++++++++
 .../edu/wpi/first/units/DistanceUnit.java     | 11 ++++++
 .../java/edu/wpi/first/units/EnergyUnit.java  | 22 ++++++++++++
 .../java/edu/wpi/first/units/ForceUnit.java   | 30 +++++++++++++---
 .../edu/wpi/first/units/FrequencyUnit.java    | 34 ++++++++++++++++++-
 .../first/units/LinearAccelerationUnit.java   | 29 +++++++++++++++-
 .../wpi/first/units/LinearMomentumUnit.java   | 34 ++++++++++++++++++-
 .../wpi/first/units/LinearVelocityUnit.java   | 34 ++++++++++++++++++-
 .../java/edu/wpi/first/units/MassUnit.java    | 11 ++++++
 .../wpi/first/units/MomentOfInertiaUnit.java  | 34 ++++++++++++++++++-
 .../java/edu/wpi/first/units/MultUnit.java    | 31 ++++++++++++++++-
 .../java/edu/wpi/first/units/PerUnit.java     | 21 +++++++++++-
 .../java/edu/wpi/first/units/PowerUnit.java   | 24 ++++++++++---
 .../edu/wpi/first/units/TemperatureUnit.java  | 16 +++++++++
 .../java/edu/wpi/first/units/TimeUnit.java    |  8 ++---
 .../java/edu/wpi/first/units/TorqueUnit.java  | 34 ++++++++++++++++++-
 .../main/java/edu/wpi/first/units/Unit.java   |  3 ++
 .../edu/wpi/first/units/VelocityUnit.java     | 26 ++++++++++++--
 .../java/edu/wpi/first/units/VoltageUnit.java |  7 +++-
 .../edu/wpi/first/units/CurrentUnitTest.java  |  4 +--
 .../edu/wpi/first/units/VoltageUnitTest.java  |  5 ++-
 27 files changed, 564 insertions(+), 35 deletions(-)

diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
index b97cfe06139..37fc7ca8488 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
@@ -26,7 +26,12 @@ public final class AccelerationUnit<D extends Unit> extends PerUnit<VelocityUnit
       new CombinatoryUnitCache<>(AccelerationUnit::new);
 
   AccelerationUnit(VelocityUnit<D> velocity, TimeUnit period) {
-    super(velocity, period);
+    super(
+        velocity.isBaseUnit() && period.isBaseUnit()
+            ? null
+            : combine(velocity.getBaseUnit(), period.getBaseUnit()),
+        velocity,
+        period);
   }
 
   AccelerationUnit(
@@ -58,6 +63,28 @@ 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.
    *
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
index 4573519b9ec..f7c19377f27 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
@@ -34,6 +34,11 @@ public final class AngleUnit extends Unit {
     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);
@@ -54,6 +59,17 @@ 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.
    *
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java
index 35383854892..4fbf72d9667 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java
@@ -14,7 +14,12 @@ public final class AngularAccelerationUnit extends PerUnit<AngularVelocityUnit,
       cache = new CombinatoryUnitCache<>(AngularAccelerationUnit::new);
 
   AngularAccelerationUnit(AngularVelocityUnit velocity, TimeUnit period) {
-    super(velocity, period);
+    super(
+        velocity.isBaseUnit() && period.isBaseUnit()
+            ? null
+            : combine(velocity.getBaseUnit(), period.getBaseUnit()),
+        velocity,
+        period);
   }
 
   AngularAccelerationUnit(
@@ -37,6 +42,11 @@ public static AngularAccelerationUnit combine(AngularVelocityUnit velocity, Time
     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);
@@ -57,4 +67,26 @@ public MutAngularAcceleration mutable(double initialMagnitude) {
   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
index 542b9188a2f..c386b1a93fb 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
@@ -17,7 +17,12 @@ public final class AngularMomentumUnit extends MultUnit<LinearMomentumUnit, Dist
       cache = new CombinatoryUnitCache<>(AngularMomentumUnit::new);
 
   AngularMomentumUnit(LinearMomentumUnit momentumUnit, DistanceUnit distanceUnit) {
-    super(momentumUnit, distanceUnit);
+    super(
+        momentumUnit.isBaseUnit() && distanceUnit.isBaseUnit()
+            ? null
+            : combine(momentumUnit, distanceUnit),
+        momentumUnit,
+        distanceUnit);
   }
 
   AngularMomentumUnit(
@@ -40,6 +45,11 @@ public static AngularMomentumUnit combine(LinearMomentumUnit linear, DistanceUni
     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);
@@ -60,6 +70,28 @@ 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.
    *
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java
index 890b749b6ff..fc62ac2a9cb 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java
@@ -14,7 +14,12 @@ public final class AngularVelocityUnit extends PerUnit<AngleUnit, TimeUnit> {
       new CombinatoryUnitCache<>(AngularVelocityUnit::new);
 
   AngularVelocityUnit(AngleUnit numerator, TimeUnit denominator) {
-    super(numerator, denominator);
+    super(
+        numerator.isBaseUnit() && denominator.isBaseUnit()
+            ? null
+            : combine(numerator.getBaseUnit(), denominator.getBaseUnit()),
+        numerator,
+        denominator);
   }
 
   AngularVelocityUnit(
@@ -37,6 +42,11 @@ 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);
@@ -56,4 +66,26 @@ public MutAngularVelocity mutable(double initialMagnitude) {
   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/CurrentUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
index 5cc50f746b1..aa0fc6970fd 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
@@ -31,6 +31,11 @@ public final class CurrentUnit extends Unit {
     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
@@ -42,7 +47,7 @@ public final class CurrentUnit extends Unit {
    * @param symbol the symbol used to represent the unit of power
    * @return the power unit
    */
-  public PowerUnit times(VoltageUnit voltage, String name, String symbol) {
+  public PowerUnit mult(VoltageUnit voltage, String name, String symbol) {
     return Units.derive(PowerUnit.combine(voltage, this)).named(name).symbol(symbol).make();
   }
 
@@ -66,6 +71,17 @@ 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.
    *
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
index 4b7ba834657..0e57b88eb54 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
@@ -33,6 +33,11 @@ public final class DimensionlessUnit extends Unit {
     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);
@@ -70,4 +75,15 @@ public double convertFrom(double magnitude, DimensionlessUnit otherUnit) {
   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/DistanceUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
index cd4032f6190..83010ba0b28 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
@@ -41,6 +41,17 @@ 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.
    *
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
index b93942703a6..e46a760d71e 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
@@ -47,6 +47,28 @@ 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);
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
index 17f8f12f57c..1518f6e7c0e 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
@@ -14,14 +14,12 @@ public final class ForceUnit extends MultUnit<MassUnit, LinearAccelerationUnit>
       new CombinatoryUnitCache<>(ForceUnit::new);
 
   ForceUnit(MassUnit mass, LinearAccelerationUnit acceleration) {
-    this(
+    super(
         mass.isBaseUnit() && acceleration.isBaseUnit()
             ? null
             : combine(mass.getBaseUnit(), acceleration.getBaseUnit()),
-        mass.getConverterToBase().div(acceleration.getConverterToBase()),
-        mass.getConverterFromBase().div(acceleration.getConverterFromBase()),
-        mass.name() + "-" + acceleration.name(),
-        mass.symbol() + "-" + acceleration.symbol());
+        mass,
+        acceleration);
   }
 
   ForceUnit(
@@ -83,4 +81,26 @@ public MutForce mutable(double initialMagnitude) {
   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
index ce29795c2cc..31573747d27 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java
@@ -16,7 +16,12 @@ public final class FrequencyUnit extends PerUnit<DimensionlessUnit, TimeUnit> {
       new CombinatoryUnitCache<>(FrequencyUnit::new);
 
   FrequencyUnit(DimensionlessUnit numerator, TimeUnit denominator) {
-    super(numerator, denominator);
+    super(
+        numerator.isBaseUnit() && denominator.isBaseUnit()
+            ? null
+            : combine(numerator.getBaseUnit(), denominator.getBaseUnit()),
+        numerator,
+        denominator);
   }
 
   FrequencyUnit(
@@ -39,6 +44,11 @@ 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).
@@ -69,4 +79,26 @@ public MutFrequency mutable(double initialMagnitude) {
   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/LinearAccelerationUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearAccelerationUnit.java
index 4a4fa4fef67..065d7039a0f 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearAccelerationUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearAccelerationUnit.java
@@ -16,7 +16,12 @@ public final class LinearAccelerationUnit extends PerUnit<LinearVelocityUnit, Ti
       cache = new CombinatoryUnitCache<>(LinearAccelerationUnit::new);
 
   LinearAccelerationUnit(LinearVelocityUnit numerator, TimeUnit denominator) {
-    super(numerator, denominator);
+    super(
+        numerator.isBaseUnit() && denominator.isBaseUnit()
+            ? null
+            : combine(numerator.getBaseUnit(), denominator.getBaseUnit()),
+        numerator,
+        denominator);
   }
 
   LinearAccelerationUnit(
@@ -65,6 +70,28 @@ 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.
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
index a4759db5b8c..15ecb4c3a83 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
@@ -14,7 +14,12 @@ public final class LinearMomentumUnit extends MultUnit<MassUnit, LinearVelocityU
       cache = new CombinatoryUnitCache<>(LinearMomentumUnit::new);
 
   LinearMomentumUnit(MassUnit unit, LinearVelocityUnit linearVelocityUnit) {
-    super(unit, linearVelocityUnit);
+    super(
+        unit.isBaseUnit() && linearVelocityUnit.isBaseUnit()
+            ? null
+            : combine(unit, linearVelocityUnit),
+        unit,
+        linearVelocityUnit);
   }
 
   LinearMomentumUnit(
@@ -37,6 +42,11 @@ public static LinearMomentumUnit combine(MassUnit mass, LinearVelocityUnit veloc
     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);
@@ -57,6 +67,28 @@ 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.
    *
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java
index 03f51830295..bfe4a07fcc3 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java
@@ -14,7 +14,12 @@ public final class LinearVelocityUnit extends PerUnit<DistanceUnit, TimeUnit> {
       new CombinatoryUnitCache<>(LinearVelocityUnit::new);
 
   LinearVelocityUnit(DistanceUnit unit, TimeUnit period) {
-    super(unit, period);
+    super(
+        unit.isBaseUnit() && period.isBaseUnit()
+            ? null
+            : combine(unit.getBaseUnit(), period.getBaseUnit()),
+        unit,
+        period);
   }
 
   LinearVelocityUnit(
@@ -37,6 +42,11 @@ 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);
@@ -62,4 +72,26 @@ public MutLinearVelocity mutable(double value) {
   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/MassUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
index a84cce5d82f..726692c8015 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
@@ -57,6 +57,17 @@ 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.
    *
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java
index bb453ab734d..dfdfb0238b1 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java
@@ -19,7 +19,12 @@ public final class MomentOfInertiaUnit extends PerUnit<AngularMomentumUnit, Angu
       cache = new CombinatoryUnitCache<>(MomentOfInertiaUnit::new);
 
   MomentOfInertiaUnit(AngularMomentumUnit numerator, AngularVelocityUnit denominator) {
-    super(numerator, denominator);
+    super(
+        numerator.isBaseUnit() && denominator.isBaseUnit()
+            ? null
+            : combine(numerator.getBaseUnit(), denominator.getBaseUnit()),
+        numerator,
+        denominator);
   }
 
   MomentOfInertiaUnit(
@@ -43,6 +48,11 @@ public static MomentOfInertiaUnit combine(
     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);
@@ -62,4 +72,26 @@ public MutMomentOfInertia mutable(double initialMagnitude) {
   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/MultUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java
index e7da39105ba..636d20217bb 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java
@@ -31,7 +31,7 @@ public class MultUnit<A extends Unit, B extends Unit> extends Unit {
    * @param a the first unit of the product
    * @param b the second unit of the product
    */
-  protected MultUnit(A a, B b) {
+  private MultUnit(A a, B b) {
     super(
         a.isBaseUnit() && b.isBaseUnit() ? null : combine(a.getBaseUnit(), b.getBaseUnit()),
         a.toBaseUnits(1) * b.toBaseUnits(1),
@@ -41,6 +41,24 @@ protected MultUnit(A a, B b) {
     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,
@@ -90,6 +108,17 @@ 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() {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
index 7704da53206..2932cf44c89 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
@@ -34,7 +34,7 @@ public class PerUnit<N extends Unit, D extends Unit> extends Unit {
    * @param numerator the numerator unit
    * @param denominator the denominator unit
    */
-  protected PerUnit(N numerator, D denominator) {
+  private PerUnit(N numerator, D denominator) {
     super(
         numerator.isBaseUnit() && denominator.isBaseUnit()
             ? null
@@ -46,6 +46,25 @@ protected PerUnit(N numerator, D denominator) {
     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,
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
index 683d6cbb963..edf5fcd1a50 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
@@ -25,14 +25,12 @@ public final class PowerUnit extends PerUnit<EnergyUnit, TimeUnit> {
       new CombinatoryUnitCache<>(PowerUnit::new);
 
   PowerUnit(EnergyUnit energy, TimeUnit time) {
-    this(
+    super(
         energy.isBaseUnit() && time.isBaseUnit()
             ? null
             : combine(energy.getBaseUnit(), time.getBaseUnit()),
-        x -> x * energy.toBaseUnits(1) / time.toBaseUnits(1),
-        x -> x * time.toBaseUnits(1) / energy.toBaseUnits(1),
-        energy.name() + " per " + time.name(),
-        energy.symbol() + "/" + time.symbol());
+        energy,
+        time);
   }
 
   PowerUnit(
@@ -107,6 +105,11 @@ public static PowerUnit combine(TorqueUnit torque, AngularVelocityUnit angularVe
     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);
@@ -127,6 +130,17 @@ 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.
    *
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
index 91e32406067..a2a43572091 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
@@ -27,6 +27,11 @@ public final class TemperatureUnit extends Unit {
     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);
@@ -47,6 +52,17 @@ 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.
    *
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
index 296b12b3b8a..d2fb69db380 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
@@ -54,7 +54,7 @@ public DimensionlessUnit per(TimeUnit other) {
   }
 
   /**
-   * Creates a ratio unit between this unit of time an arbitrary other unit.
+   * 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
@@ -65,10 +65,10 @@ public <U extends Unit> PerUnit<TimeUnit, U> per(U other) {
   }
 
   /**
-   * Converts a measurement value in terms of another time unit to this unit.
+   * Converts a measurement value in terms of another unit to this unit.
    *
-   * @param magnitude the magnitude of the measurement in terms of the other time unit
-   * @param otherUnit the other time 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) {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
index 919d17eeb43..c035714bde9 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
@@ -14,7 +14,12 @@ public final class TorqueUnit extends MultUnit<DistanceUnit, ForceUnit> {
       new CombinatoryUnitCache<>(TorqueUnit::new);
 
   TorqueUnit(DistanceUnit distanceUnit, ForceUnit forceUnit) {
-    super(distanceUnit, forceUnit);
+    super(
+        distanceUnit.isBaseUnit() && forceUnit.isBaseUnit()
+            ? null
+            : combine(distanceUnit, forceUnit),
+        distanceUnit,
+        forceUnit);
   }
 
   TorqueUnit(
@@ -37,6 +42,11 @@ 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);
@@ -56,4 +66,26 @@ public MutTorque mutable(double initialMagnitude) {
   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 3b2c36f675f..113999c2419 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Unit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Unit.java
@@ -101,6 +101,9 @@ protected Unit(Unit baseUnit, double baseUnitEquivalent, String name, String sym
    * 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 combination
+   *
    * <pre><code>
    *   Unit baseUnit = new Unit(null, ...);
    *   baseUnit.getBaseUnit(); // returns baseUnit
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
index deff1dee5e2..e4b3678af85 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
@@ -23,8 +23,14 @@ public final class VelocityUnit<D extends Unit> extends PerUnit<D, TimeUnit> {
   private static final CombinatoryUnitCache<Unit, TimeUnit, VelocityUnit> cache =
       new CombinatoryUnitCache<>(VelocityUnit::new);
 
-  VelocityUnit(D unit, TimeUnit period) {
-    super(unit, period);
+  @SuppressWarnings("unchecked")
+  VelocityUnit(D numerator, TimeUnit denominator) {
+    super(
+        numerator.isBaseUnit() && denominator.isBaseUnit()
+            ? null
+            : combine((D) numerator.getBaseUnit(), denominator.getBaseUnit()),
+        numerator,
+        denominator);
   }
 
   VelocityUnit(
@@ -49,6 +55,11 @@ 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).
    *
@@ -93,6 +104,17 @@ 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.
    *
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
index 86540c0c224..1be4a462774 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
@@ -31,6 +31,11 @@ public final class VoltageUnit extends Unit {
     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
@@ -42,7 +47,7 @@ public final class VoltageUnit extends Unit {
    * @param symbol the symbol used to represent the unit of power
    * @return the power unit
    */
-  public PowerUnit times(CurrentUnit current, String name, String symbol) {
+  public PowerUnit mult(CurrentUnit current, String name, String symbol) {
     return Units.derive(PowerUnit.combine(this, current)).named(name).symbol(symbol).make();
   }
 
diff --git a/wpiunits/src/test/java/edu/wpi/first/units/CurrentUnitTest.java b/wpiunits/src/test/java/edu/wpi/first/units/CurrentUnitTest.java
index 7aca8dc326f..5c215f7bf35 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/CurrentUnitTest.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/CurrentUnitTest.java
@@ -12,7 +12,7 @@
 class CurrentUnitTest {
   @Test
   void testAmpsTimesVolts() {
-    PowerUnit combined = Units.Amps.times(Units.Volts, "Watt", "w");
+    PowerUnit combined = Units.Amps.mult(Units.Volts, "Watt", "w");
 
     assertTrue(combined.equivalent(Units.Watts));
   }
@@ -20,7 +20,7 @@ void testAmpsTimesVolts() {
   @Test
   void testMilliAmpsTimesMilliVolts() {
     // results in microwatts
-    PowerUnit times = Units.Milliamps.times(Units.Millivolts, "Microwatt", "uW");
+    PowerUnit times = Units.Milliamps.mult(Units.Millivolts, "Microwatt", "uW");
     PowerUnit millimilli = Units.Milli(Units.Milliwatts);
 
     assertEquals(1, times.convertFrom(1e-6, Units.Watts));
diff --git a/wpiunits/src/test/java/edu/wpi/first/units/VoltageUnitTest.java b/wpiunits/src/test/java/edu/wpi/first/units/VoltageUnitTest.java
index 68412748a3c..3696b06cda4 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/VoltageUnitTest.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/VoltageUnitTest.java
@@ -11,13 +11,12 @@
 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.Micro(Units.Watts)));
+    assertTrue(Units.Millivolts.mult(Units.Milliamps, "", "").equivalent(Units.Micro(Units.Watts)));
   }
 }

From 0405dff9a60d0b9f18beb6e760c411bcc84c84fd Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Tue, 13 Aug 2024 16:09:32 -0400
Subject: [PATCH 19/46] Refactor usages of old unit APIs

---
 .../command/MecanumControllerCommand.java     | 28 ++++++-------------
 .../wpilibj2/command/RamseteCommand.java      | 16 ++++-------
 .../controller/SimpleMotorFeedforward.java    | 13 +++++----
 .../wpi/first/math/geometry/Rotation2d.java   |  3 +-
 .../SimpleMotorFeedforwardTest.java           |  5 ++--
 .../trajectory/ExponentialProfileTest.java    |  4 +--
 .../edu/wpi/first/units/MutableMeasure.java   | 12 --------
 .../java/edu/wpi/first/units/ExampleUnit.java |  4 ++-
 8 files changed, 31 insertions(+), 54 deletions(-)

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/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..28ad716da92 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 +9,11 @@
 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.VelocityUnit;
+import edu.wpi.first.units.measure.Voltage;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 
@@ -156,7 +158,7 @@ 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 +170,9 @@ 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/Rotation2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
index 397b56cb7c1..ac03eb6fca6 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
@@ -18,6 +18,7 @@
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.units.AngleUnit;
 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;
@@ -244,7 +245,7 @@ public Rotation2d rotateBy(Rotation2d other) {
    *
    * @return The measure of the Rotation2d.
    */
-  public Measure<AngleUnit> getMeasure() {
+  public Angle getMeasure() {
     return Radians.of(getRadians());
   }
 
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/trajectory/ExponentialProfileTest.java b/wpimath/src/test/java/edu/wpi/first/math/trajectory/ExponentialProfileTest.java
index 6a987d47445..68d7579cbe8 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
@@ -45,8 +45,8 @@ 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/src/main/java/edu/wpi/first/units/MutableMeasure.java b/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
index 115c5483da1..7744b4bdd54 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
@@ -19,18 +19,6 @@
 public interface MutableMeasure<
         U extends Unit, Base extends Measure<U>, MutSelf extends MutableMeasure<U, Base, MutSelf>>
     extends Measure<U> {
-  /**
-   * Creates a new mutable measure starting with the given initial magnitude and unit.
-   *
-   * @param initialValue the initial magnitude of the measure, in terms of the initial unit
-   * @param unit the initial unit of the measurement
-   * @param <U> the unit of measurement
-   * @return a new mutable measure
-   */
-  static <U extends Unit> MutableMeasure<U, ?, ?> ofRelativeUnits(double initialValue, U unit) {
-    return new GenericMutableMeasureImpl<>(initialValue, unit.toBaseUnits(initialValue), unit);
-  }
-
   /**
    * Overwrites the state of this measure with new values.
    *
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 399dfdb680b..cc4b272f88a 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/ExampleUnit.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/ExampleUnit.java
@@ -4,6 +4,8 @@
 
 package edu.wpi.first.units;
 
+import edu.wpi.first.units.mutable.GenericMutableMeasureImpl;
+
 class ExampleUnit extends Unit {
   ExampleUnit(double baseUnitEquivalent) {
     this(baseUnitEquivalent, "Example", "ex");
@@ -38,7 +40,7 @@ public Measure<ExampleUnit> ofBaseUnits(double baseUnitMagnitude) {
 
   @Override
   public MutableMeasure<ExampleUnit, ?, ?> mutable(double initialMagnitude) {
-    return MutableMeasure.ofRelativeUnits(initialMagnitude, this);
+    return new GenericMutableMeasureImpl<>(initialMagnitude, toBaseUnits(initialMagnitude), this);
   }
 
   @Override

From 2f7cd05cd2ef80bb21d379d92829b66fe23f90ca Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Tue, 13 Aug 2024 16:15:40 -0400
Subject: [PATCH 20/46] Add wpiunits to pregenerated files CI check

---
 .github/workflows/pregenerate.yml | 2 ++
 1 file changed, 2 insertions(+)

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

From 90da7a9011ae439a7c7378c169eba97d363747a5 Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Tue, 13 Aug 2024 16:22:57 -0400
Subject: [PATCH 21/46] Doc fix

---
 wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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 9842de0c344..adabe89da83 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java
@@ -217,7 +217,7 @@ default LEDPattern scrollAtRelativeSpeed(Frequency velocity) {
    *
    * <pre>
    *   // LEDs per meter, a known value taken from the spec sheet of our particular LED strip
-   *   Measure&lt;DistanceUnit&gt; LED_SPACING = Meters.of(1.0 / 60);
+   *   Distance LED_SPACING = Meters.of(1.0 / 60);
    *
    *   LEDPattern rainbow = LEDPattern.rainbow();
    *   LEDPattern scrollingRainbow =

From 4c7120889f7efa1d0e88b510b1e5cfaec4b446ad Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Tue, 13 Aug 2024 16:30:19 -0400
Subject: [PATCH 22/46] Remove unused import from codegen script

---
 wpiunits/generate_units.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/wpiunits/generate_units.py b/wpiunits/generate_units.py
index e152c989785..38097e98fb9 100755
--- a/wpiunits/generate_units.py
+++ b/wpiunits/generate_units.py
@@ -7,7 +7,6 @@
 import inspect
 import os
 import re
-import sys
 from jinja2 import Environment, FileSystemLoader
 
 

From 0e7a05583875f46455d55995586bb0c975edb8fa Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Tue, 13 Aug 2024 16:37:26 -0400
Subject: [PATCH 23/46] Update epilogue logging

---
 .../main/java/edu/wpi/first/epilogue/logging/DataLogger.java    | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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));
   }
 

From 6fefb1c9d66ceb2428ab1a36b8166d94773692a8 Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Tue, 13 Aug 2024 16:53:15 -0400
Subject: [PATCH 24/46] Update cmake build

---
 wpiunits/CMakeLists.txt | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

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")

From 1239fb66bdaadb662ed449ddbc14e93486f7d67c Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Tue, 13 Aug 2024 16:56:06 -0400
Subject: [PATCH 25/46] Linting

---
 .../edu/wpi/first/math/controller/SimpleMotorFeedforward.java    | 1 -
 .../edu/wpi/first/math/trajectory/ExponentialProfileTest.java    | 1 -
 wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java   | 1 -
 3 files changed, 3 deletions(-)

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 28ad716da92..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
@@ -12,7 +12,6 @@
 import edu.wpi.first.units.PerUnit;
 import edu.wpi.first.units.TimeUnit;
 import edu.wpi.first.units.Unit;
-import edu.wpi.first.units.VelocityUnit;
 import edu.wpi.first.units.measure.Voltage;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
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 68d7579cbe8..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;
 
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 7744b4bdd54..672dbe61f0f 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
@@ -5,7 +5,6 @@
 package edu.wpi.first.units;
 
 import edu.wpi.first.units.measure.Dimensionless;
-import edu.wpi.first.units.mutable.GenericMutableMeasureImpl;
 
 /**
  * A mutable measurement can be used to keep a single object allocation and reference whose state is

From a5c821cc25ff8776942934dc102ab310edd4d7ef Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Tue, 13 Aug 2024 17:23:01 -0400
Subject: [PATCH 26/46] Fix some combined base units

---
 .../src/main/java/edu/wpi/first/units/AngularMomentumUnit.java  | 2 +-
 .../src/main/java/edu/wpi/first/units/LinearMomentumUnit.java   | 2 +-
 wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java      | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
index c386b1a93fb..df9444d0049 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
@@ -20,7 +20,7 @@ public final class AngularMomentumUnit extends MultUnit<LinearMomentumUnit, Dist
     super(
         momentumUnit.isBaseUnit() && distanceUnit.isBaseUnit()
             ? null
-            : combine(momentumUnit, distanceUnit),
+            : combine(momentumUnit.getBaseUnit(), distanceUnit.getBaseUnit()),
         momentumUnit,
         distanceUnit);
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
index 15ecb4c3a83..ff5ab75dc62 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
@@ -17,7 +17,7 @@ public final class LinearMomentumUnit extends MultUnit<MassUnit, LinearVelocityU
     super(
         unit.isBaseUnit() && linearVelocityUnit.isBaseUnit()
             ? null
-            : combine(unit, linearVelocityUnit),
+            : combine(unit.getBaseUnit(), linearVelocityUnit.getBaseUnit()),
         unit,
         linearVelocityUnit);
   }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
index c035714bde9..9466f086525 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
@@ -17,7 +17,7 @@ public final class TorqueUnit extends MultUnit<DistanceUnit, ForceUnit> {
     super(
         distanceUnit.isBaseUnit() && forceUnit.isBaseUnit()
             ? null
-            : combine(distanceUnit, forceUnit),
+            : combine(distanceUnit.getBaseUnit(), forceUnit.getBaseUnit()),
         distanceUnit,
         forceUnit);
   }

From 469d8dc3ee33103930f826b5990864885a36044f Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Wed, 14 Aug 2024 20:21:59 -0400
Subject: [PATCH 27/46] Add standard zero() and one() factories

---
 .../edu/wpi/first/units/AccelerationUnit.java | 12 +++++++
 .../java/edu/wpi/first/units/AngleUnit.java   | 10 ++++++
 .../first/units/AngularAccelerationUnit.java  | 12 +++++++
 .../wpi/first/units/AngularMomentumUnit.java  | 12 +++++++
 .../wpi/first/units/AngularVelocityUnit.java  | 12 +++++++
 .../java/edu/wpi/first/units/CurrentUnit.java | 12 +++++++
 .../wpi/first/units/DimensionlessUnit.java    | 12 +++++++
 .../edu/wpi/first/units/DistanceUnit.java     | 21 +++++++------
 .../java/edu/wpi/first/units/EnergyUnit.java  | 12 +++++++
 .../java/edu/wpi/first/units/ForceUnit.java   | 12 +++++++
 .../edu/wpi/first/units/FrequencyUnit.java    | 12 +++++++
 .../first/units/LinearAccelerationUnit.java   | 12 +++++++
 .../wpi/first/units/LinearMomentumUnit.java   | 12 +++++++
 .../wpi/first/units/LinearVelocityUnit.java   | 12 +++++++
 .../java/edu/wpi/first/units/MassUnit.java    | 12 +++++++
 .../wpi/first/units/MomentOfInertiaUnit.java  | 12 +++++++
 .../java/edu/wpi/first/units/MultUnit.java    | 12 +++++++
 .../java/edu/wpi/first/units/PerUnit.java     | 12 +++++++
 .../java/edu/wpi/first/units/PowerUnit.java   | 12 +++++++
 .../edu/wpi/first/units/TemperatureUnit.java  | 12 +++++++
 .../java/edu/wpi/first/units/TimeUnit.java    | 12 +++++++
 .../java/edu/wpi/first/units/TorqueUnit.java  | 12 +++++++
 .../main/java/edu/wpi/first/units/Unit.java   | 31 ++++++++++++++++++-
 .../edu/wpi/first/units/VelocityUnit.java     | 12 +++++++
 .../java/edu/wpi/first/units/VoltageUnit.java | 12 +++++++
 25 files changed, 316 insertions(+), 10 deletions(-)

diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
index 37fc7ca8488..ce1b2b0a677 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
@@ -53,6 +53,18 @@ public Acceleration<D> ofBaseUnits(double baseUnitMagnitude) {
     return new ImmutableAcceleration<>(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<AccelerationUnit<D>> zero() {
+    return (Measure<AccelerationUnit<D>>) super.zero();
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<AccelerationUnit<D>> one() {
+    return (Measure<AccelerationUnit<D>>) super.one();
+  }
+
   @Override
   public MutAcceleration<D> mutable(double initialMagnitude) {
     return new MutAcceleration<>(initialMagnitude, toBaseUnits(initialMagnitude), this);
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
index f7c19377f27..d89d6d9ad6e 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngleUnit.java
@@ -80,4 +80,14 @@ public <U extends Unit> PerUnit<AngleUnit, U> per(U other) {
   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
index 4fbf72d9667..aa8256e52ef 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java
@@ -58,6 +58,18 @@ public AngularAcceleration ofBaseUnits(double baseUnitMagnitude) {
         fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<AngularAccelerationUnit> zero() {
+    return (Measure<AngularAccelerationUnit>) super.zero();
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<AngularAccelerationUnit> one() {
+    return (Measure<AngularAccelerationUnit>) super.one();
+  }
+
   @Override
   public MutAngularAcceleration mutable(double initialMagnitude) {
     return new MutAngularAcceleration(initialMagnitude, toBaseUnits(initialMagnitude), this);
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
index df9444d0049..d3d3e1b62f9 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
@@ -59,6 +59,18 @@ public AngularMomentum of(double magnitude) {
   public AngularMomentum ofBaseUnits(double baseUnitMagnitude) {
     return new ImmutableAngularMomentum(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
+  
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<AngularMomentumUnit> zero() {
+    return (Measure<AngularMomentumUnit>) super.zero();
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<AngularMomentumUnit> one() {
+    return (Measure<AngularMomentumUnit>) super.one();
+  }
 
   @Override
   public MutAngularMomentum mutable(double magnitude) {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java
index fc62ac2a9cb..4c7a9f1d4d6 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java
@@ -57,6 +57,18 @@ public AngularVelocity ofBaseUnits(double baseUnitMagnitude) {
     return new ImmutableAngularVelocity(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<AngularVelocityUnit> zero() {
+    return (Measure<AngularVelocityUnit>) super.zero();
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<AngularVelocityUnit> one() {
+    return (Measure<AngularVelocityUnit>) super.one();
+  }
+
   @Override
   public MutAngularVelocity mutable(double initialMagnitude) {
     return new MutAngularVelocity(initialMagnitude, toBaseUnits(initialMagnitude), this);
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
index aa0fc6970fd..3580cbd797a 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
@@ -61,6 +61,18 @@ public Current ofBaseUnits(double baseUnitMagnitude) {
     return new ImmutableCurrent(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<CurrentUnit> zero() {
+    return (Measure<CurrentUnit>) super.zero();
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<CurrentUnit> one() {
+    return (Measure<CurrentUnit>) super.one();
+  }
+
   @Override
   public MutCurrent mutable(double initialMagnitude) {
     return new MutCurrent(initialMagnitude, toBaseUnits(initialMagnitude), this);
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
index 0e57b88eb54..f7926f32314 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
@@ -47,6 +47,18 @@ public Dimensionless of(double magnitude) {
   public Dimensionless ofBaseUnits(double baseUnitMagnitude) {
     return new ImmutableDimensionless(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
+  
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<DimensionlessUnit> zero() {
+    return (Measure<DimensionlessUnit>) super.zero();
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<DimensionlessUnit> one() {
+    return (Measure<DimensionlessUnit>) super.one();
+  }
 
   @Override
   public MutDimensionless mutable(double initialMagnitude) {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
index 83010ba0b28..7bfa4a50d40 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
@@ -73,6 +73,18 @@ public Distance ofBaseUnits(double baseUnitMagnitude) {
     return new ImmutableDistance(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<DistanceUnit> zero() {
+    return (Measure<DistanceUnit>) super.zero();
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<DistanceUnit> one() {
+    return (Measure<DistanceUnit>) super.one();
+  }
+
   @Override
   public MutDistance mutable(double initialMagnitude) {
     return new MutDistance(initialMagnitude, toBaseUnits(initialMagnitude), this);
@@ -91,13 +103,4 @@ public MutDistance mutable(double initialMagnitude) {
   public TorqueUnit mult(ForceUnit force) {
     return TorqueUnit.combine(this, force);
   }
-
-  /**
-   * Creates a measurement of zero magnitude in terms of this unit.
-   *
-   * @return the zero-valued measure
-   */
-  public Distance zero() {
-    return of(0);
-  }
 }
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
index e46a760d71e..462dc8a4c17 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
@@ -79,6 +79,18 @@ public Energy ofBaseUnits(double baseUnitMagnitude) {
     return new ImmutableEnergy(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<EnergyUnit> zero() {
+    return (Measure<EnergyUnit>) super.zero();
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<EnergyUnit> one() {
+    return (Measure<EnergyUnit>) 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
index 1518f6e7c0e..df5aebab305 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
@@ -72,6 +72,18 @@ public Force ofBaseUnits(double baseUnitMagnitude) {
     return new ImmutableForce(toBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<ForceUnit> zero() {
+    return (Measure<ForceUnit>) super.zero();
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<ForceUnit> one() {
+    return (Measure<ForceUnit>) super.one();
+  }
+
   @Override
   public MutForce mutable(double initialMagnitude) {
     return new MutForce(initialMagnitude, toBaseUnits(initialMagnitude), this);
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java
index 31573747d27..95e9be86d6f 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java
@@ -70,6 +70,18 @@ public Frequency ofBaseUnits(double baseUnitMagnitude) {
     return new ImmutableFrequency(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<FrequencyUnit> zero() {
+    return (Measure<FrequencyUnit>) super.zero();
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<FrequencyUnit> one() {
+    return (Measure<FrequencyUnit>) super.one();
+  }
+
   @Override
   public MutFrequency mutable(double initialMagnitude) {
     return new MutFrequency(initialMagnitude, toBaseUnits(initialMagnitude), this);
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearAccelerationUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearAccelerationUnit.java
index 065d7039a0f..d4e1635448a 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearAccelerationUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearAccelerationUnit.java
@@ -60,6 +60,18 @@ public LinearAcceleration ofBaseUnits(double baseUnitMagnitude) {
         fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<LinearAccelerationUnit> zero() {
+    return (Measure<LinearAccelerationUnit>) super.zero();
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<LinearAccelerationUnit> one() {
+    return (Measure<LinearAccelerationUnit>) super.one();
+  }
+
   @Override
   public MutLinearAcceleration mutable(double initialMagnitude) {
     return new MutLinearAcceleration(initialMagnitude, toBaseUnits(initialMagnitude), this);
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
index ff5ab75dc62..9e265275687 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
@@ -57,6 +57,18 @@ public LinearMomentum ofBaseUnits(double baseUnitMagnitude) {
     return new ImmutableLinearMomentum(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<LinearMomentumUnit> zero() {
+    return (Measure<LinearMomentumUnit>) super.zero();
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<LinearMomentumUnit> one() {
+    return (Measure<LinearMomentumUnit>) super.one();
+  }
+
   @Override
   public MutLinearMomentum mutable(double initialMagnitude) {
     return new MutLinearMomentum(initialMagnitude, toBaseUnits(initialMagnitude), this);
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java
index bfe4a07fcc3..d7c46d725cc 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java
@@ -57,6 +57,18 @@ public LinearVelocity ofBaseUnits(double baseUnitMagnitude) {
     return new ImmutableLinearVelocity(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<LinearVelocityUnit> zero() {
+    return (Measure<LinearVelocityUnit>) super.zero();
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<LinearVelocityUnit> one() {
+    return (Measure<LinearVelocityUnit>) super.one();
+  }
+
   @Override
   public MutLinearVelocity mutable(double value) {
     return new MutLinearVelocity(value, toBaseUnits(value), this);
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
index 726692c8015..97898e6b0b5 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
@@ -47,6 +47,18 @@ public Mass ofBaseUnits(double baseUnitMagnitude) {
     return new ImmutableMass(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<MassUnit> zero() {
+    return (Measure<MassUnit>) super.zero();
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<MassUnit> one() {
+    return (Measure<MassUnit>) super.one();
+  }
+
   @Override
   public MutMass mutable(double initialMagnitude) {
     return new MutMass(initialMagnitude, toBaseUnits(initialMagnitude), this);
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java
index dfdfb0238b1..8f0c129ad0e 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java
@@ -63,6 +63,18 @@ public MomentOfInertia ofBaseUnits(double baseUnitMagnitude) {
     return new ImmutableMomentOfInertia(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<MomentOfInertiaUnit> zero() {
+    return (Measure<MomentOfInertiaUnit>) super.zero();
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<MomentOfInertiaUnit> one() {
+    return (Measure<MomentOfInertiaUnit>) super.one();
+  }
+
   @Override
   public MutMomentOfInertia mutable(double initialMagnitude) {
     return new MutMomentOfInertia(initialMagnitude, toBaseUnits(initialMagnitude), this);
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java
index 636d20217bb..2712a071b53 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java
@@ -98,6 +98,18 @@ public Measure<? extends MultUnit<A, B>> ofBaseUnits(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);
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
index 2932cf44c89..136d067a7a1 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
@@ -178,6 +178,18 @@ public Measure<? extends PerUnit<N, D>> ofBaseUnits(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();
+  }
+
   /**
    * 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.
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
index edf5fcd1a50..57cb873dabc 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
@@ -120,6 +120,18 @@ public Power ofBaseUnits(double baseUnitMagnitude) {
     return new ImmutablePower(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<PowerUnit> zero() {
+    return (Measure<PowerUnit>) super.zero();
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<PowerUnit> one() {
+    return (Measure<PowerUnit>) super.one();
+  }
+
   @Override
   public MutPower mutable(double initialMagnitude) {
     return new MutPower(initialMagnitude, toBaseUnits(initialMagnitude), this);
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
index a2a43572091..46d0b1f742c 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
@@ -42,6 +42,18 @@ public Temperature ofBaseUnits(double baseUnitMagnitude) {
     return new ImmutableTemperature(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<TemperatureUnit> zero() {
+    return (Measure<TemperatureUnit>) super.zero();
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<TemperatureUnit> one() {
+    return (Measure<TemperatureUnit>) super.one();
+  }
+
   @Override
   public MutTemperature mutable(double initialMagnitude) {
     return new MutTemperature(initialMagnitude, toBaseUnits(initialMagnitude), this);
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
index d2fb69db380..efd41e55ba2 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
@@ -85,6 +85,18 @@ public Time ofBaseUnits(double baseUnitMagnitude) {
     return new ImmutableTime(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<TimeUnit> zero() {
+    return (Measure<TimeUnit>) super.zero();
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<TimeUnit> one() {
+    return (Measure<TimeUnit>) 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
index 9466f086525..846ab1b6b83 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
@@ -57,6 +57,18 @@ public Torque ofBaseUnits(double baseUnitMagnitude) {
     return new ImmutableTorque(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<TorqueUnit> zero() {
+    return (Measure<TorqueUnit>) super.zero();
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<TorqueUnit> one() {
+    return (Measure<TorqueUnit>) super.one();
+  }
+
   @Override
   public MutTorque mutable(double initialMagnitude) {
     return new MutTorque(initialMagnitude, toBaseUnits(initialMagnitude), this);
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 113999c2419..17bc46e8fd8 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Unit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Unit.java
@@ -21,6 +21,9 @@ public abstract class Unit {
   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.
    *
@@ -42,6 +45,9 @@ protected Unit(
     m_fromBaseConverter = Objects.requireNonNull(fromBaseConverter);
     m_name = Objects.requireNonNull(name);
     m_symbol = Objects.requireNonNull(symbol);
+
+    m_zero = of(0);
+    m_one = of(1);
   }
 
   /**
@@ -88,6 +94,28 @@ protected Unit(Unit baseUnit, double baseUnitEquivalent, String name, String sym
    */
   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.
@@ -102,7 +130,8 @@ protected Unit(Unit baseUnit, double baseUnitEquivalent, String name, String sym
    * 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 combination
+   * correct return type. Failing to do say will make unit combinations that use it break at
+   * runtime!
    *
    * <pre><code>
    *   Unit baseUnit = new Unit(null, ...);
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
index e4b3678af85..d954166db4d 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/VelocityUnit.java
@@ -88,6 +88,18 @@ 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);
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
index 1be4a462774..3b0b2f2d8c9 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
@@ -61,6 +61,18 @@ public Voltage ofBaseUnits(double baseUnitMagnitude) {
     return new ImmutableVoltage(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
 
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<VoltageUnit> zero() {
+    return (Measure<VoltageUnit>) super.zero();
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public Measure<VoltageUnit> one() {
+    return (Measure<VoltageUnit>) super.one();
+  }
+
   @Override
   public MutVoltage mutable(double magnitude) {
     return new MutVoltage(magnitude, toBaseUnits(magnitude), this);

From ef5b23e3f8f6c16c36c66e7ac9aa303069456e09 Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Wed, 14 Aug 2024 20:45:42 -0400
Subject: [PATCH 28/46] Fix Newton definition

---
 wpiunits/src/main/java/edu/wpi/first/units/Units.java | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

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 492b7150ced..f7af52f1c80 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Units.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Units.java
@@ -272,11 +272,11 @@ private Units() {
   // Force
 
   /**
-   * The standard unit of force, equivalent to the standard force of gravity applied to a one {@link
-   * #Kilogram} mass.
+   * 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(Gs)).named("Newton").symbol("N").make();
+      derive(Kilograms.mult(MetersPerSecondPerSecond)).named("Newton").symbol("N").make();
 
   /**
    * The standard unit of force, equivalent to the standard force of gravity applied to a one {@link

From 10081d64a19237f59f5cc97d6d5a6382b0a44883 Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Wed, 21 Aug 2024 23:11:38 -0400
Subject: [PATCH 29/46] Suppress this-escape warning

---
 wpiunits/src/main/java/edu/wpi/first/units/Unit.java | 1 +
 1 file changed, 1 insertion(+)

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 17bc46e8fd8..1dfc36f8ebf 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Unit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Unit.java
@@ -34,6 +34,7 @@ public abstract class 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
    */
+  @SuppressWarnings("this-escape")
   protected Unit(
       Unit baseUnit,
       UnaryFunction toBaseConverter,

From e20ee8e59ed84fc9d2f91f1906f7008b40503648 Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Wed, 21 Aug 2024 23:17:59 -0400
Subject: [PATCH 30/46] Update EpilogueConfiguration

---
 .../java/edu/wpi/first/epilogue/EpilogueConfiguration.java | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

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

From 3d5134a83436cf801764d7b0dd5143fdc5e99027 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Thu, 22 Aug 2024 03:22:22 +0000
Subject: [PATCH 31/46] Formatting fixes

---
 .../src/main/java/edu/wpi/first/units/AngularMomentumUnit.java  | 2 +-
 .../src/main/java/edu/wpi/first/units/DimensionlessUnit.java    | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
index d3d3e1b62f9..18ea6103606 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
@@ -59,7 +59,7 @@ public AngularMomentum of(double magnitude) {
   public AngularMomentum ofBaseUnits(double baseUnitMagnitude) {
     return new ImmutableAngularMomentum(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
-  
+
   @Override
   @SuppressWarnings("unchecked")
   public Measure<AngularMomentumUnit> zero() {
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
index f7926f32314..40187fdbd81 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
@@ -47,7 +47,7 @@ public Dimensionless of(double magnitude) {
   public Dimensionless ofBaseUnits(double baseUnitMagnitude) {
     return new ImmutableDimensionless(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
   }
-  
+
   @Override
   @SuppressWarnings("unchecked")
   public Measure<DimensionlessUnit> zero() {

From a08c350631900afa20e97794d329f932b34576b7 Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Wed, 28 Aug 2024 19:17:12 -0400
Subject: [PATCH 32/46] Return sharpened types from `one()` and `zero()`
 methods

---
 .../java/edu/wpi/first/units/AccelerationUnit.java   | 12 ++++++------
 .../edu/wpi/first/units/AngularAccelerationUnit.java | 10 ++++------
 .../edu/wpi/first/units/AngularMomentumUnit.java     | 10 ++++------
 .../edu/wpi/first/units/AngularVelocityUnit.java     | 10 ++++------
 .../main/java/edu/wpi/first/units/CurrentUnit.java   | 10 ++++------
 .../java/edu/wpi/first/units/DimensionlessUnit.java  | 10 ++++------
 .../main/java/edu/wpi/first/units/DistanceUnit.java  | 10 ++++------
 .../main/java/edu/wpi/first/units/EnergyUnit.java    | 10 ++++------
 .../src/main/java/edu/wpi/first/units/ForceUnit.java | 10 ++++------
 .../main/java/edu/wpi/first/units/FrequencyUnit.java | 10 ++++------
 .../edu/wpi/first/units/LinearAccelerationUnit.java  | 10 ++++------
 .../java/edu/wpi/first/units/LinearMomentumUnit.java | 10 ++++------
 .../java/edu/wpi/first/units/LinearVelocityUnit.java | 10 ++++------
 .../src/main/java/edu/wpi/first/units/MassUnit.java  | 10 ++++------
 .../edu/wpi/first/units/MomentOfInertiaUnit.java     | 10 ++++------
 .../src/main/java/edu/wpi/first/units/PowerUnit.java | 10 ++++------
 .../java/edu/wpi/first/units/TemperatureUnit.java    | 10 ++++------
 .../src/main/java/edu/wpi/first/units/TimeUnit.java  | 10 ++++------
 .../main/java/edu/wpi/first/units/TorqueUnit.java    | 10 ++++------
 .../main/java/edu/wpi/first/units/VoltageUnit.java   | 10 ++++------
 20 files changed, 82 insertions(+), 120 deletions(-)

diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
index ce1b2b0a677..7fe2bc1dd50 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AccelerationUnit.java
@@ -54,15 +54,15 @@ public Acceleration<D> ofBaseUnits(double baseUnitMagnitude) {
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<AccelerationUnit<D>> zero() {
-    return (Measure<AccelerationUnit<D>>) super.zero();
+  @SuppressWarnings({"unchecked", "rawtypes"})
+  public Acceleration<D> zero() {
+    return (Acceleration<D>) (Acceleration) super.zero();
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<AccelerationUnit<D>> one() {
-    return (Measure<AccelerationUnit<D>>) super.one();
+  @SuppressWarnings({"unchecked", "rawtypes"})
+  public Acceleration<D> one() {
+    return (Acceleration<D>) (Acceleration) super.one();
   }
 
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java
index aa8256e52ef..c818a16662f 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularAccelerationUnit.java
@@ -59,15 +59,13 @@ public AngularAcceleration ofBaseUnits(double baseUnitMagnitude) {
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<AngularAccelerationUnit> zero() {
-    return (Measure<AngularAccelerationUnit>) super.zero();
+  public AngularAcceleration zero() {
+    return (AngularAcceleration) super.zero();
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<AngularAccelerationUnit> one() {
-    return (Measure<AngularAccelerationUnit>) super.one();
+  public AngularAcceleration one() {
+    return (AngularAcceleration) super.one();
   }
 
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
index 18ea6103606..be54a135046 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java
@@ -61,15 +61,13 @@ public AngularMomentum ofBaseUnits(double baseUnitMagnitude) {
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<AngularMomentumUnit> zero() {
-    return (Measure<AngularMomentumUnit>) super.zero();
+  public AngularMomentum zero() {
+    return (AngularMomentum) super.zero();
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<AngularMomentumUnit> one() {
-    return (Measure<AngularMomentumUnit>) super.one();
+  public AngularMomentum one() {
+    return (AngularMomentum) super.one();
   }
 
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java
index 4c7a9f1d4d6..5a2f81b7610 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/AngularVelocityUnit.java
@@ -58,15 +58,13 @@ public AngularVelocity ofBaseUnits(double baseUnitMagnitude) {
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<AngularVelocityUnit> zero() {
-    return (Measure<AngularVelocityUnit>) super.zero();
+  public AngularVelocity zero() {
+    return (AngularVelocity) super.zero();
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<AngularVelocityUnit> one() {
-    return (Measure<AngularVelocityUnit>) super.one();
+  public AngularVelocity one() {
+    return (AngularVelocity) super.one();
   }
 
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
index 3580cbd797a..e22ab54525f 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/CurrentUnit.java
@@ -62,15 +62,13 @@ public Current ofBaseUnits(double baseUnitMagnitude) {
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<CurrentUnit> zero() {
-    return (Measure<CurrentUnit>) super.zero();
+  public Current zero() {
+    return (Current) super.zero();
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<CurrentUnit> one() {
-    return (Measure<CurrentUnit>) super.one();
+  public Current one() {
+    return (Current) super.one();
   }
 
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
index 40187fdbd81..186476fb0b7 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/DimensionlessUnit.java
@@ -49,15 +49,13 @@ public Dimensionless ofBaseUnits(double baseUnitMagnitude) {
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<DimensionlessUnit> zero() {
-    return (Measure<DimensionlessUnit>) super.zero();
+  public Dimensionless zero() {
+    return (Dimensionless) super.zero();
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<DimensionlessUnit> one() {
-    return (Measure<DimensionlessUnit>) super.one();
+  public Dimensionless one() {
+    return (Dimensionless) super.one();
   }
 
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
index 7bfa4a50d40..04ffce35b14 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
@@ -74,15 +74,13 @@ public Distance ofBaseUnits(double baseUnitMagnitude) {
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<DistanceUnit> zero() {
-    return (Measure<DistanceUnit>) super.zero();
+  public Distance zero() {
+    return (Distance) super.zero();
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<DistanceUnit> one() {
-    return (Measure<DistanceUnit>) super.one();
+  public Distance one() {
+    return (Distance) super.one();
   }
 
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
index 462dc8a4c17..90a0be81efe 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/EnergyUnit.java
@@ -80,15 +80,13 @@ public Energy ofBaseUnits(double baseUnitMagnitude) {
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<EnergyUnit> zero() {
-    return (Measure<EnergyUnit>) super.zero();
+  public Energy zero() {
+    return (Energy) super.zero();
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<EnergyUnit> one() {
-    return (Measure<EnergyUnit>) super.one();
+  public Energy one() {
+    return (Energy) super.one();
   }
 
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
index df5aebab305..3d77420d7a2 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
@@ -73,15 +73,13 @@ public Force ofBaseUnits(double baseUnitMagnitude) {
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<ForceUnit> zero() {
-    return (Measure<ForceUnit>) super.zero();
+  public Force zero() {
+    return (Force) super.zero();
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<ForceUnit> one() {
-    return (Measure<ForceUnit>) super.one();
+  public Force one() {
+    return (Force) super.one();
   }
 
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java
index 95e9be86d6f..b2989fb8833 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/FrequencyUnit.java
@@ -71,15 +71,13 @@ public Frequency ofBaseUnits(double baseUnitMagnitude) {
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<FrequencyUnit> zero() {
-    return (Measure<FrequencyUnit>) super.zero();
+  public Frequency zero() {
+    return (Frequency) super.zero();
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<FrequencyUnit> one() {
-    return (Measure<FrequencyUnit>) super.one();
+  public Frequency one() {
+    return (Frequency) super.one();
   }
 
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearAccelerationUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearAccelerationUnit.java
index d4e1635448a..9756ca6084a 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearAccelerationUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearAccelerationUnit.java
@@ -61,15 +61,13 @@ public LinearAcceleration ofBaseUnits(double baseUnitMagnitude) {
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<LinearAccelerationUnit> zero() {
-    return (Measure<LinearAccelerationUnit>) super.zero();
+  public LinearAcceleration zero() {
+    return (LinearAcceleration) super.zero();
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<LinearAccelerationUnit> one() {
-    return (Measure<LinearAccelerationUnit>) super.one();
+  public LinearAcceleration one() {
+    return (LinearAcceleration) super.one();
   }
 
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
index 9e265275687..489955b3a6d 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearMomentumUnit.java
@@ -58,15 +58,13 @@ public LinearMomentum ofBaseUnits(double baseUnitMagnitude) {
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<LinearMomentumUnit> zero() {
-    return (Measure<LinearMomentumUnit>) super.zero();
+  public LinearMomentum zero() {
+    return (LinearMomentum) super.zero();
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<LinearMomentumUnit> one() {
-    return (Measure<LinearMomentumUnit>) super.one();
+  public LinearMomentum one() {
+    return (LinearMomentum) super.one();
   }
 
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java
index d7c46d725cc..ca155ce0cda 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/LinearVelocityUnit.java
@@ -58,15 +58,13 @@ public LinearVelocity ofBaseUnits(double baseUnitMagnitude) {
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<LinearVelocityUnit> zero() {
-    return (Measure<LinearVelocityUnit>) super.zero();
+  public LinearVelocity zero() {
+    return (LinearVelocity) super.zero();
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<LinearVelocityUnit> one() {
-    return (Measure<LinearVelocityUnit>) super.one();
+  public LinearVelocity one() {
+    return (LinearVelocity) super.one();
   }
 
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
index 97898e6b0b5..dad3fd41489 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MassUnit.java
@@ -48,15 +48,13 @@ public Mass ofBaseUnits(double baseUnitMagnitude) {
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<MassUnit> zero() {
-    return (Measure<MassUnit>) super.zero();
+  public Mass zero() {
+    return (Mass) super.zero();
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<MassUnit> one() {
-    return (Measure<MassUnit>) super.one();
+  public Mass one() {
+    return (Mass) super.one();
   }
 
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java
index 8f0c129ad0e..74362d9a9f1 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MomentOfInertiaUnit.java
@@ -64,15 +64,13 @@ public MomentOfInertia ofBaseUnits(double baseUnitMagnitude) {
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<MomentOfInertiaUnit> zero() {
-    return (Measure<MomentOfInertiaUnit>) super.zero();
+  public MomentOfInertia zero() {
+    return (MomentOfInertia) super.zero();
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<MomentOfInertiaUnit> one() {
-    return (Measure<MomentOfInertiaUnit>) super.one();
+  public MomentOfInertia one() {
+    return (MomentOfInertia) super.one();
   }
 
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
index 57cb873dabc..4129b22177d 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/PowerUnit.java
@@ -121,15 +121,13 @@ public Power ofBaseUnits(double baseUnitMagnitude) {
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<PowerUnit> zero() {
-    return (Measure<PowerUnit>) super.zero();
+  public Power zero() {
+    return (Power) super.zero();
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<PowerUnit> one() {
-    return (Measure<PowerUnit>) super.one();
+  public Power one() {
+    return (Power) super.one();
   }
 
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
index 46d0b1f742c..479c7e847a1 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TemperatureUnit.java
@@ -43,15 +43,13 @@ public Temperature ofBaseUnits(double baseUnitMagnitude) {
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<TemperatureUnit> zero() {
-    return (Measure<TemperatureUnit>) super.zero();
+  public Temperature zero() {
+    return (Temperature) super.zero();
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<TemperatureUnit> one() {
-    return (Measure<TemperatureUnit>) super.one();
+  public Temperature one() {
+    return (Temperature) super.one();
   }
 
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
index efd41e55ba2..c8afa47098a 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TimeUnit.java
@@ -86,15 +86,13 @@ public Time ofBaseUnits(double baseUnitMagnitude) {
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<TimeUnit> zero() {
-    return (Measure<TimeUnit>) super.zero();
+  public Time zero() {
+    return (Time) super.zero();
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<TimeUnit> one() {
-    return (Measure<TimeUnit>) super.one();
+  public Time one() {
+    return (Time) super.one();
   }
 
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
index 846ab1b6b83..3aeef3b55d2 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/TorqueUnit.java
@@ -58,15 +58,13 @@ public Torque ofBaseUnits(double baseUnitMagnitude) {
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<TorqueUnit> zero() {
-    return (Measure<TorqueUnit>) super.zero();
+  public Torque zero() {
+    return (Torque) super.zero();
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<TorqueUnit> one() {
-    return (Measure<TorqueUnit>) super.one();
+  public Torque one() {
+    return (Torque) super.one();
   }
 
   @Override
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
index 3b0b2f2d8c9..07774031b0c 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/VoltageUnit.java
@@ -62,15 +62,13 @@ public Voltage ofBaseUnits(double baseUnitMagnitude) {
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<VoltageUnit> zero() {
-    return (Measure<VoltageUnit>) super.zero();
+  public Voltage zero() {
+    return (Voltage) super.zero();
   }
 
   @Override
-  @SuppressWarnings("unchecked")
-  public Measure<VoltageUnit> one() {
-    return (Measure<VoltageUnit>) super.one();
+  public Voltage one() {
+    return (Voltage) super.one();
   }
 
   @Override

From 65e2c8c1cc10cb8a8ba7b9214b5999285facaf0f Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Wed, 28 Aug 2024 19:17:22 -0400
Subject: [PATCH 33/46] Fix docs typo

---
 wpiunits/src/main/java/edu/wpi/first/units/Measure.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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 ddd61b57126..93982893e12 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Measure.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Measure.java
@@ -459,7 +459,7 @@ default Measure<?> times(Power multiplier) {
   }
 
   /**
-   * Multiplies this measure by a generic ratio measreument and returns the resulting measure in the
+   * 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.

From d7f42e19e54886f8cc827aaf0e35d21c3b47ec50 Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Wed, 28 Aug 2024 19:18:13 -0400
Subject: [PATCH 34/46] Add a `timesConversionFactor()` method

Can't overload `times()` due to type erasure
---
 .../java/edu/wpi/first/units/Measure.java     | 22 ++++++++++++
 .../java/edu/wpi/first/units/MeasureTest.java | 36 +++++++++++++++++++
 2 files changed, 58 insertions(+)

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 93982893e12..86c8de9a887 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Measure.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Measure.java
@@ -530,6 +530,28 @@ default Measure<?> times(Voltage multiplier) {
         .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.
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 70a91ec1267..2454aa75aa2 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/MeasureTest.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/MeasureTest.java
@@ -11,7 +11,12 @@
 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 {
@@ -32,6 +37,37 @@ void testMultiply() {
     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() {
     Distance m = Units.Meters.of(1);

From 055b409e61977485eb88f7b7b433cdf19cbf0692 Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Wed, 28 Aug 2024 19:24:04 -0400
Subject: [PATCH 35/46] Add Per.timesDivisor() and Per.reciprocal()

---
 wpiunits/generate_units.py                           | 12 ++++++++++++
 .../main/java/edu/wpi/first/units/measure/Per.java   |  7 +++++++
 2 files changed, 19 insertions(+)

diff --git a/wpiunits/generate_units.py b/wpiunits/generate_units.py
index 38097e98fb9..c924a275132 100755
--- a/wpiunits/generate_units.py
+++ b/wpiunits/generate_units.py
@@ -201,6 +201,18 @@ def output(outPath, outfn, contents):
         "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",
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
index 67c5e7fdc1e..b467e977a0e 100644
--- 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
@@ -330,5 +330,12 @@ default Mult<PerUnit<Dividend, Divisor>, VoltageUnit> times(Voltage multiplier)
   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());
+}
 }

From bbc77841a2f9f8b54b0385067d7a74649e409c0e Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Wed, 28 Aug 2024 19:24:17 -0400
Subject: [PATCH 36/46] Basic script documentation

---
 wpiunits/generate_units.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/wpiunits/generate_units.py b/wpiunits/generate_units.py
index c924a275132..2aebf286c22 100755
--- a/wpiunits/generate_units.py
+++ b/wpiunits/generate_units.py
@@ -4,6 +4,10 @@
 # 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 eedcea48d7910d0c674ff3712e025e581242b3ef Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Wed, 28 Aug 2024 19:50:24 -0400
Subject: [PATCH 37/46] Remove Force.mult(Distance) -> Energy function for now

Not as easy to combine into energy as torque, and it's a less common usecase

Rename existing function to `multAsTorque` for clarity

Add equivalent torque multiplication function to the Force class
---
 .../java/edu/wpi/first/units/DistanceUnit.java    |  8 +++-----
 .../main/java/edu/wpi/first/units/ForceUnit.java  | 15 ++++++---------
 .../src/main/java/edu/wpi/first/units/Units.java  |  8 ++++----
 3 files changed, 13 insertions(+), 18 deletions(-)

diff --git a/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
index 04ffce35b14..df4c1ffee47 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/DistanceUnit.java
@@ -91,14 +91,12 @@ public MutDistance mutable(double initialMagnitude) {
   /**
    * Multiplies this distance unit by a unit of force to create a unit of torque.
    *
-   * <p>Note: because torque and energy have the same dimensions (force multiplied by distance), we
-   * cannot define methods with the same name for both. Instead, use {@link
-   * ForceUnit#mult(DistanceUnit)} if you want a unit of energy.
-   *
    * @param force the unit of force
    * @return the combined torque unit
    */
-  public TorqueUnit mult(ForceUnit force) {
+  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/ForceUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
index 3d77420d7a2..9fead01b377 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/ForceUnit.java
@@ -48,20 +48,17 @@ public ForceUnit getBaseUnit() {
   }
 
   /**
-   * Multiplies this force unit by a unit of distance to create a unit of energy.
-   *
-   * <p>Note: because torque and energy have the same dimensions (force multiplied by distance), we
-   * cannot define methods with the same name for both. Instead, use {@link
-   * DistanceUnit#mult(ForceUnit)} if you want a unit of torque.
+   * Multiplies this force unit by a unit of distance to create a unit of torque.
    *
    * @param distance the unit of distance
-   * @return the combined energy unit
+   * @return the combined torque unit
    */
-  public EnergyUnit mult(DistanceUnit distance) {
-    // TODO
-    throw new UnsupportedOperationException();
+  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);
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 f7af52f1c80..cc2042c823e 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Units.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Units.java
@@ -313,7 +313,7 @@ private Units() {
   // Torque
 
   /** The standard SI unit for torque. */
-  public static final TorqueUnit NewtonMeters = Meters.mult(Newtons);
+  public static final TorqueUnit NewtonMeters = Meters.multAsTorque(Newtons);
 
   /** The standard SI unit for torque. */
   public static final TorqueUnit NewtonMeter = NewtonMeters;
@@ -322,7 +322,7 @@ private Units() {
    * 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.mult(PoundsForce);
+  public static final TorqueUnit PoundFeet = Feet.multAsTorque(PoundsForce);
 
   /**
    * The equivalent of one {@link #PoundsForce pound of force} applied to an object one {@link
@@ -334,7 +334,7 @@ private Units() {
    * 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.mult(PoundsForce);
+  public static final TorqueUnit PoundInches = Inches.multAsTorque(PoundsForce);
 
   /**
    * The equivalent of one {@link #PoundsForce pound of force} applied to an object one {@link
@@ -346,7 +346,7 @@ private Units() {
    * 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.mult(OuncesForce);
+  public static final TorqueUnit OunceInches = Inches.multAsTorque(OuncesForce);
 
   /**
    * The equivalent of one {@link #OunceForce ounce of force} applied to an object one {@link #Inch}

From f1d9dc2997f40a161a0fd48d65ddae603084f8c9 Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Mon, 2 Sep 2024 17:10:17 -0400
Subject: [PATCH 38/46] Revert example project constants

---
 .../wpi/first/wpilibj/examples/armbot/Constants.java  | 11 ++---------
 1 file changed, 2 insertions(+), 9 deletions(-)

diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Constants.java
index ac1f54a0d34..0fe85f3243c 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Constants.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Constants.java
@@ -4,12 +4,6 @@
 
 package edu.wpi.first.wpilibj.examples.armbot;
 
-import static edu.wpi.first.units.Units.RadiansPerSecond;
-import static edu.wpi.first.units.Units.RadiansPerSecondPerSecond;
-
-import edu.wpi.first.units.measure.AngularAcceleration;
-import edu.wpi.first.units.measure.AngularVelocity;
-
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
  * constants. This class should not be used for any other purpose. All constants should be declared
@@ -48,9 +42,8 @@ public static final class ArmConstants {
     public static final double kVVoltSecondPerRad = 0.5;
     public static final double kAVoltSecondSquaredPerRad = 0.1;
 
-    public static final AngularVelocity kMaxVelocityRadPerSecond = RadiansPerSecond.of(3);
-    public static final AngularAcceleration kMaxAccelerationRadPerSecSquared =
-        RadiansPerSecondPerSecond.of(10);
+    public static final double kMaxVelocityRadPerSecond = 3;
+    public static final double kMaxAccelerationRadPerSecSquared = 10;
 
     public static final int[] kEncoderPorts = new int[] {4, 5};
     public static final int kEncoderPPR = 256;

From 10bb1afb900e3ae02fd713f3dcb3f3c7bcc63ad4 Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Mon, 2 Sep 2024 17:10:51 -0400
Subject: [PATCH 39/46] Use `Measure` input parameters consistently

Allows for wider compatibility with results of math operations
---
 .../wpilibj/motorcontrol/MotorController.java |  5 +--
 .../first/wpilibj/sysid/SysIdRoutineLog.java  | 33 ++++++++++---------
 .../edu/wpi/first/math/geometry/Pose2d.java   |  5 +--
 .../wpi/first/math/geometry/Transform2d.java  |  5 +--
 .../first/math/geometry/Translation2d.java    |  5 +--
 .../first/math/geometry/Translation3d.java    |  5 +--
 .../DifferentialDriveKinematics.java          |  5 +--
 .../DifferentialDriveWheelPositions.java      |  5 +--
 .../math/kinematics/SwerveModulePosition.java |  5 +--
 .../math/kinematics/SwerveModuleState.java    | 12 ++++---
 10 files changed, 48 insertions(+), 37 deletions(-)

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 7c77f8afac9..446a2ce556a 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
@@ -6,7 +6,8 @@
 
 import static edu.wpi.first.units.Units.Volts;
 
-import edu.wpi.first.units.measure.Voltage;
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.VoltageUnit;
 import edu.wpi.first.wpilibj.RobotController;
 
 /** Interface for motor controlling devices. */
@@ -44,7 +45,7 @@ default void setVoltage(double outputVolts) {
    *
    * @param outputVoltage The voltage to output.
    */
-  default void setVoltage(Voltage outputVoltage) {
+  default void setVoltage(Measure<VoltageUnit> outputVoltage) {
     setVoltage(outputVoltage.in(Volts));
   }
 
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 82c9ed9b05f..cae84e5d2c1 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
@@ -12,14 +12,15 @@
 import static edu.wpi.first.units.Units.Second;
 import static edu.wpi.first.units.Units.Volts;
 
-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.units.AngleUnit;
+import edu.wpi.first.units.AngularAccelerationUnit;
+import edu.wpi.first.units.AngularVelocityUnit;
+import edu.wpi.first.units.CurrentUnit;
+import edu.wpi.first.units.DistanceUnit;
+import edu.wpi.first.units.LinearAccelerationUnit;
+import edu.wpi.first.units.LinearVelocityUnit;
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.VoltageUnit;
 import edu.wpi.first.util.datalog.DoubleLogEntry;
 import edu.wpi.first.util.datalog.StringLogEntry;
 import edu.wpi.first.wpilibj.DataLogManager;
@@ -116,7 +117,7 @@ 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(Voltage voltage) {
+    public MotorLog voltage(Measure<VoltageUnit> voltage) {
       return value("voltage", voltage.in(Volts), Volts.name());
     }
 
@@ -126,7 +127,7 @@ public MotorLog voltage(Voltage voltage) {
      * @param position The linear position to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog linearPosition(Distance position) {
+    public MotorLog linearPosition(Measure<DistanceUnit> position) {
       return value("position", position.in(Meters), Meters.name());
     }
 
@@ -136,7 +137,7 @@ public MotorLog linearPosition(Distance position) {
      * @param position The angular position to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog angularPosition(Angle position) {
+    public MotorLog angularPosition(Measure<AngleUnit> position) {
       return value("position", position.in(Rotations), Rotations.name());
     }
 
@@ -146,7 +147,7 @@ public MotorLog angularPosition(Angle position) {
      * @param velocity The linear velocity to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog linearVelocity(LinearVelocity velocity) {
+    public MotorLog linearVelocity(Measure<LinearVelocityUnit> velocity) {
       return value("velocity", velocity.in(MetersPerSecond), MetersPerSecond.name());
     }
 
@@ -156,7 +157,7 @@ public MotorLog linearVelocity(LinearVelocity velocity) {
      * @param velocity The angular velocity to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog angularVelocity(AngularVelocity velocity) {
+    public MotorLog angularVelocity(Measure<AngularVelocityUnit> velocity) {
       return value("velocity", velocity.in(RotationsPerSecond), RotationsPerSecond.name());
     }
 
@@ -168,7 +169,7 @@ public MotorLog angularVelocity(AngularVelocity velocity) {
      * @param acceleration The linear acceleration to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog linearAcceleration(LinearAcceleration acceleration) {
+    public MotorLog linearAcceleration(Measure<LinearAccelerationUnit> acceleration) {
       return value(
           "acceleration",
           acceleration.in(MetersPerSecond.per(Second)),
@@ -183,7 +184,7 @@ public MotorLog linearAcceleration(LinearAcceleration acceleration) {
      * @param acceleration The angular acceleration to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog angularAcceleration(AngularAcceleration acceleration) {
+    public MotorLog angularAcceleration(Measure<AngularAccelerationUnit> acceleration) {
       return value(
           "acceleration",
           acceleration.in(RotationsPerSecond.per(Second)),
@@ -198,7 +199,7 @@ public MotorLog angularAcceleration(AngularAcceleration acceleration) {
      * @param current The current to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog current(Current current) {
+    public MotorLog current(Measure<CurrentUnit> current) {
       value("current", current.in(Amps), Amps.name());
       return this;
     }
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 536f44e9e52..e961d0de097 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
@@ -13,7 +13,8 @@
 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.measure.Distance;
+import edu.wpi.first.units.DistanceUnit;
+import edu.wpi.first.units.Measure;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Collections;
@@ -75,7 +76,7 @@ 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(Distance x, Distance y, Rotation2d rotation) {
+  public Pose2d(Measure<DistanceUnit> x, Measure<DistanceUnit> y, Rotation2d rotation) {
     this(x.in(Meters), y.in(Meters), rotation);
   }
 
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 4eab093ae46..984904fc30f 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
@@ -8,7 +8,8 @@
 
 import edu.wpi.first.math.geometry.proto.Transform2dProto;
 import edu.wpi.first.math.geometry.struct.Transform2dStruct;
-import edu.wpi.first.units.measure.Distance;
+import edu.wpi.first.units.DistanceUnit;
+import edu.wpi.first.units.Measure;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
@@ -74,7 +75,7 @@ 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(Distance x, Distance y, Rotation2d rotation) {
+  public Transform2d(Measure<DistanceUnit> x, Measure<DistanceUnit> 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 031d88429a5..481bb633645 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
@@ -17,7 +17,8 @@
 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.measure.Distance;
+import edu.wpi.first.units.DistanceUnit;
+import edu.wpi.first.units.Measure;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Collections;
@@ -83,7 +84,7 @@ public Translation2d(double distance, Rotation2d angle) {
    * @param x The x component of the translation.
    * @param y The y component of the translation.
    */
-  public Translation2d(Distance x, Distance y) {
+  public Translation2d(Measure<DistanceUnit> x, Measure<DistanceUnit> 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 4ae368b3b65..a19dbac35b4 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
@@ -17,7 +17,8 @@
 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.measure.Distance;
+import edu.wpi.first.units.DistanceUnit;
+import edu.wpi.first.units.Measure;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
@@ -88,7 +89,7 @@ public Translation3d(double distance, Rotation3d angle) {
    * @param y The y component of the translation.
    * @param z The z component of the translation.
    */
-  public Translation3d(Distance x, Distance y, Distance z) {
+  public Translation3d(Measure<DistanceUnit> x, Measure<DistanceUnit> y, Measure<DistanceUnit> z) {
     this(x.in(Meters), y.in(Meters), z.in(Meters));
   }
 
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 ffa24cd9ba9..e27b87ba0e5 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
@@ -11,7 +11,8 @@
 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.measure.Distance;
+import edu.wpi.first.units.DistanceUnit;
+import edu.wpi.first.units.Measure;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 
@@ -57,7 +58,7 @@ 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(Distance trackWidth) {
+  public DifferentialDriveKinematics(Measure<DistanceUnit> trackWidth) {
     this(trackWidth.in(Meters));
   }
 
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 b4503e6480f..6f9dea8ce2d 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
@@ -10,7 +10,8 @@
 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.measure.Distance;
+import edu.wpi.first.units.DistanceUnit;
+import edu.wpi.first.units.Measure;
 import java.util.Objects;
 
 /** Represents the wheel positions for a differential drive drivetrain. */
@@ -47,7 +48,7 @@ public DifferentialDriveWheelPositions(double leftMeters, double rightMeters) {
    * @param left Distance measured by the left side.
    * @param right Distance measured by the right side.
    */
-  public DifferentialDriveWheelPositions(Distance left, Distance right) {
+  public DifferentialDriveWheelPositions(Measure<DistanceUnit> left, Measure<DistanceUnit> right) {
     this(left.in(Meters), right.in(Meters));
   }
 
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 a081a702498..7a82b03bdda 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
@@ -11,7 +11,8 @@
 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.measure.Distance;
+import edu.wpi.first.units.DistanceUnit;
+import edu.wpi.first.units.Measure;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
@@ -54,7 +55,7 @@ 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(Distance distance, Rotation2d angle) {
+  public SwerveModulePosition(Measure<DistanceUnit> 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 8d30494d526..00dc04a701c 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
@@ -4,12 +4,13 @@
 
 package edu.wpi.first.math.kinematics;
 
-import static edu.wpi.first.units.Units.MetersPerSecond;
-
 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.measure.LinearVelocity;
+import edu.wpi.first.units.DistanceUnit;
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.PerUnit;
+import edu.wpi.first.units.TimeUnit;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
@@ -49,8 +50,9 @@ 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(LinearVelocity speed, Rotation2d angle) {
-    this(speed.in(MetersPerSecond), angle);
+  public SwerveModuleState(
+      Measure<? extends PerUnit<DistanceUnit, TimeUnit>> speed, Rotation2d angle) {
+    this(speed.baseUnitMagnitude(), angle);
   }
 
   @Override

From 5de0ae932945e4c81e6a8ad7b70b57e61b65286b Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Mon, 2 Sep 2024 21:17:06 -0400
Subject: [PATCH 40/46] Add .ofNative factories to PerUnit

Allows for known `Per` object outputs instead of bounded wildcard `Measure<? extends PerUnit>`
---
 .../java/edu/wpi/first/units/PerUnit.java     | 55 +++++++++++++++++--
 1 file changed, 51 insertions(+), 4 deletions(-)

diff --git a/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
index 136d067a7a1..13cd7952973 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
@@ -6,6 +6,8 @@
 
 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;
 
 /**
@@ -155,26 +157,57 @@ public N mult(D denom) {
   }
 
   /**
+   * {@inheritDoc}
+   *
    * 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.
+   * 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 new ImmutablePer<>(magnitude, toBaseUnits(magnitude), this);
+    return ofNative(magnitude);
   }
 
   /**
+   * {@inheritDoc}
+   *
    * 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.
+   * 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);
   }
 
@@ -191,7 +224,9 @@ public Measure<? extends PerUnit<N, D>> one() {
   }
 
   /**
-   * Note: When called on an object of type {@code PerUnit} (and <i>not</i> a subclass!), this
+   * {@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
@@ -199,6 +234,18 @@ public Measure<? extends PerUnit<N, D>> one() {
    */
   @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);
   }
 

From 9d2e419747098f7a0a3da81aa24fdeb762edc14b Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Mon, 2 Sep 2024 21:51:00 -0400
Subject: [PATCH 41/46] Linting

---
 .../src/main/java/edu/wpi/first/units/PerUnit.java | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
index 13cd7952973..cdcda7ce177 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
@@ -159,9 +159,9 @@ public N mult(D denom) {
   /**
    * {@inheritDoc}
    *
-   * 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.
+   * <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
@@ -174,9 +174,9 @@ public Measure<? extends PerUnit<N, D>> of(double magnitude) {
   /**
    * {@inheritDoc}
    *
-   * 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
+   * <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.
@@ -193,7 +193,7 @@ public Measure<? extends PerUnit<N, D>> ofBaseUnits(double baseUnitMagnitude) {
    *
    * @param magnitude the magnitude of the measurement.
    * @return the measurement object
-   * @see #of(double) 
+   * @see #of(double)
    */
   public final Per<N, D> ofNative(double magnitude) {
     return new ImmutablePer<>(magnitude, toBaseUnits(magnitude), this);

From 4d4e61ceb9decbfdab6175a224b0bcfc95cab099 Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Mon, 2 Sep 2024 21:51:37 -0400
Subject: [PATCH 42/46] Fix derived name/symbol indicating division instead of
 multiplication

---
 wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
index cdcda7ce177..3c7de4ad3cf 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/PerUnit.java
@@ -7,7 +7,6 @@
 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;
 
 /**
@@ -151,8 +150,8 @@ public N mult(D denom) {
     return Units.derive(numerator())
         .toBase(denom.getConverterToBase().div(denominator().getConverterToBase()))
         .fromBase(denom.getConverterFromBase().div(denominator().getConverterFromBase()))
-        .named(name() + " per " + denom.name())
-        .symbol(symbol() + "/" + denom.symbol())
+        .named(name() + " " + denom.name())
+        .symbol(symbol() + "-" + denom.symbol())
         .make();
   }
 

From 7365901215d2a42a404637993e38958d561d82d6 Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Mon, 2 Sep 2024 21:51:41 -0400
Subject: [PATCH 43/46] Add simple tests for PerUnit

---
 .../java/edu/wpi/first/units/PerUnitTest.java | 56 +++++++++++++++++++
 1 file changed, 56 insertions(+)
 create mode 100644 wpiunits/src/test/java/edu/wpi/first/units/PerUnitTest.java

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());
+  }
+}

From 6bb45132b402e1d927b6638d02652aaf2d4da238 Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Wed, 4 Sep 2024 19:28:44 -0400
Subject: [PATCH 44/46] Consistently use dimension-specific measure types
 wherever possible

Allows for more obvious types for readability and access to type-specific methods that would otherwise be unusable (eg `Frequency.asPeriod()`)

Some places must still be generic (eg trapezoid profile constraints and states)
---
 .../command/sysid/SysIdRoutineTest.java       |  5 ++-
 .../wpilibj/motorcontrol/MotorController.java |  5 ++-
 .../first/wpilibj/sysid/SysIdRoutineLog.java  | 33 +++++++++----------
 .../edu/wpi/first/math/geometry/Pose2d.java   |  5 ++-
 .../wpi/first/math/geometry/Rotation2d.java   |  4 +--
 .../wpi/first/math/geometry/Transform2d.java  |  5 ++-
 .../first/math/geometry/Translation2d.java    |  5 ++-
 .../first/math/geometry/Translation3d.java    |  5 ++-
 .../DifferentialDriveKinematics.java          |  5 ++-
 .../DifferentialDriveWheelPositions.java      |  5 ++-
 .../math/kinematics/SwerveModulePosition.java |  5 ++-
 .../math/kinematics/SwerveModuleState.java    | 12 +++----
 .../math/trajectory/TrapezoidProfile.java     |  4 +--
 13 files changed, 42 insertions(+), 56 deletions(-)

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 4067668e4e2..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.VoltageUnit;
+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<VoltageUnit> voltage);
+    void drive(Voltage voltage);
 
     void log(SysIdRoutineLog log);
   }
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 446a2ce556a..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
@@ -6,8 +6,7 @@
 
 import static edu.wpi.first.units.Units.Volts;
 
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.VoltageUnit;
+import edu.wpi.first.units.measure.Voltage;
 import edu.wpi.first.wpilibj.RobotController;
 
 /** Interface for motor controlling devices. */
@@ -45,7 +44,7 @@ default void setVoltage(double outputVolts) {
    *
    * @param outputVoltage The voltage to output.
    */
-  default void setVoltage(Measure<VoltageUnit> outputVoltage) {
+  default void setVoltage(Voltage outputVoltage) {
     setVoltage(outputVoltage.in(Volts));
   }
 
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 cae84e5d2c1..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
@@ -12,15 +12,14 @@
 import static edu.wpi.first.units.Units.Second;
 import static edu.wpi.first.units.Units.Volts;
 
-import edu.wpi.first.units.AngleUnit;
-import edu.wpi.first.units.AngularAccelerationUnit;
-import edu.wpi.first.units.AngularVelocityUnit;
-import edu.wpi.first.units.CurrentUnit;
-import edu.wpi.first.units.DistanceUnit;
-import edu.wpi.first.units.LinearAccelerationUnit;
-import edu.wpi.first.units.LinearVelocityUnit;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.VoltageUnit;
+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;
@@ -117,7 +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<VoltageUnit> voltage) {
+    public MotorLog voltage(Voltage voltage) {
       return value("voltage", voltage.in(Volts), Volts.name());
     }
 
@@ -127,7 +126,7 @@ public MotorLog voltage(Measure<VoltageUnit> voltage) {
      * @param position The linear position to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog linearPosition(Measure<DistanceUnit> position) {
+    public MotorLog linearPosition(Distance position) {
       return value("position", position.in(Meters), Meters.name());
     }
 
@@ -137,7 +136,7 @@ public MotorLog linearPosition(Measure<DistanceUnit> position) {
      * @param position The angular position to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog angularPosition(Measure<AngleUnit> position) {
+    public MotorLog angularPosition(Angle position) {
       return value("position", position.in(Rotations), Rotations.name());
     }
 
@@ -147,7 +146,7 @@ public MotorLog angularPosition(Measure<AngleUnit> position) {
      * @param velocity The linear velocity to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog linearVelocity(Measure<LinearVelocityUnit> velocity) {
+    public MotorLog linearVelocity(LinearVelocity velocity) {
       return value("velocity", velocity.in(MetersPerSecond), MetersPerSecond.name());
     }
 
@@ -157,7 +156,7 @@ public MotorLog linearVelocity(Measure<LinearVelocityUnit> velocity) {
      * @param velocity The angular velocity to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog angularVelocity(Measure<AngularVelocityUnit> velocity) {
+    public MotorLog angularVelocity(AngularVelocity velocity) {
       return value("velocity", velocity.in(RotationsPerSecond), RotationsPerSecond.name());
     }
 
@@ -169,7 +168,7 @@ public MotorLog angularVelocity(Measure<AngularVelocityUnit> velocity) {
      * @param acceleration The linear acceleration to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog linearAcceleration(Measure<LinearAccelerationUnit> acceleration) {
+    public MotorLog linearAcceleration(LinearAcceleration acceleration) {
       return value(
           "acceleration",
           acceleration.in(MetersPerSecond.per(Second)),
@@ -184,7 +183,7 @@ public MotorLog linearAcceleration(Measure<LinearAccelerationUnit> acceleration)
      * @param acceleration The angular acceleration to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog angularAcceleration(Measure<AngularAccelerationUnit> acceleration) {
+    public MotorLog angularAcceleration(AngularAcceleration acceleration) {
       return value(
           "acceleration",
           acceleration.in(RotationsPerSecond.per(Second)),
@@ -199,7 +198,7 @@ public MotorLog angularAcceleration(Measure<AngularAccelerationUnit> acceleratio
      * @param current The current to record.
      * @return The motor log (for call chaining).
      */
-    public MotorLog current(Measure<CurrentUnit> current) {
+    public MotorLog current(Current current) {
       value("current", current.in(Amps), Amps.name());
       return this;
     }
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 e961d0de097..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.DistanceUnit;
-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<DistanceUnit> x, Measure<DistanceUnit> 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 ac03eb6fca6..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 +16,6 @@
 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.AngleUnit;
-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;
@@ -131,7 +129,7 @@ public Rotation2d(double x, double y) {
    *
    * @param angle The angle of the rotation.
    */
-  public Rotation2d(Measure<AngleUnit> angle) {
+  public Rotation2d(Angle angle) {
     this(angle.in(Radians));
   }
 
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 984904fc30f..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.DistanceUnit;
-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<DistanceUnit> x, Measure<DistanceUnit> 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 481bb633645..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.DistanceUnit;
-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<DistanceUnit> x, Measure<DistanceUnit> 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 a19dbac35b4..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.DistanceUnit;
-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<DistanceUnit> x, Measure<DistanceUnit> y, Measure<DistanceUnit> 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/DifferentialDriveKinematics.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematics.java
index e27b87ba0e5..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.DistanceUnit;
-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<DistanceUnit> trackWidth) {
+  public DifferentialDriveKinematics(Distance trackWidth) {
     this(trackWidth.in(Meters));
   }
 
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 6f9dea8ce2d..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.DistanceUnit;
-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<DistanceUnit> left, Measure<DistanceUnit> 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/SwerveModulePosition.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModulePosition.java
index 7a82b03bdda..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.DistanceUnit;
-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<DistanceUnit> 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 00dc04a701c..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
@@ -4,13 +4,12 @@
 
 package edu.wpi.first.math.kinematics;
 
+import static edu.wpi.first.units.Units.MetersPerSecond;
+
 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.DistanceUnit;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.PerUnit;
-import edu.wpi.first.units.TimeUnit;
+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;
@@ -50,9 +49,8 @@ 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<? extends PerUnit<DistanceUnit, TimeUnit>> speed, Rotation2d angle) {
-    this(speed.baseUnitMagnitude(), angle);
+  public SwerveModuleState(LinearVelocity speed, Rotation2d angle) {
+    this(speed.in(MetersPerSecond), angle);
   }
 
   @Override
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 5fb5ed4803c..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
@@ -10,7 +10,6 @@
 import edu.wpi.first.units.PerUnit;
 import edu.wpi.first.units.TimeUnit;
 import edu.wpi.first.units.Unit;
-import edu.wpi.first.units.measure.Velocity;
 import java.util.Objects;
 
 /**
@@ -118,7 +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> State(Measure<U> position, Velocity<U> velocity) {
+    public <U extends Unit> State(
+        Measure<U> position, Measure<? extends PerUnit<? extends U, TimeUnit>> velocity) {
       this(position.baseUnitMagnitude(), velocity.baseUnitMagnitude());
     }
 

From bcdac6303061ced1f8fca31970c5f3222301f21d Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Wed, 4 Sep 2024 19:33:25 -0400
Subject: [PATCH 45/46] Add .ofNative to MultUnit

---
 .../java/edu/wpi/first/units/MultUnit.java    | 49 ++++++++++++++++++-
 1 file changed, 48 insertions(+), 1 deletion(-)

diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java
index 2712a071b53..6a9e03c4209 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java
@@ -5,6 +5,7 @@
 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;
 
@@ -88,13 +89,59 @@ 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 new ImmutableMult<>(magnitude, toBaseUnits(magnitude), this);
+    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);
   }
 

From 2140decb8d6f0909342c6672effd1ad4094323da Mon Sep 17 00:00:00 2001
From: Sam Carlberg <sam@slfc.dev>
Date: Wed, 4 Sep 2024 20:16:24 -0400
Subject: [PATCH 46/46] Linting

---
 wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java b/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java
index 6a9e03c4209..2c6906c7178 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MultUnit.java
@@ -122,8 +122,8 @@ public Measure<? extends MultUnit<A, B>> ofBaseUnits(double 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.
+   * 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
@@ -134,8 +134,8 @@ public final Mult<A, B> ofNative(double magnitude) {
   }
 
   /**
-   * 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.
+   * 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