Update usages of old units API

commandsv3/src/main/java/edu/wpi/first/wpilibj/commandsv3/Command.java

@@ -1,7 +1,6 @@
 package edu.wpi.first.wpilibj.commandsv3;
 
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Time;
+import edu.wpi.first.units.measure.Time;
 import java.util.Collections;
 import java.util.Set;
 import java.util.function.Consumer;
@@ -235,7 +234,7 @@ static CommandBuilder noRequirements(Consumer<Coroutine> impl) {
    *                values will result in the command running only once before being canceled.
    * @return the timed out command.
    */
-  default Command withTimeout(Measure<Time> timeout) {
+  default Command withTimeout(Time timeout) {
     return ParallelGroup.race(name(), this, new WaitCommand(timeout));
   }
 

commandsv3/src/main/java/edu/wpi/first/wpilibj/commandsv3/Coroutine.java

@@ -1,7 +1,6 @@
 package edu.wpi.first.wpilibj.commandsv3;
 
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Time;
+import edu.wpi.first.units.measure.Time;
 import java.util.Arrays;
 import java.util.Collection;
 
@@ -120,7 +119,7 @@ default void awaitAny(Command... commands) {
    *
    * @param duration the duration of time to wait
    */
-  default void wait(Measure<Time> duration) {
+  default void wait(Time duration) {
     await(new WaitCommand(duration));
   }
 

commandsv3/src/main/java/edu/wpi/first/wpilibj/commandsv3/RequireableResource.java

@@ -1,7 +1,6 @@
 package edu.wpi.first.wpilibj.commandsv3;
 
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Time;
+import edu.wpi.first.units.measure.Time;
 import java.util.Set;
 import java.util.function.Consumer;
 
@@ -57,7 +56,7 @@ public Command idle() {
     return new IdleCommand(this);
   }
 
-  public Command idle(Measure<Time> duration) {
+  public Command idle(Time duration) {
     return idle().withTimeout(duration);
   }
 

commandsv3/src/main/java/edu/wpi/first/wpilibj/commandsv3/WaitCommand.java

@@ -2,16 +2,15 @@
 
 import static edu.wpi.first.units.Units.Seconds;
 
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Time;
+import edu.wpi.first.units.measure.Time;
 import edu.wpi.first.wpilibj.Timer;
 import java.util.Set;
 
 /** A command with no requirements that merely waits for a specified duration of time to elapse. */
 public class WaitCommand implements Command {
-  private final Measure<Time> duration;
+  private final Time duration;
 
-  public WaitCommand(Measure<Time> duration) {
+  public WaitCommand(Time duration) {
     this.duration = duration;
   }
 

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/coroutines/Constants.java

@@ -9,11 +9,9 @@
 import static edu.wpi.first.units.Units.Seconds;
 
 import edu.wpi.first.math.util.Units;
-import edu.wpi.first.units.Angle;
-import edu.wpi.first.units.Distance;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Time;
-import edu.wpi.first.units.Velocity;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Distance;
+import edu.wpi.first.units.measure.Time;
 
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
@@ -54,7 +52,7 @@ public static final class ShooterConstants {
     public static final int kFeederMotorPort = 5;
 
     public static final double kShooterFreeRPS = 5300;
-    public static final Measure<Velocity<Angle>> kShooterTarget = RotationsPerSecond.of(4000);
+    public static final AngularVelocity kShooterTarget = RotationsPerSecond.of(4000);
     public static final double kShooterToleranceRPS = 50;
 
     // These are not real PID gains, and will have to be tuned for your specific robot.
@@ -81,8 +79,8 @@ public static final class StorageConstants {
   }
 
   public static final class AutoConstants {
-    public static final Measure<Time> kTimeout = Seconds.of(3);
-    public static final Measure<Distance> kDriveDistance = Meters.of(2);
+    public static final Time kTimeout = Seconds.of(3);
+    public static final Distance kDriveDistance = Meters.of(2);
     public static final double kDriveSpeed = 0.5;
   }
 

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/coroutines/subsystems/Drive.java

@@ -6,8 +6,7 @@
 
 import static edu.wpi.first.units.Units.Meters;
 
-import edu.wpi.first.units.Distance;
-import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.util.sendable.SendableRegistry;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.commandsv3.Command;
@@ -86,7 +85,7 @@ public Command arcadeDriveCommand(DoubleSupplier fwd, DoubleSupplier rot) {
    * @param distance The distance to drive forward in meters
    * @param speed The fraction of max speed at which to drive
    */
-  public Command driveDistanceCommand(Measure<Distance> distance, double speed) {
+  public Command driveDistanceCommand(Distance distance, double speed) {
     double distanceMeters = distance.in(Meters);
 
     return run((coroutine) -> {
@@ -99,6 +98,6 @@ public Command driveDistanceCommand(Measure<Distance> distance, double speed) {
       }
 
       m_drive.stopMotor();
-    }).named("DriveDistance[" + distanceMeters + "m, @" + speed + "]");
+    }).named("DriveDistance[" + distance.toLongString() + ", @" + speed + "]");
   }
 }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/coroutines/subsystems/Shooter.java

@@ -5,12 +5,11 @@
 package edu.wpi.first.wpilibj.examples.coroutines.subsystems;
 
 import static edu.wpi.first.units.Units.RotationsPerSecond;
+import static edu.wpi.first.units.Units.Volts;
 
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
-import edu.wpi.first.units.Angle;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Velocity;
+import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.commandsv3.RequireableResource;
 import edu.wpi.first.wpilibj.examples.coroutines.Constants.ShooterConstants;
@@ -46,9 +45,9 @@ public Shooter() {
         .named("Idle"));
   }
 
-  public void ramp(Measure<Velocity<Angle>> setpoint) {
+  public void ramp(AngularVelocity setpoint) {
     m_shooterMotor.set(
-        m_shooterFeedforward.calculate(setpoint.in(RotationsPerSecond))
+        m_shooterFeedforward.calculate(setpoint).in(Volts)
             + m_shooterFeedback.calculate(
             m_shooterEncoder.getRate(), setpoint.in(RotationsPerSecond)));
   }