[wpilib] Add unit-aware constructor overloads to physics sim classes

[Daniel1464]

No description provided.

[Daniel1464]

/format

[calcmogul]

I'm not a fan of this. We have too many constructor overloads as it is.

[calcmogul]

/format no longer exists. You'll have to either run the formatter locally or apply the patch the lint-format job uploads.

[katzuv]

I guess you could also overload getVelocityRadPerSec() and getCurrentDrawAmps().

[Daniel1464]

I'm not a fan of this. We have too many constructor overloads as it is.

That's what I initially thought too, but the non-unit constructor overloads will get replaced in 2027 anyways.

[calcmogul]

but the non-unit constructor overloads will get replaced in 2027 anyways

Who said so?

[Daniel1464]

Who said so?

I'm assuming that in 2027 all of the non-units interop will be replaced since the GC overhead is no longer as big of a deal

[sciencewhiz]

Who said so?

I'm assuming that in 2027 all of the non-units interop will be replaced since the GC overhead is no longer as big of a deal

It's definetely been discussed for that reason, but due to 2027 needing to support FTC students there's also concern about requiring units everywhere raising the barrier to entry.

See slide 24: https://static1.squarespace.com/static/5d4b06a67cd3580001ded283/t/68067c54ddcaad1f7ddab1b5/1745255509954/2025+SystemCore+Software+Conference.pdf

[calcmogul]

in 2027 all of the non-units interop will be replaced since the GC overhead is no longer as big of a deal

GC overhead is one factor, but not the only reason. WPILib discussed this topic internally before, and we concluded that we'd keep the double overloads around on the 2027 branch because the Java units library isn't as straightforward to use as the double API for inexperienced users.

WPILib C++ has only unit overloads because implicit conversions, operator overloading, and user-defined literals make the C++ units APIs look almost identical to the double APIs but with added unit type safety. It's more ergonomic and less verbose than the Java units library. Here's docs pages for comparison:

https://docs.wpilib.org/en/stable/docs/software/basic-programming/cpp-units.html
https://docs.wpilib.org/en/stable/docs/software/basic-programming/java-units.html