diff --git a/src/shared/units/Angle.h b/src/shared/units/Angle.h
new file mode 100644
index 0000000000000000000000000000000000000000..4693f12d38a30906dd98e95986f498bc1615b559
--- /dev/null
+++ b/src/shared/units/Angle.h
@@ -0,0 +1,58 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Authors: Davide Basso
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <ratio>
+
+#include "Units.h"
+
+namespace Boardcore
+{
+namespace Units
+{
+namespace Angle
+{
+
+template <class Ratio = std::ratio<1>>
+class Angle : public Unit<Ratio>
+{
+ using Unit<Ratio>::Unit;
+};
+
+using Degree = Angle<>; // Angle in degrees
+using Radian = // Angle in radians
+ Angle<std::ratio<static_cast<std::intmax_t>(3.14159265358979323846 * 1e10),
+ static_cast<std::intmax_t>(180 * 1e10)>>;
+
+auto operator""_rad(long double n) { return Radian(static_cast<float>(n)); };
+auto operator""_deg(long double n) { return Degree(static_cast<float>(n)); };
+
+template <class ToAngle, class FromAngle>
+ToAngle angle_cast(FromAngle const &from)
+{
+ return ToAngle(from);
+}
+
+} // namespace Angle
+} // namespace Units
+} // namespace Boardcore
\ No newline at end of file
diff --git a/src/shared/units/Length.h b/src/shared/units/Length.h
new file mode 100644
index 0000000000000000000000000000000000000000..4408326e4cd4123b9bb6f333406c0a1ac8541968
--- /dev/null
+++ b/src/shared/units/Length.h
@@ -0,0 +1,62 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Authors: Davide Basso
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <ratio>
+
+#include "Units.h"
+
+namespace Boardcore
+{
+namespace Units
+{
+namespace Length
+{
+
+template <class Ratio = std::ratio<1>>
+class Length : public Unit<Ratio>
+{
+ using Unit<Ratio>::Unit;
+};
+
+template <class ToLength, class FromLength>
+ToLength length_cast(FromLength const &from)
+{
+ return ToLength(from);
+}
+
+using Millimeter = Length<std::milli>; // Length in millimeters
+using Centimeter = Length<std::centi>; // Length in centimeters
+using Decimeter = Length<std::deci>; // Length in decimeters
+using Meter = Length<>; // Length in meters
+using Kilometer = Length<std::kilo>; // Length in kilometers
+
+auto operator""_mm(long double n) { return Millimeter(static_cast<float>(n)); };
+auto operator""_cm(long double n) { return Centimeter(static_cast<float>(n)); };
+auto operator""_dm(long double n) { return Decimeter(static_cast<float>(n)); };
+auto operator""_m(long double n) { return Meter(static_cast<float>(n)); };
+auto operator""_km(long double n) { return Kilometer(static_cast<float>(n)); };
+
+} // namespace Length
+} // namespace Units
+} // namespace Boardcore
\ No newline at end of file
diff --git a/src/shared/units/Pressure.h b/src/shared/units/Pressure.h
new file mode 100644
index 0000000000000000000000000000000000000000..452b3454c1d6e942f037955c334b3e8bee2bdcb8
--- /dev/null
+++ b/src/shared/units/Pressure.h
@@ -0,0 +1,58 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Authors: Davide Basso
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <ratio>
+
+#include "Units.h"
+
+namespace Boardcore
+{
+namespace Units
+{
+namespace Pressure
+{
+
+template <class Ratio = std::ratio<1>>
+class Pressure : public Unit<Ratio>
+{
+ using Unit<Ratio>::Unit;
+};
+
+template <class ToPressure, class FromPressure>
+ToPressure pressure_cast(FromPressure &from)
+{
+ return ToPressure(from);
+}
+
+using Pascal = Pressure<>; // Pressure in Pascals
+using Bar = Pressure<std::ratio<100000>>; // Pressure in Bars
+using Atm = Pressure<std::ratio<101325>>; // Pressure in Atmospheres
+
+auto operator""_pa(long double n) { return Pascal(static_cast<float>(n)); };
+auto operator""_bar(long double n) { return Bar(static_cast<float>(n)); };
+auto operator""_atm(long double n) { return Atm(static_cast<float>(n)); };
+
+} // namespace Pressure
+} // namespace Units
+} // namespace Boardcore
\ No newline at end of file
diff --git a/src/shared/units/Time.h b/src/shared/units/Time.h
new file mode 100644
index 0000000000000000000000000000000000000000..7cd9f5000f9d5af6d0ebf481714128b9c3e3174d
--- /dev/null
+++ b/src/shared/units/Time.h
@@ -0,0 +1,85 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Authors: Davide Basso
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <chrono>
+#include <ratio>
+
+#include "Units.h"
+
+namespace Boardcore
+{
+namespace Units
+{
+namespace Time
+{
+
+template <class Ratio = std::ratio<1>>
+class Time : public Unit<Ratio>
+{
+ using Unit<Ratio>::Unit;
+
+public:
+ std::chrono::duration<float> chrono() const
+ {
+ return std::chrono::duration<float, Ratio>(this->value());
+ }
+};
+
+template <class ToTime, class FromTime>
+ToTime time_cast(FromTime &from)
+{
+ return ToTime(from);
+}
+
+using Nanosecond = Time<std::ratio<1, 1000000000>>; // Time in nanoseconds
+using Microsecond = Time<std::ratio<1, 1000000>>; // Time in microseconds
+using Millisecond = Time<std::ratio<1, 1000>>; // Time in milliseconds
+using Second = Time<>; // Time in seconds
+using Minute = Time<std::ratio<60>>; // Time in minutes
+using Hour = Time<std::ratio<3600>>; // Time in hours
+using Day = Time<std::ratio<86400>>; // Time in days
+using Week = Time<std::ratio<604800>>; // Time in weeks
+using Month = Time<std::ratio<262800>>; // Time in months
+using Year = Time<std::ratio<31536000>>; // Time in years
+
+auto operator""_ns(long double n) { return Nanosecond(static_cast<float>(n)); };
+auto operator""_us(long double n)
+{
+ return Microsecond(static_cast<float>(n));
+};
+auto operator""_ms(long double n)
+{
+ return Millisecond(static_cast<float>(n));
+};
+auto operator""_s(long double n) { return Second(static_cast<float>(n)); };
+auto operator""_min(long double n) { return Minute(static_cast<float>(n)); };
+auto operator""_h(long double n) { return Hour(static_cast<float>(n)); };
+auto operator""_d(long double n) { return Day(static_cast<float>(n)); };
+auto operator""_w(long double n) { return Week(static_cast<float>(n)); };
+auto operator""_mo(long double n) { return Month(static_cast<float>(n)); };
+auto operator""_y(long double n) { return Year(static_cast<float>(n)); };
+
+} // namespace Time
+} // namespace Units
+} // namespace Boardcore
\ No newline at end of file
diff --git a/src/shared/units/Units.h b/src/shared/units/Units.h
new file mode 100644
index 0000000000000000000000000000000000000000..46aca63c8ec9c82e1d4ea59e1817228a09468408
--- /dev/null
+++ b/src/shared/units/Units.h
@@ -0,0 +1,161 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Authors: Davide Basso
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <utils/Debug.h>
+
+#include <ratio>
+#include <typeinfo>
+
+namespace Boardcore
+{
+namespace Units
+{
+
+template <class Ratio = std::ratio<1>>
+// Base class to implement custom measurement units logic.
+class Unit
+{
+public:
+ Unit(float val) : _value(val){};
+ template <class FromRatio>
+ constexpr explicit Unit(Unit<FromRatio> const &from)
+ : _value(from.template value<Ratio>())
+ {
+ }
+
+ // Get the value of the unit in the specified ratio.
+ template <class TargetRatio = Ratio>
+ float value() const
+ {
+ const auto currentRatio =
+ static_cast<float>(Ratio::num) / static_cast<float>(Ratio::den);
+ const auto targetRatio = static_cast<float>(TargetRatio::num) /
+ static_cast<float>(TargetRatio::den);
+
+ return _value / currentRatio * targetRatio;
+ }
+
+ template <class TargetRatio = Ratio>
+ constexpr explicit operator Unit<TargetRatio>() const
+ {
+ return Unit<TargetRatio>(value<TargetRatio>());
+ }
+
+private:
+ float _value;
+};
+
+// Sum, Subtraction, Multiplication, Division
+template <class DerivedUnit>
+constexpr auto operator+(const DerivedUnit &lhs, const DerivedUnit &rhs)
+{
+ return DerivedUnit(lhs.template value() + rhs.template value());
+}
+
+template <class DerivedUnit>
+constexpr auto operator-(const DerivedUnit &lhs, const DerivedUnit &rhs)
+{
+ return DerivedUnit(lhs.template value() - rhs.template value());
+}
+
+template <class DerivedUnit>
+constexpr auto operator*(const DerivedUnit &lhs, const DerivedUnit &rhs)
+{
+ return DerivedUnit(lhs.template value() * rhs.template value());
+}
+
+template <class DerivedUnit>
+constexpr auto operator/(const DerivedUnit &lhs, const DerivedUnit &rhs)
+{
+ return DerivedUnit(lhs.template value() / rhs.template value());
+}
+
+// Comparison operators
+template <class DerivedUnit>
+constexpr bool operator==(const DerivedUnit &lhs, const DerivedUnit &rhs)
+{
+ return lhs.template value() == rhs.template value();
+}
+
+template <class DerivedUnit>
+constexpr bool operator!=(const DerivedUnit &lhs, const DerivedUnit &rhs)
+{
+ return lhs.template value() != rhs.template value();
+}
+
+template <class DerivedUnit>
+constexpr bool operator<(const DerivedUnit &lhs, const DerivedUnit &rhs)
+{
+ return lhs.template value() < rhs.template value();
+}
+
+template <class DerivedUnit>
+constexpr bool operator>(const DerivedUnit &lhs, const DerivedUnit &rhs)
+{
+ return lhs.template value() > rhs.template value();
+}
+
+template <class DerivedUnit>
+constexpr bool operator<=(const DerivedUnit &lhs, const DerivedUnit &rhs)
+{
+ return lhs.template value() <= rhs.template value();
+}
+
+template <class DerivedUnit>
+constexpr bool operator>=(const DerivedUnit &lhs, const DerivedUnit &rhs)
+{
+ return lhs.template value() >= rhs.template value();
+}
+
+// Direct assignment operators
+template <class DerivedUnit>
+constexpr DerivedUnit &operator+=(DerivedUnit &lhs, const DerivedUnit &rhs)
+{
+ lhs = lhs + rhs;
+ return lhs;
+}
+
+template <class DerivedUnit>
+constexpr DerivedUnit &operator-=(DerivedUnit &lhs, const DerivedUnit &rhs)
+{
+ lhs = lhs - rhs;
+ return lhs;
+}
+
+template <class DerivedUnit>
+constexpr DerivedUnit &operator*=(DerivedUnit &lhs, const DerivedUnit &rhs)
+{
+ lhs = lhs * rhs;
+ return lhs;
+}
+
+template <class DerivedUnit>
+constexpr DerivedUnit &operator/=(DerivedUnit &lhs, const DerivedUnit &rhs)
+{
+ lhs = lhs / rhs;
+ return lhs;
+}
+
+} // namespace Units
+} // namespace Boardcore