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[wpimath] Replace Speeds with Velocities (#8479)

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I left "free speed" alone since that's the technical term for it. In
general, velocity is a vector quantity, and speed is a magnitude (i.e.,
a strictly positive value).

This PR also replaces the speed verbiage in MotorController with duty
cycle.

Fixes #8423.
This commit is contained in:
Tyler Veness
2026-03-06 14:19:15 -08:00
committed by GitHub
parent 1e39f39128
commit 9bd9656871
594 changed files with 8073 additions and 7875 deletions
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10
glass/src/lib/native/cpp/other/Drive.cpp
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@@ -41,10 +41,10 @@ void wpi::glass::DisplayDrive(DriveModel* m) {
// Draw the primary rectangle.
draw->AddRect(ImVec2(x1, y1), ImVec2(x2, y2), color);
// Display the speed vector.
// Display the velocity vector.
ImVec2 center{(x1 + x2) / 2.0f, (y1 + y2) / 2.0f};
ImVec2 speed = m->GetSpeedVector();
ImVec2 arrow = center + speed * 50.0f;
ImVec2 velocity = m->GetVelocityVector();
ImVec2 arrow = center + velocity * 50.0f;
draw->AddLine(center, arrow, color, 2.0f);
@@ -61,8 +61,8 @@ void wpi::glass::DisplayDrive(DriveModel* m) {
};
// Draw the arrow if there is any translation; draw an X otherwise.
if (std::abs(speed.y) > 0 || std::abs(speed.x) > 0) {
drawArrow(arrow, std::atan2(speed.x, -speed.y));
if (std::abs(velocity.y) > 0 || std::abs(velocity.x) > 0) {
drawArrow(arrow, std::atan2(velocity.x, -velocity.y));
} else {
ImVec2 a{7.5f, +7.5f};
ImVec2 b{7.5f, -7.5f};