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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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28
robotpyExamples/DifferentialDriveBot/drivetrain.py
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@@ -12,8 +12,8 @@ import wpimath
class Drivetrain:
"""Represents a differential drive style drivetrain."""
kMaxSpeed = 3.0 # meters per second
kMaxAngularSpeed = 2 * math.pi # one rotation per second
kMaxVelocity = 3.0 # meters per second
kMaxAngularVelocity = 2 * math.pi # one rotation per second
kTrackwidth = 0.381 * 2 # meters
kWheelRadius = 0.0508 # meters
@@ -68,35 +68,35 @@ class Drivetrain:
self.rightEncoder.getDistance(),
)
def setSpeeds(self, speeds: wpimath.DifferentialDriveWheelSpeeds) -> None:
"""Sets the desired wheel speeds.
def setVelocities(self, velocities: wpimath.DifferentialDriveWheelVelocities) -> None:
"""Sets the desired wheel velocities.
:param speeds: The desired wheel speeds.
:param velocities: The desired wheel velocities.
"""
leftFeedforward = self.feedforward.calculate(speeds.left)
rightFeedforward = self.feedforward.calculate(speeds.right)
leftFeedforward = self.feedforward.calculate(velocities.left)
rightFeedforward = self.feedforward.calculate(velocities.right)
leftOutput = self.leftPIDController.calculate(
self.leftEncoder.getRate(), speeds.left
self.leftEncoder.getRate(), velocities.left
)
rightOutput = self.rightPIDController.calculate(
self.rightEncoder.getRate(), speeds.right
self.rightEncoder.getRate(), velocities.right
)
# Controls the left and right sides of the robot using the calculated outputs
self.leftLeader.setVoltage(leftOutput + leftFeedforward)
self.rightLeader.setVoltage(rightOutput + rightFeedforward)
def drive(self, xSpeed: float, rot: float) -> None:
def drive(self, xVelocity: float, rot: float) -> None:
"""Drives the robot with the given linear velocity and angular velocity.
:param xSpeed: Linear velocity in m/s.
:param xVelocity: Linear velocity in m/s.
:param rot: Angular velocity in rad/s.
"""
wheelSpeeds = self.kinematics.toWheelSpeeds(
wpimath.ChassisSpeeds(xSpeed, 0.0, rot)
wheelVelocities = self.kinematics.toWheelVelocities(
wpimath.ChassisVelocities(xVelocity, 0.0, rot)
)
self.setSpeeds(wheelSpeeds)
self.setVelocities(wheelVelocities)
def updateOdometry(self) -> None:
"""Updates the field-relative position."""