[wpimath] Replace Speeds with Velocities (#8479)

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.

robotpyExamples/DriveDistanceOffboard/constants.py

@@ -32,7 +32,7 @@ class DriveConstants:
 
     kp = 1.0
 
-    kMaxSpeed = 3.0  # m/s
+    kMaxVelocity = 3.0  # m/s
     kMaxAcceleration = 3.0  # m/s²
 
 

robotpyExamples/DriveDistanceOffboard/examplesmartmotorcontroller.py

@@ -25,7 +25,7 @@ class ExampleSmartMotorController(wpilib.MotorController):
             port: The port for the controller.
         """
         super().__init__()
-        self._speed = 0.0
+        self._velocity = 0.0
         self._inverted = False
         self._leader = None
 
@@ -79,11 +79,11 @@ class ExampleSmartMotorController(wpilib.MotorController):
         """Resets the encoder to zero distance."""
         pass
 
-    def set(self, speed: float) -> None:
-        self._speed = -speed if self._inverted else speed
+    def set(self, velocity: float) -> None:
+        self._velocity = -velocity if self._inverted else velocity
 
     def get(self) -> float:
-        return self._speed
+        return self._velocity
 
     def setInverted(self, isInverted: bool) -> None:
         self._inverted = isInverted
@@ -92,7 +92,7 @@ class ExampleSmartMotorController(wpilib.MotorController):
         return self._inverted
 
     def disable(self) -> None:
-        self._speed = 0.0
+        self._velocity = 0.0
 
     def stopMotor(self) -> None:
-        self._speed = 0.0
+        self._velocity = 0.0

robotpyExamples/DriveDistanceOffboard/robotcontainer.py

@@ -25,10 +25,10 @@ class RobotContainer:
         self.robotDrive = subsystems.drivesubsystem.DriveSubsystem()
 
         # Retained command references
-        self.driveFullSpeed = commands2.cmd.runOnce(
+        self.driveFullVelocity = commands2.cmd.runOnce(
             lambda: self.robotDrive.setMaxOutput(1), self.robotDrive
         )
-        self.driveHalfSpeed = commands2.cmd.runOnce(
+        self.driveHalfVelocity = commands2.cmd.runOnce(
             lambda: self.robotDrive.setMaxOutput(0.5), self.robotDrive
         )
 
@@ -65,9 +65,9 @@ class RobotContainer:
 
         # We can bind commands while retaining references to them in RobotContainer
 
-        # Drive at half speed when the bumper is held
-        self.driverController.rightBumper().onTrue(self.driveHalfSpeed).onFalse(
-            self.driveFullSpeed
+        # Drive at half velocity when the bumper is held
+        self.driverController.rightBumper().onTrue(self.driveHalfVelocity).onFalse(
+            self.driveFullVelocity
         )
 
         # Drive forward by 3 meters when the 'A' button is pressed, with a timeout of 10 seconds

robotpyExamples/DriveDistanceOffboard/subsystems/drivesubsystem.py

@@ -63,7 +63,7 @@ class DriveSubsystem(commands2.Subsystem):
 
         self.profile = wpimath.TrapezoidProfile(
             wpimath.TrapezoidProfile.Constraints(
-                constants.DriveConstants.kMaxSpeed,
+                constants.DriveConstants.kMaxVelocity,
                 constants.DriveConstants.kMaxAcceleration,
             )
         )