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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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2
robotpyExamples/ElevatorExponentialSimulation/subsystems/elevator.py
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@@ -84,7 +84,7 @@ class Elevator:
# In this method, we update our simulation of what our elevator is doing
# First, we set our "inputs" (voltages)
self.elevatorSim.setInputVoltage(
self.motorSim.getSpeed() * wpilib.RobotController.getBatteryVoltage()
self.motorSim.getVelocity() * wpilib.RobotController.getBatteryVoltage()
)
# Next, we update it. The standard loop time is 20ms.