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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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4
robotpyExamples/FlywheelBangBangController/robot.py
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@@ -74,7 +74,7 @@ class MyRobot(wpilib.TimedRobot):
wpilib.SmartDashboard.putData(self.bangBangControler)
def teleopPeriodic(self) -> None:
"""Controls flywheel to a set speed (RPM) controlled by a joystick."""
"""Controls flywheel to a set velocity (RPM) controlled by a joystick."""
# Scale setpoint value between 0 and maxSetpointValue
setpoint = max(
@@ -91,7 +91,7 @@ class MyRobot(wpilib.TimedRobot):
)
# Controls a motor with the output of the BangBang controller and a
# feedforward. The feedforward is reduced slightly to avoid overspeeding
# feedforward. The feedforward is reduced slightly to avoid overvelocitying
# the shooter.
self.flywheelMotor.setVoltage(
bangOutput + 0.9 * self.feedforward.calculate(setpoint)