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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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6
robotpyExamples/HatchbotInlined/commands/autos.py
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@@ -26,7 +26,7 @@ class Autos:
# Reset encoders on command start
drive.resetEncoders,
# Drive forward while the command is executing,
lambda: drive.arcadeDrive(constants.kAutoDriveSpeed, 0),
lambda: drive.arcadeDrive(constants.kAutoDriveVelocity, 0),
# Stop driving at the end of the command
lambda interrupt: drive.arcadeDrive(0, 0),
# End the command when the robot's driven distance exceeds the desired value
@@ -47,7 +47,7 @@ class Autos:
# Reset encoders on command start
driveSubsystem.resetEncoders,
# Drive forward while the command is executing
lambda: driveSubsystem.arcadeDrive(constants.kAutoDriveSpeed, 0),
lambda: driveSubsystem.arcadeDrive(constants.kAutoDriveVelocity, 0),
# Stop driving at the end of the command
lambda interrupt: driveSubsystem.arcadeDrive(0, 0),
# End the command when the robot's driven distance exceeds the desired value
@@ -63,7 +63,7 @@ class Autos:
# Reset encoders on command start
driveSubsystem.resetEncoders,
# Drive backwards while the command is executing
lambda: driveSubsystem.arcadeDrive(-constants.kAutoDriveSpeed, 0),
lambda: driveSubsystem.arcadeDrive(-constants.kAutoDriveVelocity, 0),
# Stop driving at the end of the command
lambda interrupt: driveSubsystem.arcadeDrive(0, 0),
# End the command when the robot's driven distance exceeds the desired value

2
robotpyExamples/HatchbotInlined/constants.py
View File

@@ -37,7 +37,7 @@ kHatchSolenoidPorts = (0, 1)
# Autonomous
kAutoDriveDistanceInches = 60
kAutoBackupDistanceInches = 20
kAutoDriveSpeed = 0.5
kAutoDriveVelocity = 0.5
# Operator Interface
kDriverControllerPort = 0

2
robotpyExamples/HatchbotInlined/robotcontainer.py
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@@ -86,7 +86,7 @@ class RobotContainer:
# Release the hatch when the Square button is pressed.
self.driverController.square().onTrue(self.hatchSubsystem.releaseHatch())
# While holding R1, drive at half speed
# While holding R1, drive at half velocity
self.driverController.R1().onTrue(
commands2.cmd.runOnce(lambda: self.driveSubsystem.setMaxOutput(0.5))
).onFalse(commands2.cmd.runOnce(lambda: self.driveSubsystem.setMaxOutput(1)))

2
robotpyExamples/HatchbotInlined/subsystems/drivesubsystem.py
View File

@@ -20,7 +20,7 @@ class DriveSubsystem(commands2.Subsystem):
self.left1.addFollower(self.left2)
self.right1.addFollower(self.right2)
# We need to invert one side of the drivetrain so that positive speeds
# We need to invert one side of the drivetrain so that positive velocities
# result in both sides moving forward. Depending on how your robot's
# drivetrain is constructed, you might have to invert the left side instead.
self.right1.setInverted(True)