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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/HatchbotTraditional/commands/complexauto.py
View File

@@ -24,12 +24,12 @@ class ComplexAuto(commands2.SequentialCommandGroup):
super().__init__(
# Drive forward the specified distance
DriveDistance(
constants.kAutoDriveDistanceInches, constants.kAutoDriveSpeed, drive
constants.kAutoDriveDistanceInches, constants.kAutoDriveVelocity, drive
),
# Release the hatch
ReleaseHatch(hatch),
# Drive backward the specified distance
DriveDistance(
constants.kAutoBackupDistanceInches, -constants.kAutoDriveSpeed, drive
constants.kAutoBackupDistanceInches, -constants.kAutoDriveVelocity, drive
),
)

8
robotpyExamples/HatchbotTraditional/commands/drivedistance.py
View File

@@ -10,18 +10,18 @@ from subsystems.drivesubsystem import DriveSubsystem
class DriveDistance(commands2.Command):
def __init__(self, inches: float, speed: float, drive: DriveSubsystem) -> None:
def __init__(self, inches: float, velocity: float, drive: DriveSubsystem) -> None:
self.distance = inches
self.speed = speed
self.velocity = velocity
self.drive = drive
self.addRequirements(drive)
def initialize(self) -> None:
self.drive.resetEncoders()
self.drive.arcadeDrive(self.speed, 0)
self.drive.arcadeDrive(self.velocity, 0)
def execute(self) -> None:
self.drive.arcadeDrive(self.speed, 0)
self.drive.arcadeDrive(self.velocity, 0)
def end(self, interrupted: bool) -> None:
self.drive.arcadeDrive(0, 0)

2
robotpyExamples/HatchbotTraditional/commands/halvedrivespeed.py → robotpyExamples/HatchbotTraditional/commands/halvedrivevelocity.py
View File

@@ -9,7 +9,7 @@ import commands2
from subsystems.drivesubsystem import DriveSubsystem
class HalveDriveSpeed(commands2.Command):
class HalveDriveVelocity(commands2.Command):
def __init__(self, drive: DriveSubsystem) -> None:
self.drive = drive