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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/RapidReactCommandBot/constants.py
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@@ -63,10 +63,10 @@ class ShooterConstants:
# On a real robot the feedforward constants should be empirically determined; these are
# reasonable guesses.
kS = 0.05 # V
# Should have value 12V at free speed
# Should have value 12V at free velocity
kV = 12.0 / kShooterFreeRPS # V/(rot/s)
kFeederSpeed = 0.5
kFeederVelocity = 0.5
class IntakeConstants:
@@ -82,7 +82,7 @@ class StorageConstants:
class AutoConstants:
kTimeout = 3
kDriveDistance = 2.0 # m
kDriveSpeed = 0.5
kDriveVelocity = 0.5
class OIConstants: