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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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8
robotpyExamples/RapidReactCommandBot/subsystems/drive.py
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@@ -91,12 +91,12 @@ class Drive(Subsystem):
"arcadeDrive"
)
def driveDistanceCommand(self, distance: float, speed: float) -> Command:
def driveDistanceCommand(self, distance: float, velocity: float) -> Command:
"""Returns a command that drives the robot forward a specified distance at a specified
speed.
velocity.
:param distance: The distance to drive forward in meters
:param speed: The fraction of max speed at which to drive
:param velocity: The fraction of max velocity at which to drive
"""
return (
self.runOnce(
@@ -105,7 +105,7 @@ class Drive(Subsystem):
self.rightEncoder.reset(),
)
)
.andThen(self.run(lambda: self.drive.arcadeDrive(speed, 0)))
.andThen(self.run(lambda: self.drive.arcadeDrive(velocity, 0)))
.until(
lambda: max(
self.leftEncoder.getDistance(), self.rightEncoder.getDistance()