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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/RomiReference/commands/arcadedrive.py
View File

@@ -16,12 +16,12 @@ class ArcadeDrive(commands2.Command):
forward: typing.Callable[[], float],
rotation: typing.Callable[[], float],
) -> None:
"""Creates a new ArcadeDrive. This command will drive your robot according to the speed supplier
"""Creates a new ArcadeDrive. This command will drive your robot according to the velocity supplier
lambdas. This command does not terminate.
:param drivetrain: The drivetrain subsystem on which this command will run
:param forward: Callable supplier of forward/backward speed
:param rotation: Callable supplier of rotational speed
:param forward: Callable supplier of forward/backward velocity
:param rotation: Callable supplier of rotational velocity
"""
self.drive = drive

10
robotpyExamples/RomiReference/commands/drivedistance.py
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@@ -10,17 +10,17 @@ from subsystems.drivetrain import Drivetrain
class DriveDistance(commands2.Command):
def __init__(self, speed: float, inches: float, drive: Drivetrain) -> None:
def __init__(self, velocity: float, inches: float, drive: Drivetrain) -> None:
"""Creates a new DriveDistance. This command will drive your your robot for a desired distance at
a desired speed.
a desired velocity.
:param speed: The speed at which the robot will drive
:param velocity: The velocity at which the robot will drive
:param inches: The number of inches the robot will drive
:param drive: The drivetrain subsystem on which this command will run
"""
self.distance = inches
self.speed = speed
self.velocity = velocity
self.drive = drive
self.addRequirements(drive)
@@ -31,7 +31,7 @@ class DriveDistance(commands2.Command):
def execute(self) -> None:
"""Called every time the scheduler runs while the command is scheduled."""
self.drive.arcadeDrive(self.speed, 0)
self.drive.arcadeDrive(self.velocity, 0)
def end(self, interrupted: bool) -> None:
"""Called once the command ends or is interrupted."""

12
robotpyExamples/RomiReference/commands/drivetime.py
View File

@@ -11,17 +11,17 @@ from subsystems.drivetrain import Drivetrain
class DriveTime(commands2.Command):
"""Creates a new DriveTime. This command will drive your robot for a desired speed and time."""
"""Creates a new DriveTime. This command will drive your robot for a desired velocity and time."""
def __init__(self, speed: float, time: float, drive: Drivetrain) -> None:
"""Creates a new DriveTime. This command will drive your robot for a desired speed and time.
def __init__(self, velocity: float, time: float, drive: Drivetrain) -> None:
"""Creates a new DriveTime. This command will drive your robot for a desired velocity and time.
:param speed: The speed which the robot will drive. Negative is in reverse.
:param velocity: The velocity which the robot will drive. Negative is in reverse.
:param time: How much time to drive in seconds
:param drive: The drivetrain subsystem on which this command will run
"""
self.speed = speed
self.velocity = velocity
self.duration = time
self.drive = drive
self.addRequirements(drive)
@@ -35,7 +35,7 @@ class DriveTime(commands2.Command):
def execute(self) -> None:
"""Called every time the scheduler runs while the command is scheduled."""
self.drive.arcadeDrive(self.speed, 0)
self.drive.arcadeDrive(self.velocity, 0)
def end(self, interrupted: bool) -> None:
"""Called once the command ends or is interrupted."""

10
robotpyExamples/RomiReference/commands/turndegrees.py
View File

@@ -11,17 +11,17 @@ from subsystems.drivetrain import Drivetrain
class TurnDegrees(commands2.Command):
def __init__(self, speed: float, degrees: float, drive: Drivetrain) -> None:
def __init__(self, velocity: float, degrees: float, drive: Drivetrain) -> None:
"""Creates a new TurnDegrees. This command will turn your robot for a desired rotation (in
degrees) and rotational speed.
degrees) and rotational velocity.
:param speed: The speed which the robot will drive. Negative is in reverse.
:param velocity: The velocity which the robot will drive. Negative is in reverse.
:param degrees: Degrees to turn. Leverages encoders to compare distance.
:param drive: The drive subsystem on which this command will run
"""
self.degrees = degrees
self.speed = speed
self.velocity = velocity
self.drive = drive
self.addRequirements(drive)
@@ -33,7 +33,7 @@ class TurnDegrees(commands2.Command):
def execute(self) -> None:
"""Called every time the scheduler runs while the command is scheduled."""
self.drive.arcadeDrive(0, self.speed)
self.drive.arcadeDrive(0, self.velocity)
def end(self, interrupted: bool) -> None:
"""Called once the command ends or is interrupted."""

10
robotpyExamples/RomiReference/commands/turntime.py
View File

@@ -12,18 +12,18 @@ from subsystems.drivetrain import Drivetrain
class TurnTime(commands2.Command):
"""Creates a new TurnTime command. This command will turn your robot for a
desired rotational speed and time.
desired rotational velocity and time.
"""
def __init__(self, speed: float, time: float, drive: Drivetrain) -> None:
def __init__(self, velocity: float, time: float, drive: Drivetrain) -> None:
"""Creates a new TurnTime.
:param speed: The speed which the robot will turn. Negative is in reverse.
:param velocity: The velocity which the robot will turn. Negative is in reverse.
:param time: How much time to turn in seconds
:param drive: The drive subsystem on which this command will run
"""
self.rotationalSpeed = speed
self.rotationalVelocity = velocity
self.duration = time
self.drive = drive
self.addRequirements(drive)
@@ -37,7 +37,7 @@ class TurnTime(commands2.Command):
def execute(self) -> None:
"""Called every time the scheduler runs while the command is scheduled."""
self.drive.arcadeDrive(0, self.rotationalSpeed)
self.drive.arcadeDrive(0, self.rotationalVelocity)
def end(self, interrupted: bool) -> None:
"""Called once the command ends or is interrupted."""