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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
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@@ -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