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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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24
robotpyExamples/SimpleDifferentialDriveSimulation/drivetrain.py
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@@ -15,9 +15,9 @@ class Drivetrain:
"""Represents a differential drive style drivetrain."""
# 3 meters per second.
kMaxSpeed = 3.0
kMaxVelocity = 3.0
# 1/2 rotation per second.
kMaxAngularSpeed = math.pi
kMaxAngularVelocity = math.pi
kTrackwidth = 0.381 * 2
kWheelRadius = 0.0508
@@ -88,28 +88,28 @@ class Drivetrain:
self.rightLeader.setInverted(True)
wpilib.SmartDashboard.putData("Field", self.fieldSim)
def setSpeeds(self, speeds: wpimath.DifferentialDriveWheelSpeeds) -> None:
"""Sets speeds to the drivetrain motors."""
leftFeedforward = self.feedforward.calculate(speeds.left)
rightFeedforward = self.feedforward.calculate(speeds.right)
def setVelocities(self, velocities: wpimath.DifferentialDriveWheelVelocities) -> None:
"""Sets velocities to the drivetrain motors."""
leftFeedforward = self.feedforward.calculate(velocities.left)
rightFeedforward = self.feedforward.calculate(velocities.right)
leftOutput = self.leftPIDController.calculate(
self.leftEncoder.getRate(), speeds.left
self.leftEncoder.getRate(), velocities.left
)
rightOutput = self.rightPIDController.calculate(
self.rightEncoder.getRate(), speeds.right
self.rightEncoder.getRate(), velocities.right
)
self.leftLeader.setVoltage(leftOutput + leftFeedforward)
self.rightLeader.setVoltage(rightOutput + rightFeedforward)
def drive(self, xSpeed: float, rot: float) -> None:
def drive(self, xVelocity: float, rot: float) -> None:
"""Controls the robot using arcade drive.
:param xSpeed: the speed for the x axis
:param xVelocity: the velocity for the x axis
:param rot: the rotation
"""
self.setSpeeds(
self.kinematics.toWheelSpeeds(wpimath.ChassisSpeeds(xSpeed, 0, rot))
self.setVelocities(
self.kinematics.toWheelVelocities(wpimath.ChassisVelocities(xVelocity, 0, rot))
)
def updateOdometry(self) -> None: