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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/SwerveBot/drivetrain.py
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@@ -9,8 +9,8 @@ import wpilib
import swervemodule
import wpimath
kMaxSpeed = 3.0 # 3 meters per second
kMaxAngularSpeed = math.pi # 1/2 rotation per second
kMaxVelocity = 3.0 # 3 meters per second
kMaxAngularVelocity = math.pi # 1/2 rotation per second
class Drivetrain:
@@ -53,29 +53,29 @@ class Drivetrain:
def drive(
self,
xSpeed: float,
ySpeed: float,
xVelocity: float,
yVelocity: float,
rot: float,
fieldRelative: bool,
periodSeconds: float,
) -> None:
"""
Method to drive the robot using joystick info.
:param xSpeed: Speed of the robot in the x direction (forward).
:param ySpeed: Speed of the robot in the y direction (sideways).
:param xVelocity: Velocity of the robot in the x direction (forward).
:param yVelocity: Velocity of the robot in the y direction (sideways).
:param rot: Angular rate of the robot.
:param fieldRelative: Whether the provided x and y speeds are relative to the field.
:param fieldRelative: Whether the provided x and y velocities are relative to the field.
:param periodSeconds: Time
"""
robot_speeds = wpimath.ChassisSpeeds(xSpeed, ySpeed, rot)
robot_velocities = wpimath.ChassisVelocities(xVelocity, yVelocity, rot)
if fieldRelative:
robot_speeds = robot_speeds.toRobotRelative(self.imu.getRotation2d())
robot_velocities = robot_velocities.toRobotRelative(self.imu.getRotation2d())
swerveModuleStates = self.kinematics.toSwerveModuleStates(
wpimath.ChassisSpeeds.discretize(robot_speeds, periodSeconds)
wpimath.ChassisVelocities.discretize(robot_velocities, periodSeconds)
)
wpimath.SwerveDrive4Kinematics.desaturateWheelSpeeds(
swerveModuleStates, kMaxSpeed
wpimath.SwerveDrive4Kinematics.desaturateWheelVelocities(
swerveModuleStates, kMaxVelocity
)
self.frontLeft.setDesiredState(swerveModuleStates[0])
self.frontRight.setDesiredState(swerveModuleStates[1])