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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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20
robotpyExamples/SwerveDrivePoseEstimator/robot.py
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@@ -19,8 +19,8 @@ class MyRobot(wpilib.TimedRobot):
self.swerve = Drivetrain()
# Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0 to 1.
self.xspeedLimiter = wpimath.SlewRateLimiter(3)
self.yspeedLimiter = wpimath.SlewRateLimiter(3)
self.xvelocityLimiter = wpimath.SlewRateLimiter(3)
self.yvelocityLimiter = wpimath.SlewRateLimiter(3)
self.rotLimiter = wpimath.SlewRateLimiter(3)
def autonomousPeriodic(self) -> None:
@@ -31,22 +31,22 @@ class MyRobot(wpilib.TimedRobot):
self.driveWithJoystick(True)
def driveWithJoystick(self, fieldRelative: bool) -> None:
# Get the x speed. We are inverting this because Xbox controllers return
# Get the x velocity. We are inverting this because Xbox controllers return
# negative values when we push forward.
xSpeed = -self.xspeedLimiter.calculate(self.controller.getLeftY())
xSpeed *= Drivetrain.kMaxSpeed
xVelocity = -self.xvelocityLimiter.calculate(self.controller.getLeftY())
xVelocity *= Drivetrain.kMaxVelocity
# Get the y speed or sideways/strafe speed. We are inverting this because
# Get the y velocity or sideways/strafe velocity. We are inverting this because
# we want a positive value when we pull to the left. Xbox controllers
# return positive values when you pull to the right by default.
ySpeed = -self.yspeedLimiter.calculate(self.controller.getLeftX())
ySpeed *= Drivetrain.kMaxSpeed
yVelocity = -self.yvelocityLimiter.calculate(self.controller.getLeftX())
yVelocity *= Drivetrain.kMaxVelocity
# Get the rate of angular rotation. We are inverting this because we want a
# positive value when we pull to the left (remember, CCW is positive in
# mathematics). Xbox controllers return positive values when you pull to
# the right by default.
rot = -self.rotLimiter.calculate(self.controller.getRightX())
rot *= Drivetrain.kMaxAngularSpeed
rot *= Drivetrain.kMaxAngularVelocity
self.swerve.drive(xSpeed, ySpeed, rot, fieldRelative, self.getPeriod())
self.swerve.drive(xVelocity, yVelocity, rot, fieldRelative, self.getPeriod())