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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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8
robotpyExamples/SwerveDrivePoseEstimator/swervemodule.py
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@@ -100,24 +100,24 @@ class SwerveModule:
def setDesiredState(self, desiredState: wpimath.SwerveModuleState) -> None:
"""Sets the desired state for the module.
:param desiredState: Desired state with speed and angle.
:param desiredState: Desired state with velocity and angle.
"""
encoderRotation = wpimath.Rotation2d(self.turningEncoder.getDistance())
# Optimize the reference state to avoid spinning further than 90 degrees
desiredState.optimize(encoderRotation)
# Scale speed by cosine of angle error. This scales down movement perpendicular to the
# Scale velocity by cosine of angle error. This scales down movement perpendicular to the
# desired direction of travel that can occur when modules change directions. This results
# in smoother driving.
desiredState.cosineScale(encoderRotation)
# Calculate the drive output from the drive PID controller.
driveOutput = self.drivePIDController.calculate(
self.driveEncoder.getRate(), desiredState.speed
self.driveEncoder.getRate(), desiredState.velocity
)
driveFeedforward = self.driveFeedforward.calculate(desiredState.speed)
driveFeedforward = self.driveFeedforward.calculate(desiredState.velocity)
# Calculate the turning motor output from the turning PID controller.
turnOutput = self.turningPIDController.calculate(