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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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12
robotpyExamples/XrpReference/commands/arcadedrive.py
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@@ -13,22 +13,22 @@ class ArcadeDrive(commands2.Command):
def __init__(
self,
drive: Drivetrain,
xaxisSpeedSupplier: typing.Callable[[], float],
xaxisVelocitySupplier: typing.Callable[[], float],
zaxisRotateSupplier: 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 xaxisSpeedSupplier: Callable supplier of forward/backward speed
:param zaxisRotateSupplier: Callable supplier of rotational speed
:param xaxisVelocitySupplier: Callable supplier of forward/backward velocity
:param zaxisRotateSupplier: Callable supplier of rotational velocity
"""
self.drive = drive
self.xaxisSpeedSupplier = xaxisSpeedSupplier
self.xaxisVelocitySupplier = xaxisVelocitySupplier
self.zaxisRotateSupplier = zaxisRotateSupplier
self.addRequirements(self.drive)
def execute(self) -> None:
self.drive.arcadeDrive(self.xaxisSpeedSupplier(), self.zaxisRotateSupplier())
self.drive.arcadeDrive(self.xaxisVelocitySupplier(), self.zaxisRotateSupplier())