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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/drivetime.py
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@@ -11,17 +11,17 @@ from subsystems.drivetrain import Drivetrain
class DriveTime(commands2.Command):
"""Creates a new DriveTime. This command will drive your robot for a desired speed and time."""
"""Creates a new DriveTime. This command will drive your robot for a desired velocity and time."""
def __init__(self, speed: float, time: float, drive: Drivetrain) -> None:
"""Creates a new DriveTime. This command will drive your robot for a desired speed and time.
def __init__(self, velocity: float, time: float, drive: Drivetrain) -> None:
"""Creates a new DriveTime. This command will drive your robot for a desired velocity and time.
:param speed: The speed which the robot will drive. Negative is in reverse.
:param velocity: The velocity which the robot will drive. Negative is in reverse.
:param time: How much time to drive in seconds
:param drive: The drivetrain subsystem on which this command will run
"""
self.speed = speed
self.velocity = velocity
self.duration = time
self.drive = drive
self.addRequirements(drive)
@@ -35,7 +35,7 @@ class DriveTime(commands2.Command):
def execute(self) -> None:
"""Called every time the scheduler runs while the command is scheduled."""
self.drive.arcadeDrive(self.speed, 0)
self.drive.arcadeDrive(self.velocity, 0)
def end(self, interrupted: bool) -> None:
"""Called once the command ends or is interrupted."""