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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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6
robotpyExamples/XrpReference/subsystems/drivetrain.py
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@@ -54,14 +54,14 @@ class Drivetrain(commands2.Subsystem):
)
self.resetEncoders()
def arcadeDrive(self, xaxisSpeed: float, zaxisRotate: float) -> None:
def arcadeDrive(self, xaxisVelocity: float, zaxisRotate: float) -> None:
"""
Drives the robot using arcade controls.
:param xaxisSpeed: the commanded forward movement
:param xaxisVelocity: the commanded forward movement
:param zaxisRotate: the commanded rotation
"""
self.drive.arcadeDrive(xaxisSpeed, zaxisRotate)
self.drive.arcadeDrive(xaxisVelocity, zaxisRotate)
def resetEncoders(self) -> None:
"""Resets the drive encoders to currently read a position of 0."""