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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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10
simulation/halsim_gui/src/main/native/cpp/PWMSimGui.cpp
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@@ -21,21 +21,21 @@ HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(PWMPulseMicrosecond, "PWM");
class PWMSimModel : public wpi::glass::PWMModel {
public:
explicit PWMSimModel(int32_t index) : m_index{index}, m_speed{m_index} {}
explicit PWMSimModel(int32_t index) : m_index{index}, m_dutyCycle{m_index} {}
void Update() override {}
bool Exists() override { return HALSIM_GetPWMInitialized(m_index); }
wpi::glass::DoubleSource* GetSpeedData() override { return &m_speed; }
wpi::glass::DoubleSource* GetDutyCycleData() override { return &m_dutyCycle; }
void SetSpeed(double val) override {
HALSIM_SetPWMPulseMicrosecond(m_index, val);
void SetDutyCycle(double dutyCycle) override {
HALSIM_SetPWMPulseMicrosecond(m_index, dutyCycle);
}
private:
int32_t m_index;
PWMPulseMicrosecondSource m_speed;
PWMPulseMicrosecondSource m_dutyCycle;
};
class PWMsSimModel : public wpi::glass::PWMsModel {