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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
wpilibc/src/main/native/include/wpi/counter/Tachometer.hpp
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@@ -15,11 +15,11 @@
namespace wpi {
/**
* Tachometer for getting rotational speed from a device.
* Tachometer for getting rotational velocity from a device.
*
* <p>The Tachometer class measures the time between digital pulses to
* determine the rotation speed of a mechanism. Examples of devices that could
* be used with the tachometer class are a hall effect sensor, break beam
* determine the rotation velocity of a mechanism. Examples of devices that
* could be used with the tachometer class are a hall effect sensor, break beam
* sensor, or optical sensor detecting tape on a shooter wheel. Unlike
* encoders, this class only needs a single digital input.
*/

107
wpilibc/src/main/native/include/wpi/drive/DifferentialDrive.hpp
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@@ -59,14 +59,14 @@ class DifferentialDrive : public RobotDriveBase,
public wpi::util::SendableHelper<DifferentialDrive> {
public:
/**
* Wheel speeds for a differential drive.
* Wheel velocities for a differential drive.
*
* Uses normalized voltage [-1.0..1.0].
*/
struct WheelSpeeds {
/// Left wheel speed.
struct WheelVelocities {
/// Left wheel velocity.
double left = 0.0;
/// Right wheel speed.
/// Right wheel velocity.
double right = 0.0;
};
@@ -110,41 +110,46 @@ class DifferentialDrive : public RobotDriveBase,
* Note: Some drivers may prefer inverted rotation controls. This can be done
* by negating the value passed for rotation.
*
* @param xSpeed The speed at which the robot should drive along the X
* axis [-1.0..1.0]. Forward is positive.
* @param zRotation The rotation rate of the robot around the Z axis
* [-1.0..1.0]. Counterclockwise is positive.
* @param squareInputs If set, decreases the input sensitivity at low speeds.
* @param xVelocity The velocity at which the robot should drive along the X
* axis [-1.0..1.0]. Forward is positive.
* @param zRotation The rotation rate of the robot around the Z axis
* [-1.0..1.0]. Counterclockwise is positive.
* @param squareInputs If set, decreases the input sensitivity at low
* velocities.
*/
void ArcadeDrive(double xSpeed, double zRotation, bool squareInputs = true);
void ArcadeDrive(double xVelocity, double zRotation,
bool squareInputs = true);
/**
* Curvature drive method for differential drive platform.
*
* The rotation argument controls the curvature of the robot's path rather
* than its rate of heading change. This makes the robot more controllable at
* high speeds.
* high velocities.
*
* @param xSpeed The robot's speed along the X axis [-1.0..1.0].
* Forward is positive.
* @param zRotation The normalized curvature [-1.0..1.0].
* Counterclockwise is positive.
* @param xVelocity The robot's velocity along the X axis [-1.0..1.0]. Forward
* is positive.
* @param zRotation The normalized curvature [-1.0..1.0]. Counterclockwise is
* positive.
* @param allowTurnInPlace If set, overrides constant-curvature turning for
* turn-in-place maneuvers. zRotation will control
* turning rate instead of curvature.
* turn-in-place maneuvers. zRotation will control turning rate instead of
* curvature.
*/
void CurvatureDrive(double xSpeed, double zRotation, bool allowTurnInPlace);
void CurvatureDrive(double xVelocity, double zRotation,
bool allowTurnInPlace);
/**
* Tank drive method for differential drive platform.
*
* @param leftSpeed The robot left side's speed along the X axis
* [-1.0..1.0]. Forward is positive.
* @param rightSpeed The robot right side's speed along the X axis
* [-1.0..1.0]. Forward is positive.
* @param squareInputs If set, decreases the input sensitivity at low speeds.
* @param leftVelocity The robot left side's velocity along the X axis
* [-1.0..1.0]. Forward is positive.
* @param rightVelocity The robot right side's velocity along the X axis
* [-1.0..1.0]. Forward is positive.
* @param squareInputs If set, decreases the input sensitivity at low
* velocities.
*/
void TankDrive(double leftSpeed, double rightSpeed, bool squareInputs = true);
void TankDrive(double leftVelocity, double rightVelocity,
bool squareInputs = true);
/**
* Arcade drive inverse kinematics for differential drive platform.
@@ -152,47 +157,49 @@ class DifferentialDrive : public RobotDriveBase,
* Note: Some drivers may prefer inverted rotation controls. This can be done
* by negating the value passed for rotation.
*
* @param xSpeed The speed at which the robot should drive along the X
* axis [-1.0..1.0]. Forward is positive.
* @param zRotation The rotation rate of the robot around the Z axis
* [-1.0..1.0]. Clockwise is positive.
* @param squareInputs If set, decreases the input sensitivity at low speeds.
* @return Wheel speeds [-1.0..1.0].
* @param xVelocity The velocity at which the robot should drive along the X
* axis [-1.0..1.0]. Forward is positive.
* @param zRotation The rotation rate of the robot around the Z axis
* [-1.0..1.0]. Clockwise is positive.
* @param squareInputs If set, decreases the input sensitivity at low
* velocities.
* @return Wheel velocities [-1.0..1.0].
*/
static WheelSpeeds ArcadeDriveIK(double xSpeed, double zRotation,
bool squareInputs = true);
static WheelVelocities ArcadeDriveIK(double xVelocity, double zRotation,
bool squareInputs = true);
/**
* Curvature drive inverse kinematics for differential drive platform.
*
* The rotation argument controls the curvature of the robot's path rather
* than its rate of heading change. This makes the robot more controllable at
* high speeds.
* high velocities.
*
* @param xSpeed The robot's speed along the X axis [-1.0..1.0].
* Forward is positive.
* @param zRotation The normalized curvature [-1.0..1.0]. Clockwise is
* positive.
* @param xVelocity The robot's velocity along the X axis [-1.0..1.0]. Forward
* is positive.
* @param zRotation The normalized curvature [-1.0..1.0]. Clockwise is
* positive.
* @param allowTurnInPlace If set, overrides constant-curvature turning for
* turn-in-place maneuvers. zRotation will control
* turning rate instead of curvature.
* @return Wheel speeds [-1.0..1.0].
* turn-in-place maneuvers. zRotation will control turning rate instead of
* curvature.
* @return Wheel velocities [-1.0..1.0].
*/
static WheelSpeeds CurvatureDriveIK(double xSpeed, double zRotation,
bool allowTurnInPlace);
static WheelVelocities CurvatureDriveIK(double xVelocity, double zRotation,
bool allowTurnInPlace);
/**
* Tank drive inverse kinematics for differential drive platform.
*
* @param leftSpeed The robot left side's speed along the X axis
* [-1.0..1.0]. Forward is positive.
* @param rightSpeed The robot right side's speed along the X axis
* [-1.0..1.0]. Forward is positive.
* @param squareInputs If set, decreases the input sensitivity at low speeds.
* @return Wheel speeds [-1.0..1.0].
* @param leftVelocity The robot left side's velocity along the X axis
* [-1.0..1.0]. Forward is positive.
* @param rightVelocity The robot right side's velocity along the X axis
* [-1.0..1.0]. Forward is positive.
* @param squareInputs If set, decreases the input sensitivity at low
* velocities.
* @return Wheel velocities [-1.0..1.0].
*/
static WheelSpeeds TankDriveIK(double leftSpeed, double rightSpeed,
bool squareInputs = true);
static WheelVelocities TankDriveIK(double leftVelocity, double rightVelocity,
bool squareInputs = true);
void StopMotor() override;
std::string GetDescription() const override;

60
wpilibc/src/main/native/include/wpi/drive/MecanumDrive.hpp
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@@ -56,18 +56,18 @@ class MecanumDrive : public RobotDriveBase,
public wpi::util::SendableHelper<MecanumDrive> {
public:
/**
* Wheel speeds for a mecanum drive.
* Wheel velocities for a mecanum drive.
*
* Uses normalized voltage [-1.0..1.0].
*/
struct WheelSpeeds {
/// Front-left wheel speed.
struct WheelVelocities {
/// Front-left wheel velocity.
double frontLeft = 0.0;
/// Front-right wheel speed.
/// Front-right wheel velocity.
double frontRight = 0.0;
/// Rear-left wheel speed.
/// Rear-left wheel velocity.
double rearLeft = 0.0;
/// Rear-right wheel speed.
/// Rear-right wheel velocity.
double rearRight = 0.0;
};
@@ -113,31 +113,31 @@ class MecanumDrive : public RobotDriveBase,
* Drive method for Mecanum platform.
*
* Angles are measured counterclockwise from the positive X axis. The robot's
* speed is independent from its angle or rotation rate.
* velocity is independent from its angle or rotation rate.
*
* @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is
* positive.
* @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Left is
* positive.
* @param xVelocity The robot's velocity along the X axis [-1.0..1.0]. Forward
* is positive.
* @param yVelocity The robot's velocity along the Y axis [-1.0..1.0]. Left is
* positive.
* @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0].
* Counterclockwise is positive.
* Counterclockwise is positive.
* @param gyroAngle The gyro heading around the Z axis. Use this to implement
* field-oriented controls.
* field-oriented controls.
*/
void DriveCartesian(double xSpeed, double ySpeed, double zRotation,
void DriveCartesian(double xVelocity, double yVelocity, double zRotation,
wpi::math::Rotation2d gyroAngle = 0_rad);
/**
* Drive method for Mecanum platform.
*
* Angles are measured counterclockwise from the positive X axis. The robot's
* speed is independent from its angle or rotation rate.
* velocity is independent from its angle or rotation rate.
*
* @param magnitude The robot's speed at a given angle [-1.0..1.0]. Forward is
* positive.
* @param angle The angle around the Z axis at which the robot drives.
* @param magnitude The robot's velocity at a given angle [-1.0..1.0]. Forward
* is positive.
* @param angle The angle around the Z axis at which the robot drives.
* @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0].
* Counterclockwise is positive.
* Counterclockwise is positive.
*/
void DrivePolar(double magnitude, wpi::math::Rotation2d angle,
double zRotation);
@@ -146,21 +146,21 @@ class MecanumDrive : public RobotDriveBase,
* Cartesian inverse kinematics for Mecanum platform.
*
* Angles are measured counterclockwise from the positive X axis. The robot's
* speed is independent from its angle or rotation rate.
* velocity is independent from its angle or rotation rate.
*
* @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is
* positive.
* @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Left is
* positive.
* @param xVelocity The robot's velocity along the X axis [-1.0..1.0]. Forward
* is positive.
* @param yVelocity The robot's velocity along the Y axis [-1.0..1.0]. Left is
* positive.
* @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0].
* Counterclockwise is positive.
* Counterclockwise is positive.
* @param gyroAngle The gyro heading around the Z axis. Use this to implement
* field-oriented controls.
* @return Wheel speeds [-1.0..1.0].
* field-oriented controls.
* @return Wheel velocities [-1.0..1.0].
*/
static WheelSpeeds DriveCartesianIK(double xSpeed, double ySpeed,
double zRotation,
wpi::math::Rotation2d gyroAngle = 0_rad);
static WheelVelocities DriveCartesianIK(
double xVelocity, double yVelocity, double zRotation,
wpi::math::Rotation2d gyroAngle = 0_rad);
void StopMotor() override;
std::string GetDescription() const override;

8
wpilibc/src/main/native/include/wpi/drive/RobotDriveBase.hpp
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@@ -61,7 +61,7 @@ class RobotDriveBase : public MotorSafety {
* a mode other than PercentVbus or to limit the maximum output.
*
* @param maxOutput Multiplied with the output percentage computed by the
* drive functions.
* drive functions.
*/
void SetMaxOutput(double maxOutput);
@@ -84,10 +84,10 @@ class RobotDriveBase : public MotorSafety {
static constexpr double kDefaultMaxOutput = 1.0;
/**
* Renormalize all wheel speeds if the magnitude of any wheel is greater than
* 1.0.
* Renormalize all wheel velocities if the magnitude of any wheel is greater
* than 1.0.
*/
static void Desaturate(std::span<double> wheelSpeeds);
static void Desaturate(std::span<double> wheelVelocities);
/// Input deadband.
double m_deadband = kDefaultDeadband;

8
wpilibc/src/main/native/include/wpi/hardware/expansionhub/ExpansionHubMotor.hpp
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@@ -29,14 +29,16 @@ class ExpansionHubMotor {
* @param channel The motor channel
*/
ExpansionHubMotor(int usbId, int channel);
~ExpansionHubMotor() noexcept;
/**
* Sets the percentage power to run the motor at, between -1 and 1.
* Sets the duty cycle.
*
* @param power The power to drive the motor at
* @param dutyCycle The duty cycle between -1 and 1 (sign indicates
* direction).
*/
void SetPercentagePower(double power);
void SetDutyCycle(double dutyCycle);
/**
* Sets the voltage to run the motor at. This value will be continously scaled

25
wpilibc/src/main/native/include/wpi/hardware/led/LEDPattern.hpp
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@@ -121,7 +121,7 @@ class LEDPattern {
* long (assuming equal LED density on both segments).
*/
[[nodiscard]]
LEDPattern ScrollAtRelativeSpeed(wpi::units::hertz_t velocity);
LEDPattern ScrollAtRelativeVelocity(wpi::units::hertz_t velocity);
/**
* Creates a pattern that plays this one scrolling up an LED strip. A negative
@@ -136,9 +136,8 @@ class LEDPattern {
* wpi::units::meter_t{1 /60.0};
*
* wpi::LEDPattern rainbow = wpi::LEDPattern::Rainbow();
* wpi::LEDPattern scrollingRainbow =
* rainbow.ScrollAtAbsoluteSpeed(wpi::units::feet_per_second_t{1 / 3.0},
* LED_SPACING);
* wpi::LEDPattern scrollingRainbow = rainbow.ScrollAtAbsoluteVelocity(
* wpi::units::feet_per_second_t{1 / 3.0}, LED_SPACING);
* </pre>
*
* <p>Note that this pattern will scroll <i>faster</i> if applied to a less
@@ -147,12 +146,12 @@ class LEDPattern {
*
* @param velocity how fast the pattern should move along a physical LED strip
* @param ledSpacing the distance between adjacent LEDs on the physical LED
* strip
* strip
* @return the scrolling pattern
*/
[[nodiscard]]
LEDPattern ScrollAtAbsoluteSpeed(wpi::units::meters_per_second_t velocity,
wpi::units::meter_t ledSpacing);
LEDPattern ScrollAtAbsoluteVelocity(wpi::units::meters_per_second_t velocity,
wpi::units::meter_t ledSpacing);
/**
* Creates a pattern that switches between playing this pattern and turning
@@ -170,7 +169,7 @@ class LEDPattern {
* "off" time is exactly equal to the "on" time.
*
* @param onTime how long the pattern should play for (and be turned off for),
* per cycle
* per cycle
* @return the blinking pattern
*/
[[nodiscard]]
@@ -264,7 +263,7 @@ class LEDPattern {
* </pre>
*
* @param relativeBrightness the multiplier to apply to all channels to modify
* brightness
* brightness
* @return the input pattern, displayed at
*/
[[nodiscard]]
@@ -305,8 +304,8 @@ class LEDPattern {
* </pre>
*
* @param progressFunction the function to call to determine the progress.
* This should return values in the range [0, 1]; any values outside that
* range will be clamped.
* This should return values in the range [0, 1]; any values outside that
* range will be clamped.
* @return the mask pattern
*/
static LEDPattern ProgressMaskLayer(std::function<double()> progressFunction);
@@ -320,7 +319,7 @@ class LEDPattern {
* there's a 0 -> black step by default).
*
* @param steps a map of progress to the color to start displaying at that
* position along the LED strip
* position along the LED strip
* @return a motionless step pattern
*/
static LEDPattern Steps(
@@ -335,7 +334,7 @@ class LEDPattern {
* there's a 0 -> black step by default).
*
* @param steps a map of progress to the color to start displaying at that
* position along the LED strip
* position along the LED strip
* @return a motionless step pattern
*/
static LEDPattern Steps(

39
wpilibc/src/main/native/include/wpi/hardware/motor/MotorController.hpp
View File

@@ -16,49 +16,52 @@ class MotorController {
virtual ~MotorController() = default;
/**
* Common interface for setting the speed of a motor controller.
* Sets the duty cycle of the motor controller.
*
* @param speed The speed to set. Value should be between -1.0 and 1.0.
* @param dutyCycle The duty cycle between -1 and 1 (sign indicates
* direction).
*/
virtual void Set(double speed) = 0;
virtual void SetDutyCycle(double dutyCycle) = 0;
/**
* Sets the voltage output of the MotorController. Compensates for
* the current bus voltage to ensure that the desired voltage is output even
* if the battery voltage is below 12V - highly useful when the voltage
* outputs are "meaningful" (e.g. they come from a feedforward calculation).
* Sets the voltage output of the motor controller.
*
* <p>NOTE: This function *must* be called regularly in order for voltage
* Compensates for the current bus voltage to ensure that the desired voltage
* is output even if the battery voltage is below 12V - highly useful when the
* voltage outputs are "meaningful" (e.g. they come from a feedforward
* calculation).
*
* NOTE: This function *must* be called regularly in order for voltage
* compensation to work properly - unlike the ordinary set function, it is not
* "set it and forget it."
*
* @param output The voltage to output.
* @param voltage The voltage.
*/
virtual void SetVoltage(wpi::units::volt_t output);
virtual void SetVoltage(wpi::units::volt_t voltage);
/**
* Common interface for getting the current set speed of a motor controller.
* Gets the duty cycle of the motor controller.
*
* @return The current set speed. Value is between -1.0 and 1.0.
* @return The duty cycle between -1 and 1 (sign indicates direction).
*/
virtual double Get() const = 0;
virtual double GetDutyCycle() const = 0;
/**
* Common interface for inverting direction of a motor controller.
* Sets the inversion state of the motor controller.
*
* @param isInverted The state of inversion, true is inverted.
* @param isInverted The inversion state.
*/
virtual void SetInverted(bool isInverted) = 0;
/**
* Common interface for returning the inversion state of a motor controller.
* Gets the inversion state of the motor controller.
*
* @return isInverted The state of inversion, true is inverted.
* @return The inversion state.
*/
virtual bool GetInverted() const = 0;
/**
* Common interface for disabling a motor.
* Disables the motor controller.
*/
virtual void Disable() = 0;
};

41
wpilibc/src/main/native/include/wpi/hardware/motor/PWMMotorController.hpp
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@@ -37,45 +37,16 @@ class PWMMotorController
PWMMotorController(PWMMotorController&&) = default;
PWMMotorController& operator=(PWMMotorController&&) = default;
/**
* Set the PWM value.
*
* The PWM value is set using a range of -1.0 to 1.0, appropriately scaling
* the value for the FPGA.
*
* @param value The speed value between -1.0 and 1.0 to set.
*/
void Set(double value) override;
void SetDutyCycle(double dutyCycle) override;
/**
* Sets the voltage output of the PWMMotorController. Compensates for
* the current bus voltage to ensure that the desired voltage is output even
* if the battery voltage is below 12V - highly useful when the voltage
* outputs are "meaningful" (e.g. they come from a feedforward calculation).
*
* <p>NOTE: This function *must* be called regularly in order for voltage
* compensation to work properly - unlike the ordinary set function, it is not
* "set it and forget it."
*
* @param output The voltage to output.
*/
void SetVoltage(wpi::units::volt_t output) override;
/**
* Get the recently set value of the PWM. This value is affected by the
* inversion property. If you want the value that is sent directly to the
* MotorController, use PWM::GetSpeed() instead.
*
* @return The most recently set value for the PWM between -1.0 and 1.0.
*/
double Get() const override;
double GetDutyCycle() const override;
/**
* Gets the voltage output of the motor controller, nominally between -12 V
* and 12 V.
*
* @return The voltage of the motor controller, nominally between -12 V and 12
* V.
* V.
*/
virtual wpi::units::volt_t GetVoltage() const;
@@ -134,8 +105,8 @@ class PWMMotorController
/// PWM instances for motor controller.
PWM m_pwm;
void SetSpeed(double speed);
double GetSpeed() const;
void SetDutyCycleInternal(double dutyCycle);
double GetDutyCycleInternal() const;
void SetBounds(wpi::units::microsecond_t maxPwm,
wpi::units::microsecond_t deadbandMaxPwm,
@@ -149,7 +120,7 @@ class PWMMotorController
std::vector<std::unique_ptr<PWMMotorController>> m_owningFollowers;
wpi::hal::SimDevice m_simDevice;
wpi::hal::SimDouble m_simSpeed;
wpi::hal::SimDouble m_simDutyCycle;
bool m_eliminateDeadband{0};
wpi::units::microsecond_t m_minPwm{0};

5
wpilibc/src/main/native/include/wpi/simulation/PWMMotorControllerSim.hpp
View File

@@ -6,7 +6,6 @@
#include "wpi/hal/SimDevice.h"
#include "wpi/hardware/motor/PWMMotorController.hpp"
#include "wpi/units/length.hpp"
namespace wpi {
@@ -20,10 +19,10 @@ class PWMMotorControllerSim {
explicit PWMMotorControllerSim(int channel);
double GetSpeed() const;
double GetDutyCycle() const;
private:
wpi::hal::SimDouble m_simSpeed;
wpi::hal::SimDouble m_simDutyCycle;
};
} // namespace sim
} // namespace wpi