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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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14
wpilibc/src/test/native/cpp/LEDPatternTest.cpp
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@@ -208,7 +208,8 @@ TEST(LEDPatternTest, ScrollRelativeForward) {
// Scrolling at 1/256th of the buffer per second,
// or 1 individual diode per second
auto scroll = pattern.ScrollAtRelativeSpeed(wpi::units::hertz_t{1 / 256.0});
auto scroll =
pattern.ScrollAtRelativeVelocity(wpi::units::hertz_t{1 / 256.0});
static uint64_t now = 0ull;
WPI_SetNowImpl([] { return now; });
@@ -251,7 +252,8 @@ TEST(LEDPatternTest, ScrollRelativeBackward) {
// Scrolling at 1/256th of the buffer per second,
// or 1 individual diode per second
auto scroll = pattern.ScrollAtRelativeSpeed(wpi::units::hertz_t{-1 / 256.0});
auto scroll =
pattern.ScrollAtRelativeVelocity(wpi::units::hertz_t{-1 / 256.0});
static uint64_t now = 0ull;
WPI_SetNowImpl([] { return now; });
@@ -295,7 +297,7 @@ TEST(LEDPatternTest, ScrollAbsoluteForward) {
// buffer is 256 LEDs, so total length = 512cm = 5.12m
// scrolling at 16 m/s yields a period of 0.32 seconds,
// or 0.00125 seconds per LED (800 LEDs/s)
auto scroll = pattern.ScrollAtAbsoluteSpeed(16_mps, 2_cm);
auto scroll = pattern.ScrollAtAbsoluteVelocity(16_mps, 2_cm);
static uint64_t now = 0ull;
WPI_SetNowImpl([] { return now; });
@@ -339,7 +341,7 @@ TEST(LEDPatternTest, ScrollAbsoluteBackward) {
// buffer is 256 LEDs, so total length = 512cm = 5.12m
// scrolling at 16 m/s yields a period of 0.32 seconds,
// or 0.00125 seconds per LED (800 LEDs/s)
auto scroll = pattern.ScrollAtAbsoluteSpeed(-16_mps, 2_cm);
auto scroll = pattern.ScrollAtAbsoluteVelocity(-16_mps, 2_cm);
static uint64_t now = 0ull;
WPI_SetNowImpl([] { return now; });
@@ -912,7 +914,7 @@ TEST(LEDPatternTest, RelativeScrollingMask) {
auto pattern = LEDPattern::Steps(colorSteps)
.Mask(LEDPattern::Steps(maskSteps))
.ScrollAtRelativeSpeed(wpi::units::hertz_t{1e6 / 8.0});
.ScrollAtRelativeVelocity(wpi::units::hertz_t{1e6 / 8.0});
pattern.ApplyTo(buffer);
@@ -997,7 +999,7 @@ TEST(LEDPatternTest, AbsoluteScrollingMask) {
auto pattern = LEDPattern::Steps(colorSteps)
.Mask(LEDPattern::Steps(maskSteps))
.ScrollAtAbsoluteSpeed(1_mps, 1_m);
.ScrollAtAbsoluteVelocity(1_mps, 1_m);
pattern.ApplyTo(buffer);