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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
wpilibc/src/test/native/cpp/motorcontrol/MockPWMMotorController.cpp
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@@ -6,12 +6,12 @@
using namespace wpi;
void MockPWMMotorController::Set(double speed) {
m_speed = m_isInverted ? -speed : speed;
void MockPWMMotorController::SetDutyCycle(double dutyCycle) {
m_dutyCycle = m_isInverted ? -dutyCycle : dutyCycle;
}
double MockPWMMotorController::Get() const {
return m_speed;
double MockPWMMotorController::GetDutyCycle() const {
return m_dutyCycle;
}
void MockPWMMotorController::SetInverted(bool isInverted) {
@@ -23,7 +23,7 @@ bool MockPWMMotorController::GetInverted() const {
}
void MockPWMMotorController::Disable() {
m_speed = 0;
m_dutyCycle = 0;
}
void MockPWMMotorController::StopMotor() {