Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Replace Speeds with Velocities (#8479)

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

12
wpilibc/src/test/native/cpp/simulation/PWMMotorControlllerSimTest.cpp
View File

@@ -15,13 +15,13 @@ TEST(PWMMotorControllerSimTest, TestMotor) {
wpi::Spark spark{0};
wpi::sim::PWMMotorControllerSim sim{spark};
spark.Set(0);
EXPECT_EQ(0, sim.GetSpeed());
spark.SetDutyCycle(0);
EXPECT_EQ(0, sim.GetDutyCycle());
spark.Set(0.354);
EXPECT_EQ(0.354, sim.GetSpeed());
spark.SetDutyCycle(0.354);
EXPECT_EQ(0.354, sim.GetDutyCycle());
spark.Set(-0.785);
EXPECT_EQ(-0.785, sim.GetSpeed());
spark.SetDutyCycle(-0.785);
EXPECT_EQ(-0.785, sim.GetDutyCycle());
}
} // namespace wpi::sim