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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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9
wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.hpp
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@@ -45,13 +45,14 @@ class Drivetrain {
m_rightEncoder.Reset();
}
static constexpr wpi::units::meters_per_second_t kMaxSpeed =
static constexpr wpi::units::meters_per_second_t kMaxVelocity =
3.0_mps; // 3 meters per second
static constexpr wpi::units::radians_per_second_t kMaxAngularSpeed{
static constexpr wpi::units::radians_per_second_t kMaxAngularVelocity{
std::numbers::pi}; // 1/2 rotation per second
void SetSpeeds(const wpi::math::DifferentialDriveWheelSpeeds& speeds);
void Drive(wpi::units::meters_per_second_t xSpeed,
void SetVelocities(
const wpi::math::DifferentialDriveWheelVelocities& velocities);
void Drive(wpi::units::meters_per_second_t xVelocity,
wpi::units::radians_per_second_t rot);
void UpdateOdometry();