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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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15
wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.hpp
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@@ -14,7 +14,7 @@
#include "wpi/math/geometry/Translation2d.hpp"
#include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
#include "wpi/math/kinematics/MecanumDriveOdometry.hpp"
#include "wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp"
#include "wpi/math/kinematics/MecanumDriveWheelVelocities.hpp"
/**
* Represents a mecanum drive style drivetrain.
@@ -30,18 +30,19 @@ class Drivetrain {
m_backRightMotor.SetInverted(true);
}
wpi::math::MecanumDriveWheelSpeeds GetCurrentState() const;
wpi::math::MecanumDriveWheelPositions GetCurrentWheelDistances() const;
void SetSpeeds(const wpi::math::MecanumDriveWheelSpeeds& wheelSpeeds);
void Drive(wpi::units::meters_per_second_t xSpeed,
wpi::units::meters_per_second_t ySpeed,
wpi::math::MecanumDriveWheelVelocities GetCurrentWheelVelocities() const;
void SetVelocities(
const wpi::math::MecanumDriveWheelVelocities& wheelVelocities);
void Drive(wpi::units::meters_per_second_t xVelocity,
wpi::units::meters_per_second_t yVelocity,
wpi::units::radians_per_second_t rot, bool fieldRelative,
wpi::units::second_t period);
void UpdateOdometry();
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
private: