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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
wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TeleopArcadeDrive.hpp
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@@ -15,19 +15,19 @@ class TeleopArcadeDrive
public:
/**
* Creates a new ArcadeDrive. This command will drive your robot according to
* the speed suppliers. This command does not terminate.
* the velocity suppliers. This command does not terminate.
*
* @param drivetrain The drivetrain subsystem on which this command will run
* @param xaxisSpeedSupplier Supplier of forward/backward speed
* @param zaxisRotateSupplier Supplier of rotational speed
* @param xaxisVelocitySupplier Supplier of forward/backward velocity
* @param zaxisRotateSupplier Supplier of rotational velocity
*/
TeleopArcadeDrive(Drivetrain* subsystem,
std::function<double()> xaxisSpeedSupplier,
std::function<double()> xaxisVelocitySupplier,
std::function<double()> zaxisRotateSupplier);
void Execute() override;
private:
Drivetrain* m_drive;
std::function<double()> m_xaxisSpeedSupplier;
std::function<double()> m_xaxisVelocitySupplier;
std::function<double()> m_zaxisRotateSupplier;
};