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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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8
wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Drivetrain.hpp
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@@ -32,10 +32,10 @@ class Drivetrain : public wpi::cmd::SubsystemBase {
/**
* Drives the robot using arcade controls.
*
* @param xaxisSpeed the commanded forward movement
* @param xaxisVelocity the commanded forward movement
* @param zaxisRotate the commanded rotation
*/
void ArcadeDrive(double xaxisSpeed, double zaxisRotate);
void ArcadeDrive(double xaxisVelocity, double zaxisRotate);
/**
* Resets the drive encoders to currently read a position of 0.
@@ -111,8 +111,8 @@ class Drivetrain : public wpi::cmd::SubsystemBase {
wpi::Encoder m_rightEncoder{6, 7};
wpi::DifferentialDrive m_drive{
[&](double output) { m_leftMotor.Set(output); },
[&](double output) { m_rightMotor.Set(output); }};
[&](double output) { m_leftMotor.SetDutyCycle(output); },
[&](double output) { m_rightMotor.SetDutyCycle(output); }};
wpi::xrp::XRPGyro m_gyro;
};