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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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16
wpilibj/src/main/java/org/wpilib/drive/RobotDriveBase.java
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@@ -96,21 +96,21 @@ public abstract class RobotDriveBase extends MotorSafety {
public abstract String getDescription();
/**
* Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0.
* Normalize all wheel velocities if the magnitude of any wheel is greater than 1.0.
*
* @param wheelSpeeds List of wheel speeds to normalize.
* @param wheelVelocities List of wheel velocities to normalize.
*/
protected static void normalize(double[] wheelSpeeds) {
double maxMagnitude = Math.abs(wheelSpeeds[0]);
for (int i = 1; i < wheelSpeeds.length; i++) {
double temp = Math.abs(wheelSpeeds[i]);
protected static void normalize(double[] wheelVelocities) {
double maxMagnitude = Math.abs(wheelVelocities[0]);
for (int i = 1; i < wheelVelocities.length; i++) {
double temp = Math.abs(wheelVelocities[i]);
if (maxMagnitude < temp) {
maxMagnitude = temp;
}
}
if (maxMagnitude > 1.0) {
for (int i = 0; i < wheelSpeeds.length; i++) {
wheelSpeeds[i] = wheelSpeeds[i] / maxMagnitude;
for (int i = 0; i < wheelVelocities.length; i++) {
wheelVelocities[i] = wheelVelocities[i] / maxMagnitude;
}
}
}