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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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12
wpilibj/src/main/java/org/wpilib/simulation/PWMMotorControllerSim.java
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@@ -9,7 +9,7 @@ import org.wpilib.hardware.motor.PWMMotorController;
/** Class to control a simulated PWM motor controller. */
public class PWMMotorControllerSim {
private final SimDouble m_simSpeed;
private final SimDouble m_simDutyCycle;
/**
* Constructor.
@@ -27,15 +27,15 @@ public class PWMMotorControllerSim {
*/
public PWMMotorControllerSim(int channel) {
SimDeviceSim simDevice = new SimDeviceSim("PWMMotorController", channel);
m_simSpeed = simDevice.getDouble("Speed");
m_simDutyCycle = simDevice.getDouble("DutyCycle");
}
/**
* Gets the motor speed set.
* Gets the motor duty cycle.
*
* @return Speed
* @return Duty cycle
*/
public double getSpeed() {
return m_simSpeed.get();
public double getDutyCycle() {
return m_simDutyCycle.get();
}
}