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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
wpilibj/src/test/java/org/wpilib/simulation/DCMotorSimTest.java
View File

@@ -38,7 +38,7 @@ class DCMotorSimTest {
// ------ SimulationPeriodic() happens after user code -------
RoboRioSim.setVInVoltage(
BatterySim.calculateDefaultBatteryLoadedVoltage(sim.getCurrentDraw()));
sim.setInputVoltage(motor.get() * RobotController.getBatteryVoltage());
sim.setInputVoltage(motor.getDutyCycle() * RobotController.getBatteryVoltage());
sim.update(0.020);
encoderSim.setRate(sim.getAngularVelocity());
}
@@ -51,7 +51,7 @@ class DCMotorSimTest {
// ------ SimulationPeriodic() happens after user code -------
RoboRioSim.setVInVoltage(
BatterySim.calculateDefaultBatteryLoadedVoltage(sim.getCurrentDraw()));
sim.setInputVoltage(motor.get() * RobotController.getBatteryVoltage());
sim.setInputVoltage(motor.getDutyCycle() * RobotController.getBatteryVoltage());
sim.update(0.020);
encoderSim.setRate(sim.getAngularVelocity());
}
@@ -76,12 +76,12 @@ class DCMotorSimTest {
encoderSim.resetData();
for (int i = 0; i < 140; i++) {
motor.set(controller.calculate(encoder.getDistance(), 750));
motor.setDutyCycle(controller.calculate(encoder.getDistance(), 750));
// ------ SimulationPeriodic() happens after user code -------
RoboRioSim.setVInVoltage(
BatterySim.calculateDefaultBatteryLoadedVoltage(sim.getCurrentDraw()));
sim.setInputVoltage(motor.get() * RobotController.getBatteryVoltage());
sim.setInputVoltage(motor.getDutyCycle() * RobotController.getBatteryVoltage());
sim.update(0.020);
encoderSim.setDistance(sim.getAngularPosition());
encoderSim.setRate(sim.getAngularVelocity());

5
wpilibj/src/test/java/org/wpilib/simulation/DifferentialDrivetrainSimTest.java
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@@ -65,9 +65,10 @@ class DifferentialDrivetrainSimTest {
var state = traj.sample(t);
var feedbackOut = feedback.calculate(sim.getPose(), state);
var wheelSpeeds = kinematics.toWheelSpeeds(feedbackOut);
var wheelVelocities = kinematics.toWheelVelocities(feedbackOut);
var voltages = feedforward.calculate(VecBuilder.fill(wheelSpeeds.left, wheelSpeeds.right));
var voltages =
feedforward.calculate(VecBuilder.fill(wheelVelocities.left, wheelVelocities.right));
// Sim periodic code
sim.setInputs(voltages.get(0, 0), voltages.get(1, 0));

4
wpilibj/src/test/java/org/wpilib/simulation/ElevatorSimTest.java
View File

@@ -48,11 +48,11 @@ class ElevatorSimTest {
double nextVoltage = controller.calculate(encoderSim.getDistance());
double currentBatteryVoltage = RobotController.getBatteryVoltage();
motor.set(nextVoltage / currentBatteryVoltage);
motor.setDutyCycle(nextVoltage / currentBatteryVoltage);
// ------ SimulationPeriodic() happens after user code -------
var u = VecBuilder.fill(motor.get() * currentBatteryVoltage);
var u = VecBuilder.fill(motor.getDutyCycle() * currentBatteryVoltage);
sim.setInput(u);
sim.update(0.020);
var y = sim.getOutput();

12
wpilibj/src/test/java/org/wpilib/simulation/PWMMotorControllerSimTest.java
View File

@@ -18,14 +18,14 @@ class PWMMotorControllerSimTest {
try (Spark spark = new Spark(0)) {
PWMMotorControllerSim sim = new PWMMotorControllerSim(spark);
spark.set(0);
assertEquals(0, sim.getSpeed());
spark.setDutyCycle(0);
assertEquals(0, sim.getDutyCycle());
spark.set(0.354);
assertEquals(0.354, sim.getSpeed());
spark.setDutyCycle(0.354);
assertEquals(0.354, sim.getDutyCycle());
spark.set(-0.785);
assertEquals(-0.785, sim.getSpeed());
spark.setDutyCycle(-0.785);
assertEquals(-0.785, sim.getDutyCycle());
}
}
}