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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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4
wpilibjExamples/src/main/java/org/wpilib/examples/gettingstarted/Robot.java
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@@ -20,7 +20,7 @@ public class Robot extends TimedRobot {
private final PWMSparkMax m_leftDrive = new PWMSparkMax(0);
private final PWMSparkMax m_rightDrive = new PWMSparkMax(1);
private final DifferentialDrive m_robotDrive =
new DifferentialDrive(m_leftDrive::set, m_rightDrive::set);
new DifferentialDrive(m_leftDrive::setDutyCycle, m_rightDrive::setDutyCycle);
private final Gamepad m_controller = new Gamepad(0);
private final Timer m_timer = new Timer();
@@ -46,7 +46,7 @@ public class Robot extends TimedRobot {
public void autonomousPeriodic() {
// Drive for 2 seconds
if (m_timer.get() < 2.0) {
// Drive forwards half speed, make sure to turn input squaring off
// Drive forwards half velocity, make sure to turn input squaring off
m_robotDrive.arcadeDrive(0.5, 0.0, false);
} else {
m_robotDrive.stopMotor(); // stop robot