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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
wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/ArcadeDrive.java
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@@ -10,23 +10,23 @@ import org.wpilib.examples.romireference.subsystems.Drivetrain;
public class ArcadeDrive extends Command {
private final Drivetrain m_drivetrain;
private final Supplier<Double> m_xaxisSpeedSupplier;
private final Supplier<Double> m_xaxisVelocitySupplier;
private final Supplier<Double> m_zaxisRotateSupplier;
/**
* Creates a new ArcadeDrive. This command will drive your robot according to the speed supplier
* lambdas. This command does not terminate.
* Creates a new ArcadeDrive. This command will drive your robot according to the velocity
* supplier lambdas. This command does not terminate.
*
* @param drivetrain The drivetrain subsystem on which this command will run
* @param xaxisSpeedSupplier Lambda supplier of forward/backward speed
* @param zaxisRotateSupplier Lambda supplier of rotational speed
* @param xaxisVelocitySupplier Lambda supplier of forward/backward velocity
* @param zaxisRotateSupplier Lambda supplier of rotational velocity
*/
public ArcadeDrive(
Drivetrain drivetrain,
Supplier<Double> xaxisSpeedSupplier,
Supplier<Double> xaxisVelocitySupplier,
Supplier<Double> zaxisRotateSupplier) {
m_drivetrain = drivetrain;
m_xaxisSpeedSupplier = xaxisSpeedSupplier;
m_xaxisVelocitySupplier = xaxisVelocitySupplier;
m_zaxisRotateSupplier = zaxisRotateSupplier;
addRequirements(drivetrain);
}
@@ -38,7 +38,7 @@ public class ArcadeDrive extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_drivetrain.arcadeDrive(m_xaxisSpeedSupplier.get(), m_zaxisRotateSupplier.get());
m_drivetrain.arcadeDrive(m_xaxisVelocitySupplier.get(), m_zaxisRotateSupplier.get());
}
// Called once the command ends or is interrupted.

12
wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/DriveDistance.java
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@@ -10,19 +10,19 @@ import org.wpilib.examples.romireference.subsystems.Drivetrain;
public class DriveDistance extends Command {
private final Drivetrain m_drive;
private final double m_distance;
private final double m_speed;
private final double m_velocity;
/**
* Creates a new DriveDistance. This command will drive your your robot for a desired distance at
* a desired speed.
* a desired velocity.
*
* @param speed The speed at which the robot will drive
* @param velocity The velocity at which the robot will drive
* @param inches The number of inches the robot will drive
* @param drive The drivetrain subsystem on which this command will run
*/
public DriveDistance(double speed, double inches, Drivetrain drive) {
public DriveDistance(double velocity, double inches, Drivetrain drive) {
m_distance = inches;
m_speed = speed;
m_velocity = velocity;
m_drive = drive;
addRequirements(drive);
}
@@ -37,7 +37,7 @@ public class DriveDistance extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_drive.arcadeDrive(m_speed, 0);
m_drive.arcadeDrive(m_velocity, 0);
}
// Called once the command ends or is interrupted.

12
wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/DriveTime.java
View File

@@ -9,19 +9,19 @@ import org.wpilib.examples.romireference.subsystems.Drivetrain;
public class DriveTime extends Command {
private final double m_duration;
private final double m_speed;
private final double m_velocity;
private final Drivetrain m_drive;
private long m_startTime;
/**
* Creates a new DriveTime. This command will drive your robot for a desired speed and time.
* Creates a new DriveTime. This command will drive your robot for a desired velocity and time.
*
* @param speed The speed which the robot will drive. Negative is in reverse.
* @param velocity The velocity which the robot will drive. Negative is in reverse.
* @param time How much time to drive in seconds
* @param drive The drivetrain subsystem on which this command will run
*/
public DriveTime(double speed, double time, Drivetrain drive) {
m_speed = speed;
public DriveTime(double velocity, double time, Drivetrain drive) {
m_velocity = velocity;
m_duration = time * 1000;
m_drive = drive;
addRequirements(drive);
@@ -37,7 +37,7 @@ public class DriveTime extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_drive.arcadeDrive(m_speed, 0);
m_drive.arcadeDrive(m_velocity, 0);
}
// Called once the command ends or is interrupted.

12
wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/TurnDegrees.java
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@@ -10,19 +10,19 @@ import org.wpilib.examples.romireference.subsystems.Drivetrain;
public class TurnDegrees extends Command {
private final Drivetrain m_drive;
private final double m_degrees;
private final double m_speed;
private final double m_velocity;
/**
* Creates a new TurnDegrees. This command will turn your robot for a desired rotation (in
* degrees) and rotational speed.
* degrees) and rotational velocity.
*
* @param speed The speed which the robot will drive. Negative is in reverse.
* @param velocity The velocity which the robot will drive. Negative is in reverse.
* @param degrees Degrees to turn. Leverages encoders to compare distance.
* @param drive The drive subsystem on which this command will run
*/
public TurnDegrees(double speed, double degrees, Drivetrain drive) {
public TurnDegrees(double velocity, double degrees, Drivetrain drive) {
m_degrees = degrees;
m_speed = speed;
m_velocity = velocity;
m_drive = drive;
addRequirements(drive);
}
@@ -38,7 +38,7 @@ public class TurnDegrees extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_drive.arcadeDrive(0, m_speed);
m_drive.arcadeDrive(0, m_velocity);
}
// Called once the command ends or is interrupted.

12
wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/TurnTime.java
View File

@@ -9,23 +9,23 @@ import org.wpilib.examples.romireference.subsystems.Drivetrain;
/*
* Creates a new TurnTime command. This command will turn your robot for a
* desired rotational speed and time.
* desired rotational velocity and time.
*/
public class TurnTime extends Command {
private final double m_duration;
private final double m_rotationalSpeed;
private final double m_rotationalVelocity;
private final Drivetrain m_drive;
private long m_startTime;
/**
* Creates a new TurnTime.
*
* @param speed The speed which the robot will turn. Negative is in reverse.
* @param velocity The velocity which the robot will turn. Negative is in reverse.
* @param time How much time to turn in seconds
* @param drive The drive subsystem on which this command will run
*/
public TurnTime(double speed, double time, Drivetrain drive) {
m_rotationalSpeed = speed;
public TurnTime(double velocity, double time, Drivetrain drive) {
m_rotationalVelocity = velocity;
m_duration = time * 1000;
m_drive = drive;
addRequirements(drive);
@@ -41,7 +41,7 @@ public class TurnTime extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_drive.arcadeDrive(0, m_rotationalSpeed);
m_drive.arcadeDrive(0, m_rotationalVelocity);
}
// Called once the command ends or is interrupted.

6
wpilibjExamples/src/main/java/org/wpilib/examples/romireference/subsystems/Drivetrain.java
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@@ -27,7 +27,7 @@ public class Drivetrain extends SubsystemBase {
// Set up the differential drive controller
private final DifferentialDrive m_diffDrive =
new DifferentialDrive(m_leftMotor::set, m_rightMotor::set);
new DifferentialDrive(m_leftMotor::setDutyCycle, m_rightMotor::setDutyCycle);
// Set up the RomiGyro
private final RomiGyro m_gyro = new RomiGyro();
@@ -48,8 +48,8 @@ public class Drivetrain extends SubsystemBase {
resetEncoders();
}
public void arcadeDrive(double xaxisSpeed, double zaxisRotate) {
m_diffDrive.arcadeDrive(xaxisSpeed, zaxisRotate);
public void arcadeDrive(double xaxisVelocity, double zaxisRotate) {
m_diffDrive.arcadeDrive(xaxisVelocity, zaxisRotate);
}
public void resetEncoders() {