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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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26
wpimath/src/main/python/semiwrap/MecanumDriveKinematics.yml
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@@ -5,11 +5,11 @@ classes:
wpi::math::MecanumDriveKinematics:
methods:
MecanumDriveKinematics:
ToWheelSpeeds:
ToWheelVelocities:
doc: |
Performs inverse kinematics to return the wheel speeds from a desired
Performs inverse kinematics to return the wheel velocities from a desired
chassis velocity. This method is often used to convert joystick values into
wheel speeds.
wheel velocities.
This function also supports variable centers of rotation. During normal
operations, the center of rotation is usually the same as the physical
@@ -17,25 +17,25 @@ classes:
However, if you wish to change the center of rotation for evasive
maneuvers, vision alignment, or for any other use case, you can do so.
:param chassisSpeeds: The desired chassis speed.
:param chassisVelocities: The desired chassis velocity.
:param centerOfRotation: The center of rotation. For example, if you set the
center of rotation at one corner of the robot and
provide a chassis speed that only has a dtheta
provide a chassis velocity that only has a dtheta
component, the robot will rotate around that
corner.
:returns: The wheel speeds. Use caution because they are not normalized.
Sometimes, a user input may cause one of the wheel speeds to go
:returns: The wheel velocities. Use caution because they are not normalized.
Sometimes, a user input may cause one of the wheel velocities to go
above the attainable max velocity. Use the
:meth:`MecanumDriveWheelSpeeds.normalize` method to rectify
:meth:`MecanumDriveWheelVelocities.normalize` method to rectify
this issue. In addition, you can use Python unpacking syntax
to directly assign the wheel speeds to variables::
to directly assign the wheel velocities to variables::
fl, fr, bl, br = kinematics.toWheelSpeeds(chassisSpeeds)
fl, fr, bl, br = kinematics.toWheelVelocities(chassisVelocities)
overloads:
const ChassisSpeeds&, const Translation2d& [const]:
const ChassisSpeeds& [const]:
ToChassisSpeeds:
const ChassisVelocities&, const Translation2d& [const]:
const ChassisVelocities& [const]:
ToChassisVelocities:
ToTwist2d:
overloads:
const MecanumDriveWheelPositions&, const MecanumDriveWheelPositions& [const]: