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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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6
wpimath/src/main/python/semiwrap/SwerveDriveKinematicsConstraint.yml
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@@ -11,9 +11,9 @@ classes:
template_inline_code: |
cls_SwerveDriveKinematicsConstraint
.def_static("fromFps", [](const wpi::math::SwerveDriveKinematics<NumModules>& kinematics,
wpi::units::feet_per_second_t maxSpeed) {
return std::make_shared<wpi::math::SwerveDriveKinematicsConstraint<NumModules>>(kinematics, maxSpeed);
}, py::arg("kinematics"), py::arg("maxSpeed"))
wpi::units::feet_per_second_t maxVelocity) {
return std::make_shared<wpi::math::SwerveDriveKinematicsConstraint<NumModules>>(kinematics, maxVelocity);
}, py::arg("kinematics"), py::arg("maxVelocity"))
;
templates: