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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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20
wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimator3dTest.cpp
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@@ -26,8 +26,8 @@ void testFollowTrajectory(
const wpi::math::DifferentialDriveKinematics& kinematics,
wpi::math::DifferentialDrivePoseEstimator3d& estimator,
const wpi::math::Trajectory& trajectory,
std::function<wpi::math::ChassisSpeeds(wpi::math::Trajectory::State&)>
chassisSpeedsGenerator,
std::function<wpi::math::ChassisVelocities(wpi::math::Trajectory::State&)>
chassisVelocitiesGenerator,
std::function<wpi::math::Pose2d(wpi::math::Trajectory::State&)>
visionMeasurementGenerator,
const wpi::math::Pose2d& startingPose, const wpi::math::Pose2d& endingPose,
@@ -86,12 +86,12 @@ void testFollowTrajectory(
visionLog.push_back({t, visionEntry.first, visionEntry.second});
}
auto chassisSpeeds = chassisSpeedsGenerator(groundTruthState);
auto chassisVelocities = chassisVelocitiesGenerator(groundTruthState);
auto wheelSpeeds = kinematics.ToWheelSpeeds(chassisSpeeds);
auto wheelVelocities = kinematics.ToWheelVelocities(chassisVelocities);
leftDistance += wheelSpeeds.left * dt;
rightDistance += wheelSpeeds.right * dt;
leftDistance += wheelVelocities.left * dt;
rightDistance += wheelVelocities.right * dt;
auto xhat = estimator.UpdateWithTime(
t,
@@ -181,8 +181,8 @@ TEST(DifferentialDrivePoseEstimator3dTest, Accuracy) {
testFollowTrajectory(
kinematics, estimator, trajectory,
[&](wpi::math::Trajectory::State& state) {
return wpi::math::ChassisSpeeds{state.velocity, 0_mps,
state.velocity * state.curvature};
return wpi::math::ChassisVelocities{state.velocity, 0_mps,
state.velocity * state.curvature};
},
[&](wpi::math::Trajectory::State& state) { return state.pose; },
trajectory.InitialPose(), {0_m, 0_m, wpi::math::Rotation2d{45_deg}},
@@ -226,8 +226,8 @@ TEST(DifferentialDrivePoseEstimator3dTest, BadInitialPose) {
testFollowTrajectory(
kinematics, estimator, trajectory,
[&](wpi::math::Trajectory::State& state) {
return wpi::math::ChassisSpeeds{state.velocity, 0_mps,
state.velocity * state.curvature};
return wpi::math::ChassisVelocities{
state.velocity, 0_mps, state.velocity * state.curvature};
},
[&](wpi::math::Trajectory::State& state) { return state.pose; },
initial_pose, {0_m, 0_m, wpi::math::Rotation2d{45_deg}}, 20_ms,