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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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42
wpimath/src/test/python/kinematics/test_mecanum_drive_odometry3d.py
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@@ -3,7 +3,7 @@ import math
import random
from wpimath import (
ChassisSpeeds,
ChassisVelocities,
MecanumDriveKinematics,
MecanumDriveOdometry3d,
MecanumDriveWheelPositions,
@@ -155,23 +155,23 @@ def test_accuracy_facing_trajectory():
while t < trajectory.totalTime():
ground_truth_state = trajectory.sample(t)
wheel_speeds = kinematics.toWheelSpeeds(
ChassisSpeeds(
wheel_velocities = kinematics.toWheelVelocities(
ChassisVelocities(
ground_truth_state.velocity,
0,
ground_truth_state.velocity * ground_truth_state.curvature,
)
)
wheel_speeds.frontLeft += random.gauss(0.0, 1.0) * 0.1
wheel_speeds.frontRight += random.gauss(0.0, 1.0) * 0.1
wheel_speeds.rearLeft += random.gauss(0.0, 1.0) * 0.1
wheel_speeds.rearRight += random.gauss(0.0, 1.0) * 0.1
wheel_velocities.frontLeft += random.gauss(0.0, 1.0) * 0.1
wheel_velocities.frontRight += random.gauss(0.0, 1.0) * 0.1
wheel_velocities.rearLeft += random.gauss(0.0, 1.0) * 0.1
wheel_velocities.rearRight += random.gauss(0.0, 1.0) * 0.1
wheel_positions.frontLeft += wheel_speeds.frontLeft * dt
wheel_positions.frontRight += wheel_speeds.frontRight * dt
wheel_positions.rearLeft += wheel_speeds.rearLeft * dt
wheel_positions.rearRight += wheel_speeds.rearRight * dt
wheel_positions.frontLeft += wheel_velocities.frontLeft * dt
wheel_positions.frontRight += wheel_velocities.frontRight * dt
wheel_positions.rearLeft += wheel_velocities.rearLeft * dt
wheel_positions.rearRight += wheel_velocities.rearRight * dt
xhat = odometry.update(
Rotation3d(
@@ -228,23 +228,23 @@ def test_accuracy_facing_x_axis():
while t < trajectory.totalTime():
ground_truth_state = trajectory.sample(t)
wheel_speeds = kinematics.toWheelSpeeds(
ChassisSpeeds(
wheel_velocities = kinematics.toWheelVelocities(
ChassisVelocities(
ground_truth_state.velocity * ground_truth_state.pose.rotation().cos(),
ground_truth_state.velocity * ground_truth_state.pose.rotation().sin(),
0,
)
)
wheel_speeds.frontLeft += random.gauss(0.0, 1.0) * 0.1
wheel_speeds.frontRight += random.gauss(0.0, 1.0) * 0.1
wheel_speeds.rearLeft += random.gauss(0.0, 1.0) * 0.1
wheel_speeds.rearRight += random.gauss(0.0, 1.0) * 0.1
wheel_velocities.frontLeft += random.gauss(0.0, 1.0) * 0.1
wheel_velocities.frontRight += random.gauss(0.0, 1.0) * 0.1
wheel_velocities.rearLeft += random.gauss(0.0, 1.0) * 0.1
wheel_velocities.rearRight += random.gauss(0.0, 1.0) * 0.1
wheel_positions.frontLeft += wheel_speeds.frontLeft * dt
wheel_positions.frontRight += wheel_speeds.frontRight * dt
wheel_positions.rearLeft += wheel_speeds.rearLeft * dt
wheel_positions.rearRight += wheel_speeds.rearRight * dt
wheel_positions.frontLeft += wheel_velocities.frontLeft * dt
wheel_positions.frontRight += wheel_velocities.frontRight * dt
wheel_positions.rearLeft += wheel_velocities.rearLeft * dt
wheel_positions.rearRight += wheel_velocities.rearRight * dt
xhat = odometry.update(
Rotation3d(0, 0, random.gauss(0.0, 1.0) * 0.05),