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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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24
wpimath/src/test/python/kinematics/test_swerve_drive_odometry.py
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@@ -3,12 +3,12 @@ import math
import random
from wpimath import (
ChassisSpeeds,
ChassisVelocities,
Pose2d,
Rotation2d,
SwerveDrive4Kinematics,
SwerveDrive4Odometry,
SwerveModuleState,
SwerveModuleVelocity,
SwerveModulePosition,
TrajectoryGenerator,
TrajectoryConfig,
@@ -154,23 +154,23 @@ def test_accuracy_facing_trajectory():
while t < trajectory.totalTime():
ground_truth_state = trajectory.sample(t)
module_states = kinematics.toSwerveModuleStates(
ChassisSpeeds(
module_velocities = kinematics.toSwerveModuleVelocities(
ChassisVelocities(
vx=ground_truth_state.velocity,
vy=0,
omega=ground_truth_state.velocity * ground_truth_state.curvature,
)
)
fl.distance += module_states[0].speed * dt
fr.distance += module_states[1].speed * dt
bl.distance += module_states[2].speed * dt
br.distance += module_states[3].speed * dt
fl.distance += module_velocities[0].velocity * dt
fr.distance += module_velocities[1].velocity * dt
bl.distance += module_velocities[2].velocity * dt
br.distance += module_velocities[3].velocity * dt
fl.angle = module_states[0].angle
fr.angle = module_states[1].angle
bl.angle = module_states[2].angle
br.angle = module_states[3].angle
fl.angle = module_velocities[0].angle
fr.angle = module_velocities[1].angle
bl.angle = module_velocities[2].angle
br.angle = module_velocities[3].angle
xhat = odometry.update(
ground_truth_state.pose.rotation()