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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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16
wpimath/src/test/python/test_trajectory_exponential_profile.py
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@@ -113,29 +113,29 @@ def test_switch_goal_in_middle(profile):
assert state == goal
def test_top_speed(profile):
def test_top_velocity(profile):
goal = ExponentialProfileMeterVolts.State(40, 0)
state = ExponentialProfileMeterVolts.State(0, 0)
max_speed = 0
max_velocity = 0
for _ in range(900):
state = check_dynamics(profile, state, goal)
max_speed = max(max_speed, state.velocity)
max_velocity = max(max_velocity, state.velocity)
assert_near(constraints.maxVelocity(), max_speed, 10e-5)
assert_near(constraints.maxVelocity(), max_velocity, 10e-5)
assert state == goal
def test_top_speed_backward(profile):
def test_top_velocity_backward(profile):
goal = ExponentialProfileMeterVolts.State(-40, 0)
state = ExponentialProfileMeterVolts.State(0, 0)
max_speed = 0
max_velocity = 0
for _ in range(900):
state = check_dynamics(profile, state, goal)
max_speed = min(max_speed, state.velocity)
max_velocity = min(max_velocity, state.velocity)
assert_near(-constraints.maxVelocity(), max_speed, 10e-5)
assert_near(-constraints.maxVelocity(), max_velocity, 10e-5)
assert state == goal