[wpimath] Replace Speeds with Velocities (#8479)

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.

xrpVendordep/src/main/java/org/wpilib/xrp/XRPMotor.java

@@ -41,7 +41,7 @@ public class XRPMotor implements MotorController {
     s_simDeviceNameMap.put(3, "motor4");
   }
 
-  private final SimDouble m_simSpeed;
+  private final SimDouble m_simVelocity;
   private final SimBoolean m_simInverted;
 
   /**
@@ -59,29 +59,29 @@ public class XRPMotor implements MotorController {
     if (xrpMotorSimDevice != null) {
       xrpMotorSimDevice.createBoolean("init", Direction.kOutput, true);
       m_simInverted = xrpMotorSimDevice.createBoolean("inverted", Direction.kInput, false);
-      m_simSpeed = xrpMotorSimDevice.createDouble("speed", Direction.kOutput, 0.0);
+      m_simVelocity = xrpMotorSimDevice.createDouble("velocity", Direction.kOutput, 0.0);
     } else {
       m_simInverted = null;
-      m_simSpeed = null;
+      m_simVelocity = null;
     }
   }
 
   @Override
-  public void set(double speed) {
-    if (m_simSpeed != null) {
+  public void setDutyCycle(double velocity) {
+    if (m_simVelocity != null) {
       boolean invert = false;
       if (m_simInverted != null) {
         invert = m_simInverted.get();
       }
 
-      m_simSpeed.set(invert ? -speed : speed);
+      m_simVelocity.set(invert ? -velocity : velocity);
     }
   }
 
   @Override
-  public double get() {
-    if (m_simSpeed != null) {
-      return m_simSpeed.get();
+  public double getDutyCycle() {
+    if (m_simVelocity != null) {
+      return m_simVelocity.get();
     }
 
     return 0.0;
@@ -101,6 +101,6 @@ public class XRPMotor implements MotorController {
 
   @Override
   public void disable() {
-    set(0.0);
+    setDutyCycle(0.0);
   }
 }

xrpVendordep/src/main/native/cpp/xrp/XRPMotor.cpp

@@ -43,27 +43,27 @@ XRPMotor::XRPMotor(int deviceNum) {
     m_simDevice.CreateBoolean("init", hal::SimDevice::kOutput, true);
     m_simInverted =
         m_simDevice.CreateBoolean("inverted", hal::SimDevice::kInput, false);
-    m_simSpeed =
-        m_simDevice.CreateDouble("speed", hal::SimDevice::kOutput, 0.0);
+    m_simVelocity =
+        m_simDevice.CreateDouble("velocity", hal::SimDevice::kOutput, 0.0);
   }
 }
 
 WPI_UNIGNORE_DEPRECATED
 
-void XRPMotor::Set(double speed) {
-  if (m_simSpeed) {
+void XRPMotor::SetDutyCycle(double velocity) {
+  if (m_simVelocity) {
     bool invert = false;
     if (m_simInverted) {
       invert = m_simInverted.Get();
     }
 
-    m_simSpeed.Set(invert ? -speed : speed);
+    m_simVelocity.Set(invert ? -velocity : velocity);
   }
 }
 
-double XRPMotor::Get() const {
-  if (m_simSpeed) {
-    return m_simSpeed.Get();
+double XRPMotor::GetDutyCycle() const {
+  if (m_simVelocity) {
+    return m_simVelocity.Get();
   }
 
   return 0.0;
@@ -84,11 +84,11 @@ bool XRPMotor::GetInverted() const {
 }
 
 void XRPMotor::Disable() {
-  Set(0.0);
+  SetDutyCycle(0.0);
 }
 
 void XRPMotor::StopMotor() {
-  Set(0.0);
+  SetDutyCycle(0.0);
 }
 
 std::string XRPMotor::GetDescription() const {

xrpVendordep/src/main/native/include/wpi/xrp/XRPMotor.hpp

@@ -36,8 +36,8 @@ class XRPMotor : public wpi::MotorController, public wpi::MotorSafety {
    */
   explicit XRPMotor(int deviceNum);
 
-  void Set(double value) override;
-  double Get() const override;
+  void SetDutyCycle(double value) override;
+  double GetDutyCycle() const override;
 
   void SetInverted(bool isInverted) override;
   bool GetInverted() const override;
@@ -49,7 +49,7 @@ class XRPMotor : public wpi::MotorController, public wpi::MotorSafety {
 
  private:
   hal::SimDevice m_simDevice;
-  hal::SimDouble m_simSpeed;
+  hal::SimDouble m_simVelocity;
   hal::SimBoolean m_simInverted;
 
   std::string m_deviceName;

xrpVendordep/src/main/python/semiwrap/XRPMotor.yml

@@ -2,8 +2,8 @@ classes:
   wpi::xrp::XRPMotor:
     methods:
       XRPMotor:
-      Set:
-      Get:
+      SetDutyCycle:
+      GetDutyCycle:
       SetInverted:
       GetInverted:
       Disable: