[wpimath] Replace Speeds with Velocities

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.

Author: calcmogul

glass/src/lib/native/cpp/hardware/PWM.cpp

@@ -16,7 +16,7 @@
 using namespace wpi::glass;
 
 void wpi::glass::DisplayPWM(PWMModel* model, int index, bool outputsEnabled) {
-  auto data = model->GetSpeedData();
+  auto data = model->GetDutyCycleData();
   if (!data) {
     return;
   }

glass/src/lib/native/cpp/other/Drive.cpp

@@ -41,10 +41,10 @@ void wpi::glass::DisplayDrive(DriveModel* m) {
   // Draw the primary rectangle.
   draw->AddRect(ImVec2(x1, y1), ImVec2(x2, y2), color);
 
-  // Display the speed vector.
+  // Display the velocity vector.
   ImVec2 center{(x1 + x2) / 2.0f, (y1 + y2) / 2.0f};
-  ImVec2 speed = m->GetSpeedVector();
-  ImVec2 arrow = center + speed * 50.0f;
+  ImVec2 velocity = m->GetVelocityVector();
+  ImVec2 arrow = center + velocity * 50.0f;
 
   draw->AddLine(center, arrow, color, 2.0f);
 
@@ -61,8 +61,8 @@ void wpi::glass::DisplayDrive(DriveModel* m) {
   };
 
   // Draw the arrow if there is any translation; draw an X otherwise.
-  if (std::abs(speed.y) > 0 || std::abs(speed.x) > 0) {
-    drawArrow(arrow, std::atan2(speed.x, -speed.y));
+  if (std::abs(velocity.y) > 0 || std::abs(velocity.x) > 0) {
+    drawArrow(arrow, std::atan2(velocity.x, -velocity.y));
   } else {
     ImVec2 a{7.5f, +7.5f};
     ImVec2 b{7.5f, -7.5f};

glass/src/lib/native/include/wpi/glass/hardware/PWM.hpp

@@ -15,9 +15,9 @@ class DoubleSource;
 
 class PWMModel : public Model {
  public:
-  virtual DoubleSource* GetSpeedData() = 0;
+  virtual DoubleSource* GetDutyCycleData() = 0;
 
-  virtual void SetSpeed(double val) = 0;
+  virtual void SetDutyCycle(double dutyCycle) = 0;
 };
 
 class PWMsModel : public Model {

glass/src/lib/native/include/wpi/glass/other/Drive.hpp

@@ -31,7 +31,7 @@ class DriveModel : public Model {
   virtual const char* GetName() const = 0;
   virtual const std::vector<WheelInfo>& GetWheels() const = 0;
 
-  virtual ImVec2 GetSpeedVector() const = 0;
+  virtual ImVec2 GetVelocityVector() const = 0;
 
   // Clamped between -1 and 1 with -1 being full CCW.
   virtual double GetRotation() const = 0;

glass/src/libnt/native/cpp/NTDifferentialDrive.cpp

@@ -24,10 +24,12 @@ NTDifferentialDriveModel::NTDifferentialDriveModel(
       m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
       m_controllable{inst.GetBooleanTopic(fmt::format("{}/.controllable", path))
                          .Subscribe(false)},
-      m_lPercent{inst.GetDoubleTopic(fmt::format("{}/Left Motor Speed", path))
-                     .GetEntry(0)},
-      m_rPercent{inst.GetDoubleTopic(fmt::format("{}/Right Motor Speed", path))
-                     .GetEntry(0)},
+      m_lPercent{
+          inst.GetDoubleTopic(fmt::format("{}/Left Motor Velocity", path))
+              .GetEntry(0)},
+      m_rPercent{
+          inst.GetDoubleTopic(fmt::format("{}/Right Motor Velocity", path))
+              .GetEntry(0)},
       m_nameValue{wpi::util::rsplit(path, '/').second},
       m_lPercentData{fmt::format("NTDiffDriveL:{}", path)},
       m_rPercentData{fmt::format("NTDiffDriveR:{}", path)} {
@@ -55,7 +57,7 @@ void NTDifferentialDriveModel::Update() {
   double l = m_lPercentData.GetValue();
   double r = m_rPercentData.GetValue();
 
-  m_speedVector = ImVec2(0.0, -(l + r) / 2.0);
+  m_velocityVector = ImVec2(0.0, -(l + r) / 2.0);
   m_rotation = (l - r) / 2.0;
 }
 

glass/src/libnt/native/cpp/NTMecanumDrive.cpp

@@ -24,16 +24,16 @@ NTMecanumDriveModel::NTMecanumDriveModel(wpi::nt::NetworkTableInstance inst,
       m_controllable{inst.GetBooleanTopic(fmt::format("{}/.controllable", path))
                          .Subscribe(0)},
       m_flPercent{
-          inst.GetDoubleTopic(fmt::format("{}/Front Left Motor Speed", path))
-              .GetEntry(0)},
-      m_frPercent{
-          inst.GetDoubleTopic(fmt::format("{}/Front Right Motor Speed", path))
+          inst.GetDoubleTopic(fmt::format("{}/Front Left Motor Velocity", path))
               .GetEntry(0)},
+      m_frPercent{inst.GetDoubleTopic(
+                          fmt::format("{}/Front Right Motor Velocity", path))
+                      .GetEntry(0)},
       m_rlPercent{
-          inst.GetDoubleTopic(fmt::format("{}/Rear Left Motor Speed", path))
+          inst.GetDoubleTopic(fmt::format("{}/Rear Left Motor Velocity", path))
               .GetEntry(0)},
       m_rrPercent{
-          inst.GetDoubleTopic(fmt::format("{}/Rear Right Motor Speed", path))
+          inst.GetDoubleTopic(fmt::format("{}/Rear Right Motor Velocity", path))
               .GetEntry(0)},
       m_nameValue{wpi::util::rsplit(path, '/').second},
       m_flPercentData{fmt::format("NTMcnmDriveFL:{}", path)},
@@ -78,7 +78,7 @@ void NTMecanumDriveModel::Update() {
   double rl = m_rlPercentData.GetValue();
   double rr = m_rrPercentData.GetValue();
 
-  m_speedVector =
+  m_velocityVector =
       ImVec2((fl - fr - rl + rr) / 4.0f, -(fl + fr + rl + rr) / 4.0f);
   m_rotation = -(-fl + fr - rl + rr) / 4;
 }

glass/src/libnt/native/include/wpi/glass/networktables/NTDifferentialDrive.hpp

@@ -29,7 +29,7 @@ class NTDifferentialDriveModel : public DriveModel {
     return m_wheels;
   }
 
-  ImVec2 GetSpeedVector() const override { return m_speedVector; }
+  ImVec2 GetVelocityVector() const override { return m_velocityVector; }
   double GetRotation() const override { return m_rotation; }
 
   void Update() override;
@@ -49,7 +49,7 @@ class NTDifferentialDriveModel : public DriveModel {
   DoubleSource m_rPercentData;
 
   std::vector<DriveModel::WheelInfo> m_wheels;
-  ImVec2 m_speedVector;
+  ImVec2 m_velocityVector;
   double m_rotation;
 };
 }  // namespace wpi::glass

glass/src/libnt/native/include/wpi/glass/networktables/NTMecanumDrive.hpp

@@ -29,7 +29,7 @@ class NTMecanumDriveModel : public DriveModel {
     return m_wheels;
   }
 
-  ImVec2 GetSpeedVector() const override { return m_speedVector; }
+  ImVec2 GetVelocityVector() const override { return m_velocityVector; }
   double GetRotation() const override { return m_rotation; }
 
   void Update() override;
@@ -53,7 +53,7 @@ class NTMecanumDriveModel : public DriveModel {
   DoubleSource m_rrPercentData;
 
   std::vector<DriveModel::WheelInfo> m_wheels;
-  ImVec2 m_speedVector;
+  ImVec2 m_velocityVector;
   double m_rotation;
 };
 }  // namespace wpi::glass

hal/src/main/java/org/wpilib/hardware/hal/CounterJNI.java

@@ -66,7 +66,7 @@ public class CounterJNI extends JNIWrapper {
    * Gets the Period of the most recent count.
    *
    * <p>Returns the time interval of the most recent count. This can be used for velocity
-   * calculations to determine shaft speed.
+   * calculations to determine shaft velocity.
    *
    * @param counterHandle the counter handle
    * @return the period of the last two pulses in units of seconds

hal/src/main/java/org/wpilib/hardware/hal/EncoderJNI.java

@@ -88,7 +88,7 @@ public static native int initializeEncoder(
    * Gets the Period of the most recent count.
    *
    * <p>Returns the time interval of the most recent count. This can be used for velocity
-   * calculations to determine shaft speed.
+   * calculations to determine shaft velocity.
    *
    * @param encoderHandle the encoder handle
    * @return the period of the last two pulses in units of seconds