[wpimath] Replace Speeds with Velocities

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

hal/src/main/native/include/wpi/hal/Counter.h

@@ -79,7 +79,7 @@ int32_t HAL_GetCounter(HAL_CounterHandle counterHandle, int32_t* status);
  * Gets the Period of the most recent count.
  *
  * Returns the time interval of the most recent count. This can be used for
- * velocity calculations to determine shaft speed.
+ * velocity calculations to determine shaft velocity.
  *
  * @param[in] counterHandle the counter handle
  * @param[out] status       Error status variable. 0 on success.

hal/src/main/native/include/wpi/hal/Encoder.h

@@ -118,7 +118,7 @@ void HAL_ResetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status);
  * Gets the Period of the most recent count.
  *
  * Returns the time interval of the most recent count. This can be used for
- * velocity calculations to determine shaft speed.
+ * velocity calculations to determine shaft velocity.
  *
  * @param[in] encoderHandle the encoder handle
  * @param[out] status       Error status variable. 0 on success.

romiVendordep/src/main/java/org/wpilib/romi/RomiMotor.java

@@ -16,7 +16,7 @@ public class RomiMotor extends PWMMotorController {
   /** Common initialization code called by all constructors. */
   protected final void initRomiMotor() {
     m_pwm.setOutputPeriod(PWM.OutputPeriod.k5Ms);
-    setSpeed(0.0);
+    setDutyCycle(0.0);
   }
 
   /**

romiVendordep/src/main/native/cpp/romi/RomiMotor.cpp

@@ -8,5 +8,5 @@ using namespace wpi::romi;
 
 RomiMotor::RomiMotor(int channel) : PWMMotorController("Romi Motor", channel) {
   m_pwm.SetOutputPeriod(PWM::kOutputPeriod_5Ms);
-  SetSpeed(0.0);
+  SetDutyCycle(0.0);
 }

simulation/halsim_gui/src/main/native/cpp/PWMSimGui.cpp

@@ -21,21 +21,21 @@ HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(PWMPulseMicrosecond, "PWM");
 
 class PWMSimModel : public wpi::glass::PWMModel {
  public:
-  explicit PWMSimModel(int32_t index) : m_index{index}, m_speed{m_index} {}
+  explicit PWMSimModel(int32_t index) : m_index{index}, m_dutyCycle{m_index} {}
 
   void Update() override {}
 
   bool Exists() override { return HALSIM_GetPWMInitialized(m_index); }
 
-  wpi::glass::DoubleSource* GetSpeedData() override { return &m_speed; }
+  wpi::glass::DoubleSource* GetDutyCycleData() override { return &m_dutyCycle; }
 
-  void SetSpeed(double val) override {
-    HALSIM_SetPWMPulseMicrosecond(m_index, val);
+  void SetDutyCycle(double dutyCycle) override {
+    HALSIM_SetPWMPulseMicrosecond(m_index, dutyCycle);
   }
 
  private:
   int32_t m_index;
-  PWMPulseMicrosecondSource m_speed;
+  PWMPulseMicrosecondSource m_dutyCycle;
 };
 
 class PWMsSimModel : public wpi::glass::PWMsModel {

simulation/halsim_ws_core/doc/hardware_ws_api.md

@@ -260,7 +260,7 @@ A pneumatic control module is used to regulate the pressure in a pneumatic syste
 
 [``"PWM"``]:#pwm-output-pwm
 
-PWMs may be used to control either motor controllers or servos.  Typically only one of either ``"<speed"`` (for a motor controller) ``"<position"`` (for a servo), or ``"raw"`` is used for a given PWM.
+PWMs may be used to control either motor controllers or servos.  Typically only one of either ``"<duty_cycle"`` (for a motor controller) ``"<position"`` (for a servo), or ``"raw"`` is used for a given PWM.
 
 | Data Key            | Type    | Description                                |
 | ------------------- | ------- | ------------------------------------------ |

simulation/halsim_ws_core/doc/wpilib-ws.yaml

@@ -30,7 +30,7 @@ components:
           type: PWM
           device: "1"
           data:
-            "<speed": 0.5
+            "<duty_cycle": 0.5
       - payload:
           type: DIO
           device: "3"

simulation/halsim_xrp/src/main/native/cpp/XRP.cpp

@@ -128,8 +128,8 @@ void XRP::HandleMotorSimValueChanged(const wpi::util::json& data) {
     deviceId = 3;
   }
 
-  if (deviceId != -1 && motorData.find("<speed") != motorData.end()) {
-    m_motor_outputs[deviceId] = motorData["<speed"];
+  if (deviceId != -1 && motorData.find("<duty_cycle") != motorData.end()) {
+    m_motor_outputs[deviceId] = motorData["<duty_cycle"];
   }
 }
 

styleguide/spotbugs-exclude.xml

@@ -75,7 +75,7 @@
       <Class name="org.wpilib.math.controller.LinearSystemLoopTest" />
       <Class name="~org\.wpilib\.math\.estimator\.[^.]*PoseEstimator(3d)?Test" />
       <Class name="org.wpilib.math.filter.LinearFilterTest" />
-      <Class name="org.wpilib.math.kinematics.ChassisSpeedsTest" />
+      <Class name="org.wpilib.math.kinematics.ChassisVelocitiesTest" />
       <Class name="org.wpilib.hardware.led.LEDPatternTest" />
       <Class name="org.wpilib.simulation.AnalogInputSimTest" />
     </Or>

tools/sysid/src/main/native/cpp/analysis/FilteringUtils.cpp

@@ -179,7 +179,7 @@ sysid::TrimStepVoltageData(std::vector<PreparedData>* data,
     // Find maximum speed reached
     const auto maxSpeed =
         GetMaxSpeed(*data, [](auto&& pt) { return pt.velocity; });
-    // Find place where 90% of maximum speed exceeded
+    // Find place where 90% of maximum velocity exceeded
     auto endIt = std::find_if(
         data->begin(), data->end(), [&](const PreparedData& entry) {
           return std::abs(entry.velocity) > maxSpeed * 0.9;

wpilibc/src/generate/main/native/cpp/hardware/motor/pwm_motor_controller.cpp.jinja

@@ -13,7 +13,7 @@ using namespace wpi;
 {{ name }}::{{ name }}(int channel) : PWMMotorController("{{ name }}", channel) {
   SetBounds({{ pulse_width_ms.max }}_ms, {{ pulse_width_ms.deadbandMax }}_ms, {{ pulse_width_ms.center }}_ms, {{ pulse_width_ms.deadbandMin }}_ms, {{ pulse_width_ms.min }}_ms);
   m_pwm.SetOutputPeriod(PWM::kOutputPeriod_{{ OutputPeriod | default("5", true)}}Ms);
-  SetSpeed(0.0);
+  SetDutyCycle(0.0);
 
   HAL_ReportUsage("IO", GetChannel(), "{{ ResourceName }}");
 }