diff --git a/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp b/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp index 7a7a93b475..59e3622dbe 100644 --- a/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp +++ b/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp @@ -15,6 +15,14 @@ using namespace frc; +#if defined(_MSC_VER) +#pragma warning(disable : 4996) // was declared deprecated +#elif defined(__clang__) +#pragma clang diagnostic ignored "-Wdeprecated-declarations" +#elif defined(__GNUC__) +#pragma GCC diagnostic ignored "-Wdeprecated-declarations" +#endif + DifferentialDrive::DifferentialDrive(SpeedController& leftMotor, SpeedController& rightMotor) : m_leftMotor(&leftMotor), m_rightMotor(&rightMotor) { diff --git a/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp b/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp index 6c2247b9b6..7cdf145d8f 100644 --- a/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp +++ b/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp @@ -16,6 +16,14 @@ using namespace frc; +#if defined(_MSC_VER) +#pragma warning(disable : 4996) // was declared deprecated +#elif defined(__clang__) +#pragma clang diagnostic ignored "-Wdeprecated-declarations" +#elif defined(__GNUC__) +#pragma GCC diagnostic ignored "-Wdeprecated-declarations" +#endif + KilloughDrive::KilloughDrive(SpeedController& leftMotor, SpeedController& rightMotor, SpeedController& backMotor) diff --git a/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp b/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp index 2a9eac01f9..d9886b66f5 100644 --- a/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp +++ b/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp @@ -17,6 +17,14 @@ using namespace frc; +#if defined(_MSC_VER) +#pragma warning(disable : 4996) // was declared deprecated +#elif defined(__clang__) +#pragma clang diagnostic ignored "-Wdeprecated-declarations" +#elif defined(__GNUC__) +#pragma GCC diagnostic ignored "-Wdeprecated-declarations" +#endif + MecanumDrive::MecanumDrive(SpeedController& frontLeftMotor, SpeedController& rearLeftMotor, SpeedController& frontRightMotor, diff --git a/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp b/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp index 594cfbcf0c..3b03c3a75a 100644 --- a/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp +++ b/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp @@ -11,7 +11,7 @@ #include #include "frc/Base.h" -#include "frc/SpeedController.h" +#include "frc/motorcontrol/MotorController.h" using namespace frc; diff --git a/wpilibc/src/main/native/cpp/DMC60.cpp b/wpilibc/src/main/native/cpp/motorcontrol/DMC60.cpp similarity index 83% rename from wpilibc/src/main/native/cpp/DMC60.cpp rename to wpilibc/src/main/native/cpp/motorcontrol/DMC60.cpp index 001a51e5c8..81fa868f84 100644 --- a/wpilibc/src/main/native/cpp/DMC60.cpp +++ b/wpilibc/src/main/native/cpp/motorcontrol/DMC60.cpp @@ -2,13 +2,13 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -#include "frc/DMC60.h" +#include "frc/motorcontrol/DMC60.h" #include using namespace frc; -DMC60::DMC60(int channel) : PWMSpeedController("DMC60", channel) { +DMC60::DMC60(int channel) : PWMMotorController("DMC60", channel) { m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997); m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X); m_pwm.SetSpeed(0.0); diff --git a/wpilibc/src/main/native/cpp/Jaguar.cpp b/wpilibc/src/main/native/cpp/motorcontrol/Jaguar.cpp similarity index 83% rename from wpilibc/src/main/native/cpp/Jaguar.cpp rename to wpilibc/src/main/native/cpp/motorcontrol/Jaguar.cpp index 2cf93c1de2..c68ae0c8f2 100644 --- a/wpilibc/src/main/native/cpp/Jaguar.cpp +++ b/wpilibc/src/main/native/cpp/motorcontrol/Jaguar.cpp @@ -2,13 +2,13 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -#include "frc/Jaguar.h" +#include "frc/motorcontrol/Jaguar.h" #include using namespace frc; -Jaguar::Jaguar(int channel) : PWMSpeedController("Jaguar", channel) { +Jaguar::Jaguar(int channel) : PWMMotorController("Jaguar", channel) { m_pwm.SetBounds(2.31, 1.55, 1.507, 1.454, 0.697); m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X); m_pwm.SetSpeed(0.0); diff --git a/wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp b/wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp new file mode 100644 index 0000000000..54ec4d8a94 --- /dev/null +++ b/wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp @@ -0,0 +1,69 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +#include "frc/motorcontrol/MotorControllerGroup.h" + +#include "frc/smartdashboard/SendableBuilder.h" +#include "frc/smartdashboard/SendableRegistry.h" + +using namespace frc; + +// Can't use a delegated constructor here because of an MSVC bug. +// https://developercommunity.visualstudio.com/content/problem/583/compiler-bug-with-delegating-a-constructor.html + +MotorControllerGroup::MotorControllerGroup( + std::vector>&& motorControllers) + : m_motorControllers(std::move(motorControllers)) { + Initialize(); +} + +void MotorControllerGroup::Initialize() { + for (auto& motorController : m_motorControllers) { + SendableRegistry::GetInstance().AddChild(this, &motorController.get()); + } + static int instances = 0; + ++instances; + SendableRegistry::GetInstance().Add(this, "MotorControllerGroup", instances); +} + +void MotorControllerGroup::Set(double speed) { + for (auto motorController : m_motorControllers) { + motorController.get().Set(m_isInverted ? -speed : speed); + } +} + +double MotorControllerGroup::Get() const { + if (!m_motorControllers.empty()) { + return m_motorControllers.front().get().Get() * (m_isInverted ? -1 : 1); + } + return 0.0; +} + +void MotorControllerGroup::SetInverted(bool isInverted) { + m_isInverted = isInverted; +} + +bool MotorControllerGroup::GetInverted() const { + return m_isInverted; +} + +void MotorControllerGroup::Disable() { + for (auto motorController : m_motorControllers) { + motorController.get().Disable(); + } +} + +void MotorControllerGroup::StopMotor() { + for (auto motorController : m_motorControllers) { + motorController.get().StopMotor(); + } +} + +void MotorControllerGroup::InitSendable(SendableBuilder& builder) { + builder.SetSmartDashboardType("Motor Controller"); + builder.SetActuator(true); + builder.SetSafeState([=]() { StopMotor(); }); + builder.AddDoubleProperty( + "Value", [=]() { return Get(); }, [=](double value) { Set(value); }); +} diff --git a/wpilibc/src/main/native/cpp/NidecBrushless.cpp b/wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp similarity index 97% rename from wpilibc/src/main/native/cpp/NidecBrushless.cpp rename to wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp index ff61843000..fdca9b9341 100644 --- a/wpilibc/src/main/native/cpp/NidecBrushless.cpp +++ b/wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -#include "frc/NidecBrushless.h" +#include "frc/motorcontrol/NidecBrushless.h" #include #include diff --git a/wpilibc/src/main/native/cpp/PWMSpeedController.cpp b/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp similarity index 59% rename from wpilibc/src/main/native/cpp/PWMSpeedController.cpp rename to wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp index ff04282559..9f0394639a 100644 --- a/wpilibc/src/main/native/cpp/PWMSpeedController.cpp +++ b/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -#include "frc/PWMSpeedController.h" +#include "frc/motorcontrol/PWMMotorController.h" #include @@ -10,45 +10,45 @@ using namespace frc; -void PWMSpeedController::Set(double speed) { +void PWMMotorController::Set(double speed) { m_pwm.SetSpeed(m_isInverted ? -speed : speed); } -double PWMSpeedController::Get() const { +double PWMMotorController::Get() const { return m_pwm.GetSpeed() * (m_isInverted ? -1.0 : 1.0); } -void PWMSpeedController::SetInverted(bool isInverted) { +void PWMMotorController::SetInverted(bool isInverted) { m_isInverted = isInverted; } -bool PWMSpeedController::GetInverted() const { +bool PWMMotorController::GetInverted() const { return m_isInverted; } -void PWMSpeedController::Disable() { +void PWMMotorController::Disable() { m_pwm.SetDisabled(); } -void PWMSpeedController::StopMotor() { +void PWMMotorController::StopMotor() { Disable(); } -void PWMSpeedController::GetDescription(wpi::raw_ostream& desc) const { +void PWMMotorController::GetDescription(wpi::raw_ostream& desc) const { desc << "PWM " << GetChannel(); } -int PWMSpeedController::GetChannel() const { +int PWMMotorController::GetChannel() const { return m_pwm.GetChannel(); } -PWMSpeedController::PWMSpeedController(const wpi::Twine& name, int channel) +PWMMotorController::PWMMotorController(const wpi::Twine& name, int channel) : m_pwm(channel, false) { SendableRegistry::GetInstance().AddLW(this, name, channel); } -void PWMSpeedController::InitSendable(SendableBuilder& builder) { - builder.SetSmartDashboardType("Speed Controller"); +void PWMMotorController::InitSendable(SendableBuilder& builder) { + builder.SetSmartDashboardType("Motor Controller"); builder.SetActuator(true); builder.SetSafeState([=] { Disable(); }); builder.AddDoubleProperty( diff --git a/wpilibc/src/main/native/cpp/PWMSparkMax.cpp b/wpilibc/src/main/native/cpp/motorcontrol/PWMSparkMax.cpp similarity index 86% rename from wpilibc/src/main/native/cpp/PWMSparkMax.cpp rename to wpilibc/src/main/native/cpp/motorcontrol/PWMSparkMax.cpp index 2e4a08e9be..666f1e928c 100644 --- a/wpilibc/src/main/native/cpp/PWMSparkMax.cpp +++ b/wpilibc/src/main/native/cpp/motorcontrol/PWMSparkMax.cpp @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -#include "frc/PWMSparkMax.h" +#include "frc/motorcontrol/PWMSparkMax.h" #include @@ -11,7 +11,7 @@ using namespace frc; PWMSparkMax::PWMSparkMax(int channel) - : PWMSpeedController("PWMSparkMax", channel) { + : PWMMotorController("PWMSparkMax", channel) { m_pwm.SetBounds(2.003, 1.55, 1.50, 1.46, 0.999); m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X); m_pwm.SetSpeed(0.0); diff --git a/wpilibc/src/main/native/cpp/PWMTalonFX.cpp b/wpilibc/src/main/native/cpp/motorcontrol/PWMTalonFX.cpp similarity index 85% rename from wpilibc/src/main/native/cpp/PWMTalonFX.cpp rename to wpilibc/src/main/native/cpp/motorcontrol/PWMTalonFX.cpp index 7b85cf8bd6..2c6982b132 100644 --- a/wpilibc/src/main/native/cpp/PWMTalonFX.cpp +++ b/wpilibc/src/main/native/cpp/motorcontrol/PWMTalonFX.cpp @@ -2,14 +2,14 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -#include "frc/PWMTalonFX.h" +#include "frc/motorcontrol/PWMTalonFX.h" #include using namespace frc; PWMTalonFX::PWMTalonFX(int channel) - : PWMSpeedController("PWMTalonFX", channel) { + : PWMMotorController("PWMTalonFX", channel) { m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997); m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X); m_pwm.SetSpeed(0.0); diff --git a/wpilibc/src/main/native/cpp/PWMTalonSRX.cpp b/wpilibc/src/main/native/cpp/motorcontrol/PWMTalonSRX.cpp similarity index 85% rename from wpilibc/src/main/native/cpp/PWMTalonSRX.cpp rename to wpilibc/src/main/native/cpp/motorcontrol/PWMTalonSRX.cpp index b70c706760..b253412766 100644 --- a/wpilibc/src/main/native/cpp/PWMTalonSRX.cpp +++ b/wpilibc/src/main/native/cpp/motorcontrol/PWMTalonSRX.cpp @@ -2,14 +2,14 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -#include "frc/PWMTalonSRX.h" +#include "frc/motorcontrol/PWMTalonSRX.h" #include using namespace frc; PWMTalonSRX::PWMTalonSRX(int channel) - : PWMSpeedController("PWMTalonSRX", channel) { + : PWMMotorController("PWMTalonSRX", channel) { m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997); m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X); m_pwm.SetSpeed(0.0); diff --git a/wpilibc/src/main/native/cpp/PWMVenom.cpp b/wpilibc/src/main/native/cpp/motorcontrol/PWMVenom.cpp similarity index 83% rename from wpilibc/src/main/native/cpp/PWMVenom.cpp rename to wpilibc/src/main/native/cpp/motorcontrol/PWMVenom.cpp index 75dc008862..e55802837a 100644 --- a/wpilibc/src/main/native/cpp/PWMVenom.cpp +++ b/wpilibc/src/main/native/cpp/motorcontrol/PWMVenom.cpp @@ -2,13 +2,13 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -#include "frc/PWMVenom.h" +#include "frc/motorcontrol/PWMVenom.h" #include using namespace frc; -PWMVenom::PWMVenom(int channel) : PWMSpeedController("PWMVenom", channel) { +PWMVenom::PWMVenom(int channel) : PWMMotorController("PWMVenom", channel) { m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997); m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X); m_pwm.SetSpeed(0.0); diff --git a/wpilibc/src/main/native/cpp/PWMVictorSPX.cpp b/wpilibc/src/main/native/cpp/motorcontrol/PWMVictorSPX.cpp similarity index 84% rename from wpilibc/src/main/native/cpp/PWMVictorSPX.cpp rename to wpilibc/src/main/native/cpp/motorcontrol/PWMVictorSPX.cpp index 89cb207986..10ce992114 100644 --- a/wpilibc/src/main/native/cpp/PWMVictorSPX.cpp +++ b/wpilibc/src/main/native/cpp/motorcontrol/PWMVictorSPX.cpp @@ -2,14 +2,14 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -#include "frc/PWMVictorSPX.h" +#include "frc/motorcontrol/PWMVictorSPX.h" #include using namespace frc; PWMVictorSPX::PWMVictorSPX(int channel) - : PWMSpeedController("PWMVictorSPX", channel) { + : PWMMotorController("PWMVictorSPX", channel) { m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997); m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X); m_pwm.SetSpeed(0.0); diff --git a/wpilibc/src/main/native/cpp/SD540.cpp b/wpilibc/src/main/native/cpp/motorcontrol/SD540.cpp similarity index 83% rename from wpilibc/src/main/native/cpp/SD540.cpp rename to wpilibc/src/main/native/cpp/motorcontrol/SD540.cpp index 2ff10f5814..3d5738f3bc 100644 --- a/wpilibc/src/main/native/cpp/SD540.cpp +++ b/wpilibc/src/main/native/cpp/motorcontrol/SD540.cpp @@ -2,13 +2,13 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -#include "frc/SD540.h" +#include "frc/motorcontrol/SD540.h" #include using namespace frc; -SD540::SD540(int channel) : PWMSpeedController("SD540", channel) { +SD540::SD540(int channel) : PWMMotorController("SD540", channel) { m_pwm.SetBounds(2.05, 1.55, 1.50, 1.44, 0.94); m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X); m_pwm.SetSpeed(0.0); diff --git a/wpilibc/src/main/native/cpp/Spark.cpp b/wpilibc/src/main/native/cpp/motorcontrol/Spark.cpp similarity index 83% rename from wpilibc/src/main/native/cpp/Spark.cpp rename to wpilibc/src/main/native/cpp/motorcontrol/Spark.cpp index 80db37d45f..45394df33d 100644 --- a/wpilibc/src/main/native/cpp/Spark.cpp +++ b/wpilibc/src/main/native/cpp/motorcontrol/Spark.cpp @@ -2,13 +2,13 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -#include "frc/Spark.h" +#include "frc/motorcontrol/Spark.h" #include using namespace frc; -Spark::Spark(int channel) : PWMSpeedController("Spark", channel) { +Spark::Spark(int channel) : PWMMotorController("Spark", channel) { m_pwm.SetBounds(2.003, 1.55, 1.50, 1.46, 0.999); m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X); m_pwm.SetSpeed(0.0); diff --git a/wpilibc/src/main/native/cpp/Talon.cpp b/wpilibc/src/main/native/cpp/motorcontrol/Talon.cpp similarity index 83% rename from wpilibc/src/main/native/cpp/Talon.cpp rename to wpilibc/src/main/native/cpp/motorcontrol/Talon.cpp index 7424157053..f4b3b69740 100644 --- a/wpilibc/src/main/native/cpp/Talon.cpp +++ b/wpilibc/src/main/native/cpp/motorcontrol/Talon.cpp @@ -2,13 +2,13 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -#include "frc/Talon.h" +#include "frc/motorcontrol/Talon.h" #include using namespace frc; -Talon::Talon(int channel) : PWMSpeedController("Talon", channel) { +Talon::Talon(int channel) : PWMMotorController("Talon", channel) { m_pwm.SetBounds(2.037, 1.539, 1.513, 1.487, 0.989); m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X); m_pwm.SetSpeed(0.0); diff --git a/wpilibc/src/main/native/cpp/Victor.cpp b/wpilibc/src/main/native/cpp/motorcontrol/Victor.cpp similarity index 83% rename from wpilibc/src/main/native/cpp/Victor.cpp rename to wpilibc/src/main/native/cpp/motorcontrol/Victor.cpp index a6d4805022..3ad29f73ee 100644 --- a/wpilibc/src/main/native/cpp/Victor.cpp +++ b/wpilibc/src/main/native/cpp/motorcontrol/Victor.cpp @@ -2,13 +2,13 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -#include "frc/Victor.h" +#include "frc/motorcontrol/Victor.h" #include using namespace frc; -Victor::Victor(int channel) : PWMSpeedController("Victor", channel) { +Victor::Victor(int channel) : PWMMotorController("Victor", channel) { m_pwm.SetBounds(2.027, 1.525, 1.507, 1.49, 1.026); m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_2X); m_pwm.SetSpeed(0.0); diff --git a/wpilibc/src/main/native/cpp/VictorSP.cpp b/wpilibc/src/main/native/cpp/motorcontrol/VictorSP.cpp similarity index 83% rename from wpilibc/src/main/native/cpp/VictorSP.cpp rename to wpilibc/src/main/native/cpp/motorcontrol/VictorSP.cpp index f4da973b59..6dc888ef1a 100644 --- a/wpilibc/src/main/native/cpp/VictorSP.cpp +++ b/wpilibc/src/main/native/cpp/motorcontrol/VictorSP.cpp @@ -2,13 +2,13 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -#include "frc/VictorSP.h" +#include "frc/motorcontrol/VictorSP.h" #include using namespace frc; -VictorSP::VictorSP(int channel) : PWMSpeedController("VictorSP", channel) { +VictorSP::VictorSP(int channel) : PWMMotorController("VictorSP", channel) { m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997); m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X); m_pwm.SetSpeed(0.0); diff --git a/wpilibc/src/main/native/include/frc/Servo.h b/wpilibc/src/main/native/include/frc/Servo.h index aa14185aba..feaaf0f557 100644 --- a/wpilibc/src/main/native/include/frc/Servo.h +++ b/wpilibc/src/main/native/include/frc/Servo.h @@ -5,7 +5,6 @@ #pragma once #include "frc/PWM.h" -#include "frc/SpeedController.h" namespace frc { diff --git a/wpilibc/src/main/native/include/frc/SpeedController.h b/wpilibc/src/main/native/include/frc/SpeedController.h index fcb5de9b68..a1827b4c3a 100644 --- a/wpilibc/src/main/native/include/frc/SpeedController.h +++ b/wpilibc/src/main/native/include/frc/SpeedController.h @@ -5,13 +5,14 @@ #pragma once #include +#include namespace frc { /** * Interface for speed controlling devices. */ -class SpeedController { +class WPI_DEPRECATED("use MotorController") SpeedController { public: virtual ~SpeedController() = default; diff --git a/wpilibc/src/main/native/include/frc/SpeedControllerGroup.h b/wpilibc/src/main/native/include/frc/SpeedControllerGroup.h index 2b621109b4..5552c80ebe 100644 --- a/wpilibc/src/main/native/include/frc/SpeedControllerGroup.h +++ b/wpilibc/src/main/native/include/frc/SpeedControllerGroup.h @@ -7,15 +7,18 @@ #include #include -#include "frc/SpeedController.h" +#include + +#include "frc/motorcontrol/MotorController.h" #include "frc/smartdashboard/Sendable.h" #include "frc/smartdashboard/SendableHelper.h" namespace frc { -class SpeedControllerGroup : public Sendable, - public SpeedController, - public SendableHelper { +class WPI_DEPRECATED("use MotorControllerGroup") SpeedControllerGroup + : public Sendable, + public MotorController, + public SendableHelper { public: template explicit SpeedControllerGroup(SpeedController& speedController, diff --git a/wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h b/wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h index dc24959a80..57a125e558 100644 --- a/wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h +++ b/wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h @@ -12,6 +12,17 @@ namespace frc { +#if defined(_MSC_VER) +#pragma warning(push) +#pragma warning(disable : 4996) // was declared deprecated +#elif defined(__clang__) +#pragma clang diagnostic push +#pragma clang diagnostic ignored "-Wdeprecated-declarations" +#elif defined(__GNUC__) +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wdeprecated-declarations" +#endif + class SpeedController; /** @@ -19,9 +30,9 @@ class SpeedController; * the Kit of Parts drive base, "tank drive", or West Coast Drive. * * These drive bases typically have drop-center / skid-steer with two or more - * wheels per side (e.g., 6WD or 8WD). This class takes a SpeedController per + * wheels per side (e.g., 6WD or 8WD). This class takes a MotorController per * side. For four and six motor drivetrains, construct and pass in - * SpeedControllerGroup instances as follows. + * MotorControllerGroup instances as follows. * * Four motor drivetrain: * @code{.cpp} @@ -29,11 +40,11 @@ class SpeedController; * public: * frc::PWMVictorSPX m_frontLeft{1}; * frc::PWMVictorSPX m_rearLeft{2}; - * frc::SpeedControllerGroup m_left{m_frontLeft, m_rearLeft}; + * frc::MotorControllerGroup m_left{m_frontLeft, m_rearLeft}; * * frc::PWMVictorSPX m_frontRight{3}; * frc::PWMVictorSPX m_rearRight{4}; - * frc::SpeedControllerGroup m_right{m_frontRight, m_rearRight}; + * frc::MotorControllerGroup m_right{m_frontRight, m_rearRight}; * * frc::DifferentialDrive m_drive{m_left, m_right}; * }; @@ -46,12 +57,12 @@ class SpeedController; * frc::PWMVictorSPX m_frontLeft{1}; * frc::PWMVictorSPX m_midLeft{2}; * frc::PWMVictorSPX m_rearLeft{3}; - * frc::SpeedControllerGroup m_left{m_frontLeft, m_midLeft, m_rearLeft}; + * frc::MotorControllerGroup m_left{m_frontLeft, m_midLeft, m_rearLeft}; * * frc::PWMVictorSPX m_frontRight{4}; * frc::PWMVictorSPX m_midRight{5}; * frc::PWMVictorSPX m_rearRight{6}; - * frc::SpeedControllerGroup m_right{m_frontRight, m_midRight, m_rearRight}; + * frc::MotorControllerGroup m_right{m_frontRight, m_midRight, m_rearRight}; * * frc::DifferentialDrive m_drive{m_left, m_right}; * }; @@ -105,7 +116,7 @@ class DifferentialDrive : public RobotDriveBase, /** * Construct a DifferentialDrive. * - * To pass multiple motors per side, use a SpeedControllerGroup. If a motor + * To pass multiple motors per side, use a MotorControllerGroup. If a motor * needs to be inverted, do so before passing it in. */ DifferentialDrive(SpeedController& leftMotor, SpeedController& rightMotor); @@ -219,4 +230,12 @@ class DifferentialDrive : public RobotDriveBase, double m_rightSideInvertMultiplier = -1.0; }; +#if defined(_MSC_VER) +#pragma warning(pop) +#elif defined(__clang__) +#pragma clang diagnostic pop +#elif defined(__GNUC__) +#pragma GCC diagnostic pop +#endif + } // namespace frc diff --git a/wpilibc/src/main/native/include/frc/drive/KilloughDrive.h b/wpilibc/src/main/native/include/frc/drive/KilloughDrive.h index d2ebd83d8d..25f370a77a 100644 --- a/wpilibc/src/main/native/include/frc/drive/KilloughDrive.h +++ b/wpilibc/src/main/native/include/frc/drive/KilloughDrive.h @@ -15,6 +15,17 @@ namespace frc { +#if defined(_MSC_VER) +#pragma warning(push) +#pragma warning(disable : 4996) // was declared deprecated +#elif defined(__clang__) +#pragma clang diagnostic push +#pragma clang diagnostic ignored "-Wdeprecated-declarations" +#elif defined(__GNUC__) +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wdeprecated-declarations" +#endif + class SpeedController; /** @@ -140,4 +151,12 @@ class KilloughDrive : public RobotDriveBase, bool reported = false; }; +#if defined(_MSC_VER) +#pragma warning(pop) +#elif defined(__clang__) +#pragma clang diagnostic pop +#elif defined(__GNUC__) +#pragma GCC diagnostic pop +#endif + } // namespace frc diff --git a/wpilibc/src/main/native/include/frc/drive/MecanumDrive.h b/wpilibc/src/main/native/include/frc/drive/MecanumDrive.h index 13d56c5aa8..7c7c161f01 100644 --- a/wpilibc/src/main/native/include/frc/drive/MecanumDrive.h +++ b/wpilibc/src/main/native/include/frc/drive/MecanumDrive.h @@ -14,6 +14,17 @@ namespace frc { +#if defined(_MSC_VER) +#pragma warning(push) +#pragma warning(disable : 4996) // was declared deprecated +#elif defined(__clang__) +#pragma clang diagnostic push +#pragma clang diagnostic ignored "-Wdeprecated-declarations" +#elif defined(__GNUC__) +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wdeprecated-declarations" +#endif + class SpeedController; /** @@ -145,4 +156,12 @@ class MecanumDrive : public RobotDriveBase, bool reported = false; }; +#if defined(_MSC_VER) +#pragma warning(pop) +#elif defined(__clang__) +#pragma clang diagnostic pop +#elif defined(__GNUC__) +#pragma GCC diagnostic pop +#endif + } // namespace frc diff --git a/wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h b/wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h index 830ed326b4..60c0ac38ac 100644 --- a/wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h +++ b/wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h @@ -13,8 +13,6 @@ namespace frc { -class SpeedController; - /** * Common base class for drive platforms. */ diff --git a/wpilibc/src/main/native/include/frc/DMC60.h b/wpilibc/src/main/native/include/frc/motorcontrol/DMC60.h similarity index 90% rename from wpilibc/src/main/native/include/frc/DMC60.h rename to wpilibc/src/main/native/include/frc/motorcontrol/DMC60.h index 492059ca86..928cceda07 100644 --- a/wpilibc/src/main/native/include/frc/DMC60.h +++ b/wpilibc/src/main/native/include/frc/motorcontrol/DMC60.h @@ -4,12 +4,12 @@ #pragma once -#include "frc/PWMSpeedController.h" +#include "frc/motorcontrol/PWMMotorController.h" namespace frc { /** - * Digilent DMC 60 Speed Controller. + * Digilent DMC 60 Motor Controller. * * Note that the DMC 60 uses the following bounds for PWM values. These * values should work reasonably well for most controllers, but if users @@ -24,7 +24,7 @@ namespace frc { * \li 1.480ms = the "low end" of the deadband range * \li 0.997ms = full "reverse" */ -class DMC60 : public PWMSpeedController { +class DMC60 : public PWMMotorController { public: /** * Constructor for a Digilent DMC 60. diff --git a/wpilibc/src/main/native/include/frc/Jaguar.h b/wpilibc/src/main/native/include/frc/motorcontrol/Jaguar.h similarity index 88% rename from wpilibc/src/main/native/include/frc/Jaguar.h rename to wpilibc/src/main/native/include/frc/motorcontrol/Jaguar.h index 15cbf7b3c7..461bf91947 100644 --- a/wpilibc/src/main/native/include/frc/Jaguar.h +++ b/wpilibc/src/main/native/include/frc/motorcontrol/Jaguar.h @@ -4,12 +4,12 @@ #pragma once -#include "frc/PWMSpeedController.h" +#include "frc/motorcontrol/PWMMotorController.h" namespace frc { /** - * Luminary Micro / Vex Robotics Jaguar Speed Controller with PWM control. + * Luminary Micro / Vex Robotics Jaguar Motor Controller with PWM control. * * Note that the Jaguar uses the following bounds for PWM values. These values * should work reasonably well for most controllers, but if users experience @@ -24,7 +24,7 @@ namespace frc { * \li 1.454ms = the "low end" of the deadband range * \li 0.697ms = full "reverse" */ -class Jaguar : public PWMSpeedController { +class Jaguar : public PWMMotorController { public: /** * Constructor for a Jaguar connected via PWM. diff --git a/wpilibc/src/main/native/include/frc/motorcontrol/MotorController.h b/wpilibc/src/main/native/include/frc/motorcontrol/MotorController.h new file mode 100644 index 0000000000..8ed19bcba5 --- /dev/null +++ b/wpilibc/src/main/native/include/frc/motorcontrol/MotorController.h @@ -0,0 +1,37 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +#pragma once + +#include + +#include "frc/SpeedController.h" + +namespace frc { + +#if defined(_MSC_VER) +#pragma warning(push) +#pragma warning(disable : 4996) // was declared deprecated +#elif defined(__clang__) +#pragma clang diagnostic push +#pragma clang diagnostic ignored "-Wdeprecated-declarations" +#elif defined(__GNUC__) +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wdeprecated-declarations" +#endif + +/** + * Interface for motor controlling devices. + */ +class MotorController : public SpeedController {}; + +#if defined(_MSC_VER) +#pragma warning(pop) +#elif defined(__clang__) +#pragma clang diagnostic pop +#elif defined(__GNUC__) +#pragma GCC diagnostic pop +#endif + +} // namespace frc diff --git a/wpilibc/src/main/native/include/frc/motorcontrol/MotorControllerGroup.h b/wpilibc/src/main/native/include/frc/motorcontrol/MotorControllerGroup.h new file mode 100644 index 0000000000..584eb02da9 --- /dev/null +++ b/wpilibc/src/main/native/include/frc/motorcontrol/MotorControllerGroup.h @@ -0,0 +1,47 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +#pragma once + +#include +#include + +#include "frc/motorcontrol/MotorController.h" +#include "frc/smartdashboard/Sendable.h" +#include "frc/smartdashboard/SendableHelper.h" + +namespace frc { + +class MotorControllerGroup : public Sendable, + public MotorController, + public SendableHelper { + public: + template + explicit MotorControllerGroup(MotorController& motorController, + MotorControllers&... motorControllers); + explicit MotorControllerGroup( + std::vector>&& motorControllers); + + MotorControllerGroup(MotorControllerGroup&&) = default; + MotorControllerGroup& operator=(MotorControllerGroup&&) = default; + + void Set(double speed) override; + double Get() const override; + void SetInverted(bool isInverted) override; + bool GetInverted() const override; + void Disable() override; + void StopMotor() override; + + void InitSendable(SendableBuilder& builder) override; + + private: + bool m_isInverted = false; + std::vector> m_motorControllers; + + void Initialize(); +}; + +} // namespace frc + +#include "frc/motorcontrol/MotorControllerGroup.inc" diff --git a/wpilibc/src/main/native/include/frc/motorcontrol/MotorControllerGroup.inc b/wpilibc/src/main/native/include/frc/motorcontrol/MotorControllerGroup.inc new file mode 100644 index 0000000000..8f876354a1 --- /dev/null +++ b/wpilibc/src/main/native/include/frc/motorcontrol/MotorControllerGroup.inc @@ -0,0 +1,22 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +#pragma once + +#include +#include + +#include "frc/motorcontrol/MotorControllerGroup.h" + +namespace frc { + +template +MotorControllerGroup::MotorControllerGroup( + MotorController& motorController, MotorControllers&... motorControllers) + : m_motorControllers(std::vector>{ + motorController, motorControllers...}) { + Initialize(); +} + +} // namespace frc diff --git a/wpilibc/src/main/native/include/frc/NidecBrushless.h b/wpilibc/src/main/native/include/frc/motorcontrol/NidecBrushless.h similarity index 95% rename from wpilibc/src/main/native/include/frc/NidecBrushless.h rename to wpilibc/src/main/native/include/frc/motorcontrol/NidecBrushless.h index 5e1becaae6..f92e0f3759 100644 --- a/wpilibc/src/main/native/include/frc/NidecBrushless.h +++ b/wpilibc/src/main/native/include/frc/motorcontrol/NidecBrushless.h @@ -8,7 +8,7 @@ #include "frc/ErrorBase.h" #include "frc/MotorSafety.h" #include "frc/PWM.h" -#include "frc/SpeedController.h" +#include "frc/motorcontrol/MotorController.h" #include "frc/smartdashboard/Sendable.h" #include "frc/smartdashboard/SendableHelper.h" @@ -19,7 +19,7 @@ class SendableBuilder; /** * Nidec Brushless Motor. */ -class NidecBrushless : public SpeedController, +class NidecBrushless : public MotorController, public MotorSafety, public Sendable, public SendableHelper { @@ -39,7 +39,7 @@ class NidecBrushless : public SpeedController, NidecBrushless(NidecBrushless&&) = default; NidecBrushless& operator=(NidecBrushless&&) = default; - // SpeedController interface + // MotorController interface /** * Set the PWM value. * diff --git a/wpilibc/src/main/native/include/frc/PWMSpeedController.h b/wpilibc/src/main/native/include/frc/motorcontrol/PWMMotorController.h similarity index 76% rename from wpilibc/src/main/native/include/frc/PWMSpeedController.h rename to wpilibc/src/main/native/include/frc/motorcontrol/PWMMotorController.h index 786855e756..eb85b0a992 100644 --- a/wpilibc/src/main/native/include/frc/PWMSpeedController.h +++ b/wpilibc/src/main/native/include/frc/motorcontrol/PWMMotorController.h @@ -8,7 +8,7 @@ #include "frc/MotorSafety.h" #include "frc/PWM.h" -#include "frc/SpeedController.h" +#include "frc/motorcontrol/MotorController.h" #include "frc/smartdashboard/Sendable.h" #include "frc/smartdashboard/SendableHelper.h" @@ -19,15 +19,15 @@ class raw_ostream; namespace frc { /** - * Common base class for all PWM Speed Controllers. + * Common base class for all PWM Motor Controllers. */ -class PWMSpeedController : public SpeedController, +class PWMMotorController : public MotorController, public MotorSafety, public Sendable, - public SendableHelper { + public SendableHelper { public: - PWMSpeedController(PWMSpeedController&&) = default; - PWMSpeedController& operator=(PWMSpeedController&&) = default; + PWMMotorController(PWMMotorController&&) = default; + PWMMotorController& operator=(PWMMotorController&&) = default; /** * Set the PWM value. @@ -42,7 +42,7 @@ class PWMSpeedController : public SpeedController, /** * Get the recently set value of the PWM. This value is affected by the * inversion property. If you want the value that is sent directly to the - * SpeedController, use {@link PWM#getSpeed()} instead. + * MotorController, use {@link PWM#getSpeed()} instead. * * @return The most recently set value for the PWM between -1.0 and 1.0. */ @@ -62,13 +62,13 @@ class PWMSpeedController : public SpeedController, protected: /** - * Constructor for a PWM Speed Controller connected via PWM. + * Constructor for a PWM Motor Controller connected via PWM. * * @param name Name to use for SendableRegistry * @param channel The PWM channel that the controller is attached to. 0-9 are * on-board, 10-19 are on the MXP port */ - PWMSpeedController(const wpi::Twine& name, int channel); + PWMMotorController(const wpi::Twine& name, int channel); void InitSendable(SendableBuilder& builder) override; diff --git a/wpilibc/src/main/native/include/frc/PWMSparkMax.h b/wpilibc/src/main/native/include/frc/motorcontrol/PWMSparkMax.h similarity index 89% rename from wpilibc/src/main/native/include/frc/PWMSparkMax.h rename to wpilibc/src/main/native/include/frc/motorcontrol/PWMSparkMax.h index 2a32d996a2..9b6b65aba4 100644 --- a/wpilibc/src/main/native/include/frc/PWMSparkMax.h +++ b/wpilibc/src/main/native/include/frc/motorcontrol/PWMSparkMax.h @@ -4,12 +4,12 @@ #pragma once -#include "frc/PWMSpeedController.h" +#include "frc/motorcontrol/PWMMotorController.h" namespace frc { /** - * REV Robotics SPARK MAX Speed Controller. + * REV Robotics SPARK MAX Motor Controller. * * Note that the SPARK MAX uses the following bounds for PWM values. These * values should work reasonably well for most controllers, but if users @@ -24,7 +24,7 @@ namespace frc { * \li 1.460ms = the "low end" of the deadband range * \li 0.999ms = full "reverse" */ -class PWMSparkMax : public PWMSpeedController { +class PWMSparkMax : public PWMMotorController { public: /** * Constructor for a SPARK MAX. diff --git a/wpilibc/src/main/native/include/frc/PWMTalonFX.h b/wpilibc/src/main/native/include/frc/motorcontrol/PWMTalonFX.h similarity index 88% rename from wpilibc/src/main/native/include/frc/PWMTalonFX.h rename to wpilibc/src/main/native/include/frc/motorcontrol/PWMTalonFX.h index 406d8afd0a..38d24248ee 100644 --- a/wpilibc/src/main/native/include/frc/PWMTalonFX.h +++ b/wpilibc/src/main/native/include/frc/motorcontrol/PWMTalonFX.h @@ -4,12 +4,12 @@ #pragma once -#include "frc/PWMSpeedController.h" +#include "frc/motorcontrol/PWMMotorController.h" namespace frc { /** - * Cross the Road Electronics (CTRE) Talon FX Speed Controller with PWM + * Cross the Road Electronics (CTRE) Talon FX Motor Controller with PWM * control. * * Note that the Talon FX uses the following bounds for PWM values. These @@ -25,7 +25,7 @@ namespace frc { * \li 1.480ms = the "low end" of the deadband range * \li 0.997ms = full "reverse" */ -class PWMTalonFX : public PWMSpeedController { +class PWMTalonFX : public PWMMotorController { public: /** * Construct a Talon FX connected via PWM. diff --git a/wpilibc/src/main/native/include/frc/PWMTalonSRX.h b/wpilibc/src/main/native/include/frc/motorcontrol/PWMTalonSRX.h similarity index 88% rename from wpilibc/src/main/native/include/frc/PWMTalonSRX.h rename to wpilibc/src/main/native/include/frc/motorcontrol/PWMTalonSRX.h index c7e01e690d..6b0e1c2871 100644 --- a/wpilibc/src/main/native/include/frc/PWMTalonSRX.h +++ b/wpilibc/src/main/native/include/frc/motorcontrol/PWMTalonSRX.h @@ -4,12 +4,12 @@ #pragma once -#include "frc/PWMSpeedController.h" +#include "frc/motorcontrol/PWMMotorController.h" namespace frc { /** - * Cross the Road Electronics (CTRE) Talon SRX Speed Controller with PWM + * Cross the Road Electronics (CTRE) Talon SRX Motor Controller with PWM * control. * * Note that the Talon SRX uses the following bounds for PWM values. These @@ -25,7 +25,7 @@ namespace frc { * \li 1.480ms = the "low end" of the deadband range * \li 0.997ms = full "reverse" */ -class PWMTalonSRX : public PWMSpeedController { +class PWMTalonSRX : public PWMMotorController { public: /** * Construct a Talon SRX connected via PWM. diff --git a/wpilibc/src/main/native/include/frc/PWMVenom.h b/wpilibc/src/main/native/include/frc/motorcontrol/PWMVenom.h similarity index 92% rename from wpilibc/src/main/native/include/frc/PWMVenom.h rename to wpilibc/src/main/native/include/frc/motorcontrol/PWMVenom.h index 60526b31fb..1047e8e7fc 100644 --- a/wpilibc/src/main/native/include/frc/PWMVenom.h +++ b/wpilibc/src/main/native/include/frc/motorcontrol/PWMVenom.h @@ -4,7 +4,7 @@ #pragma once -#include "frc/PWMSpeedController.h" +#include "frc/motorcontrol/PWMMotorController.h" namespace frc { @@ -23,7 +23,7 @@ namespace frc { * \li 1.480ms = the "low end" of the deadband range * \li 0.997ms = full "reverse" */ -class PWMVenom : public PWMSpeedController { +class PWMVenom : public PWMMotorController { public: /** * Construct a Venom connected via PWM. diff --git a/wpilibc/src/main/native/include/frc/PWMVictorSPX.h b/wpilibc/src/main/native/include/frc/motorcontrol/PWMVictorSPX.h similarity index 88% rename from wpilibc/src/main/native/include/frc/PWMVictorSPX.h rename to wpilibc/src/main/native/include/frc/motorcontrol/PWMVictorSPX.h index ecba52a974..b0369966e1 100644 --- a/wpilibc/src/main/native/include/frc/PWMVictorSPX.h +++ b/wpilibc/src/main/native/include/frc/motorcontrol/PWMVictorSPX.h @@ -4,12 +4,12 @@ #pragma once -#include "frc/PWMSpeedController.h" +#include "frc/motorcontrol/PWMMotorController.h" namespace frc { /** - * Cross the Road Electronics (CTRE) Victor SPX Speed Controller with PWM + * Cross the Road Electronics (CTRE) Victor SPX Motor Controller with PWM * control. * * Note that the Victor SPX uses the following bounds for PWM values. These @@ -25,7 +25,7 @@ namespace frc { * \li 1.480ms = the "low end" of the deadband range * \li 0.997ms = full "reverse" */ -class PWMVictorSPX : public PWMSpeedController { +class PWMVictorSPX : public PWMMotorController { public: /** * Construct a Victor SPX connected via PWM. diff --git a/wpilibc/src/main/native/include/frc/SD540.h b/wpilibc/src/main/native/include/frc/motorcontrol/SD540.h similarity index 90% rename from wpilibc/src/main/native/include/frc/SD540.h rename to wpilibc/src/main/native/include/frc/motorcontrol/SD540.h index 101a677dac..b292c34886 100644 --- a/wpilibc/src/main/native/include/frc/SD540.h +++ b/wpilibc/src/main/native/include/frc/motorcontrol/SD540.h @@ -4,12 +4,12 @@ #pragma once -#include "frc/PWMSpeedController.h" +#include "frc/motorcontrol/PWMMotorController.h" namespace frc { /** - * Mindsensors SD540 Speed Controller. + * Mindsensors SD540 Motor Controller. * * Note that the SD540 uses the following bounds for PWM values. These values * should work reasonably well for most controllers, but if users experience @@ -24,7 +24,7 @@ namespace frc { * \li 1.44ms = the "low end" of the deadband range * \li 0.94ms = full "reverse" */ -class SD540 : public PWMSpeedController { +class SD540 : public PWMMotorController { public: /** * Constructor for a SD540. diff --git a/wpilibc/src/main/native/include/frc/Spark.h b/wpilibc/src/main/native/include/frc/motorcontrol/Spark.h similarity index 90% rename from wpilibc/src/main/native/include/frc/Spark.h rename to wpilibc/src/main/native/include/frc/motorcontrol/Spark.h index 7ec2b82c1d..9391d25251 100644 --- a/wpilibc/src/main/native/include/frc/Spark.h +++ b/wpilibc/src/main/native/include/frc/motorcontrol/Spark.h @@ -4,12 +4,12 @@ #pragma once -#include "frc/PWMSpeedController.h" +#include "frc/motorcontrol/PWMMotorController.h" namespace frc { /** - * REV Robotics SPARK Speed Controller. + * REV Robotics SPARK Motor Controller. * * Note that the SPARK uses the following bounds for PWM values. These values * should work reasonably well for most controllers, but if users experience @@ -24,7 +24,7 @@ namespace frc { * \li 1.460ms = the "low end" of the deadband range * \li 0.999ms = full "reverse" */ -class Spark : public PWMSpeedController { +class Spark : public PWMMotorController { public: /** * Constructor for a SPARK. diff --git a/wpilibc/src/main/native/include/frc/Talon.h b/wpilibc/src/main/native/include/frc/motorcontrol/Talon.h similarity index 88% rename from wpilibc/src/main/native/include/frc/Talon.h rename to wpilibc/src/main/native/include/frc/motorcontrol/Talon.h index 510eba512a..dbeb836ea8 100644 --- a/wpilibc/src/main/native/include/frc/Talon.h +++ b/wpilibc/src/main/native/include/frc/motorcontrol/Talon.h @@ -4,12 +4,12 @@ #pragma once -#include "frc/PWMSpeedController.h" +#include "frc/motorcontrol/PWMMotorController.h" namespace frc { /** - * Cross the Road Electronics (CTRE) Talon and Talon SR Speed Controller. + * Cross the Road Electronics (CTRE) Talon and Talon SR Motor Controller. * * Note that the Talon uses the following bounds for PWM values. These values * should work reasonably well for most controllers, but if users experience @@ -24,7 +24,7 @@ namespace frc { * \li 1.487ms = the "low end" of the deadband range * \li 0.989ms = full "reverse" */ -class Talon : public PWMSpeedController { +class Talon : public PWMMotorController { public: /** * Constructor for a Talon (original or Talon SR). diff --git a/wpilibc/src/main/native/include/frc/Victor.h b/wpilibc/src/main/native/include/frc/motorcontrol/Victor.h similarity index 87% rename from wpilibc/src/main/native/include/frc/Victor.h rename to wpilibc/src/main/native/include/frc/motorcontrol/Victor.h index 600e9a17aa..670eb3dbf2 100644 --- a/wpilibc/src/main/native/include/frc/Victor.h +++ b/wpilibc/src/main/native/include/frc/motorcontrol/Victor.h @@ -4,14 +4,14 @@ #pragma once -#include "frc/PWMSpeedController.h" +#include "frc/motorcontrol/PWMMotorController.h" namespace frc { /** - * Vex Robotics Victor 888 Speed Controller. + * Vex Robotics Victor 888 Motor Controller. * - * The Vex Robotics Victor 884 Speed Controller can also be used with this + * The Vex Robotics Victor 884 Motor Controller can also be used with this * class but may need to be calibrated per the Victor 884 user manual. * * Note that the Victor uses the following bounds for PWM values. These @@ -28,7 +28,7 @@ namespace frc { * \li 1.490ms = the "low end" of the deadband range * \li 1.026ms = full "reverse" */ -class Victor : public PWMSpeedController { +class Victor : public PWMMotorController { public: /** * Constructor for a Victor. diff --git a/wpilibc/src/main/native/include/frc/VictorSP.h b/wpilibc/src/main/native/include/frc/motorcontrol/VictorSP.h similarity index 89% rename from wpilibc/src/main/native/include/frc/VictorSP.h rename to wpilibc/src/main/native/include/frc/motorcontrol/VictorSP.h index 941a3ec6ee..534e83afd7 100644 --- a/wpilibc/src/main/native/include/frc/VictorSP.h +++ b/wpilibc/src/main/native/include/frc/motorcontrol/VictorSP.h @@ -4,12 +4,12 @@ #pragma once -#include "frc/PWMSpeedController.h" +#include "frc/motorcontrol/PWMMotorController.h" namespace frc { /** - * Vex Robotics Victor SP Speed Controller. + * Vex Robotics Victor SP Motor Controller. * * Note that the Victor SP uses the following bounds for PWM values. These * values should work reasonably well for most controllers, but if users @@ -24,7 +24,7 @@ namespace frc { * \li 1.480ms = the "low end" of the deadband range * \li 0.997ms = full "reverse" */ -class VictorSP : public PWMSpeedController { +class VictorSP : public PWMMotorController { public: /** * Constructor for a Victor SP. diff --git a/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h b/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h index b2f5991b91..1b959ff4bf 100644 --- a/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h +++ b/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h @@ -200,10 +200,10 @@ enum class BuiltInWidgets { */ kEncoder, /** - * Displays a SpeedController. + * Displays a MotorController. * The speed controller will be controllable from the dashboard when test mode * is enabled, but will otherwise be view-only.
Supported types:
    - *
  • PWMSpeedController
    • + *
  • PWMMotorController
    • *
  • DMC60
    • *
  • Jaguar
    • *
  • PWMTalonSRX
    • @@ -213,7 +213,7 @@ enum class BuiltInWidgets { *
  • Talon
    • *
  • Victor
    • *
  • VictorSP
    • - *
  • SpeedControllerGroup
    • + *
  • MotorControllerGroup
    • *
  • Any custom subclass of {@code SpeedContorller}
    • *
*
Custom properties: @@ -223,7 +223,7 @@ enum class BuiltInWidgets { * One of {@code ["HORIZONTAL", "VERTICAL"]} * */ - kSpeedController, + kMotorController, /** * Displays a command with a toggle button. Pressing the button will start the * command, and the button will automatically release when the command diff --git a/wpilibc/src/test/native/cpp/MockSpeedController.cpp b/wpilibc/src/test/native/cpp/MockMotorController.cpp similarity index 55% rename from wpilibc/src/test/native/cpp/MockSpeedController.cpp rename to wpilibc/src/test/native/cpp/MockMotorController.cpp index 31ccb075fd..62fd54a31c 100644 --- a/wpilibc/src/test/native/cpp/MockSpeedController.cpp +++ b/wpilibc/src/test/native/cpp/MockMotorController.cpp @@ -2,30 +2,30 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -#include "MockSpeedController.h" +#include "MockMotorController.h" using namespace frc; -void MockSpeedController::Set(double speed) { +void MockMotorController::Set(double speed) { m_speed = m_isInverted ? -speed : speed; } -double MockSpeedController::Get() const { +double MockMotorController::Get() const { return m_speed; } -void MockSpeedController::SetInverted(bool isInverted) { +void MockMotorController::SetInverted(bool isInverted) { m_isInverted = isInverted; } -bool MockSpeedController::GetInverted() const { +bool MockMotorController::GetInverted() const { return m_isInverted; } -void MockSpeedController::Disable() { +void MockMotorController::Disable() { m_speed = 0; } -void MockSpeedController::StopMotor() { +void MockMotorController::StopMotor() { Disable(); } diff --git a/wpilibc/src/test/native/cpp/SpeedControllerGroupTest.cpp b/wpilibc/src/test/native/cpp/SpeedControllerGroupTest.cpp index 0f62530db5..2b344afcfb 100644 --- a/wpilibc/src/test/native/cpp/SpeedControllerGroupTest.cpp +++ b/wpilibc/src/test/native/cpp/SpeedControllerGroupTest.cpp @@ -2,29 +2,29 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -#include "frc/SpeedControllerGroup.h" // NOLINT(build/include_order) +#include "frc/motorcontrol/MotorControllerGroup.h" // NOLINT(build/include_order) #include #include -#include "MockSpeedController.h" +#include "MockMotorController.h" #include "gtest/gtest.h" using namespace frc; -enum SpeedControllerGroupTestType { TEST_ONE, TEST_TWO, TEST_THREE }; +enum MotorControllerGroupTestType { TEST_ONE, TEST_TWO, TEST_THREE }; std::ostream& operator<<(std::ostream& os, - const SpeedControllerGroupTestType& type) { + const MotorControllerGroupTestType& type) { switch (type) { case TEST_ONE: - os << "SpeedControllerGroup with one speed controller"; + os << "MotorControllerGroup with one speed controller"; break; case TEST_TWO: - os << "SpeedControllerGroup with two speed controllers"; + os << "MotorControllerGroup with two speed controllers"; break; case TEST_THREE: - os << "SpeedControllerGroup with three speed controllers"; + os << "MotorControllerGroup with three speed controllers"; break; } @@ -32,26 +32,26 @@ std::ostream& operator<<(std::ostream& os, } /** - * A fixture used for SpeedControllerGroup testing. + * A fixture used for MotorControllerGroup testing. */ -class SpeedControllerGroupTest - : public testing::TestWithParam { +class MotorControllerGroupTest + : public testing::TestWithParam { protected: - std::vector m_speedControllers; - std::unique_ptr m_group; + std::vector m_speedControllers; + std::unique_ptr m_group; void SetUp() override { switch (GetParam()) { case TEST_ONE: { m_speedControllers.emplace_back(); - m_group = std::make_unique(m_speedControllers[0]); + m_group = std::make_unique(m_speedControllers[0]); break; } case TEST_TWO: { m_speedControllers.emplace_back(); m_speedControllers.emplace_back(); - m_group = std::make_unique(m_speedControllers[0], + m_group = std::make_unique(m_speedControllers[0], m_speedControllers[1]); break; } @@ -60,7 +60,7 @@ class SpeedControllerGroupTest m_speedControllers.emplace_back(); m_speedControllers.emplace_back(); m_speedControllers.emplace_back(); - m_group = std::make_unique(m_speedControllers[0], + m_group = std::make_unique(m_speedControllers[0], m_speedControllers[1], m_speedControllers[2]); break; @@ -69,7 +69,7 @@ class SpeedControllerGroupTest } }; -TEST_P(SpeedControllerGroupTest, Set) { +TEST_P(MotorControllerGroupTest, Set) { m_group->Set(1.0); for (auto& speedController : m_speedControllers) { @@ -77,13 +77,13 @@ TEST_P(SpeedControllerGroupTest, Set) { } } -TEST_P(SpeedControllerGroupTest, GetInverted) { +TEST_P(MotorControllerGroupTest, GetInverted) { m_group->SetInverted(true); EXPECT_TRUE(m_group->GetInverted()); } -TEST_P(SpeedControllerGroupTest, SetInvertedDoesNotModifySpeedControllers) { +TEST_P(MotorControllerGroupTest, SetInvertedDoesNotModifyMotorControllers) { for (auto& speedController : m_speedControllers) { speedController.SetInverted(false); } @@ -94,7 +94,7 @@ TEST_P(SpeedControllerGroupTest, SetInvertedDoesNotModifySpeedControllers) { } } -TEST_P(SpeedControllerGroupTest, SetInvertedDoesInvert) { +TEST_P(MotorControllerGroupTest, SetInvertedDoesInvert) { m_group->SetInverted(true); m_group->Set(1.0); @@ -103,7 +103,7 @@ TEST_P(SpeedControllerGroupTest, SetInvertedDoesInvert) { } } -TEST_P(SpeedControllerGroupTest, Disable) { +TEST_P(MotorControllerGroupTest, Disable) { m_group->Set(1.0); m_group->Disable(); @@ -112,7 +112,7 @@ TEST_P(SpeedControllerGroupTest, Disable) { } } -TEST_P(SpeedControllerGroupTest, StopMotor) { +TEST_P(MotorControllerGroupTest, StopMotor) { m_group->Set(1.0); m_group->StopMotor(); @@ -121,5 +121,5 @@ TEST_P(SpeedControllerGroupTest, StopMotor) { } } -INSTANTIATE_TEST_SUITE_P(Test, SpeedControllerGroupTest, +INSTANTIATE_TEST_SUITE_P(Test, MotorControllerGroupTest, testing::Values(TEST_ONE, TEST_TWO, TEST_THREE)); diff --git a/wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp index 1083ad51a6..6e9bfbd93a 100644 --- a/wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp +++ b/wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp @@ -7,10 +7,10 @@ #include #include "frc/Encoder.h" -#include "frc/PWMVictorSPX.h" #include "frc/RobotController.h" #include "frc/StateSpaceUtil.h" #include "frc/controller/PIDController.h" +#include "frc/motorcontrol/PWMVictorSPX.h" #include "frc/simulation/ElevatorSim.h" #include "frc/simulation/EncoderSim.h" #include "frc/system/NumericalIntegration.h" diff --git a/wpilibc/src/test/native/cpp/simulation/StateSpaceSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/StateSpaceSimTest.cpp index c53605e224..ba089d54c1 100644 --- a/wpilibc/src/test/native/cpp/simulation/StateSpaceSimTest.cpp +++ b/wpilibc/src/test/native/cpp/simulation/StateSpaceSimTest.cpp @@ -8,10 +8,10 @@ #include #include "frc/Encoder.h" -#include "frc/PWMVictorSPX.h" #include "frc/RobotController.h" #include "frc/controller/PIDController.h" #include "frc/controller/SimpleMotorFeedforward.h" +#include "frc/motorcontrol/PWMVictorSPX.h" #include "frc/simulation/BatterySim.h" #include "frc/simulation/DifferentialDrivetrainSim.h" #include "frc/simulation/ElevatorSim.h" diff --git a/wpilibc/src/test/native/include/MockSpeedController.h b/wpilibc/src/test/native/include/MockMotorController.h similarity index 84% rename from wpilibc/src/test/native/include/MockSpeedController.h rename to wpilibc/src/test/native/include/MockMotorController.h index a5e119bae9..e17931fbb6 100644 --- a/wpilibc/src/test/native/include/MockSpeedController.h +++ b/wpilibc/src/test/native/include/MockMotorController.h @@ -4,11 +4,11 @@ #pragma once -#include "frc/SpeedController.h" +#include "frc/motorcontrol/MotorController.h" namespace frc { -class MockSpeedController : public SpeedController { +class MockMotorController : public MotorController { public: void Set(double speed) override; double Get() const override; diff --git a/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp index 379520e4ca..abe79f48a8 100644 --- a/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp @@ -3,9 +3,9 @@ // the WPILib BSD license file in the root directory of this project. #include -#include #include #include +#include /** * This is a demo program showing the use of the DifferentialDrive class. diff --git a/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp index 7f34b09cae..5b48f0adb4 100644 --- a/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp @@ -3,10 +3,10 @@ // the WPILib BSD license file in the root directory of this project. #include -#include #include #include #include +#include /** * This is a demo program showing the use of the DifferentialDrive class. diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/ArmSubsystem.h b/wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/ArmSubsystem.h index 1b1c1ee109..45cd582117 100644 --- a/wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/ArmSubsystem.h +++ b/wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/ArmSubsystem.h @@ -5,8 +5,8 @@ #pragma once #include -#include #include +#include #include #include diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/DriveSubsystem.h index 7aaac36654..47bf28e4d9 100644 --- a/wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/DriveSubsystem.h +++ b/wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/DriveSubsystem.h @@ -5,9 +5,9 @@ #pragma once #include -#include -#include #include +#include +#include #include #include "Constants.h" @@ -76,10 +76,10 @@ class DriveSubsystem : public frc2::SubsystemBase { frc::PWMSparkMax m_right2; // The motors on the left side of the drive - frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2}; + frc::MotorControllerGroup m_leftMotors{m_left1, m_left2}; // The motors on the right side of the drive - frc::SpeedControllerGroup m_rightMotors{m_right1, m_right2}; + frc::MotorControllerGroup m_rightMotors{m_right1, m_right2}; // The robot's drive frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors}; diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/ExampleSmartMotorController.h b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/ExampleSmartMotorController.h index 9d7e5e54e8..5d55839892 100644 --- a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/ExampleSmartMotorController.h +++ b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/ExampleSmartMotorController.h @@ -4,7 +4,7 @@ #pragma once -#include +#include /** * A simplified stub class that simulates the API of a common "smart" motor @@ -12,7 +12,7 @@ * *

Has no actual functionality. */ -class ExampleSmartMotorController : public frc::SpeedController { +class ExampleSmartMotorController : public frc::MotorController { public: enum PIDMode { kPosition, kVelocity, kMovementWitchcraft }; diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/DriveSubsystem.h index 7aaac36654..47bf28e4d9 100644 --- a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/DriveSubsystem.h +++ b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/DriveSubsystem.h @@ -5,9 +5,9 @@ #pragma once #include -#include -#include #include +#include +#include #include #include "Constants.h" @@ -76,10 +76,10 @@ class DriveSubsystem : public frc2::SubsystemBase { frc::PWMSparkMax m_right2; // The motors on the left side of the drive - frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2}; + frc::MotorControllerGroup m_leftMotors{m_left1, m_left2}; // The motors on the right side of the drive - frc::SpeedControllerGroup m_rightMotors{m_right1, m_right2}; + frc::MotorControllerGroup m_rightMotors{m_right1, m_right2}; // The robot's drive frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors}; diff --git a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp index 94ef9c25f7..b777af3e2e 100644 --- a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp @@ -5,11 +5,11 @@ #include #include #include -#include #include #include #include #include +#include #include #include #include diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h index 57532e9b14..d7e9e078b6 100644 --- a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h +++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h @@ -6,12 +6,12 @@ #include #include -#include -#include #include #include #include #include +#include +#include #include #include #include @@ -57,8 +57,8 @@ class Drivetrain { frc::PWMSparkMax m_rightLeader{3}; frc::PWMSparkMax m_rightFollower{4}; - frc::SpeedControllerGroup m_leftGroup{m_leftLeader, m_leftFollower}; - frc::SpeedControllerGroup m_rightGroup{m_rightLeader, m_rightFollower}; + frc::MotorControllerGroup m_leftGroup{m_leftLeader, m_leftFollower}; + frc::MotorControllerGroup m_rightGroup{m_rightLeader, m_rightFollower}; frc::Encoder m_leftEncoder{0, 1}; frc::Encoder m_rightEncoder{2, 3}; diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h index 37f05e40ca..e9b657be8a 100644 --- a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h +++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h @@ -6,12 +6,12 @@ #include #include -#include -#include #include #include #include #include +#include +#include #include #include #include @@ -57,8 +57,8 @@ class Drivetrain { frc::PWMSparkMax m_rightLeader{3}; frc::PWMSparkMax m_rightFollower{4}; - frc::SpeedControllerGroup m_leftGroup{m_leftLeader, m_leftFollower}; - frc::SpeedControllerGroup m_rightGroup{m_rightLeader, m_rightFollower}; + frc::MotorControllerGroup m_leftGroup{m_leftLeader, m_leftFollower}; + frc::MotorControllerGroup m_rightGroup{m_rightLeader, m_rightFollower}; frc::Encoder m_leftEncoder{0, 1}; frc::Encoder m_rightEncoder{2, 3}; diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/ExampleSmartMotorController.h b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/ExampleSmartMotorController.h index 5e5b1d53cd..71dc4d4864 100644 --- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/ExampleSmartMotorController.h +++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/ExampleSmartMotorController.h @@ -4,7 +4,7 @@ #pragma once -#include +#include /** * A simplified stub class that simulates the API of a common "smart" motor @@ -12,7 +12,7 @@ * *

Has no actual functionality. */ -class ExampleSmartMotorController : public frc::SpeedController { +class ExampleSmartMotorController : public frc::MotorController { public: enum PIDMode { kPosition, kVelocity, kMovementWitchcraft }; diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp index 6472fa581b..14f34d729f 100644 --- a/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp @@ -4,9 +4,9 @@ #include #include -#include #include #include +#include #include #include #include diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp index 77de329929..0aa766fb15 100644 --- a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp @@ -5,11 +5,11 @@ #include #include #include -#include #include #include #include #include +#include #include #include #include diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/include/ExampleSmartMotorController.h b/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/include/ExampleSmartMotorController.h index 9d7e5e54e8..5d55839892 100644 --- a/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/include/ExampleSmartMotorController.h +++ b/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/include/ExampleSmartMotorController.h @@ -4,7 +4,7 @@ #pragma once -#include +#include /** * A simplified stub class that simulates the API of a common "smart" motor @@ -12,7 +12,7 @@ * *

Has no actual functionality. */ -class ExampleSmartMotorController : public frc::SpeedController { +class ExampleSmartMotorController : public frc::MotorController { public: enum PIDMode { kPosition, kVelocity, kMovementWitchcraft }; diff --git a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/DriveSubsystem.h index 7aaac36654..47bf28e4d9 100644 --- a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/DriveSubsystem.h +++ b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/DriveSubsystem.h @@ -5,9 +5,9 @@ #pragma once #include -#include -#include #include +#include +#include #include #include "Constants.h" @@ -76,10 +76,10 @@ class DriveSubsystem : public frc2::SubsystemBase { frc::PWMSparkMax m_right2; // The motors on the left side of the drive - frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2}; + frc::MotorControllerGroup m_leftMotors{m_left1, m_left2}; // The motors on the right side of the drive - frc::SpeedControllerGroup m_rightMotors{m_right1, m_right2}; + frc::MotorControllerGroup m_rightMotors{m_right1, m_right2}; // The robot's drive frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors}; diff --git a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/ShooterSubsystem.h b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/ShooterSubsystem.h index c3ccdc8325..e53b32ddae 100644 --- a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/ShooterSubsystem.h +++ b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/ShooterSubsystem.h @@ -5,8 +5,8 @@ #pragma once #include -#include #include +#include #include #include diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Claw.h b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Claw.h index 4870705aba..3b65382c5c 100644 --- a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Claw.h +++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Claw.h @@ -5,7 +5,7 @@ #pragma once #include -#include +#include #include /** diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/DriveTrain.h b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/DriveTrain.h index 52a7153e23..f704df80ae 100644 --- a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/DriveTrain.h +++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/DriveTrain.h @@ -7,9 +7,9 @@ #include #include #include -#include -#include #include +#include +#include #include namespace frc { @@ -66,11 +66,11 @@ class DriveTrain : public frc2::SubsystemBase { private: frc::PWMSparkMax m_frontLeft{1}; frc::PWMSparkMax m_rearLeft{2}; - frc::SpeedControllerGroup m_left{m_frontLeft, m_rearLeft}; + frc::MotorControllerGroup m_left{m_frontLeft, m_rearLeft}; frc::PWMSparkMax m_frontRight{3}; frc::PWMSparkMax m_rearRight{4}; - frc::SpeedControllerGroup m_right{m_frontRight, m_rearRight}; + frc::MotorControllerGroup m_right{m_frontRight, m_rearRight}; frc::DifferentialDrive m_robotDrive{m_left, m_right}; diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Elevator.h b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Elevator.h index 875a5f1a97..80008c5d0e 100644 --- a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Elevator.h +++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Elevator.h @@ -5,7 +5,7 @@ #pragma once #include -#include +#include #include /** diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Wrist.h b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Wrist.h index ef660a2a39..e873c2cccc 100644 --- a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Wrist.h +++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Wrist.h @@ -5,7 +5,7 @@ #pragma once #include -#include +#include #include /** diff --git a/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp index 6996c7fd39..a46581379c 100644 --- a/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp @@ -3,11 +3,11 @@ // the WPILib BSD license file in the root directory of this project. #include -#include #include #include #include #include +#include class Robot : public frc::TimedRobot { public: diff --git a/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp index 4bfc3c1154..1dda356ff5 100644 --- a/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp @@ -6,9 +6,9 @@ #include #include -#include #include #include +#include /** * This is a sample program to demonstrate how to use a gyro sensor to make a diff --git a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/subsystems/DriveSubsystem.h index dc546db0cf..96174dd4f7 100644 --- a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/subsystems/DriveSubsystem.h +++ b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/subsystems/DriveSubsystem.h @@ -6,9 +6,9 @@ #include #include -#include -#include #include +#include +#include #include #include @@ -92,10 +92,10 @@ class DriveSubsystem : public frc2::SubsystemBase { frc::PWMSparkMax m_right2; // The motors on the left side of the drive - frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2}; + frc::MotorControllerGroup m_leftMotors{m_left1, m_left2}; // The motors on the right side of the drive - frc::SpeedControllerGroup m_rightMotors{m_right1, m_right2}; + frc::MotorControllerGroup m_rightMotors{m_right1, m_right2}; // The robot's drive frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors}; diff --git a/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp index 0922ae4923..58858733f4 100644 --- a/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp @@ -4,9 +4,9 @@ #include #include -#include #include #include +#include /** * This is a sample program that uses mecanum drive with a gyro sensor to diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.h index 7aaac36654..47bf28e4d9 100644 --- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.h +++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.h @@ -5,9 +5,9 @@ #pragma once #include -#include -#include #include +#include +#include #include #include "Constants.h" @@ -76,10 +76,10 @@ class DriveSubsystem : public frc2::SubsystemBase { frc::PWMSparkMax m_right2; // The motors on the left side of the drive - frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2}; + frc::MotorControllerGroup m_leftMotors{m_left1, m_left2}; // The motors on the right side of the drive - frc::SpeedControllerGroup m_rightMotors{m_right1, m_right2}; + frc::MotorControllerGroup m_rightMotors{m_right1, m_right2}; // The robot's drive frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors}; diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.h index 7aaac36654..47bf28e4d9 100644 --- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.h +++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.h @@ -5,9 +5,9 @@ #pragma once #include -#include -#include #include +#include +#include #include #include "Constants.h" @@ -76,10 +76,10 @@ class DriveSubsystem : public frc2::SubsystemBase { frc::PWMSparkMax m_right2; // The motors on the left side of the drive - frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2}; + frc::MotorControllerGroup m_leftMotors{m_left1, m_left2}; // The motors on the right side of the drive - frc::SpeedControllerGroup m_rightMotors{m_right1, m_right2}; + frc::MotorControllerGroup m_rightMotors{m_right1, m_right2}; // The robot's drive frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors}; diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h index 62a14a0b12..1b097fe489 100644 --- a/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h +++ b/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h @@ -6,13 +6,13 @@ #include #include -#include #include #include #include #include #include #include +#include #include /** diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp index 863034e0b1..e7822238f1 100644 --- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp +++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp @@ -96,7 +96,7 @@ frc2::Command* RobotContainer::GetAutonomousCommand() { [this](units::volt_t frontLeft, units::volt_t rearLeft, units::volt_t frontRight, units::volt_t rearRight) { - m_drive.SetSpeedControllersVolts(frontLeft, rearLeft, frontRight, + m_drive.SetMotorControllersVolts(frontLeft, rearLeft, frontRight, rearRight); }, diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp index 8d357f429f..4cc4e47a1c 100644 --- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp +++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp @@ -56,7 +56,7 @@ void DriveSubsystem::Drive(double xSpeed, double ySpeed, double rot, } } -void DriveSubsystem::SetSpeedControllersVolts(units::volt_t frontLeftPower, +void DriveSubsystem::SetMotorControllersVolts(units::volt_t frontLeftPower, units::volt_t rearLeftPower, units::volt_t frontRightPower, units::volt_t rearRightPower) { diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/subsystems/DriveSubsystem.h index a521219f4a..95b08b6937 100644 --- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/subsystems/DriveSubsystem.h +++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/subsystems/DriveSubsystem.h @@ -6,13 +6,13 @@ #include #include -#include #include #include #include #include #include #include +#include #include #include "Constants.h" @@ -82,9 +82,9 @@ class DriveSubsystem : public frc2::SubsystemBase { frc::MecanumDriveWheelSpeeds getCurrentWheelSpeeds(); /** - * Sets the drive SpeedControllers to a desired voltage. + * Sets the drive MotorControllers to a desired voltage. */ - void SetSpeedControllersVolts(units::volt_t frontLeftPower, + void SetMotorControllersVolts(units::volt_t frontLeftPower, units::volt_t rearLeftPower, units::volt_t frontRightPower, units::volt_t rearRightPower); diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp index f7c1be3517..822e9ee675 100644 --- a/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp @@ -3,9 +3,9 @@ // the WPILib BSD license file in the root directory of this project. #include -#include #include #include +#include /** * This is a demo program showing how to use Mecanum control with the diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h index 5dca8277c9..ba796d5a0d 100644 --- a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h +++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h @@ -6,7 +6,6 @@ #include #include -#include #include #include #include @@ -14,6 +13,7 @@ #include #include #include +#include #include /** diff --git a/wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp index 0b8351b6da..0092ec3240 100644 --- a/wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp @@ -3,8 +3,8 @@ // the WPILib BSD license file in the root directory of this project. #include -#include #include +#include /** * This sample program shows how to control a motor using a joystick. In the diff --git a/wpilibcExamples/src/main/cpp/examples/MotorControlEncoder/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MotorControlEncoder/cpp/Robot.cpp index 76ba76d655..5b76a62f80 100644 --- a/wpilibcExamples/src/main/cpp/examples/MotorControlEncoder/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/MotorControlEncoder/cpp/Robot.cpp @@ -4,8 +4,8 @@ #include #include -#include #include +#include #include #include diff --git a/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Collector.h b/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Collector.h index 77b0bb4695..9994a35bf7 100644 --- a/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Collector.h +++ b/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Collector.h @@ -5,9 +5,9 @@ #pragma once #include -#include #include #include +#include /** * The Collector subsystem has one motor for the rollers, a limit switch for diff --git a/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/DriveTrain.h b/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/DriveTrain.h index 739f662136..65d29cd933 100644 --- a/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/DriveTrain.h +++ b/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/DriveTrain.h @@ -6,10 +6,10 @@ #include #include -#include -#include #include #include +#include +#include namespace frc { class Joystick; @@ -62,11 +62,11 @@ class DriveTrain : public frc::Subsystem { // Subsystem devices frc::PWMSparkMax m_frontLeftCIM{1}; frc::PWMSparkMax m_rearLeftCIM{2}; - frc::SpeedControllerGroup m_leftCIMs{m_frontLeftCIM, m_rearLeftCIM}; + frc::MotorControllerGroup m_leftCIMs{m_frontLeftCIM, m_rearLeftCIM}; frc::PWMSparkMax m_frontRightCIM{3}; frc::PWMSparkMax m_rearRightCIM{4}; - frc::SpeedControllerGroup m_rightCIMs{m_frontRightCIM, m_rearRightCIM}; + frc::MotorControllerGroup m_rightCIMs{m_frontRightCIM, m_rearRightCIM}; frc::DifferentialDrive m_robotDrive{m_leftCIMs, m_rightCIMs}; diff --git a/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Pivot.h b/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Pivot.h index 23d342f1cf..95b3be9eca 100644 --- a/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Pivot.h +++ b/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Pivot.h @@ -6,8 +6,8 @@ #include #include -#include #include +#include /** * The Pivot subsystem contains the Van-door motor and the pot for PID control diff --git a/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp index 6149d40721..5b6b024ec1 100644 --- a/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp @@ -6,9 +6,9 @@ #include #include -#include #include #include +#include /** * This is a sample program to demonstrate how to use a soft potentiometer and a diff --git a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h index 28707ea61f..8ea14dad39 100644 --- a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h +++ b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h @@ -6,11 +6,11 @@ #include #include -#include -#include #include #include #include +#include +#include #include #include @@ -123,10 +123,10 @@ class DriveSubsystem : public frc2::SubsystemBase { frc::PWMSparkMax m_right2; // The motors on the left side of the drive - frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2}; + frc::MotorControllerGroup m_leftMotors{m_left1, m_left2}; // The motors on the right side of the drive - frc::SpeedControllerGroup m_rightMotors{m_right1, m_right2}; + frc::MotorControllerGroup m_rightMotors{m_right1, m_right2}; // The robot's drive frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors}; diff --git a/wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h index baa5a090ab..3cdbd1e4d2 100644 --- a/wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h +++ b/wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h @@ -6,12 +6,12 @@ #include #include -#include -#include #include #include #include #include +#include +#include #include #include #include @@ -57,8 +57,8 @@ class Drivetrain { frc::PWMSparkMax m_rightLeader{3}; frc::PWMSparkMax m_rightFollower{4}; - frc::SpeedControllerGroup m_leftGroup{m_leftLeader, m_leftFollower}; - frc::SpeedControllerGroup m_rightGroup{m_rightLeader, m_rightFollower}; + frc::MotorControllerGroup m_leftGroup{m_leftLeader, m_leftFollower}; + frc::MotorControllerGroup m_rightGroup{m_rightLeader, m_rightFollower}; frc::Encoder m_leftEncoder{0, 1}; frc::Encoder m_rightEncoder{2, 3}; diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.h index 0f96ff4f4d..ace7d33bc7 100644 --- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.h +++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.h @@ -6,8 +6,8 @@ #include #include -#include #include +#include #include #include #include diff --git a/wpilibcExamples/src/main/cpp/examples/ShuffleBoard/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ShuffleBoard/cpp/Robot.cpp index ceb3470a1b..a114b927ae 100644 --- a/wpilibcExamples/src/main/cpp/examples/ShuffleBoard/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/ShuffleBoard/cpp/Robot.cpp @@ -5,9 +5,9 @@ #include #include #include -#include #include #include +#include #include #include #include diff --git a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h index 48d758a7af..f60deefc3e 100644 --- a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h +++ b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h @@ -6,12 +6,12 @@ #include #include -#include -#include #include #include #include #include +#include +#include #include #include #include @@ -73,8 +73,8 @@ class Drivetrain { frc::PWMSparkMax m_rightLeader{3}; frc::PWMSparkMax m_rightFollower{4}; - frc::SpeedControllerGroup m_leftGroup{m_leftLeader, m_leftFollower}; - frc::SpeedControllerGroup m_rightGroup{m_rightLeader, m_rightFollower}; + frc::MotorControllerGroup m_leftGroup{m_leftLeader, m_leftFollower}; + frc::MotorControllerGroup m_rightGroup{m_rightLeader, m_rightFollower}; frc::Encoder m_leftEncoder{0, 1}; frc::Encoder m_rightEncoder{2, 3}; diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp index 63fc0a6f37..5841f5fb15 100644 --- a/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp @@ -4,7 +4,6 @@ #include #include -#include #include #include #include @@ -12,6 +11,7 @@ #include #include #include +#include #include #include #include diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h index 9b7dadba41..395133c88c 100644 --- a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h +++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h @@ -6,11 +6,11 @@ #include #include -#include -#include #include #include #include +#include +#include #include #include #include @@ -134,10 +134,10 @@ class DriveSubsystem : public frc2::SubsystemBase { frc::PWMSparkMax m_right2{DriveConstants::kRightMotor2Port}; // The motors on the left side of the drive - frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2}; + frc::MotorControllerGroup m_leftMotors{m_left1, m_left2}; // The motors on the right side of the drive - frc::SpeedControllerGroup m_rightMotors{m_right1, m_right2}; + frc::MotorControllerGroup m_rightMotors{m_right1, m_right2}; // The robot's drive frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors}; diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp index 4d94321e7f..a0d9eaf717 100644 --- a/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp @@ -4,13 +4,13 @@ #include #include -#include #include #include #include #include #include #include +#include #include #include #include diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp index bab52d939f..b52fc7ca7d 100644 --- a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp @@ -5,13 +5,13 @@ #include #include #include -#include #include #include #include #include #include #include +#include #include #include #include diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp index 1b7d9b76d5..26cebd646b 100644 --- a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp @@ -5,7 +5,6 @@ #include #include #include -#include #include #include #include @@ -13,6 +12,7 @@ #include #include #include +#include #include #include #include diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h index 119137d5ef..3c3afa697a 100644 --- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h +++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h @@ -5,11 +5,11 @@ #pragma once #include -#include #include #include #include #include +#include #include #include #include diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h index c11f8e2b64..351aeb3ac7 100644 --- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h +++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h @@ -6,7 +6,6 @@ #include #include -#include #include #include #include @@ -14,6 +13,7 @@ #include #include #include +#include #include #include "Constants.h" @@ -51,7 +51,7 @@ class DriveSubsystem : public frc2::SubsystemBase { void ResetEncoders(); /** - * Sets the drive SpeedControllers to a power from -1 to 1. + * Sets the drive MotorControllers to a power from -1 to 1. */ void SetModuleStates(wpi::array desiredStates); diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/SwerveModule.h b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/SwerveModule.h index 7f3dba843b..304d8736c6 100644 --- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/SwerveModule.h +++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/SwerveModule.h @@ -5,11 +5,11 @@ #pragma once #include -#include #include #include #include #include +#include #include #include diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.h b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.h index 84182c09b1..0a33cb9dd4 100644 --- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.h +++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.h @@ -5,11 +5,11 @@ #pragma once #include -#include #include #include #include #include +#include #include #include #include diff --git a/wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp index 3fa97cf654..fffc78dd4b 100644 --- a/wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp @@ -3,10 +3,10 @@ // the WPILib BSD license file in the root directory of this project. #include -#include #include #include #include +#include /** * This is a demo program showing the use of the DifferentialDrive class. diff --git a/wpilibcExamples/src/main/cpp/examples/Ultrasonic/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Ultrasonic/cpp/Robot.cpp index 1cd070712e..482e5ffb10 100644 --- a/wpilibcExamples/src/main/cpp/examples/Ultrasonic/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/Ultrasonic/cpp/Robot.cpp @@ -4,9 +4,9 @@ #include #include -#include #include #include +#include /** * This is a sample program demonstrating how to use an ultrasonic sensor and diff --git a/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp index 08743128a0..4673975e71 100644 --- a/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp @@ -4,10 +4,10 @@ #include #include -#include #include #include #include +#include /** * This is a sample program demonstrating how to use an ultrasonic sensor and diff --git a/wpilibcIntegrationTests/src/main/native/cpp/CounterTest.cpp b/wpilibcIntegrationTests/src/main/native/cpp/CounterTest.cpp index 6090a0bf27..23e9b2f90d 100644 --- a/wpilibcIntegrationTests/src/main/native/cpp/CounterTest.cpp +++ b/wpilibcIntegrationTests/src/main/native/cpp/CounterTest.cpp @@ -5,10 +5,10 @@ #include "frc/Counter.h" // NOLINT(build/include_order) #include "TestBench.h" -#include "frc/Jaguar.h" -#include "frc/Talon.h" #include "frc/Timer.h" -#include "frc/Victor.h" +#include "frc/motorcontrol/Jaguar.h" +#include "frc/motorcontrol/Talon.h" +#include "frc/motorcontrol/Victor.h" #include "gtest/gtest.h" using namespace frc; diff --git a/wpilibcIntegrationTests/src/main/native/cpp/MotorEncoderTest.cpp b/wpilibcIntegrationTests/src/main/native/cpp/MotorEncoderTest.cpp index 1f84faad06..9737d78355 100644 --- a/wpilibcIntegrationTests/src/main/native/cpp/MotorEncoderTest.cpp +++ b/wpilibcIntegrationTests/src/main/native/cpp/MotorEncoderTest.cpp @@ -6,13 +6,13 @@ #include "TestBench.h" #include "frc/Encoder.h" -#include "frc/Jaguar.h" #include "frc/LinearFilter.h" #include "frc/Notifier.h" -#include "frc/Talon.h" #include "frc/Timer.h" -#include "frc/Victor.h" #include "frc/controller/PIDController.h" +#include "frc/motorcontrol/Jaguar.h" +#include "frc/motorcontrol/Talon.h" +#include "frc/motorcontrol/Victor.h" #include "gtest/gtest.h" using namespace frc; @@ -38,31 +38,31 @@ std::ostream& operator<<(std::ostream& os, MotorEncoderTestType const& type) { static constexpr double kMotorTime = 0.5; /** - * A fixture that includes a PWM speed controller and an encoder connected to + * A fixture that includes a PWM motor controller and an encoder connected to * the same motor. */ class MotorEncoderTest : public testing::TestWithParam { protected: - SpeedController* m_speedController; + MotorController* m_motorController; Encoder* m_encoder; LinearFilter* m_filter; void SetUp() override { switch (GetParam()) { case TEST_VICTOR: - m_speedController = new Victor(TestBench::kVictorChannel); + m_motorController = new Victor(TestBench::kVictorChannel); m_encoder = new Encoder(TestBench::kVictorEncoderChannelA, TestBench::kVictorEncoderChannelB); break; case TEST_JAGUAR: - m_speedController = new Jaguar(TestBench::kJaguarChannel); + m_motorController = new Jaguar(TestBench::kJaguarChannel); m_encoder = new Encoder(TestBench::kJaguarEncoderChannelA, TestBench::kJaguarEncoderChannelB); break; case TEST_TALON: - m_speedController = new Talon(TestBench::kTalonChannel); + m_motorController = new Talon(TestBench::kTalonChannel); m_encoder = new Encoder(TestBench::kTalonEncoderChannelA, TestBench::kTalonEncoderChannelB); break; @@ -72,13 +72,13 @@ class MotorEncoderTest : public testing::TestWithParam { } void TearDown() override { - delete m_speedController; + delete m_motorController; delete m_encoder; delete m_filter; } void Reset() { - m_speedController->Set(0.0); + m_motorController->Set(0.0); m_encoder->Reset(); m_filter->Reset(); } @@ -90,10 +90,10 @@ class MotorEncoderTest : public testing::TestWithParam { TEST_P(MotorEncoderTest, Increment) { Reset(); - /* Drive the speed controller briefly to move the encoder */ - m_speedController->Set(0.2f); + /* Drive the motor controller briefly to move the encoder */ + m_motorController->Set(0.2f); Wait(kMotorTime); - m_speedController->Set(0.0); + m_motorController->Set(0.0); /* The encoder should be positive now */ EXPECT_GT(m_encoder->Get(), 0) @@ -106,10 +106,10 @@ TEST_P(MotorEncoderTest, Increment) { TEST_P(MotorEncoderTest, Decrement) { Reset(); - /* Drive the speed controller briefly to move the encoder */ - m_speedController->Set(-0.2); + /* Drive the motor controller briefly to move the encoder */ + m_motorController->Set(-0.2); Wait(kMotorTime); - m_speedController->Set(0.0); + m_motorController->Set(0.0); /* The encoder should be positive now */ EXPECT_LT(m_encoder->Get(), 0.0) @@ -122,15 +122,15 @@ TEST_P(MotorEncoderTest, Decrement) { TEST_P(MotorEncoderTest, ClampSpeed) { Reset(); - m_speedController->Set(2.0); + m_motorController->Set(2.0); Wait(kMotorTime); - EXPECT_FLOAT_EQ(1.0, m_speedController->Get()); + EXPECT_FLOAT_EQ(1.0, m_motorController->Get()); - m_speedController->Set(-2.0); + m_motorController->Set(-2.0); Wait(kMotorTime); - EXPECT_FLOAT_EQ(-1.0, m_speedController->Get()); + EXPECT_FLOAT_EQ(-1.0, m_motorController->Get()); } /** @@ -147,7 +147,7 @@ TEST_P(MotorEncoderTest, PositionPIDController) { /* 10 seconds should be plenty time to get to the reference */ frc::Notifier pidRunner{[this, &pidController] { auto speed = pidController.Calculate(m_encoder->GetDistance()); - m_speedController->Set(std::clamp(speed, -0.2, 0.2)); + m_motorController->Set(std::clamp(speed, -0.2, 0.2)); }}; pidRunner.StartPeriodic(pidController.GetPeriod()); Wait(10.0); @@ -174,7 +174,7 @@ TEST_P(MotorEncoderTest, VelocityPIDController) { frc::Notifier pidRunner{[this, &pidController] { auto speed = pidController.Calculate(m_filter->Calculate(m_encoder->GetRate())); - m_speedController->Set(std::clamp(speed, -0.3, 0.3)); + m_motorController->Set(std::clamp(speed, -0.3, 0.3)); }}; pidRunner.StartPeriodic(pidController.GetPeriod()); Wait(10.0); diff --git a/wpilibcIntegrationTests/src/main/native/cpp/MotorInvertingTest.cpp b/wpilibcIntegrationTests/src/main/native/cpp/MotorInvertingTest.cpp index c9abdb9bc7..72f658a440 100644 --- a/wpilibcIntegrationTests/src/main/native/cpp/MotorInvertingTest.cpp +++ b/wpilibcIntegrationTests/src/main/native/cpp/MotorInvertingTest.cpp @@ -4,10 +4,10 @@ #include "TestBench.h" #include "frc/Encoder.h" -#include "frc/Jaguar.h" -#include "frc/Talon.h" #include "frc/Timer.h" -#include "frc/Victor.h" +#include "frc/motorcontrol/Jaguar.h" +#include "frc/motorcontrol/Talon.h" +#include "frc/motorcontrol/Victor.h" #include "gtest/gtest.h" using namespace frc; @@ -33,25 +33,25 @@ std::ostream& operator<<(std::ostream& os, MotorInvertingTestType const& type) { class MotorInvertingTest : public testing::TestWithParam { protected: - SpeedController* m_speedController; + MotorController* m_motorController; Encoder* m_encoder; void SetUp() override { switch (GetParam()) { case TEST_VICTOR: - m_speedController = new Victor(TestBench::kVictorChannel); + m_motorController = new Victor(TestBench::kVictorChannel); m_encoder = new Encoder(TestBench::kVictorEncoderChannelA, TestBench::kVictorEncoderChannelB); break; case TEST_JAGUAR: - m_speedController = new Jaguar(TestBench::kJaguarChannel); + m_motorController = new Jaguar(TestBench::kJaguarChannel); m_encoder = new Encoder(TestBench::kJaguarEncoderChannelA, TestBench::kJaguarEncoderChannelB); break; case TEST_TALON: - m_speedController = new Talon(TestBench::kTalonChannel); + m_motorController = new Talon(TestBench::kTalonChannel); m_encoder = new Encoder(TestBench::kTalonEncoderChannelA, TestBench::kTalonEncoderChannelB); break; @@ -59,13 +59,13 @@ class MotorInvertingTest } void TearDown() override { - delete m_speedController; + delete m_motorController; delete m_encoder; } void Reset() { - m_speedController->SetInverted(false); - m_speedController->Set(0.0); + m_motorController->SetInverted(false); + m_motorController->Set(0.0); m_encoder->Reset(); } }; @@ -73,13 +73,13 @@ class MotorInvertingTest TEST_P(MotorInvertingTest, InvertingPositive) { Reset(); - m_speedController->Set(motorSpeed); + m_motorController->Set(motorSpeed); Wait(delayTime); bool initDirection = m_encoder->GetDirection(); - m_speedController->SetInverted(true); - m_speedController->Set(motorSpeed); + m_motorController->SetInverted(true); + m_motorController->Set(motorSpeed); Wait(delayTime); @@ -92,14 +92,14 @@ TEST_P(MotorInvertingTest, InvertingPositive) { TEST_P(MotorInvertingTest, InvertingNegative) { Reset(); - m_speedController->SetInverted(false); - m_speedController->Set(-motorSpeed); + m_motorController->SetInverted(false); + m_motorController->Set(-motorSpeed); Wait(delayTime); bool initDirection = m_encoder->GetDirection(); - m_speedController->SetInverted(true); - m_speedController->Set(-motorSpeed); + m_motorController->SetInverted(true); + m_motorController->Set(-motorSpeed); Wait(delayTime); @@ -112,14 +112,14 @@ TEST_P(MotorInvertingTest, InvertingNegative) { TEST_P(MotorInvertingTest, InvertingSwitchingPosToNeg) { Reset(); - m_speedController->SetInverted(false); - m_speedController->Set(motorSpeed); + m_motorController->SetInverted(false); + m_motorController->Set(motorSpeed); Wait(delayTime); bool initDirection = m_encoder->GetDirection(); - m_speedController->SetInverted(true); - m_speedController->Set(-motorSpeed); + m_motorController->SetInverted(true); + m_motorController->Set(-motorSpeed); Wait(delayTime); @@ -132,14 +132,14 @@ TEST_P(MotorInvertingTest, InvertingSwitchingPosToNeg) { TEST_P(MotorInvertingTest, InvertingSwitchingNegToPos) { Reset(); - m_speedController->SetInverted(false); - m_speedController->Set(-motorSpeed); + m_motorController->SetInverted(false); + m_motorController->Set(-motorSpeed); Wait(delayTime); bool initDirection = m_encoder->GetDirection(); - m_speedController->SetInverted(true); - m_speedController->Set(motorSpeed); + m_motorController->SetInverted(true); + m_motorController->Set(motorSpeed); Wait(delayTime); diff --git a/wpilibcIntegrationTests/src/main/native/cpp/PowerDistributionPanelTest.cpp b/wpilibcIntegrationTests/src/main/native/cpp/PowerDistributionPanelTest.cpp index 349f0f5a16..06d12586c8 100644 --- a/wpilibcIntegrationTests/src/main/native/cpp/PowerDistributionPanelTest.cpp +++ b/wpilibcIntegrationTests/src/main/native/cpp/PowerDistributionPanelTest.cpp @@ -9,10 +9,10 @@ #include #include "TestBench.h" -#include "frc/Jaguar.h" -#include "frc/Talon.h" #include "frc/Timer.h" -#include "frc/Victor.h" +#include "frc/motorcontrol/Jaguar.h" +#include "frc/motorcontrol/Talon.h" +#include "frc/motorcontrol/Victor.h" #include "gtest/gtest.h" using namespace frc; diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java index f21ba025ea..df1db7ded4 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java @@ -239,7 +239,7 @@ public class PWM implements Sendable, AutoCloseable { } } - protected void setZeroLatch() { + public void setZeroLatch() { PWMJNI.latchPWMZero(m_handle); } diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedController.java index 7d03f477a0..490455c791 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedController.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedController.java @@ -4,17 +4,22 @@ package edu.wpi.first.wpilibj; -/** Interface for speed controlling devices. */ +/** + * Interface for motor controlling devices. + * + * @deprecated Use {@link edu.wpi.first.wpilibj.motorcontrol.MotorController}. + */ +@Deprecated(since = "2022", forRemoval = true) public interface SpeedController { /** - * Common interface for setting the speed of a speed controller. + * Common interface for setting the speed of a motor controller. * * @param speed The speed to set. Value should be between -1.0 and 1.0. */ void set(double speed); /** - * Sets the voltage output of the SpeedController. Compensates for the current bus voltage to + * Sets the voltage output of the MotorController. Compensates for the current bus voltage to * ensure that the desired voltage is output even if the battery voltage is below 12V - highly * useful when the voltage outputs are "meaningful" (e.g. they come from a feedforward * calculation). @@ -29,27 +34,27 @@ public interface SpeedController { } /** - * Common interface for getting the current set speed of a speed controller. + * Common interface for getting the current set speed of a motor controller. * * @return The current set speed. Value is between -1.0 and 1.0. */ double get(); /** - * Common interface for inverting direction of a speed controller. + * Common interface for inverting direction of a motor controller. * * @param isInverted The state of inversion true is inverted. */ void setInverted(boolean isInverted); /** - * Common interface for returning if a speed controller is in the inverted state or not. + * Common interface for returning if a motor controller is in the inverted state or not. * * @return isInverted The state of the inversion true is inverted. */ boolean getInverted(); - /** Disable the speed controller. */ + /** Disable the motor controller. */ void disable(); /** diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedControllerGroup.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedControllerGroup.java index e0a95c3079..9327f50a4d 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedControllerGroup.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedControllerGroup.java @@ -4,12 +4,19 @@ package edu.wpi.first.wpilibj; +import edu.wpi.first.wpilibj.motorcontrol.MotorController; import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder; import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry; import java.util.Arrays; -/** Allows multiple {@link SpeedController} objects to be linked together. */ -public class SpeedControllerGroup implements SpeedController, Sendable, AutoCloseable { +/** + * Allows multiple {@link SpeedController} objects to be linked together. + * + * @deprecated Use {@link edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup}. + */ +@Deprecated(since = "2022", forRemoval = true) +@SuppressWarnings("removal") +public class SpeedControllerGroup implements MotorController, Sendable, AutoCloseable { private boolean m_isInverted; private final SpeedController[] m_speedControllers; private static int instances; @@ -40,7 +47,7 @@ public class SpeedControllerGroup implements SpeedController, Sendable, AutoClos SendableRegistry.addChild(this, controller); } instances++; - SendableRegistry.addLW(this, "SpeedControllerGroup", instances); + SendableRegistry.addLW(this, "MotorControllerGroup", instances); } @Override @@ -89,7 +96,7 @@ public class SpeedControllerGroup implements SpeedController, Sendable, AutoClos @Override public void initSendable(SendableBuilder builder) { - builder.setSmartDashboardType("Speed Controller"); + builder.setSmartDashboardType("Motor Controller"); builder.setActuator(true); builder.setSafeState(this::stopMotor); builder.addDoubleProperty("Value", this::get, this::set); diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java index f68f36d7c7..3231899673 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java @@ -9,7 +9,6 @@ import edu.wpi.first.hal.FRCNetComm.tResourceType; import edu.wpi.first.hal.HAL; import edu.wpi.first.wpilibj.Sendable; import edu.wpi.first.wpilibj.SpeedController; -import edu.wpi.first.wpilibj.SpeedControllerGroup; import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder; import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry; import edu.wpi.first.wpiutil.math.MathUtil; @@ -20,21 +19,21 @@ import java.util.StringJoiner; * base, "tank drive", or West Coast Drive. * *

These drive bases typically have drop-center / skid-steer with two or more wheels per side - * (e.g., 6WD or 8WD). This class takes a SpeedController per side. For four and six motor - * drivetrains, construct and pass in {@link edu.wpi.first.wpilibj.SpeedControllerGroup} instances - * as follows. + * (e.g., 6WD or 8WD). This class takes a MotorController per side. For four and six motor + * drivetrains, construct and pass in {@link + * edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup} instances as follows. * *

Four motor drivetrain: * * 


  * public class Robot {
- *   SpeedController m_frontLeft = new PWMVictorSPX(1);
- *   SpeedController m_rearLeft = new PWMVictorSPX(2);
- *   SpeedControllerGroup m_left = new SpeedControllerGroup(m_frontLeft, m_rearLeft);
+ *   MotorController m_frontLeft = new PWMVictorSPX(1);
+ *   MotorController m_rearLeft = new PWMVictorSPX(2);
+ *   MotorControllerGroup m_left = new MotorControllerGroup(m_frontLeft, m_rearLeft);
  *
- *   SpeedController m_frontRight = new PWMVictorSPX(3);
- *   SpeedController m_rearRight = new PWMVictorSPX(4);
- *   SpeedControllerGroup m_right = new SpeedControllerGroup(m_frontRight, m_rearRight);
+ *   MotorController m_frontRight = new PWMVictorSPX(3);
+ *   MotorController m_rearRight = new PWMVictorSPX(4);
+ *   MotorControllerGroup m_right = new MotorControllerGroup(m_frontRight, m_rearRight);
  *
  *   DifferentialDrive m_drive = new DifferentialDrive(m_left, m_right);
  * }
@@ -44,15 +43,15 @@ import java.util.StringJoiner;
  *
  * 

  * public class Robot {
- *   SpeedController m_frontLeft = new PWMVictorSPX(1);
- *   SpeedController m_midLeft = new PWMVictorSPX(2);
- *   SpeedController m_rearLeft = new PWMVictorSPX(3);
- *   SpeedControllerGroup m_left = new SpeedControllerGroup(m_frontLeft, m_midLeft, m_rearLeft);
+ *   MotorController m_frontLeft = new PWMVictorSPX(1);
+ *   MotorController m_midLeft = new PWMVictorSPX(2);
+ *   MotorController m_rearLeft = new PWMVictorSPX(3);
+ *   MotorControllerGroup m_left = new MotorControllerGroup(m_frontLeft, m_midLeft, m_rearLeft);
  *
- *   SpeedController m_frontRight = new PWMVictorSPX(4);
- *   SpeedController m_midRight = new PWMVictorSPX(5);
- *   SpeedController m_rearRight = new PWMVictorSPX(6);
- *   SpeedControllerGroup m_right = new SpeedControllerGroup(m_frontRight, m_midRight, m_rearRight);
+ *   MotorController m_frontRight = new PWMVictorSPX(4);
+ *   MotorController m_midRight = new PWMVictorSPX(5);
+ *   MotorController m_rearRight = new PWMVictorSPX(6);
+ *   MotorControllerGroup m_right = new MotorControllerGroup(m_frontRight, m_midRight, m_rearRight);
  *
  *   DifferentialDrive m_drive = new DifferentialDrive(m_left, m_right);
  * }
@@ -94,6 +93,7 @@ import java.util.StringJoiner;
  * drive(double, double) with the addition of a quick turn mode. However, it is not designed to give
  * exactly the same response.
  */
+@SuppressWarnings("removal")
 public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoCloseable {
   public static final double kDefaultQuickStopThreshold = 0.2;
   public static final double kDefaultQuickStopAlpha = 0.1;
@@ -112,8 +112,9 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
   /**
    * Construct a DifferentialDrive.
    *
-   * 
To pass multiple motors per side, use a {@link SpeedControllerGroup}. If a motor needs to be
-   * inverted, do so before passing it in.
+   * 
To pass multiple motors per side, use a {@link
+   * edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup}. If a motor needs to be inverted, do
+   * so before passing it in.
    */
   public DifferentialDrive(SpeedController leftMotor, SpeedController rightMotor) {
     verify(leftMotor, rightMotor);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java
index fbc62ff1be..6702fb84f6 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java
@@ -39,6 +39,7 @@ import java.util.StringJoiner;
  * points down. Rotations follow the right-hand rule, so clockwise rotation around the Z axis is
  * positive.
  */
+@SuppressWarnings("removal")
 public class KilloughDrive extends RobotDriveBase implements Sendable, AutoCloseable {
   public static final double kDefaultLeftMotorAngle = 60.0;
   public static final double kDefaultRightMotorAngle = 120.0;
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
index 1930ecfabe..7781b9409f 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
@@ -57,6 +57,7 @@ import java.util.StringJoiner;
  * {@link #drivePolar(double, double, double)} is equivalent to RobotDrive's
  * mecanumDrive_Polar(double, double, double)} if a deadband of 0 is used.
  */
+@SuppressWarnings("removal")
 public class MecanumDrive extends RobotDriveBase implements Sendable, AutoCloseable {
   private static int instances;
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DMC60.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/DMC60.java
similarity index 89%
rename from wpilibj/src/main/java/edu/wpi/first/wpilibj/DMC60.java
rename to wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/DMC60.java
index 2f38230ea9..c003b566ed 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DMC60.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/DMC60.java
@@ -2,13 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.wpilibj;
+package edu.wpi.first.wpilibj.motorcontrol;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.PWM;
 
 /**
- * Digilent DMC 60 Speed Controller.
+ * Digilent DMC 60 Motor Controller.
  *
  * 
Note that the DMC uses the following bounds for PWM values. These values should work
  * reasonably well for most controllers, but if users experience issues such as asymmetric behavior
@@ -24,7 +25,7 @@ import edu.wpi.first.hal.HAL;
  *   
  • 0.997ms = full "reverse"
  * 
  */
-public class DMC60 extends PWMSpeedController {
+public class DMC60 extends PWMMotorController {
   /**
    * Constructor.
    *
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Jaguar.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/Jaguar.java
similarity index 88%
rename from wpilibj/src/main/java/edu/wpi/first/wpilibj/Jaguar.java
rename to wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/Jaguar.java
index 5e69c4a50a..32e6417edd 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Jaguar.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/Jaguar.java
@@ -2,13 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.wpilibj;
+package edu.wpi.first.wpilibj.motorcontrol;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.PWM;
 
 /**
- * Texas Instruments / Vex Robotics Jaguar Speed Controller as a PWM device.
+ * Texas Instruments / Vex Robotics Jaguar Motor Controller as a PWM device.
  *
  * 
    Note that the Jaguar uses the following bounds for PWM values. These values should work
  * reasonably well for most controllers, but if users experience issues such as asymmetric behavior
@@ -23,7 +24,7 @@ import edu.wpi.first.hal.HAL;
  *   
  • 0.697ms = full "reverse"
  * 
  */
-public class Jaguar extends PWMSpeedController {
+public class Jaguar extends PWMMotorController {
   /**
    * Constructor.
    *
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.java
new file mode 100644
index 0000000000..09890196ff
--- /dev/null
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.java
@@ -0,0 +1,11 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj.motorcontrol;
+
+import edu.wpi.first.wpilibj.SpeedController;
+
+/** Interface for motor controlling devices. */
+@SuppressWarnings("removal")
+public interface MotorController extends SpeedController {}
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MotorControllerGroup.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MotorControllerGroup.java
new file mode 100644
index 0000000000..b0b11129eb
--- /dev/null
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MotorControllerGroup.java
@@ -0,0 +1,98 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj.motorcontrol;
+
+import edu.wpi.first.wpilibj.Sendable;
+import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import java.util.Arrays;
+
+/** Allows multiple {@link MotorController} objects to be linked together. */
+public class MotorControllerGroup implements MotorController, Sendable, AutoCloseable {
+  private boolean m_isInverted;
+  private final MotorController[] m_motorControllers;
+  private static int instances;
+
+  /**
+   * Create a new MotorControllerGroup with the provided MotorControllers.
+   *
+   * @param motorControllers The MotorControllers to add
+   */
+  @SuppressWarnings("PMD.AvoidArrayLoops")
+  public MotorControllerGroup(
+      MotorController motorController, MotorController... motorControllers) {
+    m_motorControllers = new MotorController[motorControllers.length + 1];
+    m_motorControllers[0] = motorController;
+    for (int i = 0; i < motorControllers.length; i++) {
+      m_motorControllers[i + 1] = motorControllers[i];
+    }
+    init();
+  }
+
+  public MotorControllerGroup(MotorController[] motorControllers) {
+    m_motorControllers = Arrays.copyOf(motorControllers, motorControllers.length);
+    init();
+  }
+
+  private void init() {
+    for (MotorController controller : m_motorControllers) {
+      SendableRegistry.addChild(this, controller);
+    }
+    instances++;
+    SendableRegistry.addLW(this, "MotorControllerGroup", instances);
+  }
+
+  @Override
+  public void close() {
+    SendableRegistry.remove(this);
+  }
+
+  @Override
+  public void set(double speed) {
+    for (MotorController motorController : m_motorControllers) {
+      motorController.set(m_isInverted ? -speed : speed);
+    }
+  }
+
+  @Override
+  public double get() {
+    if (m_motorControllers.length > 0) {
+      return m_motorControllers[0].get() * (m_isInverted ? -1 : 1);
+    }
+    return 0.0;
+  }
+
+  @Override
+  public void setInverted(boolean isInverted) {
+    m_isInverted = isInverted;
+  }
+
+  @Override
+  public boolean getInverted() {
+    return m_isInverted;
+  }
+
+  @Override
+  public void disable() {
+    for (MotorController motorController : m_motorControllers) {
+      motorController.disable();
+    }
+  }
+
+  @Override
+  public void stopMotor() {
+    for (MotorController motorController : m_motorControllers) {
+      motorController.stopMotor();
+    }
+  }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    builder.setSmartDashboardType("Motor Controller");
+    builder.setActuator(true);
+    builder.setSafeState(this::stopMotor);
+    builder.addDoubleProperty("Value", this::get, this::set);
+  }
+}
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/NidecBrushless.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/NidecBrushless.java
similarity index 93%
rename from wpilibj/src/main/java/edu/wpi/first/wpilibj/NidecBrushless.java
rename to wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/NidecBrushless.java
index 6a9d9e8b2d..c23827c8af 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/NidecBrushless.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/NidecBrushless.java
@@ -2,16 +2,20 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.wpilibj;
+package edu.wpi.first.wpilibj.motorcontrol;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.DigitalOutput;
+import edu.wpi.first.wpilibj.MotorSafety;
+import edu.wpi.first.wpilibj.PWM;
+import edu.wpi.first.wpilibj.Sendable;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /** Nidec Brushless Motor. */
 public class NidecBrushless extends MotorSafety
-    implements SpeedController, Sendable, AutoCloseable {
+    implements MotorController, Sendable, AutoCloseable {
   private boolean m_isInverted;
   private final DigitalOutput m_dio;
   private final PWM m_pwm;
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSpeedController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java
similarity index 81%
rename from wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSpeedController.java
rename to wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java
index 4a0f7e60f1..34e712102c 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSpeedController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java
@@ -2,14 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.wpilibj;
+package edu.wpi.first.wpilibj.motorcontrol;
 
+import edu.wpi.first.wpilibj.MotorSafety;
+import edu.wpi.first.wpilibj.PWM;
+import edu.wpi.first.wpilibj.Sendable;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
-/** Common base class for all PWM Speed Controllers. */
-public abstract class PWMSpeedController extends MotorSafety
-    implements SpeedController, Sendable, AutoCloseable {
+/** Common base class for all PWM Motor Controllers. */
+public abstract class PWMMotorController extends MotorSafety
+    implements MotorController, Sendable, AutoCloseable {
   private boolean m_isInverted;
   protected PWM m_pwm;
 
@@ -20,7 +23,7 @@ public abstract class PWMSpeedController extends MotorSafety
    * @param channel The PWM channel that the controller is attached to. 0-9 are on-board, 10-19 are
    *     on the MXP port
    */
-  protected PWMSpeedController(final String name, final int channel) {
+  protected PWMMotorController(final String name, final int channel) {
     m_pwm = new PWM(channel, false);
     SendableRegistry.addLW(this, name, channel);
   }
@@ -48,7 +51,7 @@ public abstract class PWMSpeedController extends MotorSafety
 
   /**
    * Get the recently set value of the PWM. This value is affected by the inversion property. If you
-   * want the value that is sent directly to the SpeedController, use {@link
+   * want the value that is sent directly to the MotorController, use {@link
    * edu.wpi.first.wpilibj.PWM#getSpeed()} instead.
    *
    * @return The most recently set value for the PWM between -1.0 and 1.0.
@@ -94,7 +97,7 @@ public abstract class PWMSpeedController extends MotorSafety
 
   @Override
   public void initSendable(SendableBuilder builder) {
-    builder.setSmartDashboardType("Speed Controller");
+    builder.setSmartDashboardType("Motor Controller");
     builder.setActuator(true);
     builder.setSafeState(this::disable);
     builder.addDoubleProperty("Value", this::get, this::set);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSparkMax.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMSparkMax.java
similarity index 87%
rename from wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSparkMax.java
rename to wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMSparkMax.java
index b57fd9ac35..f14fdc7435 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSparkMax.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMSparkMax.java
@@ -2,13 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.wpilibj;
+package edu.wpi.first.wpilibj.motorcontrol;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.PWM;
 
 /**
- * REV Robotics SPARK MAX Speed Controller with PWM control.
+ * REV Robotics SPARK MAX Motor Controller with PWM control.
  *
  * 
    Note that the SPARK MAX uses the following bounds for PWM values. These values should work
  * reasonably well for most controllers, but if users experience issues such as asymmetric behavior
@@ -24,7 +25,7 @@ import edu.wpi.first.hal.HAL;
  *   
  • 0.999ms = full "reverse"
  * 
  */
-public class PWMSparkMax extends PWMSpeedController {
+public class PWMSparkMax extends PWMMotorController {
   /** Common initialization code called by all constructors. */
   public PWMSparkMax(final int channel) {
     super("PWMSparkMax", channel);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonFX.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMTalonFX.java
similarity index 88%
rename from wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonFX.java
rename to wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMTalonFX.java
index 330c6abe30..d5217459a1 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonFX.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMTalonFX.java
@@ -2,13 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.wpilibj;
+package edu.wpi.first.wpilibj.motorcontrol;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.PWM;
 
 /**
- * Cross the Road Electronics (CTRE) Talon FX Speed Controller with PWM control.
+ * Cross the Road Electronics (CTRE) Talon FX Motor Controller with PWM control.
  *
  * 
    Note that the TalonFX uses the following bounds for PWM values. These values should work
  * reasonably well for most controllers, but if users experience issues such as asymmetric behavior
@@ -24,7 +25,7 @@ import edu.wpi.first.hal.HAL;
  *   
  • 0.997ms = full "reverse"
  * 
  */
-public class PWMTalonFX extends PWMSpeedController {
+public class PWMTalonFX extends PWMMotorController {
   /**
    * Constructor for a TalonFX connected via PWM.
    *
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonSRX.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMTalonSRX.java
similarity index 88%
rename from wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonSRX.java
rename to wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMTalonSRX.java
index 77c7d37475..81f183407d 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonSRX.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMTalonSRX.java
@@ -2,13 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.wpilibj;
+package edu.wpi.first.wpilibj.motorcontrol;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.PWM;
 
 /**
- * Cross the Road Electronics (CTRE) Talon SRX Speed Controller with PWM control.
+ * Cross the Road Electronics (CTRE) Talon SRX Motor Controller with PWM control.
  *
  * 
    Note that the TalonSRX uses the following bounds for PWM values. These values should work
  * reasonably well for most controllers, but if users experience issues such as asymmetric behavior
@@ -24,7 +25,7 @@ import edu.wpi.first.hal.HAL;
  *   
  • 0.997ms = full "reverse"
  * 
  */
-public class PWMTalonSRX extends PWMSpeedController {
+public class PWMTalonSRX extends PWMMotorController {
   /**
    * Constructor for a TalonSRX connected via PWM.
    *
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVenom.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMVenom.java
similarity index 91%
rename from wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVenom.java
rename to wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMVenom.java
index 8a71842a14..9f7a885d51 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVenom.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMVenom.java
@@ -2,10 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.wpilibj;
+package edu.wpi.first.wpilibj.motorcontrol;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.PWM;
 
 /**
  * Playing with Fusion Venom Smart Motor with PWM control.
@@ -23,7 +24,7 @@ import edu.wpi.first.hal.HAL;
  *   
  • 0.997ms = full "reverse"
  * 
  */
-public class PWMVenom extends PWMSpeedController {
+public class PWMVenom extends PWMMotorController {
   /**
    * Constructor for a Venom connected via PWM.
    *
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVictorSPX.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMVictorSPX.java
similarity index 88%
rename from wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVictorSPX.java
rename to wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMVictorSPX.java
index 62c86087ac..9880464637 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVictorSPX.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMVictorSPX.java
@@ -2,13 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.wpilibj;
+package edu.wpi.first.wpilibj.motorcontrol;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.PWM;
 
 /**
- * Cross the Road Electronics (CTRE) Victor SPX Speed Controller with PWM control.
+ * Cross the Road Electronics (CTRE) Victor SPX Motor Controller with PWM control.
  *
  * 
    Note that the Victor SPX uses the following bounds for PWM values. These values should work
  * reasonably well for most controllers, but if users experience issues such as asymmetric behavior
@@ -24,7 +25,7 @@ import edu.wpi.first.hal.HAL;
  *   
  • 0.997ms = full "reverse"
  * 
  */
-public class PWMVictorSPX extends PWMSpeedController {
+public class PWMVictorSPX extends PWMMotorController {
   /**
    * Constructor for a Victor SPX connected via PWM.
    *
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SD540.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/SD540.java
similarity index 89%
rename from wpilibj/src/main/java/edu/wpi/first/wpilibj/SD540.java
rename to wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/SD540.java
index 8a14463964..3876dfc500 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SD540.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/SD540.java
@@ -2,13 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.wpilibj;
+package edu.wpi.first.wpilibj.motorcontrol;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.PWM;
 
 /**
- * Mindsensors SD540 Speed Controller.
+ * Mindsensors SD540 Motor Controller.
  *
  * 
    Note that the SD540 uses the following bounds for PWM values. These values should work
  * reasonably well for most controllers, but if users experience issues such as asymmetric behavior
@@ -24,7 +25,7 @@ import edu.wpi.first.hal.HAL;
  *   
  • 0.94ms = full "reverse"
  * 
  */
-public class SD540 extends PWMSpeedController {
+public class SD540 extends PWMMotorController {
   /**
    * Constructor.
    *
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Spark.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/Spark.java
similarity index 89%
rename from wpilibj/src/main/java/edu/wpi/first/wpilibj/Spark.java
rename to wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/Spark.java
index cf3d8d29ba..1b99228ce0 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Spark.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/Spark.java
@@ -2,13 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.wpilibj;
+package edu.wpi.first.wpilibj.motorcontrol;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.PWM;
 
 /**
- * REV Robotics SPARK Speed Controller.
+ * REV Robotics SPARK Motor Controller.
  *
  * 
    Note that the SPARK uses the following bounds for PWM values. These values should work
  * reasonably well for most controllers, but if users experience issues such as asymmetric behavior
@@ -24,7 +25,7 @@ import edu.wpi.first.hal.HAL;
  *   
  • 0.999ms = full "reverse"
  * 
  */
-public class Spark extends PWMSpeedController {
+public class Spark extends PWMMotorController {
   /**
    * Constructor.
    *
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Talon.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/Talon.java
similarity index 88%
rename from wpilibj/src/main/java/edu/wpi/first/wpilibj/Talon.java
rename to wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/Talon.java
index a0b3ac5694..576ba6aefa 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Talon.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/Talon.java
@@ -2,13 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.wpilibj;
+package edu.wpi.first.wpilibj.motorcontrol;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.PWM;
 
 /**
- * Cross the Road Electronics (CTRE) Talon and Talon SR Speed Controller.
+ * Cross the Road Electronics (CTRE) Talon and Talon SR Motor Controller.
  *
  * 
    Note that the Talon uses the following bounds for PWM values. These values should work
  * reasonably well for most controllers, but if users experience issues such as asymmetric behavior
@@ -23,7 +24,7 @@ import edu.wpi.first.hal.HAL;
  *   
  • 0.989ms = full "reverse"
  * 
  */
-public class Talon extends PWMSpeedController {
+public class Talon extends PWMMotorController {
   /**
    * Constructor for a Talon (original or Talon SR).
    *
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Victor.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/Victor.java
similarity index 87%
rename from wpilibj/src/main/java/edu/wpi/first/wpilibj/Victor.java
rename to wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/Victor.java
index bdd9ba7d2d..fac6c4ff90 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Victor.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/Victor.java
@@ -2,13 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.wpilibj;
+package edu.wpi.first.wpilibj.motorcontrol;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.PWM;
 
 /**
- * VEX Robotics Victor 888 Speed Controller The Vex Robotics Victor 884 Speed Controller can also be
+ * VEX Robotics Victor 888 Motor Controller The Vex Robotics Victor 884 Motor Controller can also be
  * used with this class but may need to be calibrated per the Victor 884 user manual.
  *
  * 
    Note that the Victor uses the following bounds for PWM values. These values were determined
@@ -26,7 +27,7 @@ import edu.wpi.first.hal.HAL;
  *   
  • 1.026ms = full "reverse"
  * 
  */
-public class Victor extends PWMSpeedController {
+public class Victor extends PWMMotorController {
   /**
    * Constructor.
    *
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/VictorSP.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/VictorSP.java
similarity index 89%
rename from wpilibj/src/main/java/edu/wpi/first/wpilibj/VictorSP.java
rename to wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/VictorSP.java
index b588c5c9a2..10dba67cff 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/VictorSP.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/VictorSP.java
@@ -2,13 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.wpilibj;
+package edu.wpi.first.wpilibj.motorcontrol;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.PWM;
 
 /**
- * VEX Robotics Victor SP Speed Controller.
+ * VEX Robotics Victor SP Motor Controller.
  *
  * 
    Note that the VictorSP uses the following bounds for PWM values. These values should work
  * reasonably well for most controllers, but if users experience issues such as asymmetric behavior
@@ -24,7 +25,7 @@ import edu.wpi.first.hal.HAL;
  *   
  • 0.997ms = full "reverse"
  * 
  */
-public class VictorSP extends PWMSpeedController {
+public class VictorSP extends PWMMotorController {
   /**
    * Constructor.
    *
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInWidgets.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInWidgets.java
index 7db33edee6..f518a04830 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInWidgets.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInWidgets.java
@@ -245,27 +245,27 @@ public enum BuiltInWidgets implements WidgetType {
    */
   kEncoder("Encoder"),
   /**
-   * Displays a {@link edu.wpi.first.wpilibj.SpeedController SpeedController}. The speed controller
-   * will be controllable from the dashboard when test mode is enabled, but will otherwise be
-   * view-only. 
    
+   * Displays a {@link edu.wpi.first.wpilibj.motorcontrol.MotorController MotorController}. The
+   * speed controller will be controllable from the dashboard when test mode is enabled, but will
+   * otherwise be view-only. 
    
    * Supported types:
    *
    * 
      
-   *   
    • {@link edu.wpi.first.wpilibj.PWMSpeedController}
-   *   
    • {@link edu.wpi.first.wpilibj.DMC60}
-   *   
    • {@link edu.wpi.first.wpilibj.Jaguar}
-   *   
    • {@link edu.wpi.first.wpilibj.PWMSparkMax}
-   *   
    • {@link edu.wpi.first.wpilibj.PWMTalonFX}
-   *   
    • {@link edu.wpi.first.wpilibj.PWMTalonSRX}
-   *   
    • {@link edu.wpi.first.wpilibj.PWMVenom}
-   *   
    • {@link edu.wpi.first.wpilibj.PWMVictorSPX}
-   *   
    • {@link edu.wpi.first.wpilibj.SD540}
-   *   
    • {@link edu.wpi.first.wpilibj.Spark}
-   *   
    • {@link edu.wpi.first.wpilibj.Talon}
-   *   
    • {@link edu.wpi.first.wpilibj.Victor}
-   *   
    • {@link edu.wpi.first.wpilibj.VictorSP}
-   *   
    • {@link edu.wpi.first.wpilibj.SpeedControllerGroup}
-   *   
    • Any custom subclass of {@code SpeedController}
+   *   
    • {@link edu.wpi.first.wpilibj.motorcontrol.PWMMotorController}
+   *   
    • {@link edu.wpi.first.wpilibj.motorcontrol.DMC60}
+   *   
    • {@link edu.wpi.first.wpilibj.motorcontrol.Jaguar}
+   *   
    • {@link edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax}
+   *   
    • {@link edu.wpi.first.wpilibj.motorcontrol.PWMTalonFX}
+   *   
    • {@link edu.wpi.first.wpilibj.motorcontrol.PWMTalonSRX}
+   *   
    • {@link edu.wpi.first.wpilibj.motorcontrol.PWMVenom}
+   *   
    • {@link edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX}
+   *   
    • {@link edu.wpi.first.wpilibj.motorcontrol.SD540}
+   *   
    • {@link edu.wpi.first.wpilibj.motorcontrol.Spark}
+   *   
    • {@link edu.wpi.first.wpilibj.motorcontrol.Talon}
+   *   
    • {@link edu.wpi.first.wpilibj.motorcontrol.Victor}
+   *   
    • {@link edu.wpi.first.wpilibj.motorcontrol.VictorSP}
+   *   
    • {@link edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup}
+   *   
    • Any custom subclass of {@code MotorController}
    * 
    
    *
    * 
    
@@ -277,7 +277,7 @@ public enum BuiltInWidgets implements WidgetType {
    * One of {@code ["HORIZONTAL", "VERTICAL"]}
    * 
    */
-  kSpeedController("Speed Controller"),
+  kMotorController("Motor Controller"),
   /**
    * Displays a command with a toggle button. Pressing the button will start the command, and the
    * button will automatically release when the command completes. 
    
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/SpeedControllerGroupTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/SpeedControllerGroupTest.java
deleted file mode 100644
index 5f4a80cbff..0000000000
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/SpeedControllerGroupTest.java
+++ /dev/null
@@ -1,101 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.wpilibj;
-
-import static org.junit.jupiter.api.Assertions.assertArrayEquals;
-import static org.junit.jupiter.api.Assertions.assertTrue;
-
-import java.util.Arrays;
-import java.util.stream.DoubleStream;
-import java.util.stream.IntStream;
-import java.util.stream.Stream;
-import org.junit.jupiter.params.ParameterizedTest;
-import org.junit.jupiter.params.provider.Arguments;
-import org.junit.jupiter.params.provider.MethodSource;
-
-class SpeedControllerGroupTest {
-  private static Stream speedControllerArguments() {
-    return IntStream.of(1, 2, 3)
-        .mapToObj(
-            number -> {
-              SpeedController[] speedControllers =
-                  Stream.generate(MockSpeedController::new)
-                      .limit(number)
-                      .toArray(SpeedController[]::new);
-              SpeedControllerGroup group =
-                  new SpeedControllerGroup(
-                      speedControllers[0],
-                      Arrays.copyOfRange(speedControllers, 1, speedControllers.length));
-              return Arguments.of(group, speedControllers);
-            });
-  }
-
-  @ParameterizedTest
-  @MethodSource("speedControllerArguments")
-  void setTest(final SpeedControllerGroup group, final SpeedController[] speedControllers) {
-    group.set(1.0);
-
-    assertArrayEquals(
-        DoubleStream.generate(() -> 1.0).limit(speedControllers.length).toArray(),
-        Arrays.stream(speedControllers).mapToDouble(SpeedController::get).toArray(),
-        0.00005);
-  }
-
-  @ParameterizedTest
-  @MethodSource("speedControllerArguments")
-  void getInvertedTest(final SpeedControllerGroup group, final SpeedController[] speedControllers) {
-    group.setInverted(true);
-
-    assertTrue(group.getInverted());
-  }
-
-  @ParameterizedTest
-  @MethodSource("speedControllerArguments")
-  void setInvertedDoesNotModifySpeedControllersTest(
-      final SpeedControllerGroup group, final SpeedController[] speedControllers) {
-    group.setInverted(true);
-
-    assertArrayEquals(
-        Stream.generate(() -> false).limit(speedControllers.length).toArray(),
-        Arrays.stream(speedControllers).map(SpeedController::getInverted).toArray());
-  }
-
-  @ParameterizedTest
-  @MethodSource("speedControllerArguments")
-  void setInvertedDoesInvertTest(
-      final SpeedControllerGroup group, final SpeedController[] speedControllers) {
-    group.setInverted(true);
-    group.set(1.0);
-
-    assertArrayEquals(
-        DoubleStream.generate(() -> -1.0).limit(speedControllers.length).toArray(),
-        Arrays.stream(speedControllers).mapToDouble(SpeedController::get).toArray(),
-        0.00005);
-  }
-
-  @ParameterizedTest
-  @MethodSource("speedControllerArguments")
-  void disableTest(final SpeedControllerGroup group, final SpeedController[] speedControllers) {
-    group.set(1.0);
-    group.disable();
-
-    assertArrayEquals(
-        DoubleStream.generate(() -> 0.0).limit(speedControllers.length).toArray(),
-        Arrays.stream(speedControllers).mapToDouble(SpeedController::get).toArray(),
-        0.00005);
-  }
-
-  @ParameterizedTest
-  @MethodSource("speedControllerArguments")
-  void stopMotorTest(final SpeedControllerGroup group, final SpeedController[] speedControllers) {
-    group.set(1.0);
-    group.stopMotor();
-
-    assertArrayEquals(
-        DoubleStream.generate(() -> 0.0).limit(speedControllers.length).toArray(),
-        Arrays.stream(speedControllers).mapToDouble(SpeedController::get).toArray(),
-        0.00005);
-  }
-}
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MockSpeedController.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/motorcontrol/MockMotorController.java
similarity index 86%
rename from wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MockSpeedController.java
rename to wpilibj/src/test/java/edu/wpi/first/wpilibj/motorcontrol/MockMotorController.java
index a7bd4a802f..e7a6b8eb36 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MockSpeedController.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/motorcontrol/MockMotorController.java
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.wpilibj;
+package edu.wpi.first.wpilibj.motorcontrol;
 
-public class MockSpeedController implements SpeedController {
+public class MockMotorController implements MotorController {
   private double m_speed;
   private boolean m_isInverted;
 
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/motorcontrol/MotorControllerGroupTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/motorcontrol/MotorControllerGroupTest.java
new file mode 100644
index 0000000000..6efb3def8b
--- /dev/null
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/motorcontrol/MotorControllerGroupTest.java
@@ -0,0 +1,101 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj.motorcontrol;
+
+import static org.junit.jupiter.api.Assertions.assertArrayEquals;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import java.util.Arrays;
+import java.util.stream.DoubleStream;
+import java.util.stream.IntStream;
+import java.util.stream.Stream;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.Arguments;
+import org.junit.jupiter.params.provider.MethodSource;
+
+class MotorControllerGroupTest {
+  private static Stream motorControllerArguments() {
+    return IntStream.of(1, 2, 3)
+        .mapToObj(
+            number -> {
+              MotorController[] motorControllers =
+                  Stream.generate(MockMotorController::new)
+                      .limit(number)
+                      .toArray(MotorController[]::new);
+              MotorControllerGroup group =
+                  new MotorControllerGroup(
+                      motorControllers[0],
+                      Arrays.copyOfRange(motorControllers, 1, motorControllers.length));
+              return Arguments.of(group, motorControllers);
+            });
+  }
+
+  @ParameterizedTest
+  @MethodSource("motorControllerArguments")
+  void setTest(final MotorControllerGroup group, final MotorController[] motorControllers) {
+    group.set(1.0);
+
+    assertArrayEquals(
+        DoubleStream.generate(() -> 1.0).limit(motorControllers.length).toArray(),
+        Arrays.stream(motorControllers).mapToDouble(MotorController::get).toArray(),
+        0.00005);
+  }
+
+  @ParameterizedTest
+  @MethodSource("motorControllerArguments")
+  void getInvertedTest(final MotorControllerGroup group, final MotorController[] motorControllers) {
+    group.setInverted(true);
+
+    assertTrue(group.getInverted());
+  }
+
+  @ParameterizedTest
+  @MethodSource("motorControllerArguments")
+  void setInvertedDoesNotModifyMotorControllersTest(
+      final MotorControllerGroup group, final MotorController[] motorControllers) {
+    group.setInverted(true);
+
+    assertArrayEquals(
+        Stream.generate(() -> false).limit(motorControllers.length).toArray(),
+        Arrays.stream(motorControllers).map(MotorController::getInverted).toArray());
+  }
+
+  @ParameterizedTest
+  @MethodSource("motorControllerArguments")
+  void setInvertedDoesInvertTest(
+      final MotorControllerGroup group, final MotorController[] motorControllers) {
+    group.setInverted(true);
+    group.set(1.0);
+
+    assertArrayEquals(
+        DoubleStream.generate(() -> -1.0).limit(motorControllers.length).toArray(),
+        Arrays.stream(motorControllers).mapToDouble(MotorController::get).toArray(),
+        0.00005);
+  }
+
+  @ParameterizedTest
+  @MethodSource("motorControllerArguments")
+  void disableTest(final MotorControllerGroup group, final MotorController[] motorControllers) {
+    group.set(1.0);
+    group.disable();
+
+    assertArrayEquals(
+        DoubleStream.generate(() -> 0.0).limit(motorControllers.length).toArray(),
+        Arrays.stream(motorControllers).mapToDouble(MotorController::get).toArray(),
+        0.00005);
+  }
+
+  @ParameterizedTest
+  @MethodSource("motorControllerArguments")
+  void stopMotorTest(final MotorControllerGroup group, final MotorController[] motorControllers) {
+    group.set(1.0);
+    group.stopMotor();
+
+    assertArrayEquals(
+        DoubleStream.generate(() -> 0.0).limit(motorControllers.length).toArray(),
+        Arrays.stream(motorControllers).mapToDouble(MotorController::get).toArray(),
+        0.00005);
+  }
+}
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java
index 0b954415a5..13f57f71c2 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java
@@ -8,9 +8,9 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
 import edu.wpi.first.wpilibj.system.plant.DCMotor;
 import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
 import edu.wpi.first.wpilibj.util.Units;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java
index e7bd6372c5..e35243de58 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java
@@ -5,9 +5,9 @@
 package edu.wpi.first.wpilibj.examples.arcadedrive;
 
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.PWMSparkMax;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 
 /**
  * This is a demo program showing the use of the DifferentialDrive class. Runs the motors with
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java
index b382ac54ea..f78d49e25e 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java
@@ -5,10 +5,10 @@
 package edu.wpi.first.wpilibj.examples.arcadedrivexboxcontroller;
 
 import edu.wpi.first.wpilibj.GenericHID.Hand;
-import edu.wpi.first.wpilibj.PWMSparkMax;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 
 /**
  * This is a demo program showing the use of the DifferentialDrive class. Runs the motors with split
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java
index a4459a5a20..23b89a8ce4 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java
@@ -5,10 +5,10 @@
 package edu.wpi.first.wpilibj.examples.armbot.subsystems;
 
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.PWMSparkMax;
 import edu.wpi.first.wpilibj.controller.ArmFeedforward;
 import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
 import edu.wpi.first.wpilibj.examples.armbot.Constants.ArmConstants;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
 import edu.wpi.first.wpilibj2.command.ProfiledPIDSubsystem;
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/DriveSubsystem.java
index 104b685b3f..9338f309f7 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/DriveSubsystem.java
@@ -5,22 +5,22 @@
 package edu.wpi.first.wpilibj.examples.armbot.subsystems;
 
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.PWMSparkMax;
-import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.examples.armbot.Constants.DriveConstants;
+import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class DriveSubsystem extends SubsystemBase {
   // The motors on the left side of the drive.
-  private final SpeedControllerGroup m_leftMotors =
-      new SpeedControllerGroup(
+  private final MotorControllerGroup m_leftMotors =
+      new MotorControllerGroup(
           new PWMSparkMax(DriveConstants.kLeftMotor1Port),
           new PWMSparkMax(DriveConstants.kLeftMotor2Port));
 
   // The motors on the right side of the drive.
-  private final SpeedControllerGroup m_rightMotors =
-      new SpeedControllerGroup(
+  private final MotorControllerGroup m_rightMotors =
+      new MotorControllerGroup(
           new PWMSparkMax(DriveConstants.kRightMotor1Port),
           new PWMSparkMax(DriveConstants.kRightMotor2Port));
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/ExampleSmartMotorController.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/ExampleSmartMotorController.java
index fb2329c007..4f95b4003e 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/ExampleSmartMotorController.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/ExampleSmartMotorController.java
@@ -4,14 +4,14 @@
 
 package edu.wpi.first.wpilibj.examples.armbotoffboard;
 
-import edu.wpi.first.wpilibj.SpeedController;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
 
 /**
  * A simplified stub class that simulates the API of a common "smart" motor controller.
  *
  * 
    Has no actual functionality.
  */
-public class ExampleSmartMotorController implements SpeedController {
+public class ExampleSmartMotorController implements MotorController {
   public enum PIDMode {
     kPosition,
     kVelocity,
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/DriveSubsystem.java
index 96d90d4a83..8017719044 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/DriveSubsystem.java
@@ -5,22 +5,22 @@
 package edu.wpi.first.wpilibj.examples.armbotoffboard.subsystems;
 
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.PWMSparkMax;
-import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.examples.armbotoffboard.Constants.DriveConstants;
+import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class DriveSubsystem extends SubsystemBase {
   // The motors on the left side of the drive.
-  private final SpeedControllerGroup m_leftMotors =
-      new SpeedControllerGroup(
+  private final MotorControllerGroup m_leftMotors =
+      new MotorControllerGroup(
           new PWMSparkMax(DriveConstants.kLeftMotor1Port),
           new PWMSparkMax(DriveConstants.kLeftMotor2Port));
 
   // The motors on the right side of the drive.
-  private final SpeedControllerGroup m_rightMotors =
-      new SpeedControllerGroup(
+  private final MotorControllerGroup m_rightMotors =
+      new MotorControllerGroup(
           new PWMSparkMax(DriveConstants.kRightMotor1Port),
           new PWMSparkMax(DriveConstants.kRightMotor2Port));
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java
index d407854300..56ede78abc 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java
@@ -6,10 +6,10 @@ package edu.wpi.first.wpilibj.examples.armsimulation;
 
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.PWMSparkMax;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj.simulation.BatterySim;
 import edu.wpi.first.wpilibj.simulation.EncoderSim;
 import edu.wpi.first.wpilibj.simulation.RoboRioSim;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java
index 759c12924d..7f7e76b949 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java
@@ -6,15 +6,15 @@ package edu.wpi.first.wpilibj.examples.differentialdrivebot;
 
 import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.PWMSparkMax;
-import edu.wpi.first.wpilibj.SpeedController;
-import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
 import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 
 /** Represents a differential drive style drivetrain. */
 public class Drivetrain {
@@ -25,18 +25,18 @@ public class Drivetrain {
   private static final double kWheelRadius = 0.0508; // meters
   private static final int kEncoderResolution = 4096;
 
-  private final SpeedController m_leftLeader = new PWMSparkMax(1);
-  private final SpeedController m_leftFollower = new PWMSparkMax(2);
-  private final SpeedController m_rightLeader = new PWMSparkMax(3);
-  private final SpeedController m_rightFollower = new PWMSparkMax(4);
+  private final MotorController m_leftLeader = new PWMSparkMax(1);
+  private final MotorController m_leftFollower = new PWMSparkMax(2);
+  private final MotorController m_rightLeader = new PWMSparkMax(3);
+  private final MotorController m_rightFollower = new PWMSparkMax(4);
 
   private final Encoder m_leftEncoder = new Encoder(0, 1);
   private final Encoder m_rightEncoder = new Encoder(2, 3);
 
-  private final SpeedControllerGroup m_leftGroup =
-      new SpeedControllerGroup(m_leftLeader, m_leftFollower);
-  private final SpeedControllerGroup m_rightGroup =
-      new SpeedControllerGroup(m_rightLeader, m_rightFollower);
+  private final MotorControllerGroup m_leftGroup =
+      new MotorControllerGroup(m_leftLeader, m_leftFollower);
+  private final MotorControllerGroup m_rightGroup =
+      new MotorControllerGroup(m_rightLeader, m_rightFollower);
 
   private final AnalogGyro m_gyro = new AnalogGyro(0);
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
index 947abc4721..74daf11e80 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
@@ -6,9 +6,6 @@ package edu.wpi.first.wpilibj.examples.differentialdriveposeestimator;
 
 import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.PWMSparkMax;
-import edu.wpi.first.wpilibj.SpeedController;
-import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
@@ -18,6 +15,9 @@ import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj.util.Units;
 import edu.wpi.first.wpiutil.math.VecBuilder;
 
@@ -30,18 +30,18 @@ public class Drivetrain {
   private static final double kWheelRadius = 0.0508; // meters
   private static final int kEncoderResolution = 4096;
 
-  private final SpeedController m_leftLeader = new PWMSparkMax(1);
-  private final SpeedController m_leftFollower = new PWMSparkMax(2);
-  private final SpeedController m_rightLeader = new PWMSparkMax(3);
-  private final SpeedController m_rightFollower = new PWMSparkMax(4);
+  private final MotorController m_leftLeader = new PWMSparkMax(1);
+  private final MotorController m_leftFollower = new PWMSparkMax(2);
+  private final MotorController m_rightLeader = new PWMSparkMax(3);
+  private final MotorController m_rightFollower = new PWMSparkMax(4);
 
   private final Encoder m_leftEncoder = new Encoder(0, 1);
   private final Encoder m_rightEncoder = new Encoder(2, 3);
 
-  private final SpeedControllerGroup m_leftGroup =
-      new SpeedControllerGroup(m_leftLeader, m_leftFollower);
-  private final SpeedControllerGroup m_rightGroup =
-      new SpeedControllerGroup(m_rightLeader, m_rightFollower);
+  private final MotorControllerGroup m_leftGroup =
+      new MotorControllerGroup(m_leftLeader, m_leftFollower);
+  private final MotorControllerGroup m_rightGroup =
+      new MotorControllerGroup(m_rightLeader, m_rightFollower);
 
   private final AnalogGyro m_gyro = new AnalogGyro(0);
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/ExampleSmartMotorController.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/ExampleSmartMotorController.java
index 615ed18bcd..487974cadb 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/ExampleSmartMotorController.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/ExampleSmartMotorController.java
@@ -4,14 +4,14 @@
 
 package edu.wpi.first.wpilibj.examples.drivedistanceoffboard;
 
-import edu.wpi.first.wpilibj.SpeedController;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
 
 /**
  * A simplified stub class that simulates the API of a common "smart" motor controller.
  *
  * 
    Has no actual functionality.
  */
-public class ExampleSmartMotorController implements SpeedController {
+public class ExampleSmartMotorController implements MotorController {
   public enum PIDMode {
     kPosition,
     kVelocity,
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java
index 06bb3cff5c..13d59bad11 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java
@@ -6,10 +6,10 @@ package edu.wpi.first.wpilibj.examples.elevatorprofiledpid;
 
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.PWMSparkMax;
-import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
 
 public class Robot extends TimedRobot {
@@ -17,7 +17,7 @@ public class Robot extends TimedRobot {
 
   private final Joystick m_joystick = new Joystick(1);
   private final Encoder m_encoder = new Encoder(1, 2);
-  private final SpeedController m_motor = new PWMSparkMax(1);
+  private final MotorController m_motor = new PWMSparkMax(1);
 
   // Create a PID controller whose setpoint's change is subject to maximum
   // velocity and acceleration constraints.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java
index 5cab4a16c7..ccae2cb4d7 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java
@@ -6,10 +6,10 @@ package edu.wpi.first.wpilibj.examples.elevatorsimulation;
 
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.PWMSparkMax;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj.simulation.BatterySim;
 import edu.wpi.first.wpilibj.simulation.ElevatorSim;
 import edu.wpi.first.wpilibj.simulation.EncoderSim;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/ExampleSmartMotorController.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/ExampleSmartMotorController.java
index d2ea6eea42..a1366e6f35 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/ExampleSmartMotorController.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/ExampleSmartMotorController.java
@@ -4,14 +4,14 @@
 
 package edu.wpi.first.wpilibj.examples.elevatortrapezoidprofile;
 
-import edu.wpi.first.wpilibj.SpeedController;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
 
 /**
  * A simplified stub class that simulates the API of a common "smart" motor controller.
  *
  * 
    Has no actual functionality.
  */
-public class ExampleSmartMotorController implements SpeedController {
+public class ExampleSmartMotorController implements MotorController {
   public enum PIDMode {
     kPosition,
     kVelocity,
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/DriveSubsystem.java
index 2fd62737a2..b1c580a9c5 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/DriveSubsystem.java
@@ -5,22 +5,22 @@
 package edu.wpi.first.wpilibj.examples.frisbeebot.subsystems;
 
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.PWMSparkMax;
-import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.DriveConstants;
+import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class DriveSubsystem extends SubsystemBase {
   // The motors on the left side of the drive.
-  private final SpeedControllerGroup m_leftMotors =
-      new SpeedControllerGroup(
+  private final MotorControllerGroup m_leftMotors =
+      new MotorControllerGroup(
           new PWMSparkMax(DriveConstants.kLeftMotor1Port),
           new PWMSparkMax(DriveConstants.kLeftMotor2Port));
 
   // The motors on the right side of the drive.
-  private final SpeedControllerGroup m_rightMotors =
-      new SpeedControllerGroup(
+  private final MotorControllerGroup m_rightMotors =
+      new MotorControllerGroup(
           new PWMSparkMax(DriveConstants.kRightMotor1Port),
           new PWMSparkMax(DriveConstants.kRightMotor2Port));
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java
index d5f4844527..e6340af507 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java
@@ -5,10 +5,10 @@
 package edu.wpi.first.wpilibj.examples.frisbeebot.subsystems;
 
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.PWMSparkMax;
 import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
 import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.ShooterConstants;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj2.command.PIDSubsystem;
 
 public class ShooterSubsystem extends PIDSubsystem {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Claw.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Claw.java
index b25c7ea428..d34d12a26e 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Claw.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Claw.java
@@ -5,7 +5,7 @@
 package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
 
 import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.Victor;
+import edu.wpi.first.wpilibj.motorcontrol.Victor;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java
index fdbf1a51e4..b6e223c553 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java
@@ -7,11 +7,11 @@ package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
 import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.PWMSparkMax;
-import edu.wpi.first.wpilibj.SpeedController;
-import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
@@ -20,11 +20,11 @@ public class DriveTrain extends SubsystemBase {
    * The DriveTrain subsystem incorporates the sensors and actuators attached to the robots chassis.
    * These include four drive motors, a left and right encoder and a gyro.
    */
-  private final SpeedController m_leftMotor =
-      new SpeedControllerGroup(new PWMSparkMax(0), new PWMSparkMax(1));
+  private final MotorController m_leftMotor =
+      new MotorControllerGroup(new PWMSparkMax(0), new PWMSparkMax(1));
 
-  private final SpeedController m_rightMotor =
-      new SpeedControllerGroup(new PWMSparkMax(2), new PWMSparkMax(3));
+  private final MotorController m_rightMotor =
+      new MotorControllerGroup(new PWMSparkMax(2), new PWMSparkMax(3));
 
   private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotor, m_rightMotor);
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Elevator.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Elevator.java
index fc38bf8717..ceb809f550 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Elevator.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Elevator.java
@@ -5,9 +5,9 @@
 package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
 
 import edu.wpi.first.wpilibj.AnalogPotentiometer;
-import edu.wpi.first.wpilibj.Victor;
 import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
+import edu.wpi.first.wpilibj.motorcontrol.Victor;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.PIDSubsystem;
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java
index 7421433be3..661e3944fd 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java
@@ -5,9 +5,9 @@
 package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
 
 import edu.wpi.first.wpilibj.AnalogPotentiometer;
-import edu.wpi.first.wpilibj.Victor;
 import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
+import edu.wpi.first.wpilibj.motorcontrol.Victor;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.PIDSubsystem;
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
index ee0678cb7b..0a9a2b034d 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
@@ -5,10 +5,10 @@
 package edu.wpi.first.wpilibj.examples.gettingstarted;
 
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.PWMSparkMax;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 
 /**
  * The VM is configured to automatically run this class, and to call the functions corresponding to
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java
index 9bdb61b227..3d8353bd90 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java
@@ -6,9 +6,9 @@ package edu.wpi.first.wpilibj.examples.gyro;
 
 import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.PWMSparkMax;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 
 /**
  * This is a sample program to demonstrate how to use a gyro sensor to make a robot drive straight.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/subsystems/DriveSubsystem.java
index 439b503673..c16034cd00 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/subsystems/DriveSubsystem.java
@@ -6,23 +6,23 @@ package edu.wpi.first.wpilibj.examples.gyrodrivecommands.subsystems;
 
 import edu.wpi.first.wpilibj.ADXRS450_Gyro;
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.PWMSparkMax;
-import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants;
 import edu.wpi.first.wpilibj.interfaces.Gyro;
+import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class DriveSubsystem extends SubsystemBase {
   // The motors on the left side of the drive.
-  private final SpeedControllerGroup m_leftMotors =
-      new SpeedControllerGroup(
+  private final MotorControllerGroup m_leftMotors =
+      new MotorControllerGroup(
           new PWMSparkMax(DriveConstants.kLeftMotor1Port),
           new PWMSparkMax(DriveConstants.kLeftMotor2Port));
 
   // The motors on the right side of the drive.
-  private final SpeedControllerGroup m_rightMotors =
-      new SpeedControllerGroup(
+  private final MotorControllerGroup m_rightMotors =
+      new MotorControllerGroup(
           new PWMSparkMax(DriveConstants.kRightMotor1Port),
           new PWMSparkMax(DriveConstants.kRightMotor2Port));
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java
index b607c916ae..f4b9a97e8c 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java
@@ -6,9 +6,9 @@ package edu.wpi.first.wpilibj.examples.gyromecanum;
 
 import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.PWMSparkMax;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.drive.MecanumDrive;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 
 /**
  * This is a sample program that uses mecanum drive with a gyro sensor to maintain rotation
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/DriveSubsystem.java
index faa61f4e41..87767d5227 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/DriveSubsystem.java
@@ -5,22 +5,22 @@
 package edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems;
 
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.PWMSparkMax;
-import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.DriveConstants;
+import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class DriveSubsystem extends SubsystemBase {
   // The motors on the left side of the drive.
-  private final SpeedControllerGroup m_leftMotors =
-      new SpeedControllerGroup(
+  private final MotorControllerGroup m_leftMotors =
+      new MotorControllerGroup(
           new PWMSparkMax(DriveConstants.kLeftMotor1Port),
           new PWMSparkMax(DriveConstants.kLeftMotor2Port));
 
   // The motors on the right side of the drive.
-  private final SpeedControllerGroup m_rightMotors =
-      new SpeedControllerGroup(
+  private final MotorControllerGroup m_rightMotors =
+      new MotorControllerGroup(
           new PWMSparkMax(DriveConstants.kRightMotor1Port),
           new PWMSparkMax(DriveConstants.kRightMotor2Port));
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/DriveSubsystem.java
index acf3189c1a..b88e9005f8 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/DriveSubsystem.java
@@ -5,22 +5,22 @@
 package edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems;
 
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.PWMSparkMax;
-import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.DriveConstants;
+import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class DriveSubsystem extends SubsystemBase {
   // The motors on the left side of the drive.
-  private final SpeedControllerGroup m_leftMotors =
-      new SpeedControllerGroup(
+  private final MotorControllerGroup m_leftMotors =
+      new MotorControllerGroup(
           new PWMSparkMax(DriveConstants.kLeftMotor1Port),
           new PWMSparkMax(DriveConstants.kLeftMotor2Port));
 
   // The motors on the right side of the drive.
-  private final SpeedControllerGroup m_rightMotors =
-      new SpeedControllerGroup(
+  private final MotorControllerGroup m_rightMotors =
+      new MotorControllerGroup(
           new PWMSparkMax(DriveConstants.kRightMotor1Port),
           new PWMSparkMax(DriveConstants.kRightMotor2Port));
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
index ab95a7aab0..c50a2b247e 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
@@ -6,8 +6,6 @@ package edu.wpi.first.wpilibj.examples.mecanumbot;
 
 import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.PWMSparkMax;
-import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
 import edu.wpi.first.wpilibj.geometry.Translation2d;
@@ -15,6 +13,8 @@ import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics;
 import edu.wpi.first.wpilibj.kinematics.MecanumDriveOdometry;
 import edu.wpi.first.wpilibj.kinematics.MecanumDriveWheelSpeeds;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 
 /** Represents a mecanum drive style drivetrain. */
 @SuppressWarnings("PMD.TooManyFields")
@@ -22,10 +22,10 @@ public class Drivetrain {
   public static final double kMaxSpeed = 3.0; // 3 meters per second
   public static final double kMaxAngularSpeed = Math.PI; // 1/2 rotation per second
 
-  private final SpeedController m_frontLeftMotor = new PWMSparkMax(1);
-  private final SpeedController m_frontRightMotor = new PWMSparkMax(2);
-  private final SpeedController m_backLeftMotor = new PWMSparkMax(3);
-  private final SpeedController m_backRightMotor = new PWMSparkMax(4);
+  private final MotorController m_frontLeftMotor = new PWMSparkMax(1);
+  private final MotorController m_frontRightMotor = new PWMSparkMax(2);
+  private final MotorController m_backLeftMotor = new PWMSparkMax(3);
+  private final MotorController m_backRightMotor = new PWMSparkMax(4);
 
   private final Encoder m_frontLeftEncoder = new Encoder(0, 1);
   private final Encoder m_frontRightEncoder = new Encoder(2, 3);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java
index f66a7c98ab..c209346a74 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java
@@ -118,7 +118,7 @@ public class RobotContainer {
             new PIDController(DriveConstants.kPFrontRightVel, 0, 0),
             new PIDController(DriveConstants.kPRearRightVel, 0, 0),
             m_robotDrive::getCurrentWheelSpeeds,
-            m_robotDrive::setDriveSpeedControllersVolts, // Consumer for the output motor voltages
+            m_robotDrive::setDriveMotorControllersVolts, // Consumer for the output motor voltages
             m_robotDrive);
 
     // Reset odometry to the starting pose of the trajectory.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java
index 8ee318bc6b..bb4913476c 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java
@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.subsystems;
 
 import edu.wpi.first.wpilibj.ADXRS450_Gyro;
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.PWMSparkMax;
 import edu.wpi.first.wpilibj.drive.MecanumDrive;
 import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.DriveConstants;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
@@ -14,6 +13,7 @@ import edu.wpi.first.wpilibj.interfaces.Gyro;
 import edu.wpi.first.wpilibj.kinematics.MecanumDriveMotorVoltages;
 import edu.wpi.first.wpilibj.kinematics.MecanumDriveOdometry;
 import edu.wpi.first.wpilibj.kinematics.MecanumDriveWheelSpeeds;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class DriveSubsystem extends SubsystemBase {
@@ -117,8 +117,8 @@ public class DriveSubsystem extends SubsystemBase {
     }
   }
 
-  /** Sets the front left drive SpeedController to a voltage. */
-  public void setDriveSpeedControllersVolts(MecanumDriveMotorVoltages volts) {
+  /** Sets the front left drive MotorController to a voltage. */
+  public void setDriveMotorControllersVolts(MecanumDriveMotorVoltages volts) {
     m_frontLeft.setVoltage(volts.frontLeftVoltage);
     m_rearLeft.setVoltage(volts.rearLeftVoltage);
     m_frontRight.setVoltage(volts.frontRightVoltage);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java
index 5b2ef43398..80c16b52fb 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java
@@ -5,9 +5,9 @@
 package edu.wpi.first.wpilibj.examples.mecanumdrive;
 
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.PWMSparkMax;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.drive.MecanumDrive;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 
 /** This is a demo program showing how to use Mecanum control with the MecanumDrive class. */
 public class Robot extends TimedRobot {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java
index bd1a3fe8d9..3fba18a6bc 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java
@@ -6,8 +6,6 @@ package edu.wpi.first.wpilibj.examples.mecanumdriveposeestimator;
 
 import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.PWMSparkMax;
-import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
@@ -18,6 +16,8 @@ import edu.wpi.first.wpilibj.geometry.Translation2d;
 import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics;
 import edu.wpi.first.wpilibj.kinematics.MecanumDriveWheelSpeeds;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj.util.Units;
 import edu.wpi.first.wpiutil.math.VecBuilder;
 
@@ -27,10 +27,10 @@ public class Drivetrain {
   public static final double kMaxSpeed = 3.0; // 3 meters per second
   public static final double kMaxAngularSpeed = Math.PI; // 1/2 rotation per second
 
-  private final SpeedController m_frontLeftMotor = new PWMSparkMax(1);
-  private final SpeedController m_frontRightMotor = new PWMSparkMax(2);
-  private final SpeedController m_backLeftMotor = new PWMSparkMax(3);
-  private final SpeedController m_backRightMotor = new PWMSparkMax(4);
+  private final MotorController m_frontLeftMotor = new PWMSparkMax(1);
+  private final MotorController m_frontRightMotor = new PWMSparkMax(2);
+  private final MotorController m_backLeftMotor = new PWMSparkMax(3);
+  private final MotorController m_backRightMotor = new PWMSparkMax(4);
 
   private final Encoder m_frontLeftEncoder = new Encoder(0, 1);
   private final Encoder m_frontRightEncoder = new Encoder(2, 3);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Robot.java
index e9105d8bd5..9976381baf 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Robot.java
@@ -5,9 +5,9 @@
 package edu.wpi.first.wpilibj.examples.motorcontrol;
 
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.PWMSparkMax;
-import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 
 /**
  * This sample program shows how to control a motor using a joystick. In the operator control part
@@ -20,7 +20,7 @@ public class Robot extends TimedRobot {
   private static final int kMotorPort = 0;
   private static final int kJoystickPort = 0;
 
-  private SpeedController m_motor;
+  private MotorController m_motor;
   private Joystick m_joystick;
 
   @Override
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrolencoder/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrolencoder/Robot.java
index 1b0b617d0e..9b68965821 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrolencoder/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrolencoder/Robot.java
@@ -6,9 +6,9 @@ package edu.wpi.first.wpilibj.examples.motorcontrolencoder;
 
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.PWMSparkMax;
-import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 /**
@@ -27,7 +27,7 @@ public class Robot extends TimedRobot {
   private static final int kEncoderPortA = 0;
   private static final int kEncoderPortB = 1;
 
-  private SpeedController m_motor;
+  private MotorController m_motor;
   private Joystick m_joystick;
   private Encoder m_encoder;
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Collector.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Collector.java
index 5dd83e6373..8123b06a74 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Collector.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Collector.java
@@ -6,9 +6,9 @@ package edu.wpi.first.wpilibj.examples.pacgoat.subsystems;
 
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.Solenoid;
-import edu.wpi.first.wpilibj.SpeedController;
-import edu.wpi.first.wpilibj.Victor;
 import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+import edu.wpi.first.wpilibj.motorcontrol.Victor;
 
 /**
  * The Collector subsystem has one motor for the rollers, a limit switch for ball detection, a
@@ -21,7 +21,7 @@ public class Collector extends Subsystem {
   public static final double kReverse = -1;
 
   // Subsystem devices
-  private final SpeedController m_rollerMotor = new Victor(6);
+  private final MotorController m_rollerMotor = new Victor(6);
   private final DigitalInput m_ballDetector = new DigitalInput(10);
   private final DigitalInput m_openDetector = new DigitalInput(6);
   private final Solenoid m_piston = new Solenoid(1, 1);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/DriveTrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/DriveTrain.java
index 2ce6a7cf41..ce671bc8ed 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/DriveTrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/DriveTrain.java
@@ -8,13 +8,13 @@ import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.SpeedController;
-import edu.wpi.first.wpilibj.SpeedControllerGroup;
-import edu.wpi.first.wpilibj.Victor;
 import edu.wpi.first.wpilibj.command.Subsystem;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
 import edu.wpi.first.wpilibj.examples.pacgoat.commands.DriveWithJoystick;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
+import edu.wpi.first.wpilibj.motorcontrol.Victor;
 
 /**
  * The DriveTrain subsystem controls the robot's chassis and reads in information about it's speed
@@ -22,14 +22,14 @@ import edu.wpi.first.wpilibj.examples.pacgoat.commands.DriveWithJoystick;
  */
 public class DriveTrain extends Subsystem {
   // Subsystem devices
-  private final SpeedController m_frontLeftCIM = new Victor(1);
-  private final SpeedController m_frontRightCIM = new Victor(2);
-  private final SpeedController m_rearLeftCIM = new Victor(3);
-  private final SpeedController m_rearRightCIM = new Victor(4);
-  private final SpeedControllerGroup m_leftCIMs =
-      new SpeedControllerGroup(m_frontLeftCIM, m_rearLeftCIM);
-  private final SpeedControllerGroup m_rightCIMs =
-      new SpeedControllerGroup(m_frontRightCIM, m_rearRightCIM);
+  private final MotorController m_frontLeftCIM = new Victor(1);
+  private final MotorController m_frontRightCIM = new Victor(2);
+  private final MotorController m_rearLeftCIM = new Victor(3);
+  private final MotorController m_rearRightCIM = new Victor(4);
+  private final MotorControllerGroup m_leftCIMs =
+      new MotorControllerGroup(m_frontLeftCIM, m_rearLeftCIM);
+  private final MotorControllerGroup m_rightCIMs =
+      new MotorControllerGroup(m_frontRightCIM, m_rearRightCIM);
   private final DifferentialDrive m_drive;
   private final Encoder m_rightEncoder = new Encoder(1, 2, true, EncodingType.k4X);
   private final Encoder m_leftEncoder = new Encoder(3, 4, false, EncodingType.k4X);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Pivot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Pivot.java
index 620476fe97..1e65c64068 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Pivot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Pivot.java
@@ -6,10 +6,10 @@ package edu.wpi.first.wpilibj.examples.pacgoat.subsystems;
 
 import edu.wpi.first.wpilibj.AnalogPotentiometer;
 import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.SpeedController;
-import edu.wpi.first.wpilibj.Victor;
 import edu.wpi.first.wpilibj.command.PIDSubsystem;
 import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+import edu.wpi.first.wpilibj.motorcontrol.Victor;
 
 /**
  * The Pivot subsystem contains the Van-door motor and the pot for PID control of angle of the pivot
@@ -31,7 +31,7 @@ public class Pivot extends PIDSubsystem {
   private final AnalogPotentiometer m_pot = new AnalogPotentiometer(1);
 
   // Motor to move the pivot.
-  private final SpeedController m_motor = new Victor(5);
+  private final MotorController m_motor = new Victor(5);
 
   /** Create a new pivot subsystem. */
   public Pivot() {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java
index 148a4760fd..72d06fc0d3 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java
@@ -6,10 +6,10 @@ package edu.wpi.first.wpilibj.examples.potentiometerpid;
 
 import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.PWMSparkMax;
-import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 
 /**
  * This is a sample program to demonstrate how to use a soft potentiometer and a PID controller to
@@ -33,7 +33,7 @@ public class Robot extends TimedRobot {
 
   private PIDController m_pidController;
   private AnalogInput m_potentiometer;
-  private SpeedController m_elevatorMotor;
+  private MotorController m_elevatorMotor;
   private Joystick m_joystick;
 
   private int m_index;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
index 7ccb1f27f4..275b49f215 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
@@ -6,26 +6,26 @@ package edu.wpi.first.wpilibj.examples.ramsetecommand.subsystems;
 
 import edu.wpi.first.wpilibj.ADXRS450_Gyro;
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.PWMSparkMax;
-import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.interfaces.Gyro;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
+import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class DriveSubsystem extends SubsystemBase {
   // The motors on the left side of the drive.
-  private final SpeedControllerGroup m_leftMotors =
-      new SpeedControllerGroup(
+  private final MotorControllerGroup m_leftMotors =
+      new MotorControllerGroup(
           new PWMSparkMax(DriveConstants.kLeftMotor1Port),
           new PWMSparkMax(DriveConstants.kLeftMotor2Port));
 
   // The motors on the right side of the drive.
-  private final SpeedControllerGroup m_rightMotors =
-      new SpeedControllerGroup(
+  private final MotorControllerGroup m_rightMotors =
+      new MotorControllerGroup(
           new PWMSparkMax(DriveConstants.kRightMotor1Port),
           new PWMSparkMax(DriveConstants.kRightMotor2Port));
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Drivetrain.java
index 1c40b944bb..d1ff5dd849 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Drivetrain.java
@@ -6,9 +6,6 @@ package edu.wpi.first.wpilibj.examples.ramsetecontroller;
 
 import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.PWMSparkMax;
-import edu.wpi.first.wpilibj.SpeedController;
-import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
@@ -16,6 +13,9 @@ import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 
 /** Represents a differential drive style drivetrain. */
 public class Drivetrain {
@@ -26,18 +26,18 @@ public class Drivetrain {
   private static final double kWheelRadius = 0.0508; // meters
   private static final int kEncoderResolution = 4096;
 
-  private final SpeedController m_leftLeader = new PWMSparkMax(1);
-  private final SpeedController m_leftFollower = new PWMSparkMax(2);
-  private final SpeedController m_rightLeader = new PWMSparkMax(3);
-  private final SpeedController m_rightFollower = new PWMSparkMax(4);
+  private final MotorController m_leftLeader = new PWMSparkMax(1);
+  private final MotorController m_leftFollower = new PWMSparkMax(2);
+  private final MotorController m_rightLeader = new PWMSparkMax(3);
+  private final MotorController m_rightFollower = new PWMSparkMax(4);
 
   private final Encoder m_leftEncoder = new Encoder(0, 1);
   private final Encoder m_rightEncoder = new Encoder(2, 3);
 
-  private final SpeedControllerGroup m_leftGroup =
-      new SpeedControllerGroup(m_leftLeader, m_leftFollower);
-  private final SpeedControllerGroup m_rightGroup =
-      new SpeedControllerGroup(m_rightLeader, m_rightFollower);
+  private final MotorControllerGroup m_leftGroup =
+      new MotorControllerGroup(m_leftLeader, m_leftFollower);
+  private final MotorControllerGroup m_rightGroup =
+      new MotorControllerGroup(m_rightLeader, m_rightFollower);
 
   private final AnalogGyro m_gyro = new AnalogGyro(0);
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/subsystems/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/subsystems/Drivetrain.java
index eb3ca22a1e..cc95e0475c 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/subsystems/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/subsystems/Drivetrain.java
@@ -6,8 +6,8 @@ package edu.wpi.first.wpilibj.examples.romireference.subsystems;
 
 import edu.wpi.first.wpilibj.BuiltInAccelerometer;
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.Spark;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj.romi.RomiGyro;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Robot.java
index bc1704f71c..eb6a6d94c8 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Robot.java
@@ -7,9 +7,9 @@ package edu.wpi.first.wpilibj.examples.shuffleboard;
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.wpilibj.AnalogPotentiometer;
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.PWMSparkMax;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
index 9fa5e6b54c..2cb16c13fa 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
@@ -6,9 +6,7 @@ package edu.wpi.first.wpilibj.examples.simpledifferentialdrivesimulation;
 
 import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.PWMSparkMax;
 import edu.wpi.first.wpilibj.RobotController;
-import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
@@ -16,6 +14,8 @@ import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
+import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj.simulation.AnalogGyroSim;
 import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim;
 import edu.wpi.first.wpilibj.simulation.EncoderSim;
@@ -42,10 +42,10 @@ public class Drivetrain {
   private final PWMSparkMax m_rightLeader = new PWMSparkMax(3);
   private final PWMSparkMax m_rightFollower = new PWMSparkMax(4);
 
-  private final SpeedControllerGroup m_leftGroup =
-      new SpeedControllerGroup(m_leftLeader, m_leftFollower);
-  private final SpeedControllerGroup m_rightGroup =
-      new SpeedControllerGroup(m_rightLeader, m_rightFollower);
+  private final MotorControllerGroup m_leftGroup =
+      new MotorControllerGroup(m_leftLeader, m_leftFollower);
+  private final MotorControllerGroup m_rightGroup =
+      new MotorControllerGroup(m_rightLeader, m_rightFollower);
 
   private final Encoder m_leftEncoder = new Encoder(0, 1);
   private final Encoder m_rightEncoder = new Encoder(2, 3);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacearm/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacearm/Robot.java
index aa43dff01f..c7f8d24ece 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacearm/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacearm/Robot.java
@@ -6,11 +6,11 @@ package edu.wpi.first.wpilibj.examples.statespacearm;
 
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.PWMSparkMax;
-import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.controller.LinearQuadraticRegulator;
 import edu.wpi.first.wpilibj.estimator.KalmanFilter;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj.system.LinearSystem;
 import edu.wpi.first.wpilibj.system.LinearSystemLoop;
 import edu.wpi.first.wpilibj.system.plant.DCMotor;
@@ -91,7 +91,7 @@ public class Robot extends TimedRobot {
   // An encoder set up to measure arm position in radians.
   private final Encoder m_encoder = new Encoder(kEncoderAChannel, kEncoderBChannel);
 
-  private final SpeedController m_motor = new PWMSparkMax(kMotorPort);
+  private final MotorController m_motor = new PWMSparkMax(kMotorPort);
 
   // A joystick to read the trigger from.
   private final Joystick m_joystick = new Joystick(kJoystickPort);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
index 1e70efe380..32394ea1d3 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
@@ -6,16 +6,16 @@ package edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation.sub
 
 import edu.wpi.first.wpilibj.ADXRS450_Gyro;
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.PWMSparkMax;
 import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.RobotController;
-import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation.Constants.DriveConstants;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
+import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj.simulation.ADXRS450_GyroSim;
 import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim;
 import edu.wpi.first.wpilibj.simulation.EncoderSim;
@@ -26,14 +26,14 @@ import edu.wpi.first.wpiutil.math.VecBuilder;
 
 public class DriveSubsystem extends SubsystemBase {
   // The motors on the left side of the drive.
-  private final SpeedControllerGroup m_leftMotors =
-      new SpeedControllerGroup(
+  private final MotorControllerGroup m_leftMotors =
+      new MotorControllerGroup(
           new PWMSparkMax(DriveConstants.kLeftMotor1Port),
           new PWMSparkMax(DriveConstants.kLeftMotor2Port));
 
   // The motors on the right side of the drive.
-  private final SpeedControllerGroup m_rightMotors =
-      new SpeedControllerGroup(
+  private final MotorControllerGroup m_rightMotors =
+      new MotorControllerGroup(
           new PWMSparkMax(DriveConstants.kRightMotor1Port),
           new PWMSparkMax(DriveConstants.kRightMotor2Port));
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceelevator/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceelevator/Robot.java
index 57ce6c3ae7..64c3bd1df7 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceelevator/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceelevator/Robot.java
@@ -6,11 +6,11 @@ package edu.wpi.first.wpilibj.examples.statespaceelevator;
 
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.PWMSparkMax;
-import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.controller.LinearQuadraticRegulator;
 import edu.wpi.first.wpilibj.estimator.KalmanFilter;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj.system.LinearSystem;
 import edu.wpi.first.wpilibj.system.LinearSystemLoop;
 import edu.wpi.first.wpilibj.system.plant.DCMotor;
@@ -94,7 +94,7 @@ public class Robot extends TimedRobot {
   // An encoder set up to measure elevator height in meters.
   private final Encoder m_encoder = new Encoder(kEncoderAChannel, kEncoderBChannel);
 
-  private final SpeedController m_motor = new PWMSparkMax(kMotorPort);
+  private final MotorController m_motor = new PWMSparkMax(kMotorPort);
 
   // A joystick to read the trigger from.
   private final Joystick m_joystick = new Joystick(kJoystickPort);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
index bf1f4f78c9..cb6d10a076 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
@@ -6,11 +6,11 @@ package edu.wpi.first.wpilibj.examples.statespaceflywheel;
 
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.PWMSparkMax;
-import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.controller.LinearQuadraticRegulator;
 import edu.wpi.first.wpilibj.estimator.KalmanFilter;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj.system.LinearSystem;
 import edu.wpi.first.wpilibj.system.LinearSystemLoop;
 import edu.wpi.first.wpilibj.system.plant.DCMotor;
@@ -77,7 +77,7 @@ public class Robot extends TimedRobot {
   // An encoder set up to measure flywheel velocity in radians per second.
   private final Encoder m_encoder = new Encoder(kEncoderAChannel, kEncoderBChannel);
 
-  private final SpeedController m_motor = new PWMSparkMax(kMotorPort);
+  private final MotorController m_motor = new PWMSparkMax(kMotorPort);
 
   // A joystick to read the trigger from.
   private final Joystick m_joystick = new Joystick(kJoystickPort);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Robot.java
index 9c080346ee..7bb4491f12 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Robot.java
@@ -6,11 +6,11 @@ package edu.wpi.first.wpilibj.examples.statespaceflywheelsysid;
 
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.PWMSparkMax;
-import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.controller.LinearQuadraticRegulator;
 import edu.wpi.first.wpilibj.estimator.KalmanFilter;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj.system.LinearSystem;
 import edu.wpi.first.wpilibj.system.LinearSystemLoop;
 import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
@@ -72,7 +72,7 @@ public class Robot extends TimedRobot {
   // An encoder set up to measure flywheel velocity in radians per second.
   private final Encoder m_encoder = new Encoder(kEncoderAChannel, kEncoderBChannel);
 
-  private final SpeedController m_motor = new PWMSparkMax(kMotorPort);
+  private final MotorController m_motor = new PWMSparkMax(kMotorPort);
 
   // A joystick to read the trigger from.
   private final Joystick m_joystick = new Joystick(kJoystickPort);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
index 887001c090..cd5691ecf7 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
@@ -5,13 +5,13 @@
 package edu.wpi.first.wpilibj.examples.swervebot;
 
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.PWMSparkMax;
-import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
 import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
 
 public class SwerveModule {
@@ -22,8 +22,8 @@ public class SwerveModule {
   private static final double kModuleMaxAngularAcceleration =
       2 * Math.PI; // radians per second squared
 
-  private final SpeedController m_driveMotor;
-  private final SpeedController m_turningMotor;
+  private final MotorController m_driveMotor;
+  private final MotorController m_turningMotor;
 
   private final Encoder m_driveEncoder = new Encoder(0, 1);
   private final Encoder m_turningEncoder = new Encoder(2, 3);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
index 4ec1545da0..12c6aad699 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
@@ -5,12 +5,12 @@
 package edu.wpi.first.wpilibj.examples.swervecontrollercommand.subsystems;
 
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.Spark;
 import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
 import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.ModuleConstants;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
 
 public class SwerveModule {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/SwerveModule.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/SwerveModule.java
index 236de7df97..cf36020959 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/SwerveModule.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/SwerveModule.java
@@ -5,13 +5,13 @@
 package edu.wpi.first.wpilibj.examples.swervesdriveposeestimator;
 
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.PWMSparkMax;
-import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
 import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
 
 public class SwerveModule {
@@ -22,8 +22,8 @@ public class SwerveModule {
   private static final double kModuleMaxAngularAcceleration =
       2 * Math.PI; // radians per second squared
 
-  private final SpeedController m_driveMotor;
-  private final SpeedController m_turningMotor;
+  private final MotorController m_driveMotor;
+  private final MotorController m_turningMotor;
 
   private final Encoder m_driveEncoder = new Encoder(0, 1);
   private final Encoder m_turningEncoder = new Encoder(2, 3);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Robot.java
index bf2a568e1a..1d934ff68a 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Robot.java
@@ -5,9 +5,9 @@
 package edu.wpi.first.wpilibj.examples.tankdrive;
 
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.PWMSparkMax;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 
 /**
  * This is a demo program showing the use of the DifferentialDrive class, specifically it contains
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrivexboxcontroller/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrivexboxcontroller/Robot.java
index e54d44da66..a2579f38a8 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrivexboxcontroller/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrivexboxcontroller/Robot.java
@@ -5,10 +5,10 @@
 package edu.wpi.first.wpilibj.examples.tankdrivexboxcontroller;
 
 import edu.wpi.first.wpilibj.GenericHID.Hand;
-import edu.wpi.first.wpilibj.PWMSparkMax;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 
 /**
  * This is a demo program showing the use of the DifferentialDrive class. Runs the motors with tank
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
index 58de666e31..754d0eae2b 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
@@ -6,9 +6,9 @@ package edu.wpi.first.wpilibj.examples.ultrasonic;
 
 import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.MedianFilter;
-import edu.wpi.first.wpilibj.PWMSparkMax;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 
 /**
  * This is a sample program demonstrating how to use an ultrasonic sensor and proportional control
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
index c1fcb60804..79726292da 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
@@ -6,10 +6,10 @@ package edu.wpi.first.wpilibj.examples.ultrasonicpid;
 
 import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.MedianFilter;
-import edu.wpi.first.wpilibj.PWMSparkMax;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 
 /**
  * This is a sample program to demonstrate the use of a PIDController with an ultrasonic sensor to
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/subsystems/RomiDrivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/subsystems/RomiDrivetrain.java
index 3d256e0cf3..80543c6f3c 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/subsystems/RomiDrivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/subsystems/RomiDrivetrain.java
@@ -5,8 +5,8 @@
 package edu.wpi.first.wpilibj.templates.romicommandbased.subsystems;
 
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.Spark;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class RomiDrivetrain extends SubsystemBase {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/RomiDrivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/RomiDrivetrain.java
index 84d627280a..96c81b1bb0 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/RomiDrivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/RomiDrivetrain.java
@@ -5,8 +5,8 @@
 package edu.wpi.first.wpilibj.templates.romitimed;
 
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.Spark;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
 
 public class RomiDrivetrain {
   private static final double kCountsPerRevolution = 1440.0;
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorInvertingTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorInvertingTest.java
index dc44ecbe71..af9a272254 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorInvertingTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorInvertingTest.java
@@ -20,7 +20,7 @@ import org.junit.runner.RunWith;
 import org.junit.runners.Parameterized;
 import org.junit.runners.Parameterized.Parameters;
 
-/** Tests Inversion of motors using the SpeedController setInverted. */
+/** Tests Inversion of motors using the MotorController setInverted. */
 @RunWith(Parameterized.class)
 public class MotorInvertingTest extends AbstractComsSetup {
   static MotorEncoderFixture fixture = null;
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java
index 1c30544a65..127e4c21bb 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java
@@ -70,7 +70,7 @@ public class PDPTest extends AbstractComsSetup {
 
   /** Test if the current changes when the motor is driven using a talon. */
   @Test
-  public void checkStoppedCurrentForSpeedController() throws CANMessageNotFoundException {
+  public void checkStoppedCurrentForMotorController() throws CANMessageNotFoundException {
     Timer.delay(0.25);
 
     /* The Current should be 0 */
@@ -83,7 +83,7 @@ public class PDPTest extends AbstractComsSetup {
 
   /** Test if the current changes when the motor is driven using a talon. */
   @Test
-  public void checkRunningCurrentForSpeedController() throws CANMessageNotFoundException {
+  public void checkRunningCurrentForMotorController() throws CANMessageNotFoundException {
     /* Set the motor to full forward */
     me.getMotor().set(1.0);
     Timer.delay(2);
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/MotorEncoderFixture.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/MotorEncoderFixture.java
index fcc5b2cd6e..492c2d5c3e 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/MotorEncoderFixture.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/MotorEncoderFixture.java
@@ -8,8 +8,8 @@ import edu.wpi.first.wpilibj.Counter;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.PWM;
-import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
 import edu.wpi.first.wpilibj.test.TestBench;
 import java.lang.reflect.ParameterizedType;
 import java.util.logging.Logger;
@@ -22,7 +22,7 @@ import java.util.logging.Logger;
  * fixture. This allows tests to be mailable so that you can easily reconfigure the physical testbed
  * without breaking the tests.
  */
-public abstract class MotorEncoderFixture implements ITestFixture {
+public abstract class MotorEncoderFixture implements ITestFixture {
   private static final Logger logger = Logger.getLogger(MotorEncoderFixture.class.getName());
   private boolean m_initialized = false;
   private boolean m_tornDown = false;
@@ -39,12 +39,12 @@ public abstract class MotorEncoderFixture implements
 
   /**
    * Where the implementer of this class should pass the speed controller Constructor should only be
-   * called from outside this class if the Speed controller is not also an implementation of PWM
+   * called from outside this class if the Motor controller is not also an implementation of PWM
    * interface.
    *
-   * @return SpeedController
+   * @return MotorController
    */
-  protected abstract T giveSpeedController();
+  protected abstract T giveMotorController();
 
   /**
    * Where the implementer of this class should pass one of the digital inputs.
@@ -76,7 +76,7 @@ public abstract class MotorEncoderFixture implements
         m_counters[0] = new Counter(m_alphaSource);
         m_counters[1] = new Counter(m_betaSource);
         logger.fine("Creating the speed controller!");
-        m_motor = giveSpeedController();
+        m_motor = giveMotorController();
       }
     }
   }
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/MockSpeedController.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MockMotorController.java
similarity index 86%
rename from wpilibj/src/test/java/edu/wpi/first/wpilibj/MockSpeedController.java
rename to wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MockMotorController.java
index a7bd4a802f..e7a6b8eb36 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/MockSpeedController.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MockMotorController.java
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.wpilibj;
+package edu.wpi.first.wpilibj.motorcontrol;
 
-public class MockSpeedController implements SpeedController {
+public class MockMotorController implements MotorController {
   private double m_speed;
   private boolean m_isInverted;
 
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java
index bee3787076..89713c6945 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java
@@ -8,16 +8,16 @@ import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.AnalogOutput;
 import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.Jaguar;
 import edu.wpi.first.wpilibj.Relay;
 import edu.wpi.first.wpilibj.Servo;
-import edu.wpi.first.wpilibj.Talon;
-import edu.wpi.first.wpilibj.Victor;
 import edu.wpi.first.wpilibj.fixtures.AnalogCrossConnectFixture;
 import edu.wpi.first.wpilibj.fixtures.DIOCrossConnectFixture;
 import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
 import edu.wpi.first.wpilibj.fixtures.RelayCrossConnectFixture;
 import edu.wpi.first.wpilibj.fixtures.TiltPanCameraFixture;
+import edu.wpi.first.wpilibj.motorcontrol.Jaguar;
+import edu.wpi.first.wpilibj.motorcontrol.Talon;
+import edu.wpi.first.wpilibj.motorcontrol.Victor;
 import java.io.PrintStream;
 import java.util.ArrayList;
 import java.util.Arrays;
@@ -74,7 +74,7 @@ public final class TestBench {
   public MotorEncoderFixture getTalonPair() {
     return new MotorEncoderFixture() {
       @Override
-      protected Talon giveSpeedController() {
+      protected Talon giveMotorController() {
         return new Talon(kTalonChannel);
       }
 
@@ -104,7 +104,7 @@ public final class TestBench {
   public MotorEncoderFixture getVictorPair() {
     return new MotorEncoderFixture() {
       @Override
-      protected Victor giveSpeedController() {
+      protected Victor giveMotorController() {
         return new Victor(kVictorChannel);
       }
 
@@ -134,7 +134,7 @@ public final class TestBench {
   public MotorEncoderFixture getJaguarPair() {
     return new MotorEncoderFixture() {
       @Override
-      protected Jaguar giveSpeedController() {
+      protected Jaguar giveMotorController() {
         return new Jaguar(kJaguarChannel);
       }