[wpilib] Move motor controllers to motorcontrol package (#3302)

Also deprecate SpeedController in favor of motorcontrol.MotorController and
SpeedControllerGroup in favor of motorcontrol.MotorControllerGroup.

The MotorController interface is derived from the SpeedController interface
so that code such as SpeedController x = new VictorSP(1) continues to
compile (just with a warning).

SpeedControllerGroup and MotorControllerGroup are independent classes;
both implement the MotorController interface.

wpilibc/src/main/native/include/frc/Servo.h

@@ -5,7 +5,6 @@
 #pragma once
 
 #include "frc/PWM.h"
-#include "frc/SpeedController.h"
 
 namespace frc {
 

wpilibc/src/main/native/include/frc/SpeedController.h

@@ -5,13 +5,14 @@
 #pragma once
 
 #include <units/voltage.h>
+#include <wpi/deprecated.h>
 
 namespace frc {
 
 /**
  * Interface for speed controlling devices.
  */
-class SpeedController {
+class WPI_DEPRECATED("use MotorController") SpeedController {
  public:
   virtual ~SpeedController() = default;
 

wpilibc/src/main/native/include/frc/SpeedControllerGroup.h

@@ -7,15 +7,18 @@
 #include <functional>
 #include <vector>
 
-#include "frc/SpeedController.h"
+#include <wpi/deprecated.h>
+
+#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<SpeedControllerGroup> {
+class WPI_DEPRECATED("use MotorControllerGroup") SpeedControllerGroup
+    : public Sendable,
+      public MotorController,
+      public SendableHelper<SpeedControllerGroup> {
  public:
   template <class... SpeedControllers>
   explicit SpeedControllerGroup(SpeedController& speedController,

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

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

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

wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h

@@ -13,8 +13,6 @@
 
 namespace frc {
 
-class SpeedController;
-
 /**
  * Common base class for drive platforms.
  */

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.

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.

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 <units/voltage.h>
+
+#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

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 <functional>
+#include <vector>
+
+#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<MotorControllerGroup> {
+ public:
+  template <class... MotorControllers>
+  explicit MotorControllerGroup(MotorController& motorController,
+                                MotorControllers&... motorControllers);
+  explicit MotorControllerGroup(
+      std::vector<std::reference_wrapper<MotorController>>&& 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<std::reference_wrapper<MotorController>> m_motorControllers;
+
+  void Initialize();
+};
+
+}  // namespace frc
+
+#include "frc/motorcontrol/MotorControllerGroup.inc"

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 <functional>
+#include <vector>
+
+#include "frc/motorcontrol/MotorControllerGroup.h"
+
+namespace frc {
+
+template <class... MotorControllers>
+MotorControllerGroup::MotorControllerGroup(
+    MotorController& motorController, MotorControllers&... motorControllers)
+    : m_motorControllers(std::vector<std::reference_wrapper<MotorController>>{
+          motorController, motorControllers...}) {
+  Initialize();
+}
+
+}  // namespace frc

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<NidecBrushless> {
@@ -39,7 +39,7 @@ class NidecBrushless : public SpeedController,
   NidecBrushless(NidecBrushless&&) = default;
   NidecBrushless& operator=(NidecBrushless&&) = default;
 
-  // SpeedController interface
+  // MotorController interface
   /**
    * Set the PWM value.
    *

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<PWMSpeedController> {
+                           public SendableHelper<PWMMotorController> {
  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;
 

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.

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.

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.

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.

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.

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.

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.

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).

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.

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.

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. <br>Supported types: <ul>
-   * <li>PWMSpeedController</li>
+   * <li>PWMMotorController</li>
    * <li>DMC60</li>
    * <li>Jaguar</li>
    * <li>PWMTalonSRX</li>
@@ -213,7 +213,7 @@ enum class BuiltInWidgets {
    * <li>Talon</li>
    * <li>Victor</li>
    * <li>VictorSP</li>
-   * <li>SpeedControllerGroup</li>
+   * <li>MotorControllerGroup</li>
    * <li>Any custom subclass of {@code SpeedContorller}</li>
    * </ul>
    * <br>Custom properties:
@@ -223,7 +223,7 @@ enum class BuiltInWidgets {
    * <td>One of {@code ["HORIZONTAL", "VERTICAL"]}</td></tr>
    * </table>
    */
-  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