[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.

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);
   }
 

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();
 
   /**

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);

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.
  *
  * <p>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.
  *
  * <p>Four motor drivetrain:
  *
  * <pre><code>
  * 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;
  *
  * <pre><code>
  * 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.
    *
-   * <p>To pass multiple motors per side, use a {@link SpeedControllerGroup}. If a motor needs to be
-   * inverted, do so before passing it in.
+   * <p>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);

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;

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;
 

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.
  *
  * <p>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;
  *   <li>0.997ms = full "reverse"
  * </ul>
  */
-public class DMC60 extends PWMSpeedController {
+public class DMC60 extends PWMMotorController {
   /**
    * Constructor.
    *

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.
  *
  * <p>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;
  *   <li>0.697ms = full "reverse"
  * </ul>
  */
-public class Jaguar extends PWMSpeedController {
+public class Jaguar extends PWMMotorController {
   /**
    * Constructor.
    *

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 {}

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);
+  }
+}

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;

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);

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.
  *
  * <p>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;
  *   <li>0.999ms = full "reverse"
  * </ul>
  */
-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);

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.
  *
  * <p>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;
  *   <li>0.997ms = full "reverse"
  * </ul>
  */
-public class PWMTalonFX extends PWMSpeedController {
+public class PWMTalonFX extends PWMMotorController {
   /**
    * Constructor for a TalonFX connected via PWM.
    *

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.
  *
  * <p>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;
  *   <li>0.997ms = full "reverse"
  * </ul>
  */
-public class PWMTalonSRX extends PWMSpeedController {
+public class PWMTalonSRX extends PWMMotorController {
   /**
    * Constructor for a TalonSRX connected via PWM.
    *

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;
  *   <li>0.997ms = full "reverse"
  * </ul>
  */
-public class PWMVenom extends PWMSpeedController {
+public class PWMVenom extends PWMMotorController {
   /**
    * Constructor for a Venom connected via PWM.
    *

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.
  *
  * <p>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;
  *   <li>0.997ms = full "reverse"
  * </ul>
  */
-public class PWMVictorSPX extends PWMSpeedController {
+public class PWMVictorSPX extends PWMMotorController {
   /**
    * Constructor for a Victor SPX connected via PWM.
    *

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.
  *
  * <p>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;
  *   <li>0.94ms = full "reverse"
  * </ul>
  */
-public class SD540 extends PWMSpeedController {
+public class SD540 extends PWMMotorController {
   /**
    * Constructor.
    *

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.
  *
  * <p>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;
  *   <li>0.999ms = full "reverse"
  * </ul>
  */
-public class Spark extends PWMSpeedController {
+public class Spark extends PWMMotorController {
   /**
    * Constructor.
    *

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.
  *
  * <p>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;
  *   <li>0.989ms = full "reverse"
  * </ul>
  */
-public class Talon extends PWMSpeedController {
+public class Talon extends PWMMotorController {
   /**
    * Constructor for a Talon (original or Talon SR).
    *

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.
  *
  * <p>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;
  *   <li>1.026ms = full "reverse"
  * </ul>
  */
-public class Victor extends PWMSpeedController {
+public class Victor extends PWMMotorController {
   /**
    * Constructor.
    *

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.
  *
  * <p>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;
  *   <li>0.997ms = full "reverse"
  * </ul>
  */
-public class VictorSP extends PWMSpeedController {
+public class VictorSP extends PWMMotorController {
   /**
    * Constructor.
    *

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. <br>
+   * 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. <br>
    * Supported types:
    *
    * <ul>
-   *   <li>{@link edu.wpi.first.wpilibj.PWMSpeedController}
-   *   <li>{@link edu.wpi.first.wpilibj.DMC60}
-   *   <li>{@link edu.wpi.first.wpilibj.Jaguar}
-   *   <li>{@link edu.wpi.first.wpilibj.PWMSparkMax}
-   *   <li>{@link edu.wpi.first.wpilibj.PWMTalonFX}
-   *   <li>{@link edu.wpi.first.wpilibj.PWMTalonSRX}
-   *   <li>{@link edu.wpi.first.wpilibj.PWMVenom}
-   *   <li>{@link edu.wpi.first.wpilibj.PWMVictorSPX}
-   *   <li>{@link edu.wpi.first.wpilibj.SD540}
-   *   <li>{@link edu.wpi.first.wpilibj.Spark}
-   *   <li>{@link edu.wpi.first.wpilibj.Talon}
-   *   <li>{@link edu.wpi.first.wpilibj.Victor}
-   *   <li>{@link edu.wpi.first.wpilibj.VictorSP}
-   *   <li>{@link edu.wpi.first.wpilibj.SpeedControllerGroup}
-   *   <li>Any custom subclass of {@code SpeedController}
+   *   <li>{@link edu.wpi.first.wpilibj.motorcontrol.PWMMotorController}
+   *   <li>{@link edu.wpi.first.wpilibj.motorcontrol.DMC60}
+   *   <li>{@link edu.wpi.first.wpilibj.motorcontrol.Jaguar}
+   *   <li>{@link edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax}
+   *   <li>{@link edu.wpi.first.wpilibj.motorcontrol.PWMTalonFX}
+   *   <li>{@link edu.wpi.first.wpilibj.motorcontrol.PWMTalonSRX}
+   *   <li>{@link edu.wpi.first.wpilibj.motorcontrol.PWMVenom}
+   *   <li>{@link edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX}
+   *   <li>{@link edu.wpi.first.wpilibj.motorcontrol.SD540}
+   *   <li>{@link edu.wpi.first.wpilibj.motorcontrol.Spark}
+   *   <li>{@link edu.wpi.first.wpilibj.motorcontrol.Talon}
+   *   <li>{@link edu.wpi.first.wpilibj.motorcontrol.Victor}
+   *   <li>{@link edu.wpi.first.wpilibj.motorcontrol.VictorSP}
+   *   <li>{@link edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup}
+   *   <li>Any custom subclass of {@code MotorController}
    * </ul>
    *
    * <br>
@@ -277,7 +277,7 @@ public enum BuiltInWidgets implements WidgetType {
    * <td>One of {@code ["HORIZONTAL", "VERTICAL"]}</td></tr>
    * </table>
    */
-  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. <br>