diff --git a/wpilibc/src/main/native/cpp/DriverStation.cpp b/wpilibc/src/main/native/cpp/DriverStation.cpp
index f5939b0b89..078428341c 100644
--- a/wpilibc/src/main/native/cpp/DriverStation.cpp
+++ b/wpilibc/src/main/native/cpp/DriverStation.cpp
@@ -462,12 +462,20 @@ bool DriverStation::IsAutonomousEnabled() {
 }
 
 bool DriverStation::IsOperatorControl() {
+  return IsTeleop();
+}
+
+bool DriverStation::IsTeleop() {
   HAL_ControlWord controlWord;
   HAL_GetControlWord(&controlWord);
   return !(controlWord.autonomous || controlWord.test);
 }
 
 bool DriverStation::IsOperatorControlEnabled() {
+  return IsTeleopEnabled();
+}
+
+bool DriverStation::IsTeleopEnabled() {
   HAL_ControlWord controlWord;
   HAL_GetControlWord(&controlWord);
   return !controlWord.autonomous && !controlWord.test && controlWord.enabled;
@@ -621,6 +629,10 @@ void DriverStation::InAutonomous(bool entering) {
 }
 
 void DriverStation::InOperatorControl(bool entering) {
+  InTeleop(entering);
+}
+
+void DriverStation::InTeleop(bool entering) {
   ::GetInstance().userInTeleop = entering;
 }
 
diff --git a/wpilibc/src/main/native/cpp/RobotState.cpp b/wpilibc/src/main/native/cpp/RobotState.cpp
index c2d251b627..651a6445fe 100644
--- a/wpilibc/src/main/native/cpp/RobotState.cpp
+++ b/wpilibc/src/main/native/cpp/RobotState.cpp
@@ -21,7 +21,11 @@ bool RobotState::IsEStopped() {
 }
 
 bool RobotState::IsOperatorControl() {
-  return DriverStation::IsOperatorControl();
+  return IsTeleop();
+}
+
+bool RobotState::IsTeleop() {
+  return DriverStation::IsTeleop();
 }
 
 bool RobotState::IsAutonomous() {
diff --git a/wpilibc/src/main/native/cppcs/RobotBase.cpp b/wpilibc/src/main/native/cppcs/RobotBase.cpp
index 6d09fbdb56..5471277c3a 100644
--- a/wpilibc/src/main/native/cppcs/RobotBase.cpp
+++ b/wpilibc/src/main/native/cppcs/RobotBase.cpp
@@ -179,11 +179,19 @@ bool RobotBase::IsAutonomousEnabled() const {
 }
 
 bool RobotBase::IsOperatorControl() const {
-  return DriverStation::IsOperatorControl();
+  return DriverStation::IsTeleop();
+}
+
+bool RobotBase::IsTeleop() const {
+  return DriverStation::IsTeleop();
 }
 
 bool RobotBase::IsOperatorControlEnabled() const {
-  return DriverStation::IsOperatorControlEnabled();
+  return DriverStation::IsTeleopEnabled();
+}
+
+bool RobotBase::IsTeleopEnabled() const {
+  return DriverStation::IsTeleopEnabled();
 }
 
 bool RobotBase::IsTest() const {
diff --git a/wpilibc/src/main/native/include/frc/DriverStation.h b/wpilibc/src/main/native/include/frc/DriverStation.h
index 08f4cda302..d82175b9d7 100644
--- a/wpilibc/src/main/native/include/frc/DriverStation.h
+++ b/wpilibc/src/main/native/include/frc/DriverStation.h
@@ -195,16 +195,35 @@ class DriverStation {
    * Check if the DS is commanding teleop mode.
    *
    * @return True if the robot is being commanded to be in teleop mode
+   * @deprecated Use IsTeleop() instead.
    */
+  WPI_DEPRECATED("Use IsTeleop() instead")
   static bool IsOperatorControl();
 
+  /**
+   * Check if the DS is commanding teleop mode.
+   *
+   * @return True if the robot is being commanded to be in teleop mode
+   */
+  static bool IsTeleop();
+
+  /**
+   * Check if the DS is commanding teleop mode and if it has enabled the robot.
+   *
+   * @return True if the robot is being commanded to be in teleop mode and
+   * enabled.
+   * @deprecated Use IsTeleopEnabled() instead.
+   */
+  WPI_DEPRECATED("Use IsTeleopEnabled() instead")
+  static bool IsOperatorControlEnabled();
+
   /**
    * Check if the DS is commanding teleop mode and if it has enabled the robot.
    *
    * @return True if the robot is being commanded to be in teleop mode and
    * enabled.
    */
-  static bool IsOperatorControlEnabled();
+  static bool IsTeleopEnabled();
 
   /**
    * Check if the DS is commanding test mode.
@@ -377,9 +396,20 @@ class DriverStation {
    *
    * @param entering If true, starting teleop code; if false, leaving teleop
    *                 code.
+   * @deprecated Use InTeleop() instead.
    */
+  WPI_DEPRECATED("Use InTeleop() instead")
   static void InOperatorControl(bool entering);
 
+  /**
+   * Only to be used to tell the Driver Station what code you claim to be
+   * executing for diagnostic purposes only.
+   *
+   * @param entering If true, starting teleop code; if false, leaving teleop
+   *                 code.
+   */
+  static void InTeleop(bool entering);
+
   /**
    * Only to be used to tell the Driver Station what code you claim to be
    * executing for diagnostic purposes only.
diff --git a/wpilibc/src/main/native/include/frc/RobotBase.h b/wpilibc/src/main/native/include/frc/RobotBase.h
index e3a366cbdf..b1fe4c8272 100644
--- a/wpilibc/src/main/native/include/frc/RobotBase.h
+++ b/wpilibc/src/main/native/include/frc/RobotBase.h
@@ -11,6 +11,7 @@
 #include <hal/HALBase.h>
 #include <hal/Main.h>
 #include <wpi/condition_variable.h>
+#include <wpi/deprecated.h>
 #include <wpi/mutex.h>
 
 #include "frc/Errors.h"
@@ -154,16 +155,36 @@ class RobotBase {
    *
    * @return True if the robot is currently operating in Tele-Op mode as
    *         determined by the field controls.
+   * @deprecated Use IsTeleop() instead.
    */
+  WPI_DEPRECATED("Use IsTeleop() instead")
   bool IsOperatorControl() const;
 
+  /**
+   * Determine if the robot is currently in Operator Control mode.
+   *
+   * @return True if the robot is currently operating in Tele-Op mode as
+   *         determined by the field controls.
+   */
+  bool IsTeleop() const;
+
+  /**
+   * Determine if the robot is current in Operator Control mode and enabled.
+   *
+   * @return True if the robot is currently operating in Tele-Op mode while
+   *         enabled as determined by the field-controls.
+   * @deprecated Use IsTeleopEnabled() instead.
+   */
+  WPI_DEPRECATED("Use IsTeleopEnabled() instead")
+  bool IsOperatorControlEnabled() const;
+
   /**
    * Determine if the robot is current in Operator Control mode and enabled.
    *
    * @return True if the robot is currently operating in Tele-Op mode while
    * wnabled as determined by the field-controls.
    */
-  bool IsOperatorControlEnabled() const;
+  bool IsTeleopEnabled() const;
 
   /**
    * Determine if the robot is currently in Test mode.
diff --git a/wpilibc/src/main/native/include/frc/RobotState.h b/wpilibc/src/main/native/include/frc/RobotState.h
index c1f9458078..cb97b133b1 100644
--- a/wpilibc/src/main/native/include/frc/RobotState.h
+++ b/wpilibc/src/main/native/include/frc/RobotState.h
@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <wpi/deprecated.h>
+
 namespace frc {
 
 class RobotState {
@@ -13,7 +15,9 @@ class RobotState {
   static bool IsDisabled();
   static bool IsEnabled();
   static bool IsEStopped();
+  WPI_DEPRECATED("Use IsTeleop() instead")
   static bool IsOperatorControl();
+  static bool IsTeleop();
   static bool IsAutonomous();
   static bool IsTest();
 };
diff --git a/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp
index 12307ecb1f..29bae0bf1d 100644
--- a/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp
@@ -53,10 +53,10 @@ void Robot::StartCompetition() {
       frc::LiveWindow::SetEnabled(false);
       frc::Shuffleboard::DisableActuatorWidgets();
     } else {
-      frc::DriverStation::InOperatorControl(true);
+      frc::DriverStation::InTeleop(true);
       Teleop();
-      frc::DriverStation::InOperatorControl(false);
-      while (IsOperatorControlEnabled()) {
+      frc::DriverStation::InTeleop(false);
+      while (IsTeleopEnabled()) {
         frc::DriverStation::WaitForData();
       }
     }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
index ea14fd1aee..afd2393185 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
@@ -812,8 +812,20 @@ public class DriverStation {
    * operator-controlled mode.
    *
    * @return True if operator-controlled mode should be enabled, false otherwise.
+   * @deprecated Use isTeleop() instead.
    */
+  @Deprecated(since = "2022", forRemoval = true)
   public static boolean isOperatorControl() {
+    return isTeleop();
+  }
+
+  /**
+   * Gets a value indicating whether the Driver Station requires the robot to be running in
+   * operator-controlled mode.
+   *
+   * @return True if operator-controlled mode should be enabled, false otherwise.
+   */
+  public static boolean isTeleop() {
     return !(isAutonomous() || isTest());
   }
 
@@ -822,8 +834,20 @@ public class DriverStation {
    * operator-controller mode and enabled.
    *
    * @return True if operator-controlled mode should be set and the robot should be enabled.
+   * @deprecated Use isTeleopEnabled() instead.
    */
+  @Deprecated(since = "2022", forRemoval = true)
   public static boolean isOperatorControlEnabled() {
+    return isTeleopEnabled();
+  }
+
+  /**
+   * Gets a value indicating whether the Driver Station requires the robot to be running in
+   * operator-controller mode and enabled.
+   *
+   * @return True if operator-controlled mode should be set and the robot should be enabled.
+   */
+  public static boolean isTeleopEnabled() {
     synchronized (m_controlWordMutex) {
       updateControlWord(false);
       return !m_controlWordCache.getAutonomous()
@@ -1124,11 +1148,23 @@ public class DriverStation {
    * purposes only.
    *
    * @param entering If true, starting teleop code; if false, leaving teleop code
+   * @deprecated Use {@link #inTeleop(boolean)} instead.
    */
+  @Deprecated(since = "2022", forRemoval = true)
   public static void inOperatorControl(boolean entering) {
     m_userInTeleop = entering;
   }
 
+  /**
+   * Only to be used to tell the Driver Station what code you claim to be executing for diagnostic
+   * purposes only.
+   *
+   * @param entering If true, starting teleop code; if false, leaving teleop code
+   */
+  public static void inTeleop(boolean entering) {
+    m_userInTeleop = entering;
+  }
+
   /**
    * Only to be used to tell the Driver Station what code you claim to be executing for diagnostic
    * purposes only.
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
index 96f55b6d32..6c4b39815d 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
@@ -229,9 +229,33 @@ public abstract class RobotBase implements AutoCloseable {
    * controls.
    *
    * @return True if the robot is currently operating in Tele-Op mode.
+   * @deprecated Use isTeleop() instead.
    */
+  @Deprecated(since = "2022", forRemoval = true)
   public boolean isOperatorControl() {
-    return DriverStation.isOperatorControl();
+    return DriverStation.isTeleop();
+  }
+
+  /**
+   * Determine if the robot is currently in Operator Control mode as determined by the field
+   * controls.
+   *
+   * @return True if the robot is currently operating in Tele-Op mode.
+   */
+  public boolean isTeleop() {
+    return DriverStation.isTeleop();
+  }
+
+  /**
+   * Determine if the robot is current in Operator Control mode and enabled as determined by the
+   * field controls.
+   *
+   * @return True if the robot is currently operating in Tele-Op mode while enabled.
+   * @deprecated Use isTeleopEnabled() instead.
+   */
+  @Deprecated(since = "2022", forRemoval = true)
+  public boolean isOperatorControlEnabled() {
+    return DriverStation.isTeleopEnabled();
   }
 
   /**
@@ -240,8 +264,8 @@ public abstract class RobotBase implements AutoCloseable {
    *
    * @return True if the robot is currently operating in Tele-Op mode while enabled.
    */
-  public boolean isOperatorControlEnabled() {
-    return DriverStation.isOperatorControlEnabled();
+  public boolean isTeleopEnabled() {
+    return DriverStation.isTeleopEnabled();
   }
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java
index d11e5bc977..462051a444 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java
@@ -18,8 +18,13 @@ public final class RobotState {
     return DriverStation.isEStopped();
   }
 
+  @Deprecated
   public static boolean isOperatorControl() {
-    return DriverStation.isOperatorControl();
+    return isTeleop();
+  }
+
+  public static boolean isTeleop() {
+    return DriverStation.isTeleop();
   }
 
   public static boolean isAutonomous() {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/educational/EducationalRobot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/educational/EducationalRobot.java
index 61a4552ac8..76d13a4a89 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/educational/EducationalRobot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/educational/EducationalRobot.java
@@ -60,10 +60,10 @@ public class EducationalRobot extends RobotBase {
           DriverStation.waitForData();
         }
       } else {
-        DriverStation.inOperatorControl(true);
+        DriverStation.inTeleop(true);
         teleop();
-        DriverStation.inOperatorControl(false);
-        while (isOperatorControlEnabled()) {
+        DriverStation.inTeleop(false);
+        while (isTeleopEnabled()) {
           DriverStation.waitForData();
         }
       }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Robot.java
index 52b4657202..787395c941 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Robot.java
@@ -61,10 +61,10 @@ public class Robot extends RobotBase {
         LiveWindow.setEnabled(false);
         Shuffleboard.disableActuatorWidgets();
       } else {
-        DriverStation.inOperatorControl(true);
+        DriverStation.inTeleop(true);
         teleop();
-        DriverStation.inOperatorControl(false);
-        while (isOperatorControlEnabled()) {
+        DriverStation.inTeleop(false);
+        while (isTeleopEnabled()) {
           DriverStation.waitForData();
         }
       }