[wpilib] Rename DriverStation::IsOperatorControl() to IsTeleop() (#3505)

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.

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();
   }
 
   /**

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() {