diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWMSpeedController.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWMSpeedController.java
index 16192c0d09..a08a0c8c51 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWMSpeedController.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWMSpeedController.java
@@ -34,7 +34,7 @@ public abstract class PWMSpeedController extends SafePWM implements SpeedControl
   @Override
   public void set(double speed) {
     setSpeed(m_isInverted ? -speed : speed);
-    Feed();
+    feed();
   }
 
   /**
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SafePWM.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SafePWM.java
index c6afa08144..5859a8f243 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SafePWM.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SafePWM.java
@@ -75,9 +75,20 @@ public class SafePWM extends PWM implements MotorSafety {
   /**
    * Feed the MotorSafety timer. This method is called by the subclass motor whenever it updates its
    * speed, thereby resetting the timeout value.
+   *
+   * @deprecated Use {@link #feed()} instead.
    */
+  @Deprecated
   @SuppressWarnings("MethodName")
   public void Feed() {
+    feed();
+  }
+
+  /**
+   * Feed the MotorSafety timer. This method is called by the subclass motor whenever it updates its
+   * speed, thereby resetting the timeout value.
+   */
+  public void feed() {
     m_safetyHelper.feed();
   }