Merge branch '2022'

2026-06-19 00:41:43 +00:00 · 2021-05-09 14:15:40 -07:00
parent ba08baabb9 a3cd90dd71
commit 3cc2da3328
765 changed files with 5914 additions and 13714 deletions
--- a/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.

 #include <frc/Joystick.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
 #include <frc/drive/DifferentialDrive.h>
+#include <frc/motorcontrol/PWMSparkMax.h>

 /**
 * This is a demo program showing the use of the DifferentialDrive class.
--- a/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp
@@ -3,10 +3,10 @@
 // the WPILib BSD license file in the root directory of this project.

 #include <frc/GenericHID.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
 #include <frc/XboxController.h>
 #include <frc/drive/DifferentialDrive.h>
+#include <frc/motorcontrol/PWMSparkMax.h>

 /**
 * This is a demo program showing the use of the DifferentialDrive class.
--- a/wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/ArmSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/ArmSubsystem.h
@@ -5,8 +5,8 @@
 #pragma once

 #include <frc/Encoder.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/controller/ArmFeedforward.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc2/command/ProfiledPIDSubsystem.h>
 #include <units/angle.h>

--- a/wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/DriveSubsystem.h
@@ -5,9 +5,9 @@
 #pragma once

 #include <frc/Encoder.h>
-#include <frc/PWMSparkMax.h>
-#include <frc/SpeedControllerGroup.h>
 #include <frc/drive/DifferentialDrive.h>
+#include <frc/motorcontrol/MotorControllerGroup.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc2/command/SubsystemBase.h>

 #include "Constants.h"
@@ -76,10 +76,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
  frc::PWMSparkMax m_right2;

  // The motors on the left side of the drive
-  frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};
+  frc::MotorControllerGroup m_leftMotors{m_left1, m_left2};

  // The motors on the right side of the drive
-  frc::SpeedControllerGroup m_rightMotors{m_right1, m_right2};
+  frc::MotorControllerGroup m_rightMotors{m_right1, m_right2};

  // The robot's drive
  frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
--- a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/ExampleSmartMotorController.h
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/ExampleSmartMotorController.h
@@ -4,7 +4,7 @@

 #pragma once

-#include <frc/SpeedController.h>
+#include <frc/motorcontrol/MotorController.h>

 /**
 * A simplified stub class that simulates the API of a common "smart" motor
@@ -12,7 +12,7 @@
 *
 * <p>Has no actual functionality.
 */
-class ExampleSmartMotorController : public frc::SpeedController {
+class ExampleSmartMotorController : public frc::MotorController {
 public:
  enum PIDMode { kPosition, kVelocity, kMovementWitchcraft };

@@ -79,6 +79,4 @@ class ExampleSmartMotorController : public frc::SpeedController {
  void Disable() override {}

  void StopMotor() override {}
-
-  void PIDWrite(double output) override {}
 };
--- a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/DriveSubsystem.h
@@ -5,9 +5,9 @@
 #pragma once

 #include <frc/Encoder.h>
-#include <frc/PWMSparkMax.h>
-#include <frc/SpeedControllerGroup.h>
 #include <frc/drive/DifferentialDrive.h>
+#include <frc/motorcontrol/MotorControllerGroup.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc2/command/SubsystemBase.h>

 #include "Constants.h"
@@ -76,10 +76,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
  frc::PWMSparkMax m_right2;

  // The motors on the left side of the drive
-  frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};
+  frc::MotorControllerGroup m_leftMotors{m_left1, m_left2};

  // The motors on the right side of the drive
-  frc::SpeedControllerGroup m_rightMotors{m_right1, m_right2};
+  frc::MotorControllerGroup m_rightMotors{m_right1, m_right2};

  // The robot's drive
  frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
--- a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
@@ -5,11 +5,11 @@
 #include <frc/Encoder.h>
 #include <frc/GenericHID.h>
 #include <frc/Joystick.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/RobotController.h>
 #include <frc/StateSpaceUtil.h>
 #include <frc/TimedRobot.h>
 #include <frc/controller/PIDController.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc/simulation/BatterySim.h>
 #include <frc/simulation/EncoderSim.h>
 #include <frc/simulation/RoboRioSim.h>
--- a/wpilibcExamples/src/main/cpp/examples/AxisCameraSample/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/AxisCameraSample/cpp/Robot.cpp
@@ -19,15 +19,15 @@ class Robot : public frc::TimedRobot {
  static void VisionThread() {
    // Get the Axis camera from CameraServer
    cs::AxisCamera camera =
-        frc::CameraServer::GetInstance()->AddAxisCamera("axis-camera.local");
+        frc::CameraServer::GetInstance().AddAxisCamera("axis-camera.local");
    // Set the resolution
    camera.SetResolution(640, 480);

    // Get a CvSink. This will capture Mats from the Camera
-    cs::CvSink cvSink = frc::CameraServer::GetInstance()->GetVideo();
+    cs::CvSink cvSink = frc::CameraServer::GetInstance().GetVideo();
    // Setup a CvSource. This will send images back to the Dashboard
    cs::CvSource outputStream =
-        frc::CameraServer::GetInstance()->PutVideo("Rectangle", 640, 480);
+        frc::CameraServer::GetInstance().PutVideo("Rectangle", 640, 480);

    // Mats are very memory expensive. Lets reuse this Mat.
    cv::Mat mat;
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
@@ -6,12 +6,12 @@

 #include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
-#include <frc/PWMSparkMax.h>
-#include <frc/SpeedControllerGroup.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
 #include <frc/kinematics/DifferentialDriveKinematics.h>
 #include <frc/kinematics/DifferentialDriveOdometry.h>
+#include <frc/motorcontrol/MotorControllerGroup.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <units/angle.h>
 #include <units/angular_velocity.h>
 #include <units/length.h>
@@ -57,8 +57,8 @@ class Drivetrain {
  frc::PWMSparkMax m_rightLeader{3};
  frc::PWMSparkMax m_rightFollower{4};

-  frc::SpeedControllerGroup m_leftGroup{m_leftLeader, m_leftFollower};
-  frc::SpeedControllerGroup m_rightGroup{m_rightLeader, m_rightFollower};
+  frc::MotorControllerGroup m_leftGroup{m_leftLeader, m_leftFollower};
+  frc::MotorControllerGroup m_rightGroup{m_rightLeader, m_rightFollower};

  frc::Encoder m_leftEncoder{0, 1};
  frc::Encoder m_rightEncoder{2, 3};
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
@@ -6,12 +6,12 @@

 #include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
-#include <frc/PWMSparkMax.h>
-#include <frc/SpeedControllerGroup.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
 #include <frc/estimator/DifferentialDrivePoseEstimator.h>
 #include <frc/kinematics/DifferentialDriveKinematics.h>
+#include <frc/motorcontrol/MotorControllerGroup.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <units/angle.h>
 #include <units/angular_velocity.h>
 #include <units/length.h>
@@ -57,8 +57,8 @@ class Drivetrain {
  frc::PWMSparkMax m_rightLeader{3};
  frc::PWMSparkMax m_rightFollower{4};

-  frc::SpeedControllerGroup m_leftGroup{m_leftLeader, m_leftFollower};
-  frc::SpeedControllerGroup m_rightGroup{m_rightLeader, m_rightFollower};
+  frc::MotorControllerGroup m_leftGroup{m_leftLeader, m_leftFollower};
+  frc::MotorControllerGroup m_rightGroup{m_rightLeader, m_rightFollower};

  frc::Encoder m_leftEncoder{0, 1};
  frc::Encoder m_rightEncoder{2, 3};
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/ExampleSmartMotorController.h
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/ExampleSmartMotorController.h
@@ -4,7 +4,7 @@

 #pragma once

-#include <frc/SpeedController.h>
+#include <frc/motorcontrol/MotorController.h>

 /**
 * A simplified stub class that simulates the API of a common "smart" motor
@@ -12,7 +12,7 @@
 *
 * <p>Has no actual functionality.
 */
-class ExampleSmartMotorController : public frc::SpeedController {
+class ExampleSmartMotorController : public frc::MotorController {
 public:
  enum PIDMode { kPosition, kVelocity, kMovementWitchcraft };

@@ -80,8 +80,6 @@ class ExampleSmartMotorController : public frc::SpeedController {

  void StopMotor() override {}

-  void PIDWrite(double output) override {}
-
 private:
  double m_value = 0.0;
 };
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
@@ -4,9 +4,9 @@

 #include <frc/Encoder.h>
 #include <frc/Joystick.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
 #include <frc/controller/ProfiledPIDController.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc/trajectory/TrapezoidProfile.h>
 #include <units/acceleration.h>
 #include <units/length.h>
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
@@ -5,11 +5,11 @@
 #include <frc/Encoder.h>
 #include <frc/GenericHID.h>
 #include <frc/Joystick.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/RobotController.h>
 #include <frc/StateSpaceUtil.h>
 #include <frc/TimedRobot.h>
 #include <frc/controller/PIDController.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc/simulation/BatterySim.h>
 #include <frc/simulation/ElevatorSim.h>
 #include <frc/simulation/EncoderSim.h>
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/include/ExampleSmartMotorController.h
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/include/ExampleSmartMotorController.h
@@ -4,7 +4,7 @@

 #pragma once

-#include <frc/SpeedController.h>
+#include <frc/motorcontrol/MotorController.h>

 /**
 * A simplified stub class that simulates the API of a common "smart" motor
@@ -12,7 +12,7 @@
 *
 * <p>Has no actual functionality.
 */
-class ExampleSmartMotorController : public frc::SpeedController {
+class ExampleSmartMotorController : public frc::MotorController {
 public:
  enum PIDMode { kPosition, kVelocity, kMovementWitchcraft };

@@ -79,6 +79,4 @@ class ExampleSmartMotorController : public frc::SpeedController {
  void Disable() override {}

  void StopMotor() override {}
-
-  void PIDWrite(double output) override {}
 };
--- a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/DriveSubsystem.h
@@ -5,9 +5,9 @@
 #pragma once

 #include <frc/Encoder.h>
-#include <frc/PWMSparkMax.h>
-#include <frc/SpeedControllerGroup.h>
 #include <frc/drive/DifferentialDrive.h>
+#include <frc/motorcontrol/MotorControllerGroup.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc2/command/SubsystemBase.h>

 #include "Constants.h"
@@ -76,10 +76,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
  frc::PWMSparkMax m_right2;

  // The motors on the left side of the drive
-  frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};
+  frc::MotorControllerGroup m_leftMotors{m_left1, m_left2};

  // The motors on the right side of the drive
-  frc::SpeedControllerGroup m_rightMotors{m_right1, m_right2};
+  frc::MotorControllerGroup m_rightMotors{m_right1, m_right2};

  // The robot's drive
  frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
--- a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/ShooterSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/ShooterSubsystem.h
@@ -5,8 +5,8 @@
 #pragma once

 #include <frc/Encoder.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc2/command/PIDSubsystem.h>
 #include <units/angle.h>

--- a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Claw.h
+++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Claw.h
@@ -5,7 +5,7 @@
 #pragma once

 #include <frc/DigitalInput.h>
-#include <frc/PWMSparkMax.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc2/command/SubsystemBase.h>

 /**
--- a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/DriveTrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/DriveTrain.h
@@ -7,9 +7,9 @@
 #include <frc/AnalogGyro.h>
 #include <frc/AnalogInput.h>
 #include <frc/Encoder.h>
-#include <frc/PWMSparkMax.h>
-#include <frc/SpeedControllerGroup.h>
 #include <frc/drive/DifferentialDrive.h>
+#include <frc/motorcontrol/MotorControllerGroup.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc2/command/SubsystemBase.h>

 namespace frc {
@@ -66,11 +66,11 @@ class DriveTrain : public frc2::SubsystemBase {
 private:
  frc::PWMSparkMax m_frontLeft{1};
  frc::PWMSparkMax m_rearLeft{2};
-  frc::SpeedControllerGroup m_left{m_frontLeft, m_rearLeft};
+  frc::MotorControllerGroup m_left{m_frontLeft, m_rearLeft};

  frc::PWMSparkMax m_frontRight{3};
  frc::PWMSparkMax m_rearRight{4};
-  frc::SpeedControllerGroup m_right{m_frontRight, m_rearRight};
+  frc::MotorControllerGroup m_right{m_frontRight, m_rearRight};

  frc::DifferentialDrive m_robotDrive{m_left, m_right};

--- a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Elevator.h
+++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Elevator.h
@@ -5,7 +5,7 @@
 #pragma once

 #include <frc/AnalogPotentiometer.h>
-#include <frc/PWMSparkMax.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc2/command/PIDSubsystem.h>

 /**
--- a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Wrist.h
+++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Wrist.h
@@ -5,7 +5,7 @@
 #pragma once

 #include <frc/AnalogPotentiometer.h>
-#include <frc/PWMSparkMax.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc2/command/PIDSubsystem.h>

 /**
--- a/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
@@ -3,11 +3,11 @@
 // the WPILib BSD license file in the root directory of this project.

 #include <frc/Joystick.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
 #include <frc/Timer.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc/livewindow/LiveWindow.h>
+#include <frc/motorcontrol/PWMSparkMax.h>

 class Robot : public frc::TimedRobot {
 public:
@@ -50,7 +50,7 @@ class Robot : public frc::TimedRobot {
  frc::DifferentialDrive m_robotDrive{m_left, m_right};

  frc::Joystick m_stick{0};
-  frc::LiveWindow& m_lw = *frc::LiveWindow::GetInstance();
+  frc::LiveWindow& m_lw = frc::LiveWindow::GetInstance();
  frc::Timer m_timer;
 };

--- a/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
@@ -6,9 +6,9 @@

 #include <frc/AnalogGyro.h>
 #include <frc/Joystick.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
 #include <frc/drive/DifferentialDrive.h>
+#include <frc/motorcontrol/PWMSparkMax.h>

 /**
 * This is a sample program to demonstrate how to use a gyro sensor to make a
--- a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/subsystems/DriveSubsystem.h
@@ -6,9 +6,9 @@

 #include <frc/ADXRS450_Gyro.h>
 #include <frc/Encoder.h>
-#include <frc/PWMSparkMax.h>
-#include <frc/SpeedControllerGroup.h>
 #include <frc/drive/DifferentialDrive.h>
+#include <frc/motorcontrol/MotorControllerGroup.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc2/command/SubsystemBase.h>
 #include <units/angle.h>

@@ -92,10 +92,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
  frc::PWMSparkMax m_right2;

  // The motors on the left side of the drive
-  frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};
+  frc::MotorControllerGroup m_leftMotors{m_left1, m_left2};

  // The motors on the right side of the drive
-  frc::SpeedControllerGroup m_rightMotors{m_right1, m_right2};
+  frc::MotorControllerGroup m_rightMotors{m_right1, m_right2};

  // The robot's drive
  frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
--- a/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp
@@ -4,9 +4,9 @@

 #include <frc/AnalogGyro.h>
 #include <frc/Joystick.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
 #include <frc/drive/MecanumDrive.h>
+#include <frc/motorcontrol/PWMSparkMax.h>

 /**
 * This is a sample program that uses mecanum drive with a gyro sensor to
--- a/wpilibcExamples/src/main/cpp/examples/HAL/c/Robot.c
+++ b/wpilibcExamples/src/main/cpp/examples/HAL/c/Robot.c
@@ -62,10 +62,11 @@ int main(void) {

  // Create a Motor Controller
  status = 0;
-  HAL_DigitalHandle pwmPort = HAL_InitializePWMPort(HAL_GetPort(2), &status);
+  HAL_DigitalHandle pwmPort =
+      HAL_InitializePWMPort(HAL_GetPort(2), NULL, &status);

  if (status != 0) {
-    const char* message = HAL_GetErrorMessage(status);
+    const char* message = HAL_GetLastError(&status);
    printf("%s\n", message);
    return 1;
  }
@@ -75,10 +76,11 @@ int main(void) {

  // Create an Input
  status = 0;
-  HAL_DigitalHandle dio = HAL_InitializeDIOPort(HAL_GetPort(2), 1, &status);
+  HAL_DigitalHandle dio =
+      HAL_InitializeDIOPort(HAL_GetPort(2), 1, NULL, &status);

  if (status != 0) {
-    const char* message = HAL_GetErrorMessage(status);
+    const char* message = HAL_GetLastError(&status);
    printf("%s\n", message);
    status = 0;
    HAL_FreePWMPort(pwmPort, &status);
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.h
@@ -5,9 +5,9 @@
 #pragma once

 #include <frc/Encoder.h>
-#include <frc/PWMSparkMax.h>
-#include <frc/SpeedControllerGroup.h>
 #include <frc/drive/DifferentialDrive.h>
+#include <frc/motorcontrol/MotorControllerGroup.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc2/command/SubsystemBase.h>

 #include "Constants.h"
@@ -76,10 +76,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
  frc::PWMSparkMax m_right2;

  // The motors on the left side of the drive
-  frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};
+  frc::MotorControllerGroup m_leftMotors{m_left1, m_left2};

  // The motors on the right side of the drive
-  frc::SpeedControllerGroup m_rightMotors{m_right1, m_right2};
+  frc::MotorControllerGroup m_rightMotors{m_right1, m_right2};

  // The robot's drive
  frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.h
@@ -5,9 +5,9 @@
 #pragma once

 #include <frc/Encoder.h>
-#include <frc/PWMSparkMax.h>
-#include <frc/SpeedControllerGroup.h>
 #include <frc/drive/DifferentialDrive.h>
+#include <frc/motorcontrol/MotorControllerGroup.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc2/command/SubsystemBase.h>

 #include "Constants.h"
@@ -76,10 +76,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
  frc::PWMSparkMax m_right2;

  // The motors on the left side of the drive
-  frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};
+  frc::MotorControllerGroup m_leftMotors{m_left1, m_left2};

  // The motors on the right side of the drive
-  frc::SpeedControllerGroup m_rightMotors{m_right1, m_right2};
+  frc::MotorControllerGroup m_rightMotors{m_right1, m_right2};

  // The robot's drive
  frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
--- a/wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp
@@ -24,15 +24,15 @@ class Robot : public frc::TimedRobot {
  static void VisionThread() {
    // Get the USB camera from CameraServer
    cs::UsbCamera camera =
-        frc::CameraServer::GetInstance()->StartAutomaticCapture();
+        frc::CameraServer::GetInstance().StartAutomaticCapture();
    // Set the resolution
    camera.SetResolution(640, 480);

    // Get a CvSink. This will capture Mats from the Camera
-    cs::CvSink cvSink = frc::CameraServer::GetInstance()->GetVideo();
+    cs::CvSink cvSink = frc::CameraServer::GetInstance().GetVideo();
    // Setup a CvSource. This will send images back to the Dashboard
    cs::CvSource outputStream =
-        frc::CameraServer::GetInstance()->PutVideo("Rectangle", 640, 480);
+        frc::CameraServer::GetInstance().PutVideo("Rectangle", 640, 480);

    // Mats are very memory expensive. Lets reuse this Mat.
    cv::Mat mat;
--- a/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h
@@ -6,13 +6,13 @@

 #include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
 #include <frc/geometry/Translation2d.h>
 #include <frc/kinematics/MecanumDriveKinematics.h>
 #include <frc/kinematics/MecanumDriveOdometry.h>
 #include <frc/kinematics/MecanumDriveWheelSpeeds.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <wpi/math>

 /**
--- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp
@@ -96,7 +96,7 @@ frc2::Command* RobotContainer::GetAutonomousCommand() {

      [this](units::volt_t frontLeft, units::volt_t rearLeft,
             units::volt_t frontRight, units::volt_t rearRight) {
-        m_drive.SetSpeedControllersVolts(frontLeft, rearLeft, frontRight,
+        m_drive.SetMotorControllersVolts(frontLeft, rearLeft, frontRight,
                                         rearRight);
      },

--- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp
@@ -56,7 +56,7 @@ void DriveSubsystem::Drive(double xSpeed, double ySpeed, double rot,
  }
 }

-void DriveSubsystem::SetSpeedControllersVolts(units::volt_t frontLeftPower,
+void DriveSubsystem::SetMotorControllersVolts(units::volt_t frontLeftPower,
                                              units::volt_t rearLeftPower,
                                              units::volt_t frontRightPower,
                                              units::volt_t rearRightPower) {
--- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/subsystems/DriveSubsystem.h
@@ -6,13 +6,13 @@

 #include <frc/ADXRS450_Gyro.h>
 #include <frc/Encoder.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/drive/MecanumDrive.h>
 #include <frc/geometry/Pose2d.h>
 #include <frc/geometry/Rotation2d.h>
 #include <frc/interfaces/Gyro.h>
 #include <frc/kinematics/MecanumDriveOdometry.h>
 #include <frc/kinematics/MecanumDriveWheelSpeeds.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc2/command/SubsystemBase.h>

 #include "Constants.h"
@@ -82,9 +82,9 @@ class DriveSubsystem : public frc2::SubsystemBase {
  frc::MecanumDriveWheelSpeeds getCurrentWheelSpeeds();

  /**
-   * Sets the drive SpeedControllers to a desired voltage.
+   * Sets the drive MotorControllers to a desired voltage.
   */
-  void SetSpeedControllersVolts(units::volt_t frontLeftPower,
+  void SetMotorControllersVolts(units::volt_t frontLeftPower,
                                units::volt_t rearLeftPower,
                                units::volt_t frontRightPower,
                                units::volt_t rearRightPower);
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.

 #include <frc/Joystick.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
 #include <frc/drive/MecanumDrive.h>
+#include <frc/motorcontrol/PWMSparkMax.h>

 /**
 * This is a demo program showing how to use Mecanum control with the
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h
@@ -6,7 +6,6 @@

 #include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
 #include <frc/estimator/MecanumDrivePoseEstimator.h>
@@ -14,6 +13,7 @@
 #include <frc/kinematics/MecanumDriveKinematics.h>
 #include <frc/kinematics/MecanumDriveOdometry.h>
 #include <frc/kinematics/MecanumDriveWheelSpeeds.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <wpi/math>

 /**
--- a/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
@@ -5,8 +5,8 @@
 #include <frc/AnalogPotentiometer.h>
 #include <frc/Encoder.h>
 #include <frc/Joystick.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc/simulation/SimHooks.h>
 #include <frc/smartdashboard/Mechanism2d.h>
 #include <frc/smartdashboard/MechanismLigament2d.h>
--- a/wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp
@@ -3,8 +3,8 @@
 // the WPILib BSD license file in the root directory of this project.

 #include <frc/Joystick.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
+#include <frc/motorcontrol/PWMSparkMax.h>

 /**
 * This sample program shows how to control a motor using a joystick. In the
--- a/wpilibcExamples/src/main/cpp/examples/MotorControlEncoder/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MotorControlEncoder/cpp/Robot.cpp
@@ -4,8 +4,8 @@

 #include <frc/Encoder.h>
 #include <frc/Joystick.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <wpi/math>

--- a/wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/subsystems/DriveTrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/subsystems/DriveTrain.cpp
@@ -24,10 +24,6 @@ DriveTrain::DriveTrain() : frc::Subsystem("DriveTrain") {
  m_leftCIMs.SetInverted(true);
  m_rightCIMs.SetInverted(true);

-  // Configure encoders
-  m_rightEncoder.SetPIDSourceType(frc::PIDSourceType::kDisplacement);
-  m_leftEncoder.SetPIDSourceType(frc::PIDSourceType::kDisplacement);
-
 #ifndef SIMULATION
  // Converts to feet
  m_rightEncoder.SetDistancePerPulse(0.0785398);
--- a/wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/subsystems/Pivot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/subsystems/Pivot.cpp
@@ -27,7 +27,7 @@ double Pivot::ReturnPIDInput() {
 }

 void Pivot::UsePIDOutput(double output) {
-  m_motor.PIDWrite(output);
+  m_motor.Set(output);
 }

 bool Pivot::IsAtUpperLimit() {
--- a/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Collector.h
+++ b/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Collector.h
@@ -5,9 +5,9 @@
 #pragma once

 #include <frc/DigitalInput.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/Solenoid.h>
 #include <frc/commands/Subsystem.h>
+#include <frc/motorcontrol/PWMSparkMax.h>

 /**
 * The Collector subsystem has one motor for the rollers, a limit switch for
--- a/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/DriveTrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/DriveTrain.h
@@ -6,10 +6,10 @@

 #include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
-#include <frc/PWMSparkMax.h>
-#include <frc/SpeedControllerGroup.h>
 #include <frc/commands/Subsystem.h>
 #include <frc/drive/DifferentialDrive.h>
+#include <frc/motorcontrol/MotorControllerGroup.h>
+#include <frc/motorcontrol/PWMSparkMax.h>

 namespace frc {
 class Joystick;
@@ -62,11 +62,11 @@ class DriveTrain : public frc::Subsystem {
  // Subsystem devices
  frc::PWMSparkMax m_frontLeftCIM{1};
  frc::PWMSparkMax m_rearLeftCIM{2};
-  frc::SpeedControllerGroup m_leftCIMs{m_frontLeftCIM, m_rearLeftCIM};
+  frc::MotorControllerGroup m_leftCIMs{m_frontLeftCIM, m_rearLeftCIM};

  frc::PWMSparkMax m_frontRightCIM{3};
  frc::PWMSparkMax m_rearRightCIM{4};
-  frc::SpeedControllerGroup m_rightCIMs{m_frontRightCIM, m_rearRightCIM};
+  frc::MotorControllerGroup m_rightCIMs{m_frontRightCIM, m_rearRightCIM};

  frc::DifferentialDrive m_robotDrive{m_leftCIMs, m_rightCIMs};

--- a/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Pivot.h
+++ b/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Pivot.h
@@ -6,8 +6,8 @@

 #include <frc/AnalogPotentiometer.h>
 #include <frc/DigitalInput.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/commands/PIDSubsystem.h>
+#include <frc/motorcontrol/PWMSparkMax.h>

 /**
 * The Pivot subsystem contains the Van-door motor and the pot for PID control
--- a/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp
@@ -6,9 +6,9 @@

 #include <frc/AnalogInput.h>
 #include <frc/Joystick.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
 #include <frc/controller/PIDController.h>
+#include <frc/motorcontrol/PWMSparkMax.h>

 /**
 * This is a sample program to demonstrate how to use a soft potentiometer and a
--- a/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp
@@ -16,7 +16,7 @@ class Robot : public frc::TimedRobot {
 public:
  void RobotInit() override {
 #if defined(__linux__)
-    frc::CameraServer::GetInstance()->StartAutomaticCapture();
+    frc::CameraServer::GetInstance().StartAutomaticCapture();
 #else
    wpi::errs() << "Vision only available on Linux.\n";
    wpi::errs().flush();
--- a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h
@@ -6,11 +6,11 @@

 #include <frc/ADXRS450_Gyro.h>
 #include <frc/Encoder.h>
-#include <frc/PWMSparkMax.h>
-#include <frc/SpeedControllerGroup.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc/geometry/Pose2d.h>
 #include <frc/kinematics/DifferentialDriveOdometry.h>
+#include <frc/motorcontrol/MotorControllerGroup.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc2/command/SubsystemBase.h>
 #include <units/voltage.h>

@@ -123,10 +123,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
  frc::PWMSparkMax m_right2;

  // The motors on the left side of the drive
-  frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};
+  frc::MotorControllerGroup m_leftMotors{m_left1, m_left2};

  // The motors on the right side of the drive
-  frc::SpeedControllerGroup m_rightMotors{m_right1, m_right2};
+  frc::MotorControllerGroup m_rightMotors{m_right1, m_right2};

  // The robot's drive
  frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
--- a/wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h
@@ -6,12 +6,12 @@

 #include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
-#include <frc/PWMSparkMax.h>
-#include <frc/SpeedControllerGroup.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
 #include <frc/kinematics/DifferentialDriveKinematics.h>
 #include <frc/kinematics/DifferentialDriveOdometry.h>
+#include <frc/motorcontrol/MotorControllerGroup.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <units/angular_velocity.h>
 #include <units/length.h>
 #include <wpi/math>
@@ -57,8 +57,8 @@ class Drivetrain {
  frc::PWMSparkMax m_rightLeader{3};
  frc::PWMSparkMax m_rightFollower{4};

-  frc::SpeedControllerGroup m_leftGroup{m_leftLeader, m_leftFollower};
-  frc::SpeedControllerGroup m_rightGroup{m_rightLeader, m_rightFollower};
+  frc::MotorControllerGroup m_leftGroup{m_leftLeader, m_leftFollower};
+  frc::MotorControllerGroup m_rightGroup{m_rightLeader, m_rightFollower};

  frc::Encoder m_leftEncoder{0, 1};
  frc::Encoder m_rightEncoder{2, 3};
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.h
@@ -6,8 +6,8 @@

 #include <frc/BuiltInAccelerometer.h>
 #include <frc/Encoder.h>
-#include <frc/Spark.h>
 #include <frc/drive/DifferentialDrive.h>
+#include <frc/motorcontrol/Spark.h>
 #include <frc2/command/SubsystemBase.h>
 #include <units/length.h>

--- a/wpilibcExamples/src/main/cpp/examples/ShuffleBoard/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ShuffleBoard/cpp/Robot.cpp
@@ -5,9 +5,9 @@
 #include <frc/AnalogPotentiometer.h>
 #include <frc/Encoder.h>
 #include <frc/Joystick.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
 #include <frc/drive/DifferentialDrive.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc/shuffleboard/Shuffleboard.h>
 #include <frc/shuffleboard/ShuffleboardLayout.h>
 #include <frc/shuffleboard/ShuffleboardTab.h>
--- a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h
@@ -6,12 +6,12 @@

 #include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
-#include <frc/PWMSparkMax.h>
-#include <frc/SpeedControllerGroup.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
 #include <frc/kinematics/DifferentialDriveKinematics.h>
 #include <frc/kinematics/DifferentialDriveOdometry.h>
+#include <frc/motorcontrol/MotorControllerGroup.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc/simulation/AnalogGyroSim.h>
 #include <frc/simulation/DifferentialDrivetrainSim.h>
 #include <frc/simulation/EncoderSim.h>
@@ -73,8 +73,8 @@ class Drivetrain {
  frc::PWMSparkMax m_rightLeader{3};
  frc::PWMSparkMax m_rightFollower{4};

-  frc::SpeedControllerGroup m_leftGroup{m_leftLeader, m_leftFollower};
-  frc::SpeedControllerGroup m_rightGroup{m_rightLeader, m_rightFollower};
+  frc::MotorControllerGroup m_leftGroup{m_leftLeader, m_leftFollower};
+  frc::MotorControllerGroup m_rightGroup{m_rightLeader, m_rightFollower};

  frc::Encoder m_leftEncoder{0, 1};
  frc::Encoder m_rightEncoder{2, 3};
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
@@ -4,7 +4,6 @@

 #include <frc/Encoder.h>
 #include <frc/GenericHID.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/StateSpaceUtil.h>
 #include <frc/TimedRobot.h>
 #include <frc/XboxController.h>
@@ -12,6 +11,7 @@
 #include <frc/controller/LinearQuadraticRegulator.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc/estimator/KalmanFilter.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc/system/LinearSystemLoop.h>
 #include <frc/system/plant/DCMotor.h>
 #include <frc/system/plant/LinearSystemId.h>
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h
@@ -6,11 +6,11 @@

 #include <frc/ADXRS450_Gyro.h>
 #include <frc/Encoder.h>
-#include <frc/PWMSparkMax.h>
-#include <frc/SpeedControllerGroup.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc/geometry/Pose2d.h>
 #include <frc/kinematics/DifferentialDriveOdometry.h>
+#include <frc/motorcontrol/MotorControllerGroup.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc/simulation/ADXRS450_GyroSim.h>
 #include <frc/simulation/DifferentialDrivetrainSim.h>
 #include <frc/simulation/EncoderSim.h>
@@ -134,10 +134,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
  frc::PWMSparkMax m_right2{DriveConstants::kRightMotor2Port};

  // The motors on the left side of the drive
-  frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};
+  frc::MotorControllerGroup m_leftMotors{m_left1, m_left2};

  // The motors on the right side of the drive
-  frc::SpeedControllerGroup m_rightMotors{m_right1, m_right2};
+  frc::MotorControllerGroup m_rightMotors{m_right1, m_right2};

  // The robot's drive
  frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
@@ -4,13 +4,13 @@

 #include <frc/Encoder.h>
 #include <frc/GenericHID.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/StateSpaceUtil.h>
 #include <frc/TimedRobot.h>
 #include <frc/XboxController.h>
 #include <frc/controller/LinearQuadraticRegulator.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc/estimator/KalmanFilter.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc/system/LinearSystemLoop.h>
 #include <frc/system/plant/DCMotor.h>
 #include <frc/system/plant/LinearSystemId.h>
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
@@ -5,13 +5,13 @@
 #include <frc/DriverStation.h>
 #include <frc/Encoder.h>
 #include <frc/GenericHID.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/StateSpaceUtil.h>
 #include <frc/TimedRobot.h>
 #include <frc/XboxController.h>
 #include <frc/controller/LinearQuadraticRegulator.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc/estimator/KalmanFilter.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc/system/LinearSystemLoop.h>
 #include <frc/system/plant/DCMotor.h>
 #include <frc/system/plant/LinearSystemId.h>
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
@@ -5,7 +5,6 @@
 #include <frc/DriverStation.h>
 #include <frc/Encoder.h>
 #include <frc/GenericHID.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/StateSpaceUtil.h>
 #include <frc/TimedRobot.h>
 #include <frc/XboxController.h>
@@ -13,6 +12,7 @@
 #include <frc/controller/LinearQuadraticRegulator.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc/estimator/KalmanFilter.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc/system/LinearSystemLoop.h>
 #include <frc/system/plant/DCMotor.h>
 #include <frc/system/plant/LinearSystemId.h>
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h
@@ -5,11 +5,11 @@
 #pragma once

 #include <frc/Encoder.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/ProfiledPIDController.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
 #include <frc/kinematics/SwerveModuleState.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <units/angular_velocity.h>
 #include <units/time.h>
 #include <units/velocity.h>
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h
@@ -6,7 +6,6 @@

 #include <frc/ADXRS450_Gyro.h>
 #include <frc/Encoder.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/drive/MecanumDrive.h>
 #include <frc/geometry/Pose2d.h>
 #include <frc/geometry/Rotation2d.h>
@@ -14,6 +13,7 @@
 #include <frc/kinematics/ChassisSpeeds.h>
 #include <frc/kinematics/SwerveDriveKinematics.h>
 #include <frc/kinematics/SwerveDriveOdometry.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc2/command/SubsystemBase.h>

 #include "Constants.h"
@@ -51,7 +51,7 @@ class DriveSubsystem : public frc2::SubsystemBase {
  void ResetEncoders();

  /**
-   * Sets the drive SpeedControllers to a power from -1 to 1.
+   * Sets the drive MotorControllers to a power from -1 to 1.
   */
  void SetModuleStates(wpi::array<frc::SwerveModuleState, 4> desiredStates);

--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/SwerveModule.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/SwerveModule.h
@@ -5,11 +5,11 @@
 #pragma once

 #include <frc/Encoder.h>
-#include <frc/Spark.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/ProfiledPIDController.h>
 #include <frc/geometry/Rotation2d.h>
 #include <frc/kinematics/SwerveModuleState.h>
+#include <frc/motorcontrol/Spark.h>
 #include <frc/trajectory/TrapezoidProfile.h>
 #include <wpi/math>

--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.h
@@ -5,11 +5,11 @@
 #pragma once

 #include <frc/Encoder.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/ProfiledPIDController.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
 #include <frc/kinematics/SwerveModuleState.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
 #include <units/angular_velocity.h>
 #include <units/time.h>
 #include <units/velocity.h>
--- a/wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp
@@ -3,10 +3,10 @@
 // the WPILib BSD license file in the root directory of this project.

 #include <frc/GenericHID.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
 #include <frc/XboxController.h>
 #include <frc/drive/DifferentialDrive.h>
+#include <frc/motorcontrol/PWMSparkMax.h>

 /**
 * This is a demo program showing the use of the DifferentialDrive class.
--- a/wpilibcExamples/src/main/cpp/examples/Ultrasonic/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Ultrasonic/cpp/Robot.cpp
@@ -4,9 +4,9 @@

 #include <frc/AnalogInput.h>
 #include <frc/MedianFilter.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
 #include <frc/drive/DifferentialDrive.h>
+#include <frc/motorcontrol/PWMSparkMax.h>

 /**
 * This is a sample program demonstrating how to use an ultrasonic sensor and
--- a/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp
@@ -4,10 +4,10 @@

 #include <frc/AnalogInput.h>
 #include <frc/MedianFilter.h>
-#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
 #include <frc/controller/PIDController.h>
 #include <frc/drive/DifferentialDrive.h>
+#include <frc/motorcontrol/PWMSparkMax.h>

 /**
 * This is a sample program demonstrating how to use an ultrasonic sensor and