[wpilib] Replace Speed controller comments with motor controller (NFC) (#3551)

Makes comments consistent with #3302

wpilibc/src/main/native/cpp/DriverStation.cpp

@@ -172,7 +172,7 @@ Instance::Instance() {
   HAL_Initialize(500, 0);
 
   // All joysticks should default to having zero axes, povs and buttons, so
-  // uninitialized memory doesn't get sent to speed controllers.
+  // uninitialized memory doesn't get sent to motor controllers.
   for (unsigned int i = 0; i < DriverStation::kJoystickPorts; i++) {
     joystickButtonsPressed[i] = 0;
     joystickButtonsReleased[i] = 0;

wpilibc/src/main/native/include/frc/PWM.h

@@ -122,7 +122,7 @@ class PWM : public wpi::Sendable, public wpi::SendableHelper<PWM> {
   /**
    * Set the PWM value based on a speed.
    *
-   * This is intended to be used by speed controllers.
+   * This is intended to be used by motor controllers.
    *
    * @pre SetMaxPositivePwm() called.
    * @pre SetMinPositivePwm() called.
@@ -130,14 +130,14 @@ class PWM : public wpi::Sendable, public wpi::SendableHelper<PWM> {
    * @pre SetMaxNegativePwm() called.
    * @pre SetMinNegativePwm() called.
    *
-   * @param speed The speed to set the speed controller between -1.0 and 1.0.
+   * @param speed The speed to set the motor controller between -1.0 and 1.0.
    */
   virtual void SetSpeed(double speed);
 
   /**
    * Get the PWM value in terms of speed.
    *
-   * This is intended to be used by speed controllers.
+   * This is intended to be used by motor controllers.
    *
    * @pre SetMaxPositivePwm() called.
    * @pre SetMinPositivePwm() called.
@@ -164,7 +164,7 @@ class PWM : public wpi::Sendable, public wpi::SendableHelper<PWM> {
   void SetZeroLatch();
 
   /**
-   * Optionally eliminate the deadband from a speed controller.
+   * Optionally eliminate the deadband from a motor controller.
    *
    * @param eliminateDeadband If true, set the motor curve on the speed
    *                          controller to eliminate the deadband in the middle

wpilibc/src/main/native/include/frc/drive/MecanumDrive.h

@@ -60,8 +60,8 @@ class SpeedController;
  * with SetDeadband().
  *
  * RobotDrive porting guide:
- * <br>In MecanumDrive, the right side speed controllers are automatically
- * inverted, while in RobotDrive, no speed controllers are automatically
+ * <br>In MecanumDrive, the right side motor controllers are automatically
+ * inverted, while in RobotDrive, no motor controllers are automatically
  * inverted.
  * <br>DriveCartesian(double, double, double, double) is equivalent to
  * RobotDrive's MecanumDrive_Cartesian(double, double, double, double)

wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h

@@ -201,7 +201,7 @@ enum class BuiltInWidgets {
   kEncoder,
   /**
    * Displays a MotorController.
-   * The speed controller will be controllable from the dashboard when test mode
+   * The motor controller will be controllable from the dashboard when test mode
    * is enabled, but will otherwise be view-only. <br>Supported types: <ul>
    * <li>PWMMotorController</li>
    * <li>DMC60</li>

wpilibc/src/main/native/include/frc/shuffleboard/Shuffleboard.h

@@ -96,7 +96,7 @@ class Shuffleboard final {
   static void SelectTab(std::string_view title);
 
   /**
-   * Enables user control of widgets containing actuators: speed controllers,
+   * Enables user control of widgets containing actuators: motor controllers,
    * relays, etc. This should only be used when the robot is in test mode.
    * IterativeRobotBase and SampleRobot are both configured to call this method
    * when entering test mode; most users should not need to use this method

wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java

@@ -88,9 +88,9 @@ public class PWM implements Sendable, AutoCloseable {
   }
 
   /**
-   * Optionally eliminate the deadband from a speed controller.
+   * Optionally eliminate the deadband from a motor controller.
    *
-   * @param eliminateDeadband If true, set the motor curve for the speed controller to eliminate the
+   * @param eliminateDeadband If true, set the motor curve for the motor controller to eliminate the
    *     deadband in the middle of the range. Otherwise, keep the full range without modifying any
    *     values.
    */
@@ -163,9 +163,9 @@ public class PWM implements Sendable, AutoCloseable {
   /**
    * Set the PWM value based on a speed.
    *
-   * <p>This is intended to be used by speed controllers.
+   * <p>This is intended to be used by motor controllers.
    *
-   * @param speed The speed to set the speed controller between -1.0 and 1.0.
+   * @param speed The speed to set the motor controller between -1.0 and 1.0.
    * @pre SetMaxPositivePwm() called.
    * @pre SetMinPositivePwm() called.
    * @pre SetCenterPwm() called.
@@ -179,7 +179,7 @@ public class PWM implements Sendable, AutoCloseable {
   /**
    * Get the PWM value in terms of speed.
    *
-   * <p>This is intended to be used by speed controllers.
+   * <p>This is intended to be used by motor controllers.
    *
    * @return The most recently set speed between -1.0 and 1.0.
    * @pre SetMaxPositivePwm() called.

wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java

@@ -49,8 +49,8 @@ import edu.wpi.first.wpilibj.SpeedController;
  * value can be changed with {@link #setDeadband}.
  *
  * <p>RobotDrive porting guide: <br>
- * In MecanumDrive, the right side speed controllers are automatically inverted, while in
- * RobotDrive, no speed controllers are automatically inverted. <br>
+ * In MecanumDrive, the right side motor controllers are automatically inverted, while in
+ * RobotDrive, no motor controllers are automatically inverted. <br>
  * {@link #driveCartesian(double, double, double, double)} is equivalent to RobotDrive's
  * mecanumDrive_Cartesian(double, double, double, double) if a deadband of 0 is used, and the ySpeed
  * and gyroAngle values are inverted compared to RobotDrive (eg driveCartesian(xSpeed, -ySpeed,

wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInWidgets.java

@@ -246,7 +246,7 @@ public enum BuiltInWidgets implements WidgetType {
   kEncoder("Encoder"),
   /**
    * 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
+   * motor controller will be controllable from the dashboard when test mode is enabled, but will
    * otherwise be view-only. <br>
    * Supported types:
    *

wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ComplexWidget.java

@@ -9,7 +9,7 @@ import edu.wpi.first.util.sendable.Sendable;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl;
 
 /**
- * A Shuffleboard widget that handles a {@link Sendable} object such as a speed controller or
+ * A Shuffleboard widget that handles a {@link Sendable} object such as a motor controller or
  * sensor.
  */
 public final class ComplexWidget extends ShuffleboardWidget<ComplexWidget> {

wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/Shuffleboard.java

@@ -97,7 +97,7 @@ public final class Shuffleboard {
   }
 
   /**
-   * Enables user control of widgets containing actuators: speed controllers, relays, etc. This
+   * Enables user control of widgets containing actuators: motor controllers, relays, etc. This
    * should only be used when the robot is in test mode. IterativeRobotBase and SampleRobot are both
    * configured to call this method when entering test mode; most users should not need to use this
    * method directly.