diff --git a/wpilibc/src/main/native/cpp/DriverStation.cpp b/wpilibc/src/main/native/cpp/DriverStation.cpp index 078428341c..37fc65fc7f 100644 --- a/wpilibc/src/main/native/cpp/DriverStation.cpp +++ b/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; diff --git a/wpilibc/src/main/native/include/frc/PWM.h b/wpilibc/src/main/native/include/frc/PWM.h index c468a0d59f..efff540129 100644 --- a/wpilibc/src/main/native/include/frc/PWM.h +++ b/wpilibc/src/main/native/include/frc/PWM.h @@ -122,7 +122,7 @@ class PWM : public wpi::Sendable, public wpi::SendableHelper { /** * 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 { * @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 { 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 diff --git a/wpilibc/src/main/native/include/frc/drive/MecanumDrive.h b/wpilibc/src/main/native/include/frc/drive/MecanumDrive.h index 191bf64ba0..809e7eaf09 100644 --- a/wpilibc/src/main/native/include/frc/drive/MecanumDrive.h +++ b/wpilibc/src/main/native/include/frc/drive/MecanumDrive.h @@ -60,8 +60,8 @@ class SpeedController; * with SetDeadband(). * * RobotDrive porting guide: - *
In MecanumDrive, the right side speed controllers are automatically - * inverted, while in RobotDrive, no speed controllers are automatically + *
In MecanumDrive, the right side motor controllers are automatically + * inverted, while in RobotDrive, no motor controllers are automatically * inverted. *
DriveCartesian(double, double, double, double) is equivalent to * RobotDrive's MecanumDrive_Cartesian(double, double, double, double) diff --git a/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h b/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h index f341108aab..265a5b373a 100644 --- a/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h +++ b/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.
Supported types:
    *
  • PWMMotorController
    • *
  • DMC60
    • diff --git a/wpilibc/src/main/native/include/frc/shuffleboard/Shuffleboard.h b/wpilibc/src/main/native/include/frc/shuffleboard/Shuffleboard.h index 9b691fd7ea..04c62c14d7 100644 --- a/wpilibc/src/main/native/include/frc/shuffleboard/Shuffleboard.h +++ b/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 diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java index deec606880..9d86ab891b 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java +++ b/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. * - *

    This is intended to be used by speed controllers. + *

    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. * - *

    This is intended to be used by speed controllers. + *

    This is intended to be used by motor controllers. * * @return The most recently set speed between -1.0 and 1.0. * @pre SetMaxPositivePwm() called. diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java index 831dba366b..b672fa8e4b 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java +++ b/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}. * *

    RobotDrive porting guide:
    - * In MecanumDrive, the right side speed controllers are automatically inverted, while in - * RobotDrive, no speed controllers are automatically inverted.
    + * In MecanumDrive, the right side motor controllers are automatically inverted, while in + * RobotDrive, no motor controllers are automatically inverted.
    * {@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, diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInWidgets.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInWidgets.java index ab231e8d09..82f2745c94 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInWidgets.java +++ b/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.
    * Supported types: * diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ComplexWidget.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ComplexWidget.java index 0f2de32c85..cef9c0733f 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ComplexWidget.java +++ b/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 { diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/Shuffleboard.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/Shuffleboard.java index a2d039a609..1bea28ec7f 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/Shuffleboard.java +++ b/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.