[glass, wpilib] Replace remaining references to Speed Controller with Motor Controller (#4769)

docs/build.gradle

@@ -163,7 +163,7 @@ doxygen {
     warn_if_undocumented false
     warn_no_paramdoc true
 
-    //enable doxygen preprocessor expansion of WPI_DEPRECATED to fix SpeedController docs
+    //enable doxygen preprocessor expansion of WPI_DEPRECATED to fix MotorController docs
     enable_preprocessing true
     macro_expansion true
     expand_only_predef true

glass/src/lib/native/cpp/hardware/MotorController.cpp

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/hardware/SpeedController.h"
+#include "glass/hardware/MotorController.h"
 
 #include <imgui.h>
 #include <imgui_internal.h>
@@ -12,13 +12,13 @@
 
 using namespace glass;
 
-void glass::DisplaySpeedController(SpeedControllerModel* m) {
+void glass::DisplayMotorController(MotorControllerModel* m) {
   // Get duty cycle data from the model and do not display anything if the data
   // is null.
   auto dc = m->GetPercentData();
   if (!dc || !m->Exists()) {
     ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
-    ImGui::Text("Unknown SpeedController");
+    ImGui::Text("Unknown MotorController");
     ImGui::PopStyleColor();
     return;
   }

glass/src/lib/native/include/glass/hardware/MotorController.h

@@ -8,12 +8,12 @@
 
 namespace glass {
 class DataSource;
-class SpeedControllerModel : public Model {
+class MotorControllerModel : public Model {
  public:
   virtual const char* GetName() const = 0;
   virtual const char* GetSimDevice() const = 0;
   virtual DataSource* GetPercentData() = 0;
   virtual void SetPercent(double value) = 0;
 };
-void DisplaySpeedController(SpeedControllerModel* m);
+void DisplayMotorController(MotorControllerModel* m);
 }  // namespace glass

glass/src/libnt/native/cpp/NTMotorController.cpp

@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/networktables/NTSpeedController.h"
+#include "glass/networktables/NTMotorController.h"
 
 #include <fmt/format.h>
 #include <wpi/StringExtras.h>
 
 using namespace glass;
 
-NTSpeedControllerModel::NTSpeedControllerModel(std::string_view path)
-    : NTSpeedControllerModel(nt::NetworkTableInstance::GetDefault(), path) {}
+NTMotorControllerModel::NTMotorControllerModel(std::string_view path)
+    : NTMotorControllerModel(nt::NetworkTableInstance::GetDefault(), path) {}
 
-NTSpeedControllerModel::NTSpeedControllerModel(nt::NetworkTableInstance inst,
+NTMotorControllerModel::NTMotorControllerModel(nt::NetworkTableInstance inst,
                                                std::string_view path)
     : m_inst{inst},
       m_value{inst.GetDoubleTopic(fmt::format("{}/Value", path))
@@ -23,11 +23,11 @@ NTSpeedControllerModel::NTSpeedControllerModel(nt::NetworkTableInstance inst,
       m_valueData{fmt::format("NT_SpdCtrl:{}", path)},
       m_nameValue{wpi::rsplit(path, '/').second} {}
 
-void NTSpeedControllerModel::SetPercent(double value) {
+void NTMotorControllerModel::SetPercent(double value) {
   m_value.Set(value);
 }
 
-void NTSpeedControllerModel::Update() {
+void NTMotorControllerModel::Update() {
   for (auto&& v : m_value.ReadQueue()) {
     m_valueData.SetValue(v.value, v.time);
   }
@@ -39,6 +39,6 @@ void NTSpeedControllerModel::Update() {
   }
 }
 
-bool NTSpeedControllerModel::Exists() {
+bool NTMotorControllerModel::Exists() {
   return m_value.Exists();
 }

glass/src/libnt/native/cpp/StandardNetworkTables.cpp

@@ -12,8 +12,8 @@
 #include "glass/networktables/NTGyro.h"
 #include "glass/networktables/NTMecanumDrive.h"
 #include "glass/networktables/NTMechanism2D.h"
+#include "glass/networktables/NTMotorController.h"
 #include "glass/networktables/NTPIDController.h"
-#include "glass/networktables/NTSpeedController.h"
 #include "glass/networktables/NTStringChooser.h"
 #include "glass/networktables/NTSubsystem.h"
 #include "glass/networktables/NetworkTablesProvider.h"
@@ -142,14 +142,14 @@ void glass::AddStandardNetworkTablesViews(NetworkTablesProvider& provider) {
         });
       });
   provider.Register(
-      NTSpeedControllerModel::kType,
+      NTMotorControllerModel::kType,
       [](nt::NetworkTableInstance inst, const char* path) {
-        return std::make_unique<NTSpeedControllerModel>(inst, path);
+        return std::make_unique<NTMotorControllerModel>(inst, path);
       },
       [](Window* win, Model* model, const char* path) {
         win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
         return MakeFunctionView([=] {
-          DisplaySpeedController(static_cast<NTSpeedControllerModel*>(model));
+          DisplayMotorController(static_cast<NTMotorControllerModel*>(model));
         });
       });
   provider.Register(

glass/src/libnt/native/include/glass/networktables/NTMotorController.h

@@ -13,15 +13,15 @@
 #include <networktables/StringTopic.h>
 
 #include "glass/DataSource.h"
-#include "glass/hardware/SpeedController.h"
+#include "glass/hardware/MotorController.h"
 
 namespace glass {
-class NTSpeedControllerModel : public SpeedControllerModel {
+class NTMotorControllerModel : public MotorControllerModel {
  public:
   static constexpr const char* kType = "Motor Controller";
 
-  explicit NTSpeedControllerModel(std::string_view path);
-  NTSpeedControllerModel(nt::NetworkTableInstance inst, std::string_view path);
+  explicit NTMotorControllerModel(std::string_view path);
+  NTMotorControllerModel(nt::NetworkTableInstance inst, std::string_view path);
 
   const char* GetName() const override { return m_nameValue.c_str(); }
   const char* GetSimDevice() const override { return nullptr; }

hal/src/main/native/athena/DigitalInternal.h

@@ -38,7 +38,7 @@ constexpr int32_t kExpectedLoopTiming = 40;
  *   reliably down to 10.0 ms; starting at about 8.5ms, the servo sometimes hums
  *   and get hot; by 5.0ms the hum is nearly continuous
  * - 10ms periods work well for Victor 884
- * - 5ms periods allows higher update rates for Luminary Micro Jaguar speed
+ * - 5ms periods allows higher update rates for Luminary Micro Jaguar motor
  *   controllers. Due to the shipping firmware on the Jaguar, we can't run the
  *   update period less than 5.05 ms.
  *

hal/src/main/native/sim/DigitalInternal.h

@@ -30,7 +30,7 @@ constexpr int32_t kExpectedLoopTiming = 40;
  *   reliably down to 10.0 ms; starting at about 8.5ms, the servo sometimes hums
  *   and get hot; by 5.0ms the hum is nearly continuous
  * - 10ms periods work well for Victor 884
- * - 5ms periods allows higher update rates for Luminary Micro Jaguar speed
+ * - 5ms periods allows higher update rates for Luminary Micro Jaguar motor
  *   controllers. Due to the shipping firmware on the Jaguar, we can't run the
  *   update period less than 5.05 ms.
  *

simulation/halsim_ws_core/doc/hardware_ws_api.md

@@ -219,7 +219,7 @@ Joystick data is an input to the robot program and should be updated for each in
 
 [``"PWM"``]:#pwm-output-pwm
 
-PWMs may be used to control either speed controllers or servos.  Typically only one of either ``"<speed"`` (for a speed controller) or ``"<position"`` (for a servo) is used for a given PWM.
+PWMs may be used to control either motor controllers or servos.  Typically only one of either ``"<speed"`` (for a motor controller) or ``"<position"`` (for a servo) is used for a given PWM.
 
 | Data Key        | Type    | Description                                |
 | --------------- | ------- | ------------------------------------------ |

wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardWidget.cpp

@@ -20,7 +20,7 @@ static constexpr const char* widgetStrings[] = {
     "ComboBox Chooser",
     "Split Button Chooser",
     "Encoder",
-    "Speed Controller",
+    "Motor Controller",
     "Command",
     "PID Command",
     "PID Controller",

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

@@ -166,7 +166,7 @@ class PWM : public wpi::Sendable, public wpi::SendableHelper<PWM> {
   /**
    * Optionally eliminate the deadband from a motor controller.
    *
-   * @param eliminateDeadband If true, set the motor curve on the speed
+   * @param eliminateDeadband If true, set the motor curve on the motor
    *                          controller to eliminate the deadband in the middle
    *                          of the range. Otherwise, keep the full range
    *                          without modifying any values.

wpilibc/src/main/native/include/frc/motorcontrol/MotorController.h

@@ -23,7 +23,7 @@ class MotorController {
   virtual void Set(double speed) = 0;
 
   /**
-   * Sets the voltage output of the SpeedController.  Compensates for
+   * Sets the voltage output of the MotorController.  Compensates for
    * the current bus voltage to ensure that the desired voltage is output even
    * if the battery voltage is below 12V - highly useful when the voltage
    * outputs are "meaningful" (e.g. they come from a feedforward calculation).

wpilibc/src/main/native/include/frc/motorcontrol/PWMMotorController.h

@@ -64,7 +64,7 @@ class PWMMotorController : public MotorController,
   /**
    * Optionally eliminate the deadband from a motor controller.
    *
-   * @param eliminateDeadband If true, set the motor curve on the speed
+   * @param eliminateDeadband If true, set the motor curve on the motor
    *                          controller to eliminate the deadband in the middle
    *                          of the range. Otherwise, keep the full range
    *                          without modifying any values.

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

@@ -21,7 +21,7 @@ namespace frc {
 class ShuffleboardContainer;
 
 /**
- * A Shuffleboard widget that handles a Sendable object such as a speed
+ * A Shuffleboard widget that handles a Sendable object such as a motor
  * controller or sensor.
  */
 class ComplexWidget final : public ShuffleboardWidget<ComplexWidget> {

wpilibc/src/test/native/cpp/motorcontrol/MotorControllerGroupTest.cpp

@@ -18,13 +18,13 @@ std::ostream& operator<<(std::ostream& os,
                          const MotorControllerGroupTestType& type) {
   switch (type) {
     case TEST_ONE:
-      os << "MotorControllerGroup with one speed controller";
+      os << "MotorControllerGroup with one motor controller";
       break;
     case TEST_TWO:
-      os << "MotorControllerGroup with two speed controllers";
+      os << "MotorControllerGroup with two motor controllers";
       break;
     case TEST_THREE:
-      os << "MotorControllerGroup with three speed controllers";
+      os << "MotorControllerGroup with three motor controllers";
       break;
   }
 
@@ -37,32 +37,32 @@ std::ostream& operator<<(std::ostream& os,
 class MotorControllerGroupTest
     : public testing::TestWithParam<MotorControllerGroupTestType> {
  protected:
-  std::vector<MockMotorController> m_speedControllers;
+  std::vector<MockMotorController> m_motorControllers;
   std::unique_ptr<MotorControllerGroup> m_group;
 
   void SetUp() override {
     switch (GetParam()) {
       case TEST_ONE: {
-        m_speedControllers.emplace_back();
-        m_group = std::make_unique<MotorControllerGroup>(m_speedControllers[0]);
+        m_motorControllers.emplace_back();
+        m_group = std::make_unique<MotorControllerGroup>(m_motorControllers[0]);
         break;
       }
 
       case TEST_TWO: {
-        m_speedControllers.emplace_back();
-        m_speedControllers.emplace_back();
-        m_group = std::make_unique<MotorControllerGroup>(m_speedControllers[0],
-                                                         m_speedControllers[1]);
+        m_motorControllers.emplace_back();
+        m_motorControllers.emplace_back();
+        m_group = std::make_unique<MotorControllerGroup>(m_motorControllers[0],
+                                                         m_motorControllers[1]);
         break;
       }
 
       case TEST_THREE: {
-        m_speedControllers.emplace_back();
-        m_speedControllers.emplace_back();
-        m_speedControllers.emplace_back();
-        m_group = std::make_unique<MotorControllerGroup>(m_speedControllers[0],
-                                                         m_speedControllers[1],
-                                                         m_speedControllers[2]);
+        m_motorControllers.emplace_back();
+        m_motorControllers.emplace_back();
+        m_motorControllers.emplace_back();
+        m_group = std::make_unique<MotorControllerGroup>(m_motorControllers[0],
+                                                         m_motorControllers[1],
+                                                         m_motorControllers[2]);
         break;
       }
     }
@@ -72,8 +72,8 @@ class MotorControllerGroupTest
 TEST_P(MotorControllerGroupTest, Set) {
   m_group->Set(1.0);
 
-  for (auto& speedController : m_speedControllers) {
-    EXPECT_FLOAT_EQ(speedController.Get(), 1.0);
+  for (auto& motorController : m_motorControllers) {
+    EXPECT_FLOAT_EQ(motorController.Get(), 1.0);
   }
 }
 
@@ -84,13 +84,13 @@ TEST_P(MotorControllerGroupTest, GetInverted) {
 }
 
 TEST_P(MotorControllerGroupTest, SetInvertedDoesNotModifyMotorControllers) {
-  for (auto& speedController : m_speedControllers) {
-    speedController.SetInverted(false);
+  for (auto& motorController : m_motorControllers) {
+    motorController.SetInverted(false);
   }
   m_group->SetInverted(true);
 
-  for (auto& speedController : m_speedControllers) {
-    EXPECT_EQ(speedController.GetInverted(), false);
+  for (auto& motorController : m_motorControllers) {
+    EXPECT_EQ(motorController.GetInverted(), false);
   }
 }
 
@@ -98,8 +98,8 @@ TEST_P(MotorControllerGroupTest, SetInvertedDoesInvert) {
   m_group->SetInverted(true);
   m_group->Set(1.0);
 
-  for (auto& speedController : m_speedControllers) {
-    EXPECT_FLOAT_EQ(speedController.Get(), -1.0);
+  for (auto& motorController : m_motorControllers) {
+    EXPECT_FLOAT_EQ(motorController.Get(), -1.0);
   }
 }
 
@@ -107,8 +107,8 @@ TEST_P(MotorControllerGroupTest, Disable) {
   m_group->Set(1.0);
   m_group->Disable();
 
-  for (auto& speedController : m_speedControllers) {
-    EXPECT_FLOAT_EQ(speedController.Get(), 0.0);
+  for (auto& motorController : m_motorControllers) {
+    EXPECT_FLOAT_EQ(motorController.Get(), 0.0);
   }
 }
 
@@ -116,8 +116,8 @@ TEST_P(MotorControllerGroupTest, StopMotor) {
   m_group->Set(1.0);
   m_group->StopMotor();
 
-  for (auto& speedController : m_speedControllers) {
-    EXPECT_FLOAT_EQ(speedController.Get(), 0.0);
+  for (auto& motorController : m_motorControllers) {
+    EXPECT_FLOAT_EQ(motorController.Get(), 0.0);
   }
 }
 

wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp

@@ -11,7 +11,7 @@
  * operator control part of the program, the joystick is read and the value is
  * written to the motor.
  *
- * Joystick analog values range from -1 to 1 and speed controller inputs as
+ * Joystick analog values range from -1 to 1 and motor controller inputs as
  * range from -1 to 1 making it easy to work together.
  */
 class Robot : public frc::TimedRobot {

wpilibcExamples/src/main/cpp/examples/MotorControlEncoder/cpp/Robot.cpp

@@ -15,7 +15,7 @@
  * operator control part of the program, the joystick is read and the value is
  * written to the motor.
  *
- * Joystick analog values range from -1 to 1 and speed controller inputs as
+ * Joystick analog values range from -1 to 1 and motor controller inputs as
  * range from -1 to 1 making it easy to work together.
  *
  * In addition, the encoder value of an encoder connected to ports 0 and 1 is

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Robot.java

@@ -13,7 +13,7 @@ import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
  * This sample program shows how to control a motor using a joystick. In the operator control part
  * of the program, the joystick is read and the value is written to the motor.
  *
- * <p>Joystick analog values range from -1 to 1 and speed controller inputs also range from -1 to 1
+ * <p>Joystick analog values range from -1 to 1 and motor controller inputs also range from -1 to 1
  * making it easy to work together.
  */
 public class Robot extends TimedRobot {

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrolencoder/Robot.java

@@ -15,7 +15,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  * This sample program shows how to control a motor using a joystick. In the operator control part
  * of the program, the joystick is read and the value is written to the motor.
  *
- * <p>Joystick analog values range from -1 to 1 and speed controller inputs also range from -1 to 1
+ * <p>Joystick analog values range from -1 to 1 and motor controller inputs also range from -1 to 1
  * making it easy to work together.
  *
  * <p>In addition, the encoder value of an encoder connected to ports 0 and 1 is consistently sent

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/MotorEncoderFixture.java

@@ -38,7 +38,7 @@ public abstract class MotorEncoderFixture<T extends MotorController> implements
   public abstract int getPDPChannel();
 
   /**
-   * Where the implementer of this class should pass the speed controller Constructor should only be
+   * Where the implementer of this class should pass the motor controller Constructor should only be
    * called from outside this class if the Motor controller is not also an implementation of PWM
    * interface.
    *
@@ -75,7 +75,7 @@ public abstract class MotorEncoderFixture<T extends MotorController> implements
         m_encoder = new Encoder(m_alphaSource, m_betaSource);
         m_counters[0] = new Counter(m_alphaSource);
         m_counters[1] = new Counter(m_betaSource);
-        logger.fine("Creating the speed controller!");
+        logger.fine("Creating the motor controller!");
         m_motor = giveMotorController();
       }
     }