[hal,wpilib] Rename "Test" robot mode to "Utility" (#8782)

The "Utility" name better matches its intended generic use case and
avoids overloaded terminology with unit testing (e.g. the need to name
the opmode annotation `@TestOpMode`).

The driver station will also be updated to reflect this change.

commandsv2/src/main/java/org/wpilib/command2/button/RobotModeTriggers.java

@@ -42,11 +42,11 @@ public final class RobotModeTriggers {
   }
 
   /**
-   * Returns a trigger that is true when the robot is enabled in test mode.
+   * Returns a trigger that is true when the robot is enabled in utility mode.
    *
-   * @return A trigger that is true when the robot is enabled in test mode.
+   * @return A trigger that is true when the robot is enabled in utility mode.
    */
-  public static Trigger test() {
-    return new Trigger(RobotState::isTestEnabled);
+  public static Trigger utility() {
+    return new Trigger(RobotState::isUtilityEnabled);
   }
 }

commandsv2/src/main/native/cpp/frc2/command/button/RobotModeTriggers.cpp

@@ -20,6 +20,6 @@ Trigger RobotModeTriggers::Disabled() {
   return Trigger{&wpi::RobotState::IsDisabled};
 }
 
-Trigger RobotModeTriggers::Test() {
-  return Trigger{&wpi::RobotState::IsTestEnabled};
+Trigger RobotModeTriggers::Utility() {
+  return Trigger{&wpi::RobotState::IsUtilityEnabled};
 }

commandsv2/src/main/native/include/wpi/commands2/button/RobotModeTriggers.hpp

@@ -40,11 +40,11 @@ class RobotModeTriggers {
   static Trigger Disabled();
 
   /**
-   * Returns a trigger that is true when the robot is enabled in test mode.
+   * Returns a trigger that is true when the robot is enabled in utility mode.
    *
-   * @return A trigger that is true when the robot is enabled in test mode.
+   * @return A trigger that is true when the robot is enabled in utility mode.
    */
-  static Trigger Test();
+  static Trigger Utility();
 };
 
 }  // namespace wpi::cmd

commandsv2/src/test/java/org/wpilib/MockHardwareExtension.java

@@ -33,7 +33,7 @@ public final class MockHardwareExtension implements BeforeAllCallback {
     HAL.initialize(500, 0);
     DriverStationSim.setDsAttached(true);
     DriverStationSim.setEnabled(true);
-    DriverStationSim.setRobotMode(RobotMode.TEST);
+    DriverStationSim.setRobotMode(RobotMode.UTILITY);
     DriverStationSim.notifyNewData();
   }
 }

commandsv2/src/test/java/org/wpilib/command2/button/RobotModeTriggersTest.java

@@ -33,12 +33,12 @@ class RobotModeTriggersTest extends CommandTestBase {
   }
 
   @Test
-  void testModeTest() {
+  void utilityTest() {
     DriverStationSim.resetData();
-    DriverStationSim.setRobotMode(RobotMode.TEST);
+    DriverStationSim.setRobotMode(RobotMode.UTILITY);
     DriverStationSim.setEnabled(true);
     DriverStationSim.notifyNewData();
-    Trigger test = RobotModeTriggers.test();
+    Trigger test = RobotModeTriggers.utility();
     assertTrue(test.getAsBoolean());
   }
 

commandsv2/src/test/native/cpp/wpi/command/button/RobotModeTriggersTest.cpp

@@ -40,11 +40,11 @@ TEST(RobotModeTriggersTest, Disabled) {
   EXPECT_TRUE(disabled.Get());
 }
 
-TEST(RobotModeTriggersTest, TestMode) {
+TEST(RobotModeTriggersTest, UtilityMode) {
   DriverStationSim::ResetData();
-  DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_TEST);
+  DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_UTILITY);
   DriverStationSim::SetEnabled(true);
   DriverStationSim::NotifyNewData();
-  Trigger test = RobotModeTriggers::Test();
+  Trigger test = RobotModeTriggers::Utility();
   EXPECT_TRUE(test.Get());
 }

commandsv3/src/main/java/org/wpilib/command3/button/RobotModeTriggers.java

@@ -43,11 +43,11 @@ public final class RobotModeTriggers {
   }
 
   /**
-   * Returns a trigger that is true when the robot is enabled in test mode.
+   * Returns a trigger that is true when the robot is enabled in utility mode.
    *
-   * @return A trigger that is true when the robot is enabled in test mode.
+   * @return A trigger that is true when the robot is enabled in utility mode.
    */
-  public static Trigger test() {
-    return new Trigger(RobotState::isTestEnabled);
+  public static Trigger utility() {
+    return new Trigger(RobotState::isUtilityEnabled);
   }
 }

developerRobot/src/main/java/wpilib/robot/Robot.java

@@ -29,9 +29,9 @@ public class Robot extends TimedRobot {
   @Override
   public void teleopPeriodic() {}
 
-  /** This function is called periodically during test mode. */
+  /** This function is called periodically during utility mode. */
   @Override
-  public void testPeriodic() {}
+  public void utilityPeriodic() {}
 
   /** This function is called periodically during all modes. */
   @Override

developerRobot/src/main/native/cpp/Robot.cpp

@@ -35,7 +35,7 @@ class Robot : public wpi::TimedRobot {
   /**
    * This function is called periodically during test mode
    */
-  void TestPeriodic() override {}
+  void UtilityPeriodic() override {}
 
   /**
    * This function is called periodically during all modes

hal/src/main/java/org/wpilib/hardware/hal/ControlWord.java

@@ -181,23 +181,23 @@ public class ControlWord {
   }
 
   /**
-   * Gets a value indicating whether the Driver Station requires the robot to be running in test
+   * Gets a value indicating whether the Driver Station requires the robot to be running in utility
    * mode.
    *
-   * @return True if test mode should be enabled, false otherwise.
+   * @return True if utility mode should be enabled, false otherwise.
    */
-  public boolean isTest() {
-    return getRobotMode() == RobotMode.TEST;
+  public boolean isUtility() {
+    return getRobotMode() == RobotMode.UTILITY;
   }
 
   /**
-   * Gets a value indicating whether the Driver Station requires the robot to be running in test
+   * Gets a value indicating whether the Driver Station requires the robot to be running in utility
    * mode and enabled.
    *
-   * @return True if test mode should be set and the robot should be enabled.
+   * @return True if utility mode should be set and the robot should be enabled.
    */
-  public boolean isTestEnabled() {
-    return isTest() && isEnabled() && isDSAttached();
+  public boolean isUtilityEnabled() {
+    return isUtility() && isEnabled() && isDSAttached();
   }
 
   /**

hal/src/main/java/org/wpilib/hardware/hal/RobotMode.java

@@ -12,8 +12,8 @@ public enum RobotMode {
   AUTONOMOUS(1),
   /** Teleoperated. */
   TELEOPERATED(2),
-  /** Test. */
-  TEST(3);
+  /** Utility. */
+  UTILITY(3);
 
   private final int value;
 
@@ -35,7 +35,7 @@ public enum RobotMode {
     return switch (value) {
       case 1 -> AUTONOMOUS;
       case 2 -> TELEOPERATED;
-      case 3 -> TEST;
+      case 3 -> UTILITY;
       default -> UNKNOWN;
     };
   }

hal/src/main/java/org/wpilib/hardware/hal/struct/ControlWordStruct.java

@@ -27,7 +27,7 @@ public class ControlWordStruct implements Struct<ControlWord> {
   @Override
   public String getSchema() {
     return "uint64 opModeHash:56;"
-        + "enum{unknown=0,autonomous=1,teleoperated=2,test=3} uint64 robotMode:2;"
+        + "enum{unknown=0,autonomous=1,teleoperated=2,utility=3} uint64 robotMode:2;"
         + "bool enabled:1;bool eStop:1;bool fmsAttached:1;bool dsAttached:1;";
   }
 

hal/src/main/native/cpp/DashboardOpMode.cpp

@@ -99,13 +99,13 @@ struct DashboardOpModeInstance {
   void Start(nt::NetworkTableInstance inst) {
     autoOpModes.Start(inst, "/SmartDashboard/Auto OpMode");
     teleopOpModes.Start(inst, "/SmartDashboard/Teleop OpMode");
-    testOpModes.Start(inst, "/SmartDashboard/Test OpMode");
+    utilityOpModes.Start(inst, "/SmartDashboard/Utility OpMode");
   }
 
   util::mutex mutex;
   DashboardOpModeSender autoOpModes;
   DashboardOpModeSender teleopOpModes;
-  DashboardOpModeSender testOpModes;
+  DashboardOpModeSender utilityOpModes;
 };
 }  // namespace
 
@@ -122,7 +122,7 @@ void hal::SetDashboardOpModeOptions(std::span<const HAL_OpModeOption> options) {
   std::scoped_lock lock{gInstance->mutex};
   gInstance->autoOpModes.SetOptions(options, HAL_ROBOT_MODE_AUTONOMOUS);
   gInstance->teleopOpModes.SetOptions(options, HAL_ROBOT_MODE_TELEOPERATED);
-  gInstance->testOpModes.SetOptions(options, HAL_ROBOT_MODE_TEST);
+  gInstance->utilityOpModes.SetOptions(options, HAL_ROBOT_MODE_UTILITY);
 }
 
 void hal::StartDashboardOpMode() {
@@ -141,7 +141,7 @@ void hal::EnableDashboardOpMode() {
   std::scoped_lock lock{gInstance->mutex};
   gInstance->autoOpModes.Enable();
   gInstance->teleopOpModes.Enable();
-  gInstance->testOpModes.Enable();
+  gInstance->utilityOpModes.Enable();
 }
 
 int64_t hal::GetDashboardSelectedOpMode(HAL_RobotMode robotMode) {
@@ -154,8 +154,8 @@ int64_t hal::GetDashboardSelectedOpMode(HAL_RobotMode robotMode) {
       return gInstance->autoOpModes.GetSelected();
     case HAL_ROBOT_MODE_TELEOPERATED:
       return gInstance->teleopOpModes.GetSelected();
-    case HAL_ROBOT_MODE_TEST:
-      return gInstance->testOpModes.GetSelected();
+    case HAL_ROBOT_MODE_UTILITY:
+      return gInstance->utilityOpModes.GetSelected();
     default:
       return 0;
   }

hal/src/main/native/include/wpi/hal/DriverStationTypes.h

@@ -56,7 +56,7 @@ HAL_ENUM(HAL_RobotMode) {
   HAL_ROBOT_MODE_UNKNOWN = 0,
   HAL_ROBOT_MODE_AUTONOMOUS,
   HAL_ROBOT_MODE_TELEOPERATED,
-  HAL_ROBOT_MODE_TEST,
+  HAL_ROBOT_MODE_UTILITY,
 };
 
 /**

hal/src/main/native/include/wpi/hal/DriverStationTypes.hpp

@@ -19,8 +19,8 @@ enum class RobotMode {
   AUTONOMOUS = HAL_ROBOT_MODE_AUTONOMOUS,
   /// Teleoperated.
   TELEOPERATED = HAL_ROBOT_MODE_TELEOPERATED,
-  /// Test.
-  TEST = HAL_ROBOT_MODE_TEST
+  /// Utility.
+  UTILITY = HAL_ROBOT_MODE_UTILITY
 };
 
 /**
@@ -174,20 +174,20 @@ class ControlWord {
   }
 
   /**
-   * Check if the DS is commanding test mode.
+   * Check if the DS is commanding utility mode.
    *
-   * @return True if the robot is being commanded to be in test mode
+   * @return True if the robot is being commanded to be in utility mode
    */
-  bool IsTest() const { return GetRobotMode() == RobotMode::TEST; }
+  bool IsUtility() const { return GetRobotMode() == RobotMode::UTILITY; }
 
   /**
-   * Check if the DS is commanding test mode and if it has enabled the robot.
+   * Check if the DS is commanding utility mode and if it has enabled the robot.
    *
-   * @return True if the robot is being commanded to be in test mode and
+   * @return True if the robot is being commanded to be in utility mode and
    * enabled.
    */
-  bool IsTestEnabled() const {
-    return IsTest() && IsEnabled() && IsDSAttached();
+  bool IsUtilityEnabled() const {
+    return IsUtility() && IsEnabled() && IsDSAttached();
   }
 
   /**
@@ -217,7 +217,7 @@ struct wpi::util::Struct<wpi::hal::ControlWord> {
   static constexpr size_t GetSize() { return 8; }
   static constexpr std::string_view GetSchema() {
     return "uint64 opModeHash:56;"
-           "enum{unknown=0,autonomous=1,teleoperated=2,test=3}"
+           "enum{unknown=0,autonomous=1,teleoperated=2,utility=3}"
            "uint64 robotMode:2;"
            "bool enabled:1;bool eStop:1;bool fmsAttached:1;bool dsAttached:1;";
   }

hal/src/main/python/semiwrap/DriverStationTypes.yml

@@ -29,6 +29,6 @@ classes:
       IsAutonomousEnabled:
       IsTeleop:
       IsTeleopEnabled:
-      IsTest:
-      IsTestEnabled:
+      IsUtility:
+      IsUtilityEnabled:
       GetValue:

robotpyExamples/DriveDistanceOffboard/robot.py

@@ -69,6 +69,6 @@ class MyRobot(commands2.TimedCommandRobot):
     def teleopPeriodic(self) -> None:
         """This function is called periodically during operator control"""
 
-    def testInit(self) -> None:
-        # Cancels all running commands at the start of test mode
+    def utilityInit(self) -> None:
+        # Cancels all running commands at the start of utility mode
         commands2.CommandScheduler.getInstance().cancelAll()

robotpyExamples/GettingStarted/robot.py

@@ -49,8 +49,8 @@ class MyRobot(wpilib.TimedRobot):
             -self.controller.getLeftY(), -self.controller.getRightX()
         )
 
-    def testInit(self):
-        """This function is called once each time the robot enters test mode."""
+    def utilityInit(self):
+        """This function is called once each time the robot enters utility mode."""
 
-    def testPeriodic(self):
-        """This function is called periodically during test mode."""
+    def utilityPeriodic(self):
+        """This function is called periodically during utility mode."""

robotpyExamples/HatchbotInlined/robot.py

@@ -66,6 +66,6 @@ class MyRobot(commands2.TimedCommandRobot):
     def teleopPeriodic(self) -> None:
         """This function is called periodically during operator control"""
 
-    def testInit(self) -> None:
-        # Cancels all running commands at the start of test mode
+    def utilityInit(self) -> None:
+        # Cancels all running commands at the start of utility mode
         commands2.CommandScheduler.getInstance().cancelAll()

robotpyExamples/HatchbotTraditional/robot.py

@@ -66,6 +66,6 @@ class MyRobot(commands2.TimedCommandRobot):
     def teleopPeriodic(self) -> None:
         """This function is called periodically during operator control"""
 
-    def testInit(self) -> None:
-        # Cancels all running commands at the start of test mode
+    def utilityInit(self) -> None:
+        # Cancels all running commands at the start of utility mode
         commands2.CommandScheduler.getInstance().cancelAll()

robotpyExamples/RapidReactCommandBot/robot.py

@@ -61,10 +61,10 @@ class MyRobot(commands2.TimedCommandRobot):
         """This function is called periodically during operator control."""
         pass
 
-    def testInit(self) -> None:
-        # Cancels all running commands at the start of test mode.
+    def utilityInit(self) -> None:
+        # Cancels all running commands at the start of utility mode.
         commands2.CommandScheduler.getInstance().cancelAll()
 
-    def testPeriodic(self) -> None:
-        """This function is called periodically during test mode."""
+    def utilityPeriodic(self) -> None:
+        """This function is called periodically during utility mode."""
         pass

robotpyExamples/RomiReference/robot.py

@@ -92,6 +92,6 @@ class MyRobot(commands2.TimedCommandRobot):
     def teleopPeriodic(self) -> None:
         """This function is called periodically during operator control"""
 
-    def testInit(self) -> None:
-        # Cancels all running commands at the start of test mode
+    def utilityInit(self) -> None:
+        # Cancels all running commands at the start of utility mode
         commands2.CommandScheduler.getInstance().cancelAll()

robotpyExamples/SelectCommand/robot.py

@@ -62,6 +62,6 @@ class MyRobot(commands2.TimedCommandRobot):
         """This function is called periodically during operator control"""
         pass
 
-    def testInit(self) -> None:
-        # Cancels all running commands at the start of test mode
+    def utilityInit(self) -> None:
+        # Cancels all running commands at the start of utility mode
         commands2.CommandScheduler.getInstance().cancelAll()

robotpyExamples/SysId/robot.py

@@ -57,10 +57,10 @@ class MyRobot(TimedCommandRobot):
         """This function is called periodically during operator control."""
         pass
 
-    def testInit(self) -> None:
-        # Cancels all running commands at the start of test mode.
+    def utilityInit(self) -> None:
+        # Cancels all running commands at the start of utility mode.
         CommandScheduler.getInstance().cancelAll()
 
-    def testPeriodic(self) -> None:
-        """This function is called periodically during test mode."""
+    def utilityPeriodic(self) -> None:
+        """This function is called periodically during utility mode."""
         pass

robotpyExamples/XrpReference/robot.py

@@ -92,6 +92,6 @@ class MyRobot(commands2.TimedCommandRobot):
     def teleopPeriodic(self) -> None:
         """This function is called periodically during operator control"""
 
-    def testInit(self) -> None:
-        # Cancels all running commands at the start of test mode
+    def utilityInit(self) -> None:
+        # Cancels all running commands at the start of utility mode
         commands2.CommandScheduler.getInstance().cancelAll()

simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp

@@ -56,7 +56,7 @@ void DSCommPacket::SetControl(uint8_t control, uint8_t request) {
   if ((control & kAutonomous) != 0) {
     robotMode = HAL_ROBOT_MODE_AUTONOMOUS;
   } else if ((control & kTest) != 0) {
-    robotMode = HAL_ROBOT_MODE_TEST;
+    robotMode = HAL_ROBOT_MODE_UTILITY;
   } else {
     robotMode = HAL_ROBOT_MODE_TELEOPERATED;
   }

simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp

@@ -309,7 +309,7 @@ struct OpModes {
 static wpi::util::mutex gOpModeOptionsMutex;
 static OpModes gAutoOpModes;
 static OpModes gTeleopOpModes;
-static OpModes gTestOpModes;
+static OpModes gUtilityOpModes;
 
 static void UpdateOpModes(const char* name, void* param,
                           const HAL_OpModeOption* opmodes, int32_t count) {
@@ -318,8 +318,8 @@ static void UpdateOpModes(const char* name, void* param,
   gAutoOpModes.groups.clear();
   gTeleopOpModes.ids.clear();
   gTeleopOpModes.groups.clear();
-  gTestOpModes.ids.clear();
-  gTestOpModes.groups.clear();
+  gUtilityOpModes.ids.clear();
+  gUtilityOpModes.groups.clear();
   for (auto&& o : std::span{opmodes, opmodes + count}) {
     OpModes* vec;
     switch (HAL_OpMode_GetRobotMode(o.id)) {
@@ -329,8 +329,8 @@ static void UpdateOpModes(const char* name, void* param,
       case HAL_ROBOT_MODE_TELEOPERATED:
         vec = &gTeleopOpModes;
         break;
-      case HAL_ROBOT_MODE_TEST:
-        vec = &gTestOpModes;
+      case HAL_ROBOT_MODE_UTILITY:
+        vec = &gUtilityOpModes;
         break;
       default:
         continue;
@@ -341,7 +341,7 @@ static void UpdateOpModes(const char* name, void* param,
                      std::string{wpi::util::to_string_view(&o.description)},
                      o.textColor, o.backgroundColor});
   }
-  for (auto&& vec : {&gAutoOpModes, &gTeleopOpModes, &gTestOpModes}) {
+  for (auto&& vec : {&gAutoOpModes, &gTeleopOpModes, &gUtilityOpModes}) {
     for (auto&& [group, options] : vec->groups) {
       std::sort(options.begin(), options.end(),
                 [](const OpModeOption& a, const OpModeOption& b) {
@@ -1181,9 +1181,9 @@ static void DriverStationExecute() {
             isAttached && robotMode == HAL_ROBOT_MODE_TELEOPERATED)) {
       DriverStationSetRobotMode(HAL_ROBOT_MODE_TELEOPERATED);
     }
-    if (ImGui::Selectable("Test",
-                          isAttached && robotMode == HAL_ROBOT_MODE_TEST)) {
-      DriverStationSetRobotMode(HAL_ROBOT_MODE_TEST);
+    if (ImGui::Selectable("Utility",
+                          isAttached && robotMode == HAL_ROBOT_MODE_UTILITY)) {
+      DriverStationSetRobotMode(HAL_ROBOT_MODE_UTILITY);
     }
     // OpMode
     bool canEnable = isAttached && started;
@@ -1200,8 +1200,8 @@ static void DriverStationExecute() {
         case HAL_ROBOT_MODE_TELEOPERATED:
           modes = &gTeleopOpModes;
           break;
-        case HAL_ROBOT_MODE_TEST:
-          modes = &gTestOpModes;
+        case HAL_ROBOT_MODE_UTILITY:
+          modes = &gUtilityOpModes;
           break;
         default:
           modes = nullptr;

wpilibc/src/main/native/cpp/framework/IterativeRobotBase.cpp

@@ -29,7 +29,7 @@ void IterativeRobotBase::AutonomousInit() {}
 
 void IterativeRobotBase::TeleopInit() {}
 
-void IterativeRobotBase::TestInit() {}
+void IterativeRobotBase::UtilityInit() {}
 
 void IterativeRobotBase::RobotPeriodic() {
   static bool firstRun = true;
@@ -71,7 +71,7 @@ void IterativeRobotBase::TeleopPeriodic() {
   }
 }
 
-void IterativeRobotBase::TestPeriodic() {
+void IterativeRobotBase::UtilityPeriodic() {
   static bool firstRun = true;
   if (firstRun) {
     wpi::util::print("Default {}() method... Override me!\n", __FUNCTION__);
@@ -85,7 +85,7 @@ void IterativeRobotBase::AutonomousExit() {}
 
 void IterativeRobotBase::TeleopExit() {}
 
-void IterativeRobotBase::TestExit() {}
+void IterativeRobotBase::UtilityExit() {}
 
 wpi::units::second_t IterativeRobotBase::GetPeriod() const {
   return m_period;
@@ -114,8 +114,8 @@ void IterativeRobotBase::LoopFunc() {
       AutonomousExit();
     } else if (m_lastMode == static_cast<int>(RobotMode::TELEOPERATED)) {
       TeleopExit();
-    } else if (m_lastMode == static_cast<int>(RobotMode::TEST)) {
-      TestExit();
+    } else if (m_lastMode == static_cast<int>(RobotMode::UTILITY)) {
+      UtilityExit();
     }
 
     // Call current mode's entry function
@@ -128,9 +128,9 @@ void IterativeRobotBase::LoopFunc() {
     } else if (mode == RobotMode::TELEOPERATED) {
       TeleopInit();
       m_watchdog.AddEpoch("TeleopInit()");
-    } else if (mode == RobotMode::TEST) {
-      TestInit();
-      m_watchdog.AddEpoch("TestInit()");
+    } else if (mode == RobotMode::UTILITY) {
+      UtilityInit();
+      m_watchdog.AddEpoch("UtilityInit()");
     }
 
     m_lastMode = static_cast<int>(mode);
@@ -147,9 +147,9 @@ void IterativeRobotBase::LoopFunc() {
   } else if (mode == RobotMode::TELEOPERATED) {
     TeleopPeriodic();
     m_watchdog.AddEpoch("TeleopPeriodic()");
-  } else if (mode == RobotMode::TEST) {
-    TestPeriodic();
-    m_watchdog.AddEpoch("TestPeriodic()");
+  } else if (mode == RobotMode::UTILITY) {
+    UtilityPeriodic();
+    m_watchdog.AddEpoch("UtilityPeriodic()");
   }
 
   RobotPeriodic();

wpilibc/src/main/native/cpp/hardware/motor/MotorSafety.cpp

@@ -153,7 +153,7 @@ void MotorSafety::Check() {
     stopTime = m_stopTime;
   }
 
-  if (!enabled || RobotState::IsDisabled() || RobotState::IsTest()) {
+  if (!enabled || RobotState::IsDisabled() || RobotState::IsUtility()) {
     return;
   }
 

wpilibc/src/main/native/cppcs/RobotBase.cpp

@@ -158,12 +158,12 @@ bool RobotBase::IsTeleopEnabled() {
   return RobotState::IsTeleopEnabled();
 }
 
-bool RobotBase::IsTest() {
-  return RobotState::IsTest();
+bool RobotBase::IsUtility() {
+  return RobotState::IsUtility();
 }
 
-bool RobotBase::IsTestEnabled() {
-  return RobotState::IsTestEnabled();
+bool RobotBase::IsUtilityEnabled() {
+  return RobotState::IsUtilityEnabled();
 }
 
 int64_t RobotBase::GetOpModeId() {

wpilibc/src/main/native/include/wpi/driverstation/RobotState.hpp

@@ -99,20 +99,22 @@ class RobotState final {
   }
 
   /**
-   * Check if the DS is commanding test mode.
+   * Check if the DS is commanding utility mode.
    *
-   * @return True if the robot is being commanded to be in test mode
+   * @return True if the robot is being commanded to be in utility mode
    */
-  static bool IsTest() { return wpi::internal::DriverStationBackend::IsTest(); }
+  static bool IsUtility() {
+    return wpi::internal::DriverStationBackend::IsUtility();
+  }
 
   /**
-   * Check if the DS is commanding Test mode and if it has enabled the robot.
+   * Check if the DS is commanding Utility mode and if it has enabled the robot.
    *
-   * @return True if the robot is being commanded to be in Test mode and
+   * @return True if the robot is being commanded to be in Utility mode and
    * enabled.
    */
-  static bool IsTestEnabled() {
-    return wpi::internal::DriverStationBackend::IsTestEnabled();
+  static bool IsUtilityEnabled() {
+    return wpi::internal::DriverStationBackend::IsUtilityEnabled();
   }
 
   /**

wpilibc/src/main/native/include/wpi/driverstation/internal/DriverStationBackend.hpp

@@ -303,19 +303,19 @@ class DriverStationBackend final {
   static bool IsTeleopEnabled() { return GetControlWord().IsTeleopEnabled(); }
 
   /**
-   * Check if the DS is commanding test mode.
+   * Check if the DS is commanding utility mode.
    *
-   * @return True if the robot is being commanded to be in test mode
+   * @return True if the robot is being commanded to be in utility mode
    */
-  static bool IsTest() { return GetControlWord().IsTest(); }
+  static bool IsUtility() { return GetControlWord().IsUtility(); }
 
   /**
-   * Check if the DS is commanding Test mode and if it has enabled the robot.
+   * Check if the DS is commanding Utility mode and if it has enabled the robot.
    *
-   * @return True if the robot is being commanded to be in Test mode and
+   * @return True if the robot is being commanded to be in Utility mode and
    * enabled.
    */
-  static bool IsTestEnabled() { return GetControlWord().IsTestEnabled(); }
+  static bool IsUtilityEnabled() { return GetControlWord().IsUtilityEnabled(); }
 
   /**
    * Adds an operating mode option. It's necessary to call PublishOpModes() to

wpilibc/src/main/native/include/wpi/framework/IterativeRobotBase.hpp

@@ -32,8 +32,8 @@ namespace wpi {
  *   another mode
  * \li TeleopInit() -- called each and every time teleop is entered from another
  *   mode
- * \li TestInit() -- called each and every time test is entered from another
- *   mode
+ * \li UtilityInit() -- called each and every time utility is entered from
+ * another mode
  *
  * Periodic() functions -- each of these functions is called on an interval:
  *
@@ -41,7 +41,7 @@ namespace wpi {
  * \li DisabledPeriodic()
  * \li AutonomousPeriodic()
  * \li TeleopPeriodic()
- * \li TestPeriodic()
+ * \li UtilityPeriodic()
  *
  * Exit() functions -- each of the following functions is called once when the
  * appropriate mode is exited:
@@ -49,7 +49,7 @@ namespace wpi {
  * \li DisabledExit() -- called each and every time disabled is exited
  * \li AutonomousExit() -- called each and every time autonomous is exited
  * \li TeleopExit() -- called each and every time teleop is exited
- * \li TestExit() -- called each and every time test is exited
+ * \li UtilityExit() -- called each and every time utility is exited
  */
 class IterativeRobotBase : public RobotBase {
  public:
@@ -97,12 +97,12 @@ class IterativeRobotBase : public RobotBase {
   virtual void TeleopInit();
 
   /**
-   * Initialization code for test mode should go here.
+   * Initialization code for utility mode should go here.
    *
    * Users should override this method for initialization code which will be
-   * called each time the robot enters test mode.
+   * called each time the robot enters utility mode.
    */
-  virtual void TestInit();
+  virtual void UtilityInit();
 
   /**
    * Periodic code for all modes should go here.
@@ -147,13 +147,13 @@ class IterativeRobotBase : public RobotBase {
   virtual void TeleopPeriodic();
 
   /**
-   * Periodic code for test mode should go here.
+   * Periodic code for utility mode should go here.
    *
    * Users should override this method for code which will be called each time a
-   * new packet is received from the driver station and the robot is in test
+   * new packet is received from the driver station and the robot is in utility
    * mode.
    */
-  virtual void TestPeriodic();
+  virtual void UtilityPeriodic();
 
   /**
    * Exit code for disabled mode should go here.
@@ -180,12 +180,12 @@ class IterativeRobotBase : public RobotBase {
   virtual void TeleopExit();
 
   /**
-   * Exit code for test mode should go here.
+   * Exit code for utility mode should go here.
    *
    * Users should override this method for code which will be called each time
-   * the robot exits test mode.
+   * the robot exits utility mode.
    */
-  virtual void TestExit();
+  virtual void UtilityExit();
 
   /**
    * Gets time period between calls to Periodic() functions.

wpilibc/src/main/native/include/wpi/framework/OpModeRobot.hpp

@@ -13,14 +13,11 @@
 #include "wpi/driverstation/Alert.hpp"
 #include "wpi/framework/RobotBase.hpp"
 #include "wpi/hal/DriverStationTypes.hpp"
-#include "wpi/hal/Notifier.h"
 #include "wpi/internal/PeriodicPriorityQueue.hpp"
 #include "wpi/opmode/OpMode.hpp"
 #include "wpi/system/Watchdog.hpp"
 #include "wpi/units/time.hpp"
 #include "wpi/util/DenseMap.hpp"
-#include "wpi/util/SafeThread.hpp"
-#include "wpi/util/Synchronization.hpp"
 #include "wpi/util/mutex.hpp"
 
 namespace wpi::util {

wpilibc/src/main/native/include/wpi/framework/RobotBase.hpp

@@ -191,20 +191,20 @@ class RobotBase {
   static bool IsTeleopEnabled();
 
   /**
-   * Determine if the robot is currently in Test mode.
+   * Determine if the robot is currently in Utility mode.
    *
-   * @return True if the robot is currently running in Test mode as determined
-   * by the Driver Station.
+   * @return True if the robot is currently running in Utility mode as
+   * determined by the Driver Station.
    */
-  static bool IsTest();
+  static bool IsUtility();
 
   /**
-   * Determine if the robot is current in Test mode and enabled.
+   * Determine if the robot is currently in Utility mode and enabled.
    *
-   * @return True if the robot is currently operating in Test mode while
+   * @return True if the robot is currently operating in Utility mode while
    * enabled as determined by the Driver Station.
    */
-  static bool IsTestEnabled();
+  static bool IsUtilityEnabled();
 
   /**
    * Gets the currently selected operating mode of the driver station. Note this

wpilibc/src/main/python/semiwrap/DriverStationBackend.yml

@@ -36,8 +36,8 @@ classes:
       IsAutonomousEnabled:
       IsTeleop:
       IsTeleopEnabled:
-      IsTest:
-      IsTestEnabled:
+      IsUtility:
+      IsUtilityEnabled:
       AddOpMode:
         overloads:
           RobotMode, std::string_view, std::string_view, std::string_view, const wpi::util::Color&, const wpi::util::Color&:

wpilibc/src/main/python/semiwrap/IterativeRobotBase.yml

@@ -5,12 +5,12 @@ classes:
       DisabledInit:
       AutonomousInit:
       TeleopInit:
-      TestInit:
+      UtilityInit:
       RobotPeriodic:
       DisabledPeriodic:
       AutonomousPeriodic:
       TeleopPeriodic:
-      TestPeriodic:
+      UtilityPeriodic:
       IterativeRobotBase:
         overloads:
           double:
@@ -22,7 +22,7 @@ classes:
       DisabledExit:
       AutonomousExit:
       TeleopExit:
-      TestExit:
+      UtilityExit:
       GetPeriod:
       PrintWatchdogEpochs:
     doc: |
@@ -44,7 +44,7 @@ classes:
       - DisabledInit() -- called each and every time disabled is entered from another mode
       - AutonomousInit() -- called each and every time autonomous is entered from another mode
       - TeleopInit() -- called each and every time teleop is entered from another mode
-      - TestInit() -- called each and every time test is entered from another mode
+      - UtilityInit() -- called each and every time utility is entered from another mode
 
       Periodic() functions -- each of these functions is called on an interval:
 
@@ -52,7 +52,7 @@ classes:
       - DisabledPeriodic()
       - AutonomousPeriodic()
       - TeleopPeriodic()
-      - TestPeriodic()
+      - UtilityPeriodic()
 
       Exit() functions -- each of the following functions is called once when the
       appropriate mode is exited:
@@ -60,4 +60,4 @@ classes:
       - DisabledExit() -- called each and every time disabled is exited
       - AutonomousExit() -- called each and every time autonomous is exited
       - TeleopExit() -- called each and every time teleop is exited
-      - TestExit() -- called each and every time test is exited
+      - UtilityExit() -- called each and every time utility is exited

wpilibc/src/main/python/semiwrap/RobotBase.yml

@@ -25,8 +25,8 @@ classes:
       IsAutonomousEnabled:
       IsTeleop:
       IsTeleopEnabled:
-      IsTest:
-      IsTestEnabled:
+      IsUtility:
+      IsUtilityEnabled:
       GetThreadId:
         ignore: true
       StartCompetition:

wpilibc/src/main/python/semiwrap/RobotState.yml

@@ -12,8 +12,8 @@ classes:
       IsAutonomousEnabled:
       IsTeleop:
       IsTeleopEnabled:
-      IsTest:
-      IsTestEnabled:
+      IsUtility:
+      IsUtilityEnabled:
       AddOpMode:
         overloads:
           RobotMode, std::string_view, std::string_view, std::string_view, const wpi::util::Color&, const wpi::util::Color&:

wpilibc/src/test/native/cpp/OpModeRobotTest.cpp

@@ -78,7 +78,7 @@ TEST_F(OpModeRobotTest, AddOpMode) {
       AddOpMode<MockOpMode>(wpi::RobotMode::AUTONOMOUS, "NoArgOpMode-Auto",
                             "Group", "Description", wpi::util::Color::WHITE,
                             wpi::util::Color::BLACK);
-      AddOpMode<OneArgOpMode>(wpi::RobotMode::TEST, "OneArgOpMode-Test",
+      AddOpMode<OneArgOpMode>(wpi::RobotMode::UTILITY, "OneArgOpMode-Test",
                               "Group", "Description", wpi::util::Color::WHITE,
                               wpi::util::Color::BLACK);
       AddOpMode<MockOpMode>(wpi::RobotMode::TELEOPERATED, "NoArgOpMode");

wpilibc/src/test/native/cpp/TimedRobotTest.cpp

@@ -60,7 +60,7 @@ class MockRobot : public TimedRobot {
 
   void TeleopInit() override { m_teleopInitCount++; }
 
-  void TestInit() override { m_testInitCount++; }
+  void UtilityInit() override { m_testInitCount++; }
 
   void RobotPeriodic() override { m_robotPeriodicCount++; }
 
@@ -72,7 +72,7 @@ class MockRobot : public TimedRobot {
 
   void TeleopPeriodic() override { m_teleopPeriodicCount++; }
 
-  void TestPeriodic() override { m_testPeriodicCount++; }
+  void UtilityPeriodic() override { m_testPeriodicCount++; }
 
   void DisabledExit() override { m_disabledExitCount++; }
 
@@ -80,7 +80,7 @@ class MockRobot : public TimedRobot {
 
   void TeleopExit() override { m_teleopExitCount++; }
 
-  void TestExit() override { m_testExitCount++; }
+  void UtilityExit() override { m_testExitCount++; }
 };
 }  // namespace
 
@@ -305,7 +305,7 @@ TEST_F(TimedRobotTest, TestMode) {
   wpi::sim::WaitForProgramStart();
 
   wpi::sim::DriverStationSim::SetEnabled(true);
-  wpi::sim::DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_TEST);
+  wpi::sim::DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_UTILITY);
   wpi::sim::DriverStationSim::NotifyNewData();
 
   EXPECT_EQ(1u, robot.m_simulationInitCount);
@@ -460,7 +460,7 @@ TEST_F(TimedRobotTest, ModeChange) {
 
   // Transition to test
   wpi::sim::DriverStationSim::SetEnabled(true);
-  wpi::sim::DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_TEST);
+  wpi::sim::DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_UTILITY);
   wpi::sim::DriverStationSim::NotifyNewData();
 
   wpi::sim::StepTiming(kPeriod);

wpilibc/src/test/native/cpp/simulation/DriverStationSimTest.cpp

@@ -54,17 +54,17 @@ TEST(DriverStationTest, Mode) {
   HAL_Initialize(500, 0);
   DriverStationSim::ResetData();
 
-  EXPECT_FALSE(RobotState::IsTest());
+  EXPECT_FALSE(RobotState::IsUtility());
   EnumCallback callback;
   auto cb = DriverStationSim::RegisterRobotModeCallback(callback.GetCallback(),
                                                         false);
-  DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_TEST);
+  DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_UTILITY);
   DriverStationSim::NotifyNewData();
-  EXPECT_EQ(DriverStationSim::GetRobotMode(), HAL_ROBOT_MODE_TEST);
-  EXPECT_TRUE(RobotState::IsTest());
-  EXPECT_EQ(RobotState::GetRobotMode(), RobotMode::TEST);
+  EXPECT_EQ(DriverStationSim::GetRobotMode(), HAL_ROBOT_MODE_UTILITY);
+  EXPECT_TRUE(RobotState::IsUtility());
+  EXPECT_EQ(RobotState::GetRobotMode(), RobotMode::UTILITY);
   EXPECT_TRUE(callback.WasTriggered());
-  EXPECT_EQ(callback.GetLastValue(), HAL_ROBOT_MODE_TEST);
+  EXPECT_EQ(callback.GetLastValue(), HAL_ROBOT_MODE_UTILITY);
 }
 
 TEST(DriverStationTest, Estop) {

wpilibc/src/test/python/test_opmode_robot.py

@@ -73,8 +73,8 @@ def test_add_op_mode():
             )
             self.addOpMode(
                 OneArgOpMode,
-                RobotMode.TEST,
-                "OneArgOpMode-Test",
+                RobotMode.UTILITY,
+                "OneArgOpMode-Utility",
                 "Group",
                 "Description",
                 Color.WHITE,

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

@@ -12,7 +12,7 @@ Robot::Robot() {}
 /**
  * This function is called every 20 ms, no matter the mode. Use
  * this for items like diagnostics that you want to run during disabled,
- * autonomous, teleoperated and test.
+ * autonomous, teleoperated and utility.
  *
  * <p> This runs after the mode specific periodic functions, but before
  * LiveWindow and SmartDashboard integrated updating.
@@ -62,9 +62,9 @@ void Robot::TeleopInit() {
 void Robot::TeleopPeriodic() {}
 
 /**
- * This function is called periodically during test mode.
+ * This function is called periodically during utility mode.
  */
-void Robot::TestPeriodic() {}
+void Robot::UtilityPeriodic() {}
 
 #ifndef RUNNING_WPILIB_TESTS
 int main() {

wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Robot.hpp

@@ -20,7 +20,7 @@ class Robot : public wpi::TimedRobot {
   void AutonomousPeriodic() override;
   void TeleopInit() override;
   void TeleopPeriodic() override;
-  void TestPeriodic() override;
+  void UtilityPeriodic() override;
 
  private:
   // Have it null by default so that if testing teleop it

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

@@ -43,9 +43,9 @@ class Robot : public wpi::TimedRobot {
                              m_controller.GetRightX());
   }
 
-  void TestInit() override {}
+  void UtilityInit() override {}
 
-  void TestPeriodic() override {}
+  void UtilityPeriodic() override {}
 
  private:
   // Robot drive system

wpilibcExamples/src/main/cpp/examples/HAL/c/Robot.c

@@ -56,8 +56,8 @@ int main(void) {
        {"", 0},
        -1,
        -1},
-      {HAL_MAKE_OPMODEID(HAL_ROBOT_MODE_TEST, 0),
-       {"Test", 4},
+      {HAL_MAKE_OPMODEID(HAL_ROBOT_MODE_UTILITY, 0),
+       {"Utility", 4},
        {"", 0},
        {"", 0},
        -1,
@@ -116,7 +116,7 @@ int main(void) {
         break;
       case HAL_ROBOT_MODE_AUTONOMOUS:
         break;
-      case HAL_ROBOT_MODE_TEST:
+      case HAL_ROBOT_MODE_UTILITY:
         break;
       default:
         break;

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

@@ -21,7 +21,7 @@ Robot::Robot() {
 /**
  * This function is called every 20 ms, no matter the mode. Use
  * this for items like diagnostics that you want to run during disabled,
- * autonomous, teleoperated and test.
+ * autonomous, teleoperated and utility.
  *
  * <p> This runs after the mode specific periodic functions, but before
  * LiveWindow and SmartDashboard integrated updating.
@@ -70,9 +70,9 @@ void Robot::TeleopInit() {
 void Robot::TeleopPeriodic() {}
 
 /**
- * This function is called periodically during test mode.
+ * This function is called periodically during utility mode.
  */
-void Robot::TestPeriodic() {}
+void Robot::UtilityPeriodic() {}
 
 #ifndef RUNNING_WPILIB_TESTS
 int main() {

wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Robot.hpp

@@ -18,7 +18,7 @@ class Robot : public wpi::TimedRobot {
   void AutonomousPeriodic() override;
   void TeleopInit() override;
   void TeleopPeriodic() override;
-  void TestPeriodic() override;
+  void UtilityPeriodic() override;
 
  private:
   // Have it null by default so that if testing teleop it

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

@@ -21,7 +21,7 @@ Robot::Robot() {
 /**
  * This function is called every 20 ms, no matter the mode. Use
  * this for items like diagnostics that you want to run during disabled,
- * autonomous, teleoperated and test.
+ * autonomous, teleoperated and utility.
  *
  * <p> This runs after the mode specific periodic functions, but before
  * LiveWindow and SmartDashboard integrated updating.
@@ -70,9 +70,9 @@ void Robot::TeleopInit() {
 void Robot::TeleopPeriodic() {}
 
 /**
- * This function is called periodically during test mode.
+ * This function is called periodically during utility mode.
  */
-void Robot::TestPeriodic() {}
+void Robot::UtilityPeriodic() {}
 
 #ifndef RUNNING_WPILIB_TESTS
 int main() {

wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Robot.hpp

@@ -18,7 +18,7 @@ class Robot : public wpi::TimedRobot {
   void AutonomousPeriodic() override;
   void TeleopInit() override;
   void TeleopPeriodic() override;
-  void TestPeriodic() override;
+  void UtilityPeriodic() override;
 
  private:
   // Have it null by default so that if testing teleop it

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

@@ -45,12 +45,12 @@ void Robot::TeleopInit() {
 
 void Robot::TeleopPeriodic() {}
 
-void Robot::TestInit() {
-  // Cancels all running commands at the start of test mode.
+void Robot::UtilityInit() {
+  // Cancels all running commands at the start of utility mode.
   wpi::cmd::CommandScheduler::GetInstance().CancelAll();
 }
 
-void Robot::TestPeriodic() {}
+void Robot::UtilityPeriodic() {}
 
 #ifndef RUNNING_WPILIB_TESTS
 int main() {

wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Robot.hpp

@@ -20,8 +20,8 @@ class Robot : public wpi::TimedRobot {
   void AutonomousPeriodic() override;
   void TeleopInit() override;
   void TeleopPeriodic() override;
-  void TestInit() override;
-  void TestPeriodic() override;
+  void UtilityInit() override;
+  void UtilityPeriodic() override;
 
  private:
   RapidReactCommandBot m_robot;

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

@@ -11,7 +11,7 @@ Robot::Robot() {}
 /**
  * This function is called every 20 ms, no matter the mode. Use
  * this for items like diagnostics that you want to run during disabled,
- * autonomous, teleoperated and test.
+ * autonomous, teleoperated and utility.
  *
  * <p> This runs after the mode specific periodic functions, but before
  * LiveWindow and SmartDashboard integrated updating.
@@ -60,9 +60,9 @@ void Robot::TeleopInit() {
 void Robot::TeleopPeriodic() {}
 
 /**
- * This function is called periodically during test mode.
+ * This function is called periodically during utility mode.
  */
-void Robot::TestPeriodic() {}
+void Robot::UtilityPeriodic() {}
 
 #ifndef RUNNING_WPILIB_TESTS
 int main() {

wpilibcExamples/src/main/cpp/examples/RomiReference/include/Robot.hpp

@@ -18,7 +18,7 @@ class Robot : public wpi::TimedRobot {
   void AutonomousPeriodic() override;
   void TeleopInit() override;
   void TeleopPeriodic() override;
-  void TestPeriodic() override;
+  void UtilityPeriodic() override;
 
  private:
   // Have it null by default so that if testing teleop it

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

@@ -41,13 +41,13 @@ void Robot::TeleopPeriodic() {}
 
 void Robot::TeleopExit() {}
 
-void Robot::TestInit() {
+void Robot::UtilityInit() {
   wpi::cmd::CommandScheduler::GetInstance().CancelAll();
 }
 
-void Robot::TestPeriodic() {}
+void Robot::UtilityPeriodic() {}
 
-void Robot::TestExit() {}
+void Robot::UtilityExit() {}
 
 #ifndef RUNNING_WPILIB_TESTS
 int main() {

wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/Robot.hpp

@@ -23,9 +23,9 @@ class Robot : public wpi::TimedRobot {
   void TeleopInit() override;
   void TeleopPeriodic() override;
   void TeleopExit() override;
-  void TestInit() override;
-  void TestPeriodic() override;
-  void TestExit() override;
+  void UtilityInit() override;
+  void UtilityPeriodic() override;
+  void UtilityExit() override;
 
  private:
   std::optional<wpi::cmd::CommandPtr> m_autonomousCommand;

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

@@ -11,7 +11,7 @@ Robot::Robot() {}
 /**
  * This function is called every 20 ms, no matter the mode. Use
  * this for items like diagnostics that you want to run during disabled,
- * autonomous, teleoperated and test.
+ * autonomous, teleoperated and utility.
  *
  * <p> This runs after the mode specific periodic functions, but before
  * LiveWindow and SmartDashboard integrated updating.
@@ -60,9 +60,9 @@ void Robot::TeleopInit() {
 void Robot::TeleopPeriodic() {}
 
 /**
- * This function is called periodically during test mode.
+ * This function is called periodically during utility mode.
  */
-void Robot::TestPeriodic() {}
+void Robot::UtilityPeriodic() {}
 
 #ifndef RUNNING_WPILIB_TESTS
 int main() {

wpilibcExamples/src/main/cpp/examples/XRPReference/include/Robot.hpp

@@ -18,7 +18,7 @@ class Robot : public wpi::TimedRobot {
   void AutonomousPeriodic() override;
   void TeleopInit() override;
   void TeleopPeriodic() override;
-  void TestPeriodic() override;
+  void UtilityPeriodic() override;
 
  private:
   // Have it null by default so that if testing teleop it

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

@@ -17,7 +17,7 @@ Robot::Robot() {
 /**
  * This function is called every 20 ms, no matter the mode. Use
  * this for items like diagnostics that you want ran during disabled,
- * autonomous, teleoperated and test.
+ * autonomous, teleoperated and utility.
  *
  * <p> This runs after the mode specific periodic functions, but before
  * LiveWindow and SmartDashboard integrated updating.

wpilibcExamples/src/main/cpp/snippets/SelectCommand/cpp/Robot.cpp

@@ -61,9 +61,9 @@ void Robot::TeleopInit() {
 void Robot::TeleopPeriodic() {}
 
 /**
- * This function is called periodically during test mode.
+ * This function is called periodically during utility mode.
  */
-void Robot::TestPeriodic() {}
+void Robot::UtilityPeriodic() {}
 
 #ifndef RUNNING_WPILIB_TESTS
 int main() {

wpilibcExamples/src/main/cpp/snippets/SelectCommand/include/Robot.hpp

@@ -18,7 +18,7 @@ class Robot : public wpi::TimedRobot {
   void AutonomousPeriodic() override;
   void TeleopInit() override;
   void TeleopPeriodic() override;
-  void TestPeriodic() override;
+  void UtilityPeriodic() override;
 
  private:
   // Have it null by default so that if testing teleop it

wpilibcExamples/src/main/cpp/templates/commandv2/cpp/Robot.cpp

@@ -11,7 +11,7 @@ Robot::Robot() {}
 /**
  * This function is called every 20 ms, no matter the mode. Use
  * this for items like diagnostics that you want to run during disabled,
- * autonomous, teleoperated and test.
+ * autonomous, teleoperated and utility.
  *
  * <p> This runs after the mode specific periodic functions, but before
  * LiveWindow and SmartDashboard integrated updating.
@@ -60,9 +60,9 @@ void Robot::TeleopInit() {
 void Robot::TeleopPeriodic() {}
 
 /**
- * This function is called periodically during test mode.
+ * This function is called periodically during utility mode.
  */
-void Robot::TestPeriodic() {}
+void Robot::UtilityPeriodic() {}
 
 /**
  * This function is called once when the robot is first started up.

wpilibcExamples/src/main/cpp/templates/commandv2/include/Robot.hpp

@@ -20,7 +20,7 @@ class Robot : public wpi::TimedRobot {
   void AutonomousPeriodic() override;
   void TeleopInit() override;
   void TeleopPeriodic() override;
-  void TestPeriodic() override;
+  void UtilityPeriodic() override;
   void SimulationInit() override;
   void SimulationPeriodic() override;
 

wpilibcExamples/src/main/cpp/templates/commandv2skeleton/cpp/Robot.cpp

@@ -41,13 +41,13 @@ void Robot::TeleopPeriodic() {}
 
 void Robot::TeleopExit() {}
 
-void Robot::TestInit() {
+void Robot::UtilityInit() {
   wpi::cmd::CommandScheduler::GetInstance().CancelAll();
 }
 
-void Robot::TestPeriodic() {}
+void Robot::UtilityPeriodic() {}
 
-void Robot::TestExit() {}
+void Robot::UtilityExit() {}
 
 #ifndef RUNNING_WPILIB_TESTS
 int main() {

wpilibcExamples/src/main/cpp/templates/commandv2skeleton/include/Robot.hpp

@@ -23,9 +23,9 @@ class Robot : public wpi::TimedRobot {
   void TeleopInit() override;
   void TeleopPeriodic() override;
   void TeleopExit() override;
-  void TestInit() override;
-  void TestPeriodic() override;
-  void TestExit() override;
+  void UtilityInit() override;
+  void UtilityPeriodic() override;
+  void UtilityExit() override;
 
  private:
   std::optional<wpi::cmd::CommandPtr> m_autonomousCommand;

wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp

@@ -17,7 +17,7 @@ void Robot::Autonomous() {}
 
 void Robot::Teleop() {}
 
-void Robot::Test() {}
+void Robot::Utility() {}
 
 void Robot::StartCompetition() {
   wpi::internal::DriverStationModeThread modeThread{wpi::hal::GetControlWord()};
@@ -25,7 +25,7 @@ void Robot::StartCompetition() {
   // Create an opmode per robot mode
   wpi::RobotState::AddOpMode(wpi::RobotMode::AUTONOMOUS, "Auto");
   wpi::RobotState::AddOpMode(wpi::RobotMode::TELEOPERATED, "Teleop");
-  wpi::RobotState::AddOpMode(wpi::RobotMode::TEST, "Test");
+  wpi::RobotState::AddOpMode(wpi::RobotMode::UTILITY, "Utility");
   wpi::RobotState::PublishOpModes();
 
   wpi::util::Event event{false, false};
@@ -47,9 +47,9 @@ void Robot::StartCompetition() {
       while (IsAutonomousEnabled()) {
         wpi::util::WaitForObject(event.GetHandle());
       }
-    } else if (IsTest()) {
-      Test();
-      while (IsTest() && IsEnabled()) {
+    } else if (IsUtility()) {
+      Utility();
+      while (IsUtility() && IsEnabled()) {
         wpi::util::WaitForObject(event.GetHandle());
       }
     } else {

wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/include/Robot.hpp

@@ -14,7 +14,7 @@ class Robot : public wpi::RobotBase {
   void Disabled();
   void Autonomous();
   void Teleop();
-  void Test();
+  void Utility();
 
   void StartCompetition() override;
   void EndCompetition() override;

wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp

@@ -16,7 +16,7 @@ Robot::Robot() {
 /**
  * This function is called every 20 ms, no matter the mode. Use
  * this for items like diagnostics that you want ran during disabled,
- * autonomous, teleoperated and test.
+ * autonomous, teleoperated and utility.
  *
  * <p> This runs after the mode specific periodic functions, but before
  * LiveWindow and SmartDashboard integrated updating.
@@ -63,9 +63,9 @@ void Robot::DisabledInit() {}
 
 void Robot::DisabledPeriodic() {}
 
-void Robot::TestInit() {}
+void Robot::UtilityInit() {}
 
-void Robot::TestPeriodic() {}
+void Robot::UtilityPeriodic() {}
 
 void Robot::SimulationInit() {}
 

wpilibcExamples/src/main/cpp/templates/timed/include/Robot.hpp

@@ -19,8 +19,8 @@ class Robot : public wpi::TimedRobot {
   void TeleopPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;
-  void TestInit() override;
-  void TestPeriodic() override;
+  void UtilityInit() override;
+  void UtilityPeriodic() override;
   void SimulationInit() override;
   void SimulationPeriodic() override;
 

wpilibcExamples/src/main/cpp/templates/timedskeleton/cpp/Robot.cpp

@@ -16,8 +16,8 @@ void Robot::TeleopPeriodic() {}
 void Robot::DisabledInit() {}
 void Robot::DisabledPeriodic() {}
 
-void Robot::TestInit() {}
-void Robot::TestPeriodic() {}
+void Robot::UtilityInit() {}
+void Robot::UtilityPeriodic() {}
 
 void Robot::SimulationInit() {}
 void Robot::SimulationPeriodic() {}

wpilibcExamples/src/main/cpp/templates/timedskeleton/include/Robot.hpp

@@ -20,8 +20,8 @@ class Robot : public wpi::TimedRobot {
   void DisabledInit() override;
   void DisabledPeriodic() override;
 
-  void TestInit() override;
-  void TestPeriodic() override;
+  void UtilityInit() override;
+  void UtilityPeriodic() override;
 
   void SimulationInit() override;
   void SimulationPeriodic() override;

wpilibcExamples/src/main/cpp/templates/timeslice/cpp/Robot.cpp

@@ -74,9 +74,9 @@ void Robot::DisabledInit() {}
 
 void Robot::DisabledPeriodic() {}
 
-void Robot::TestInit() {}
+void Robot::UtilityInit() {}
 
-void Robot::TestPeriodic() {}
+void Robot::UtilityPeriodic() {}
 
 #ifndef RUNNING_WPILIB_TESTS
 int main() {

wpilibcExamples/src/main/cpp/templates/timeslice/include/Robot.hpp

@@ -19,8 +19,8 @@ class Robot : public wpi::TimesliceRobot {
   void TeleopPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;
-  void TestInit() override;
-  void TestPeriodic() override;
+  void UtilityInit() override;
+  void UtilityPeriodic() override;
 
  private:
   wpi::SendableChooser<std::string> m_chooser;

wpilibcExamples/src/main/cpp/templates/timesliceskeleton/cpp/Robot.cpp

@@ -28,8 +28,8 @@ void Robot::TeleopPeriodic() {}
 void Robot::DisabledInit() {}
 void Robot::DisabledPeriodic() {}
 
-void Robot::TestInit() {}
-void Robot::TestPeriodic() {}
+void Robot::UtilityInit() {}
+void Robot::UtilityPeriodic() {}
 
 #ifndef RUNNING_WPILIB_TESTS
 int main() {

wpilibcExamples/src/main/cpp/templates/timesliceskeleton/include/Robot.hpp

@@ -21,6 +21,6 @@ class Robot : public wpi::TimesliceRobot {
   void DisabledInit() override;
   void DisabledPeriodic() override;
 
-  void TestInit() override;
-  void TestPeriodic() override;
+  void UtilityInit() override;
+  void UtilityPeriodic() override;
 };

wpilibj/src/main/java/org/wpilib/driverstation/RobotState.java

@@ -91,23 +91,23 @@ public final class RobotState {
   }
 
   /**
-   * Gets a value indicating whether the Driver Station requires the robot to be running in Test
+   * Gets a value indicating whether the Driver Station requires the robot to be running in Utility
    * mode.
    *
-   * @return True if test mode should be enabled, false otherwise.
+   * @return True if utility mode should be enabled, false otherwise.
    */
-  public static boolean isTest() {
-    return DriverStationBackend.isTest();
+  public static boolean isUtility() {
+    return DriverStationBackend.isUtility();
   }
 
   /**
-   * Gets a value indicating whether the Driver Station requires the robot to be running in Test
+   * Gets a value indicating whether the Driver Station requires the robot to be running in Utility
    * mode and enabled.
    *
-   * @return True if test mode should be set and the robot should be enabled.
+   * @return True if utility mode should be set and the robot should be enabled.
    */
-  public static boolean isTestEnabled() {
-    return DriverStationBackend.isTestEnabled();
+  public static boolean isUtilityEnabled() {
+    return DriverStationBackend.isUtilityEnabled();
   }
 
   /**

wpilibj/src/main/java/org/wpilib/driverstation/internal/DriverStationBackend.java

@@ -1167,30 +1167,30 @@ public final class DriverStationBackend {
   }
 
   /**
-   * Gets a value indicating whether the Driver Station requires the robot to be running in Test
+   * Gets a value indicating whether the Driver Station requires the robot to be running in Utility
    * mode.
    *
-   * @return True if test mode should be enabled, false otherwise.
+   * @return True if utility mode should be enabled, false otherwise.
    */
-  public static boolean isTest() {
+  public static boolean isUtility() {
     m_cacheDataMutex.lock();
     try {
-      return m_controlWord.isTest();
+      return m_controlWord.isUtility();
     } finally {
       m_cacheDataMutex.unlock();
     }
   }
 
   /**
-   * Gets a value indicating whether the Driver Station requires the robot to be running in Test
+   * Gets a value indicating whether the Driver Station requires the robot to be running in Utility
    * mode and enabled.
    *
-   * @return True if test mode should be set and the robot should be enabled.
+   * @return True if utility mode should be set and the robot should be enabled.
    */
-  public static boolean isTestEnabled() {
+  public static boolean isUtilityEnabled() {
     m_cacheDataMutex.lock();
     try {
-      return m_controlWord.isTestEnabled();
+      return m_controlWord.isUtilityEnabled();
     } finally {
       m_cacheDataMutex.unlock();
     }

wpilibj/src/main/java/org/wpilib/framework/IterativeRobotBase.java

@@ -33,7 +33,7 @@ import org.wpilib.system.Watchdog;
  *   <li>disabledInit() -- called each and every time disabled is entered from another mode
  *   <li>autonomousInit() -- called each and every time autonomous is entered from another mode
  *   <li>teleopInit() -- called each and every time teleop is entered from another mode
- *   <li>testInit() -- called each and every time test is entered from another mode
+ *   <li>utilityInit() -- called each and every time utility is entered from another mode
  * </ul>
  *
  * <p>periodic() functions -- each of these functions is called on an interval:
@@ -43,7 +43,7 @@ import org.wpilib.system.Watchdog;
  *   <li>disabledPeriodic()
  *   <li>autonomousPeriodic()
  *   <li>teleopPeriodic()
- *   <li>testPeriodic()
+ *   <li>utilityPeriodic()
  * </ul>
  *
  * <p>exit() functions -- each of the following functions is called once when the appropriate mode
@@ -53,7 +53,7 @@ import org.wpilib.system.Watchdog;
  *   <li>disabledExit() -- called each and every time disabled is exited
  *   <li>autonomousExit() -- called each and every time autonomous is exited
  *   <li>teleopExit() -- called each and every time teleop is exited
- *   <li>testExit() -- called each and every time test is exited
+ *   <li>utilityExit() -- called each and every time utility is exited
  * </ul>
  */
 public abstract class IterativeRobotBase extends RobotBase {
@@ -121,12 +121,12 @@ public abstract class IterativeRobotBase extends RobotBase {
   public void teleopInit() {}
 
   /**
-   * Initialization code for test mode should go here.
+   * Initialization code for utility mode should go here.
    *
    * <p>Users should override this method for initialization code which will be called each time the
-   * robot enters test mode.
+   * robot enters utility mode.
    */
-  public void testInit() {}
+  public void utilityInit() {}
 
   /* ----------- Overridable periodic code ----------------- */
 
@@ -186,10 +186,10 @@ public abstract class IterativeRobotBase extends RobotBase {
 
   private boolean m_tmpFirstRun = true;
 
-  /** Periodic code for test mode should go here. */
-  public void testPeriodic() {
+  /** Periodic code for utility mode should go here. */
+  public void utilityPeriodic() {
     if (m_tmpFirstRun) {
-      System.out.println("Default testPeriodic() method... Override me!");
+      System.out.println("Default utilityPeriodic() method... Override me!");
       m_tmpFirstRun = false;
     }
   }
@@ -219,12 +219,12 @@ public abstract class IterativeRobotBase extends RobotBase {
   public void teleopExit() {}
 
   /**
-   * Exit code for test mode should go here.
+   * Exit code for utility mode should go here.
    *
    * <p>Users should override this method for code which will be called each time the robot exits
-   * test mode.
+   * utility mode.
    */
-  public void testExit() {}
+  public void utilityExit() {}
 
   /**
    * Gets time period between calls to Periodic() functions.
@@ -258,7 +258,7 @@ public abstract class IterativeRobotBase extends RobotBase {
           case UNKNOWN -> disabledExit();
           case AUTONOMOUS -> autonomousExit();
           case TELEOPERATED -> teleopExit();
-          case TEST -> testExit();
+          case UTILITY -> utilityExit();
           default -> {
             // NOP
           }
@@ -279,9 +279,9 @@ public abstract class IterativeRobotBase extends RobotBase {
           teleopInit();
           m_watchdog.addEpoch("teleopInit()");
         }
-        case TEST -> {
-          testInit();
-          m_watchdog.addEpoch("testInit()");
+        case UTILITY -> {
+          utilityInit();
+          m_watchdog.addEpoch("utilityInit()");
         }
         default -> {
           // NOP
@@ -306,9 +306,9 @@ public abstract class IterativeRobotBase extends RobotBase {
         teleopPeriodic();
         m_watchdog.addEpoch("teleopPeriodic()");
       }
-      case TEST -> {
-        testPeriodic();
-        m_watchdog.addEpoch("testPeriodic()");
+      case UTILITY -> {
+        utilityPeriodic();
+        m_watchdog.addEpoch("utilityPeriodic()");
       }
       default -> {
         // NOP

wpilibj/src/main/java/org/wpilib/framework/OpModeRobot.java

@@ -37,7 +37,7 @@ import org.wpilib.opmode.Autonomous;
 import org.wpilib.opmode.OpMode;
 import org.wpilib.opmode.PeriodicOpMode;
 import org.wpilib.opmode.Teleop;
-import org.wpilib.opmode.TestOpMode;
+import org.wpilib.opmode.Utility;
 import org.wpilib.smartdashboard.SmartDashboard;
 import org.wpilib.system.RobotController;
 import org.wpilib.system.Watchdog;
@@ -49,9 +49,9 @@ import org.wpilib.util.ConstructorMatch;
  *
  * <p>The OpModeRobot class is intended to be subclassed by a user creating a robot program.
  *
- * <p>Classes annotated with {@link Autonomous}, {@link Teleop}, and {@link TestOpMode} in the same
+ * <p>Classes annotated with {@link Autonomous}, {@link Teleop}, and {@link Utility} in the same
  * package or subpackages as the user's subclass are automatically registered as autonomous, teleop,
- * and test opmodes respectively.
+ * and utility opmodes respectively.
  *
  * <p>Opmodes are constructed when selected on the driver station. While selected and disabled,
  * {@link PeriodicOpMode#disabledPeriodic()} is called. When enabled, {@link PeriodicOpMode#start()}
@@ -363,7 +363,7 @@ public abstract class OpModeRobot extends RobotBase {
   }
 
   private void addAnnotatedOpModeImpl(
-      Class<? extends OpMode> cls, Autonomous auto, Teleop teleop, TestOpMode test) {
+      Class<? extends OpMode> cls, Autonomous auto, Teleop teleop, Utility utility) {
     checkOpModeClass(cls);
 
     // add an opmode for each annotation
@@ -387,24 +387,24 @@ public abstract class OpModeRobot extends RobotBase {
           teleop.textColor(),
           teleop.backgroundColor());
     }
-    if (test != null) {
+    if (utility != null) {
       addOpModeClassImpl(
           cls,
-          RobotMode.TEST,
-          test.name(),
-          test.group(),
-          test.description(),
-          test.textColor(),
-          test.backgroundColor());
+          RobotMode.UTILITY,
+          utility.name(),
+          utility.group(),
+          utility.description(),
+          utility.textColor(),
+          utility.backgroundColor());
     }
   }
 
   /**
    * Adds an opmode for an opmode class annotated with {@link Autonomous}, {@link Teleop}, or {@link
-   * TestOpMode}. The class must be a public, non-abstract subclass of OpMode with a public
-   * constructor that either takes no arguments or accepts a single argument assignable from this
-   * robot class type (if multiple match, the most specific parameter type is used). It's necessary
-   * to call publishOpModes() to make the added mode visible to the driver station.
+   * Utility}. The class must be a public, non-abstract subclass of OpMode with a public constructor
+   * that either takes no arguments or accepts a single argument assignable from this robot class
+   * type (if multiple match, the most specific parameter type is used). It's necessary to call
+   * publishOpModes() to make the added mode visible to the driver station.
    *
    * @param cls class to add
    * @throws IllegalArgumentException if class does not meet criteria
@@ -412,12 +412,11 @@ public abstract class OpModeRobot extends RobotBase {
   public void addAnnotatedOpMode(Class<? extends OpMode> cls) {
     Autonomous auto = cls.getAnnotation(Autonomous.class);
     Teleop teleop = cls.getAnnotation(Teleop.class);
-    TestOpMode test = cls.getAnnotation(TestOpMode.class);
-    if (auto == null && teleop == null && test == null) {
-      throw new IllegalArgumentException(
-          "must be annotated with Autonomous, Teleop, or TestOpMode");
+    Utility utility = cls.getAnnotation(Utility.class);
+    if (auto == null && teleop == null && utility == null) {
+      throw new IllegalArgumentException("must be annotated with Autonomous, Teleop, or Utility");
     }
-    addAnnotatedOpModeImpl(cls, auto, teleop, test);
+    addAnnotatedOpModeImpl(cls, auto, teleop, utility);
   }
 
   private void addAnnotatedOpModeClass(String name) {
@@ -431,12 +430,12 @@ public abstract class OpModeRobot extends RobotBase {
     }
     Autonomous auto = cls.getAnnotation(Autonomous.class);
     Teleop teleop = cls.getAnnotation(Teleop.class);
-    TestOpMode test = cls.getAnnotation(TestOpMode.class);
-    if (auto == null && teleop == null && test == null) {
+    Utility utility = cls.getAnnotation(Utility.class);
+    if (auto == null && teleop == null && utility == null) {
       return;
     }
     try {
-      addAnnotatedOpModeImpl(cls, auto, teleop, test);
+      addAnnotatedOpModeImpl(cls, auto, teleop, utility);
     } catch (IllegalArgumentException e) {
       reportAddOpModeError(cls, e.getMessage());
     }
@@ -459,7 +458,7 @@ public abstract class OpModeRobot extends RobotBase {
 
   /**
    * Scans for classes in the specified package and all nested packages that are annotated with
-   * {@link Autonomous}, {@link Teleop}, or {@link TestOpMode} and registers them. It's necessary to
+   * {@link Autonomous}, {@link Teleop}, or {@link Utility} and registers them. It's necessary to
    * call publishOpModes() to make the added modes visible to the driver station.
    *
    * @param pkg package to scan

wpilibj/src/main/java/org/wpilib/framework/RobotBase.java

@@ -217,21 +217,22 @@ public abstract class RobotBase implements AutoCloseable {
   }
 
   /**
-   * Determine if the robot is currently in Test mode as determined by the Driver Station.
+   * Determine if the robot is currently in Utility mode as determined by the Driver Station.
    *
-   * @return True if the robot is currently operating in Test mode.
+   * @return True if the robot is currently operating in Utility mode.
    */
-  public static boolean isTest() {
-    return RobotState.isTest();
+  public static boolean isUtility() {
+    return RobotState.isUtility();
   }
 
   /**
-   * Determine if the robot is current in Test mode and enabled as determined by the Driver Station.
+   * Determine if the robot is current in Utility mode and enabled as determined by the Driver
+   * Station.
    *
-   * @return True if the robot is currently operating in Test mode while enabled.
+   * @return True if the robot is currently operating in Utility mode while enabled.
    */
-  public static boolean isTestEnabled() {
-    return RobotState.isTestEnabled();
+  public static boolean isUtilityEnabled() {
+    return RobotState.isUtilityEnabled();
   }
 
   /**

wpilibj/src/main/java/org/wpilib/hardware/motor/MotorSafety.java

@@ -134,7 +134,7 @@ public abstract class MotorSafety {
       stopTime = m_stopTime;
     }
 
-    if (!enabled || RobotState.isDisabled() || RobotState.isTest()) {
+    if (!enabled || RobotState.isDisabled() || RobotState.isUtility()) {
       return;
     }
 

wpilibj/src/main/java/org/wpilib/opmode/Utility.java

@@ -10,14 +10,14 @@ import java.lang.annotation.Retention;
 import java.lang.annotation.RetentionPolicy;
 import java.lang.annotation.Target;
 
-/** Annotation for automatic registration of test opmode classes. */
+/** Annotation for automatic registration of utility opmode classes. */
 @Retention(RetentionPolicy.RUNTIME)
 @Target(ElementType.TYPE)
 @Documented
-public @interface TestOpMode {
+public @interface Utility {
   /**
    * Name. This is shown as the selection name in the Driver Station, and must be unique across all
-   * test opmodes in the project. If not specified, defaults to the name of the class.
+   * utility opmodes in the project. If not specified, defaults to the name of the class.
    *
    * @return Name
    */

wpilibj/src/test/java/org/wpilib/MockHardwareExtension.java

@@ -33,6 +33,6 @@ public final class MockHardwareExtension implements BeforeAllCallback {
     HAL.initialize(500, 0);
     DriverStationSim.setDsAttached(true);
     DriverStationSim.setEnabled(true);
-    DriverStationSim.setRobotMode(RobotMode.TEST);
+    DriverStationSim.setRobotMode(RobotMode.UTILITY);
   }
 }

wpilibj/src/test/java/org/wpilib/framework/OpModeRobotTest.java

@@ -125,7 +125,7 @@ class OpModeRobotTest {
             Color.BLACK);
         addOpModeFactory(
             () -> new OneArgOpMode(this),
-            RobotMode.TEST,
+            RobotMode.UTILITY,
             "OneArgOpMode-Test",
             "Group",
             "Description",

wpilibj/src/test/java/org/wpilib/framework/TimedRobotTest.java

@@ -23,19 +23,19 @@ class TimedRobotTest {
     public final AtomicInteger m_disabledInitCount = new AtomicInteger(0);
     public final AtomicInteger m_autonomousInitCount = new AtomicInteger(0);
     public final AtomicInteger m_teleopInitCount = new AtomicInteger(0);
-    public final AtomicInteger m_testInitCount = new AtomicInteger(0);
+    public final AtomicInteger m_utilityInitCount = new AtomicInteger(0);
 
     public final AtomicInteger m_robotPeriodicCount = new AtomicInteger(0);
     public final AtomicInteger m_simulationPeriodicCount = new AtomicInteger(0);
     public final AtomicInteger m_disabledPeriodicCount = new AtomicInteger(0);
     public final AtomicInteger m_autonomousPeriodicCount = new AtomicInteger(0);
     public final AtomicInteger m_teleopPeriodicCount = new AtomicInteger(0);
-    public final AtomicInteger m_testPeriodicCount = new AtomicInteger(0);
+    public final AtomicInteger m_utilityPeriodicCount = new AtomicInteger(0);
 
     public final AtomicInteger m_disabledExitCount = new AtomicInteger(0);
     public final AtomicInteger m_autonomousExitCount = new AtomicInteger(0);
     public final AtomicInteger m_teleopExitCount = new AtomicInteger(0);
-    public final AtomicInteger m_testExitCount = new AtomicInteger(0);
+    public final AtomicInteger m_utilityExitCount = new AtomicInteger(0);
 
     MockRobot() {
       super(kPeriod);
@@ -62,8 +62,8 @@ class TimedRobotTest {
     }
 
     @Override
-    public void testInit() {
-      m_testInitCount.addAndGet(1);
+    public void utilityInit() {
+      m_utilityInitCount.addAndGet(1);
     }
 
     @Override
@@ -92,8 +92,8 @@ class TimedRobotTest {
     }
 
     @Override
-    public void testPeriodic() {
-      m_testPeriodicCount.addAndGet(1);
+    public void utilityPeriodic() {
+      m_utilityPeriodicCount.addAndGet(1);
     }
 
     @Override
@@ -112,8 +112,8 @@ class TimedRobotTest {
     }
 
     @Override
-    public void testExit() {
-      m_testExitCount.addAndGet(1);
+    public void utilityExit() {
+      m_utilityExitCount.addAndGet(1);
     }
   }
 
@@ -145,19 +145,19 @@ class TimedRobotTest {
     assertEquals(0, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_autonomousInitCount.get());
     assertEquals(0, robot.m_teleopInitCount.get());
-    assertEquals(0, robot.m_testInitCount.get());
+    assertEquals(0, robot.m_utilityInitCount.get());
 
     assertEquals(0, robot.m_robotPeriodicCount.get());
     assertEquals(0, robot.m_simulationPeriodicCount.get());
     assertEquals(0, robot.m_disabledPeriodicCount.get());
     assertEquals(0, robot.m_autonomousPeriodicCount.get());
     assertEquals(0, robot.m_teleopPeriodicCount.get());
-    assertEquals(0, robot.m_testPeriodicCount.get());
+    assertEquals(0, robot.m_utilityPeriodicCount.get());
 
     assertEquals(0, robot.m_disabledExitCount.get());
     assertEquals(0, robot.m_autonomousExitCount.get());
     assertEquals(0, robot.m_teleopExitCount.get());
-    assertEquals(0, robot.m_testExitCount.get());
+    assertEquals(0, robot.m_utilityExitCount.get());
 
     SimHooks.stepTiming(kPeriod);
 
@@ -165,19 +165,19 @@ class TimedRobotTest {
     assertEquals(1, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_autonomousInitCount.get());
     assertEquals(0, robot.m_teleopInitCount.get());
-    assertEquals(0, robot.m_testInitCount.get());
+    assertEquals(0, robot.m_utilityInitCount.get());
 
     assertEquals(1, robot.m_robotPeriodicCount.get());
     assertEquals(1, robot.m_simulationPeriodicCount.get());
     assertEquals(1, robot.m_disabledPeriodicCount.get());
     assertEquals(0, robot.m_autonomousPeriodicCount.get());
     assertEquals(0, robot.m_teleopPeriodicCount.get());
-    assertEquals(0, robot.m_testPeriodicCount.get());
+    assertEquals(0, robot.m_utilityPeriodicCount.get());
 
     assertEquals(0, robot.m_disabledExitCount.get());
     assertEquals(0, robot.m_autonomousExitCount.get());
     assertEquals(0, robot.m_teleopExitCount.get());
-    assertEquals(0, robot.m_testExitCount.get());
+    assertEquals(0, robot.m_utilityExitCount.get());
 
     SimHooks.stepTiming(kPeriod);
 
@@ -185,19 +185,19 @@ class TimedRobotTest {
     assertEquals(1, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_autonomousInitCount.get());
     assertEquals(0, robot.m_teleopInitCount.get());
-    assertEquals(0, robot.m_testInitCount.get());
+    assertEquals(0, robot.m_utilityInitCount.get());
 
     assertEquals(2, robot.m_robotPeriodicCount.get());
     assertEquals(2, robot.m_simulationPeriodicCount.get());
     assertEquals(2, robot.m_disabledPeriodicCount.get());
     assertEquals(0, robot.m_autonomousPeriodicCount.get());
     assertEquals(0, robot.m_teleopPeriodicCount.get());
-    assertEquals(0, robot.m_testPeriodicCount.get());
+    assertEquals(0, robot.m_utilityPeriodicCount.get());
 
     assertEquals(0, robot.m_disabledExitCount.get());
     assertEquals(0, robot.m_autonomousExitCount.get());
     assertEquals(0, robot.m_teleopExitCount.get());
-    assertEquals(0, robot.m_testExitCount.get());
+    assertEquals(0, robot.m_utilityExitCount.get());
 
     robot.endCompetition();
     try {
@@ -226,19 +226,19 @@ class TimedRobotTest {
     assertEquals(0, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_autonomousInitCount.get());
     assertEquals(0, robot.m_teleopInitCount.get());
-    assertEquals(0, robot.m_testInitCount.get());
+    assertEquals(0, robot.m_utilityInitCount.get());
 
     assertEquals(0, robot.m_robotPeriodicCount.get());
     assertEquals(0, robot.m_simulationPeriodicCount.get());
     assertEquals(0, robot.m_disabledPeriodicCount.get());
     assertEquals(0, robot.m_autonomousPeriodicCount.get());
     assertEquals(0, robot.m_teleopPeriodicCount.get());
-    assertEquals(0, robot.m_testPeriodicCount.get());
+    assertEquals(0, robot.m_utilityPeriodicCount.get());
 
     assertEquals(0, robot.m_disabledExitCount.get());
     assertEquals(0, robot.m_autonomousExitCount.get());
     assertEquals(0, robot.m_teleopExitCount.get());
-    assertEquals(0, robot.m_testExitCount.get());
+    assertEquals(0, robot.m_utilityExitCount.get());
 
     SimHooks.stepTiming(kPeriod);
 
@@ -246,19 +246,19 @@ class TimedRobotTest {
     assertEquals(0, robot.m_disabledInitCount.get());
     assertEquals(1, robot.m_autonomousInitCount.get());
     assertEquals(0, robot.m_teleopInitCount.get());
-    assertEquals(0, robot.m_testInitCount.get());
+    assertEquals(0, robot.m_utilityInitCount.get());
 
     assertEquals(1, robot.m_robotPeriodicCount.get());
     assertEquals(1, robot.m_simulationPeriodicCount.get());
     assertEquals(0, robot.m_disabledPeriodicCount.get());
     assertEquals(1, robot.m_autonomousPeriodicCount.get());
     assertEquals(0, robot.m_teleopPeriodicCount.get());
-    assertEquals(0, robot.m_testPeriodicCount.get());
+    assertEquals(0, robot.m_utilityPeriodicCount.get());
 
     assertEquals(0, robot.m_disabledExitCount.get());
     assertEquals(0, robot.m_autonomousExitCount.get());
     assertEquals(0, robot.m_teleopExitCount.get());
-    assertEquals(0, robot.m_testExitCount.get());
+    assertEquals(0, robot.m_utilityExitCount.get());
 
     SimHooks.stepTiming(kPeriod);
 
@@ -266,19 +266,19 @@ class TimedRobotTest {
     assertEquals(0, robot.m_disabledInitCount.get());
     assertEquals(1, robot.m_autonomousInitCount.get());
     assertEquals(0, robot.m_teleopInitCount.get());
-    assertEquals(0, robot.m_testInitCount.get());
+    assertEquals(0, robot.m_utilityInitCount.get());
 
     assertEquals(2, robot.m_robotPeriodicCount.get());
     assertEquals(2, robot.m_simulationPeriodicCount.get());
     assertEquals(0, robot.m_disabledPeriodicCount.get());
     assertEquals(2, robot.m_autonomousPeriodicCount.get());
     assertEquals(0, robot.m_teleopPeriodicCount.get());
-    assertEquals(0, robot.m_testPeriodicCount.get());
+    assertEquals(0, robot.m_utilityPeriodicCount.get());
 
     assertEquals(0, robot.m_disabledExitCount.get());
     assertEquals(0, robot.m_autonomousExitCount.get());
     assertEquals(0, robot.m_teleopExitCount.get());
-    assertEquals(0, robot.m_testExitCount.get());
+    assertEquals(0, robot.m_utilityExitCount.get());
 
     robot.endCompetition();
     try {
@@ -307,19 +307,19 @@ class TimedRobotTest {
     assertEquals(0, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_autonomousInitCount.get());
     assertEquals(0, robot.m_teleopInitCount.get());
-    assertEquals(0, robot.m_testInitCount.get());
+    assertEquals(0, robot.m_utilityInitCount.get());
 
     assertEquals(0, robot.m_robotPeriodicCount.get());
     assertEquals(0, robot.m_simulationPeriodicCount.get());
     assertEquals(0, robot.m_disabledPeriodicCount.get());
     assertEquals(0, robot.m_autonomousPeriodicCount.get());
     assertEquals(0, robot.m_teleopPeriodicCount.get());
-    assertEquals(0, robot.m_testPeriodicCount.get());
+    assertEquals(0, robot.m_utilityPeriodicCount.get());
 
     assertEquals(0, robot.m_disabledExitCount.get());
     assertEquals(0, robot.m_autonomousExitCount.get());
     assertEquals(0, robot.m_teleopExitCount.get());
-    assertEquals(0, robot.m_testExitCount.get());
+    assertEquals(0, robot.m_utilityExitCount.get());
 
     SimHooks.stepTiming(kPeriod);
 
@@ -327,19 +327,19 @@ class TimedRobotTest {
     assertEquals(0, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_autonomousInitCount.get());
     assertEquals(1, robot.m_teleopInitCount.get());
-    assertEquals(0, robot.m_testInitCount.get());
+    assertEquals(0, robot.m_utilityInitCount.get());
 
     assertEquals(1, robot.m_robotPeriodicCount.get());
     assertEquals(1, robot.m_simulationPeriodicCount.get());
     assertEquals(0, robot.m_disabledPeriodicCount.get());
     assertEquals(0, robot.m_autonomousPeriodicCount.get());
     assertEquals(1, robot.m_teleopPeriodicCount.get());
-    assertEquals(0, robot.m_testPeriodicCount.get());
+    assertEquals(0, robot.m_utilityPeriodicCount.get());
 
     assertEquals(0, robot.m_disabledExitCount.get());
     assertEquals(0, robot.m_autonomousExitCount.get());
     assertEquals(0, robot.m_teleopExitCount.get());
-    assertEquals(0, robot.m_testExitCount.get());
+    assertEquals(0, robot.m_utilityExitCount.get());
 
     SimHooks.stepTiming(kPeriod);
 
@@ -347,19 +347,19 @@ class TimedRobotTest {
     assertEquals(0, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_autonomousInitCount.get());
     assertEquals(1, robot.m_teleopInitCount.get());
-    assertEquals(0, robot.m_testInitCount.get());
+    assertEquals(0, robot.m_utilityInitCount.get());
 
     assertEquals(2, robot.m_robotPeriodicCount.get());
     assertEquals(2, robot.m_simulationPeriodicCount.get());
     assertEquals(0, robot.m_disabledPeriodicCount.get());
     assertEquals(0, robot.m_autonomousPeriodicCount.get());
     assertEquals(2, robot.m_teleopPeriodicCount.get());
-    assertEquals(0, robot.m_testPeriodicCount.get());
+    assertEquals(0, robot.m_utilityPeriodicCount.get());
 
     assertEquals(0, robot.m_disabledExitCount.get());
     assertEquals(0, robot.m_autonomousExitCount.get());
     assertEquals(0, robot.m_teleopExitCount.get());
-    assertEquals(0, robot.m_testExitCount.get());
+    assertEquals(0, robot.m_utilityExitCount.get());
 
     robot.endCompetition();
     try {
@@ -373,7 +373,7 @@ class TimedRobotTest {
 
   @Test
   @ResourceLock("timing")
-  void testModeTest() {
+  void utilityModeTest() {
     MockRobot robot = new MockRobot();
 
     Thread robotThread = new Thread(robot::startCompetition);
@@ -381,26 +381,26 @@ class TimedRobotTest {
     SimHooks.waitForProgramStart();
 
     DriverStationSim.setEnabled(true);
-    DriverStationSim.setRobotMode(RobotMode.TEST);
+    DriverStationSim.setRobotMode(RobotMode.UTILITY);
     DriverStationSim.notifyNewData();
 
     assertEquals(1, robot.m_simulationInitCount.get());
     assertEquals(0, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_autonomousInitCount.get());
     assertEquals(0, robot.m_teleopInitCount.get());
-    assertEquals(0, robot.m_testInitCount.get());
+    assertEquals(0, robot.m_utilityInitCount.get());
 
     assertEquals(0, robot.m_robotPeriodicCount.get());
     assertEquals(0, robot.m_simulationPeriodicCount.get());
     assertEquals(0, robot.m_disabledPeriodicCount.get());
     assertEquals(0, robot.m_autonomousPeriodicCount.get());
     assertEquals(0, robot.m_teleopPeriodicCount.get());
-    assertEquals(0, robot.m_testPeriodicCount.get());
+    assertEquals(0, robot.m_utilityPeriodicCount.get());
 
     assertEquals(0, robot.m_disabledExitCount.get());
     assertEquals(0, robot.m_autonomousExitCount.get());
     assertEquals(0, robot.m_teleopExitCount.get());
-    assertEquals(0, robot.m_testExitCount.get());
+    assertEquals(0, robot.m_utilityExitCount.get());
 
     SimHooks.stepTiming(kPeriod);
 
@@ -408,19 +408,19 @@ class TimedRobotTest {
     assertEquals(0, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_autonomousInitCount.get());
     assertEquals(0, robot.m_teleopInitCount.get());
-    assertEquals(1, robot.m_testInitCount.get());
+    assertEquals(1, robot.m_utilityInitCount.get());
 
     assertEquals(1, robot.m_robotPeriodicCount.get());
     assertEquals(1, robot.m_simulationPeriodicCount.get());
     assertEquals(0, robot.m_disabledPeriodicCount.get());
     assertEquals(0, robot.m_autonomousPeriodicCount.get());
     assertEquals(0, robot.m_teleopPeriodicCount.get());
-    assertEquals(1, robot.m_testPeriodicCount.get());
+    assertEquals(1, robot.m_utilityPeriodicCount.get());
 
     assertEquals(0, robot.m_disabledExitCount.get());
     assertEquals(0, robot.m_autonomousExitCount.get());
     assertEquals(0, robot.m_teleopExitCount.get());
-    assertEquals(0, robot.m_testExitCount.get());
+    assertEquals(0, robot.m_utilityExitCount.get());
 
     SimHooks.stepTiming(kPeriod);
 
@@ -428,19 +428,19 @@ class TimedRobotTest {
     assertEquals(0, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_autonomousInitCount.get());
     assertEquals(0, robot.m_teleopInitCount.get());
-    assertEquals(1, robot.m_testInitCount.get());
+    assertEquals(1, robot.m_utilityInitCount.get());
 
     assertEquals(2, robot.m_robotPeriodicCount.get());
     assertEquals(2, robot.m_simulationPeriodicCount.get());
     assertEquals(0, robot.m_disabledPeriodicCount.get());
     assertEquals(0, robot.m_autonomousPeriodicCount.get());
     assertEquals(0, robot.m_teleopPeriodicCount.get());
-    assertEquals(2, robot.m_testPeriodicCount.get());
+    assertEquals(2, robot.m_utilityPeriodicCount.get());
 
     assertEquals(0, robot.m_disabledExitCount.get());
     assertEquals(0, robot.m_autonomousExitCount.get());
     assertEquals(0, robot.m_teleopExitCount.get());
-    assertEquals(0, robot.m_testExitCount.get());
+    assertEquals(0, robot.m_utilityExitCount.get());
 
     DriverStationSim.setEnabled(false);
     DriverStationSim.notifyNewData();
@@ -451,19 +451,19 @@ class TimedRobotTest {
     assertEquals(1, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_autonomousInitCount.get());
     assertEquals(0, robot.m_teleopInitCount.get());
-    assertEquals(1, robot.m_testInitCount.get());
+    assertEquals(1, robot.m_utilityInitCount.get());
 
     assertEquals(3, robot.m_robotPeriodicCount.get());
     assertEquals(3, robot.m_simulationPeriodicCount.get());
     assertEquals(1, robot.m_disabledPeriodicCount.get());
     assertEquals(0, robot.m_autonomousPeriodicCount.get());
     assertEquals(0, robot.m_teleopPeriodicCount.get());
-    assertEquals(2, robot.m_testPeriodicCount.get());
+    assertEquals(2, robot.m_utilityPeriodicCount.get());
 
     assertEquals(0, robot.m_disabledExitCount.get());
     assertEquals(0, robot.m_autonomousExitCount.get());
     assertEquals(0, robot.m_teleopExitCount.get());
-    assertEquals(1, robot.m_testExitCount.get());
+    assertEquals(1, robot.m_utilityExitCount.get());
 
     robot.endCompetition();
     try {
@@ -491,24 +491,24 @@ class TimedRobotTest {
     assertEquals(0, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_autonomousInitCount.get());
     assertEquals(0, robot.m_teleopInitCount.get());
-    assertEquals(0, robot.m_testInitCount.get());
+    assertEquals(0, robot.m_utilityInitCount.get());
 
     assertEquals(0, robot.m_disabledExitCount.get());
     assertEquals(0, robot.m_autonomousExitCount.get());
     assertEquals(0, robot.m_teleopExitCount.get());
-    assertEquals(0, robot.m_testExitCount.get());
+    assertEquals(0, robot.m_utilityExitCount.get());
 
     SimHooks.stepTiming(kPeriod);
 
     assertEquals(1, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_autonomousInitCount.get());
     assertEquals(0, robot.m_teleopInitCount.get());
-    assertEquals(0, robot.m_testInitCount.get());
+    assertEquals(0, robot.m_utilityInitCount.get());
 
     assertEquals(0, robot.m_disabledExitCount.get());
     assertEquals(0, robot.m_autonomousExitCount.get());
     assertEquals(0, robot.m_teleopExitCount.get());
-    assertEquals(0, robot.m_testExitCount.get());
+    assertEquals(0, robot.m_utilityExitCount.get());
 
     // Transition to autonomous
     DriverStationSim.setEnabled(true);
@@ -520,12 +520,12 @@ class TimedRobotTest {
     assertEquals(1, robot.m_disabledInitCount.get());
     assertEquals(1, robot.m_autonomousInitCount.get());
     assertEquals(0, robot.m_teleopInitCount.get());
-    assertEquals(0, robot.m_testInitCount.get());
+    assertEquals(0, robot.m_utilityInitCount.get());
 
     assertEquals(1, robot.m_disabledExitCount.get());
     assertEquals(0, robot.m_autonomousExitCount.get());
     assertEquals(0, robot.m_teleopExitCount.get());
-    assertEquals(0, robot.m_testExitCount.get());
+    assertEquals(0, robot.m_utilityExitCount.get());
 
     // Transition to teleop
     DriverStationSim.setEnabled(true);
@@ -537,16 +537,16 @@ class TimedRobotTest {
     assertEquals(1, robot.m_disabledInitCount.get());
     assertEquals(1, robot.m_autonomousInitCount.get());
     assertEquals(1, robot.m_teleopInitCount.get());
-    assertEquals(0, robot.m_testInitCount.get());
+    assertEquals(0, robot.m_utilityInitCount.get());
 
     assertEquals(1, robot.m_disabledExitCount.get());
     assertEquals(1, robot.m_autonomousExitCount.get());
     assertEquals(0, robot.m_teleopExitCount.get());
-    assertEquals(0, robot.m_testExitCount.get());
+    assertEquals(0, robot.m_utilityExitCount.get());
 
-    // Transition to test
+    // Transition to utility
     DriverStationSim.setEnabled(true);
-    DriverStationSim.setRobotMode(RobotMode.TEST);
+    DriverStationSim.setRobotMode(RobotMode.UTILITY);
     DriverStationSim.notifyNewData();
 
     SimHooks.stepTiming(kPeriod);
@@ -554,12 +554,12 @@ class TimedRobotTest {
     assertEquals(1, robot.m_disabledInitCount.get());
     assertEquals(1, robot.m_autonomousInitCount.get());
     assertEquals(1, robot.m_teleopInitCount.get());
-    assertEquals(1, robot.m_testInitCount.get());
+    assertEquals(1, robot.m_utilityInitCount.get());
 
     assertEquals(1, robot.m_disabledExitCount.get());
     assertEquals(1, robot.m_autonomousExitCount.get());
     assertEquals(1, robot.m_teleopExitCount.get());
-    assertEquals(0, robot.m_testExitCount.get());
+    assertEquals(0, robot.m_utilityExitCount.get());
 
     // Transition to disabled
     DriverStationSim.setEnabled(false);
@@ -570,12 +570,12 @@ class TimedRobotTest {
     assertEquals(2, robot.m_disabledInitCount.get());
     assertEquals(1, robot.m_autonomousInitCount.get());
     assertEquals(1, robot.m_teleopInitCount.get());
-    assertEquals(1, robot.m_testInitCount.get());
+    assertEquals(1, robot.m_utilityInitCount.get());
 
     assertEquals(1, robot.m_disabledExitCount.get());
     assertEquals(1, robot.m_autonomousExitCount.get());
     assertEquals(1, robot.m_teleopExitCount.get());
-    assertEquals(1, robot.m_testExitCount.get());
+    assertEquals(1, robot.m_utilityExitCount.get());
 
     robot.endCompetition();
     try {

wpilibj/src/test/java/org/wpilib/simulation/DriverStationSimTest.java

@@ -64,16 +64,16 @@ class DriverStationSimTest {
     HAL.initialize(500, 0);
     DriverStationSim.resetData();
 
-    assertFalse(RobotState.isTest());
+    assertFalse(RobotState.isUtility());
     EnumCallback callback = new EnumCallback();
     try (CallbackStore cb = DriverStationSim.registerRobotModeCallback(callback, false)) {
-      DriverStationSim.setRobotMode(RobotMode.TEST);
+      DriverStationSim.setRobotMode(RobotMode.UTILITY);
       DriverStationSim.notifyNewData();
-      assertEquals(RobotMode.TEST, DriverStationSim.getRobotMode());
-      assertTrue(RobotState.isTest());
-      assertEquals(RobotMode.TEST, RobotState.getRobotMode());
+      assertEquals(RobotMode.UTILITY, DriverStationSim.getRobotMode());
+      assertTrue(RobotState.isUtility());
+      assertEquals(RobotMode.UTILITY, RobotState.getRobotMode());
       assertTrue(callback.wasTriggered());
-      assertEquals(RobotMode.TEST.getValue(), callback.getSetValue());
+      assertEquals(RobotMode.UTILITY.getValue(), callback.getSetValue());
     }
   }
 

wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/Robot.java

@@ -89,12 +89,12 @@ public class Robot extends TimedRobot {
   public void teleopPeriodic() {}
 
   @Override
-  public void testInit() {
-    // Cancels all running commands at the start of test mode.
+  public void utilityInit() {
+    // Cancels all running commands at the start of utility mode.
     CommandScheduler.getInstance().cancelAll();
   }
 
-  /** This function is called periodically during test mode. */
+  /** This function is called periodically during utility mode. */
   @Override
-  public void testPeriodic() {}
+  public void utilityPeriodic() {}
 }

wpilibjExamples/src/main/java/org/wpilib/examples/gettingstarted/Robot.java

@@ -63,11 +63,11 @@ public class Robot extends TimedRobot {
     m_robotDrive.arcadeDrive(-m_controller.getLeftY(), -m_controller.getRightX());
   }
 
-  /** This function is called once each time the robot enters test mode. */
+  /** This function is called once each time the robot enters utility mode. */
   @Override
-  public void testInit() {}
+  public void utilityInit() {}
 
-  /** This function is called periodically during test mode. */
+  /** This function is called periodically during utility mode. */
   @Override
-  public void testPeriodic() {}
+  public void utilityPeriodic() {}
 }

wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/Robot.java

@@ -91,12 +91,12 @@ public class Robot extends TimedRobot {
   public void teleopPeriodic() {}
 
   @Override
-  public void testInit() {
-    // Cancels all running commands at the start of test mode.
+  public void utilityInit() {
+    // Cancels all running commands at the start of utility mode.
     CommandScheduler.getInstance().cancelAll();
   }
 
-  /** This function is called periodically during test mode. */
+  /** This function is called periodically during utility mode. */
   @Override
-  public void testPeriodic() {}
+  public void utilityPeriodic() {}
 }

wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/Robot.java

@@ -39,7 +39,7 @@ public class Robot extends TimedRobot {
 
   /**
    * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
-   * that you want ran during disabled, autonomous, teleoperated and test.
+   * that you want ran during disabled, autonomous, teleoperated and utility.
    *
    * <p>This runs after the mode specific periodic functions, but before LiveWindow and
    * SmartDashboard integrated updating.
@@ -98,12 +98,12 @@ public class Robot extends TimedRobot {
   public void teleopPeriodic() {}
 
   @Override
-  public void testInit() {
-    // Cancels all running commands at the start of test mode.
+  public void utilityInit() {
+    // Cancels all running commands at the start of utility mode.
     CommandScheduler.getInstance().cancelAll();
   }
 
-  /** This function is called periodically during test mode. */
+  /** This function is called periodically during utility mode. */
   @Override
-  public void testPeriodic() {}
+  public void utilityPeriodic() {}
 }

wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/Robot.java

@@ -87,12 +87,12 @@ public class Robot extends TimedRobot {
   public void teleopPeriodic() {}
 
   @Override
-  public void testInit() {
-    // Cancels all running commands at the start of test mode.
+  public void utilityInit() {
+    // Cancels all running commands at the start of utility mode.
     CommandScheduler.getInstance().cancelAll();
   }
 
-  /** This function is called periodically during test mode. */
+  /** This function is called periodically during utility mode. */
   @Override
-  public void testPeriodic() {}
+  public void utilityPeriodic() {}
 }

wpilibjExamples/src/main/java/org/wpilib/examples/romireference/Robot.java

@@ -82,12 +82,12 @@ public class Robot extends TimedRobot {
   public void teleopPeriodic() {}
 
   @Override
-  public void testInit() {
-    // Cancels all running commands at the start of test mode.
+  public void utilityInit() {
+    // Cancels all running commands at the start of utility mode.
     CommandScheduler.getInstance().cancelAll();
   }
 
-  /** This function is called periodically during test mode. */
+  /** This function is called periodically during utility mode. */
   @Override
-  public void testPeriodic() {}
+  public void utilityPeriodic() {}
 }

wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/Robot.java

@@ -79,12 +79,12 @@ public class Robot extends TimedRobot {
   public void teleopPeriodic() {}
 
   @Override
-  public void testInit() {
-    // Cancels all running commands at the start of test mode.
+  public void utilityInit() {
+    // Cancels all running commands at the start of utility mode.
     CommandScheduler.getInstance().cancelAll();
   }
 
-  /** This function is called periodically during test mode. */
+  /** This function is called periodically during utility mode. */
   @Override
-  public void testPeriodic() {}
+  public void utilityPeriodic() {}
 }

wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/Robot.java

@@ -82,14 +82,14 @@ public class Robot extends TimedRobot {
   public void teleopPeriodic() {}
 
   @Override
-  public void testInit() {
-    // Cancels all running commands at the start of test mode.
+  public void utilityInit() {
+    // Cancels all running commands at the start of utility mode.
     CommandScheduler.getInstance().cancelAll();
   }
 
-  /** This function is called periodically during test mode. */
+  /** This function is called periodically during utility mode. */
   @Override
-  public void testPeriodic() {}
+  public void utilityPeriodic() {}
 
   /** This function is called once when the robot is first started up. */
   @Override

wpilibjExamples/src/main/java/org/wpilib/examples/xrptimed/Robot.java

@@ -64,11 +64,11 @@ public class Robot extends TimedRobot {
     m_robotDrive.arcadeDrive(-m_controller.getRawAxis(2), -m_controller.getRawAxis(1));
   }
 
-  /** This function is called once each time the robot enters test mode. */
+  /** This function is called once each time the robot enters utility mode. */
   @Override
-  public void testInit() {}
+  public void utilityInit() {}
 
-  /** This function is called periodically during test mode. */
+  /** This function is called periodically during utility mode. */
   @Override
-  public void testPeriodic() {}
+  public void utilityPeriodic() {}
 }

wpilibjExamples/src/main/java/org/wpilib/snippets/selectcommand/Robot.java

@@ -30,7 +30,7 @@ public class Robot extends TimedRobot {
 
   /**
    * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
-   * that you want ran during disabled, autonomous, teleoperated and test.
+   * that you want ran during disabled, autonomous, teleoperated and utility.
    *
    * <p>This runs after the mode specific periodic functions, but before LiveWindow and
    * SmartDashboard integrated updating.
@@ -89,12 +89,12 @@ public class Robot extends TimedRobot {
   public void teleopPeriodic() {}
 
   @Override
-  public void testInit() {
-    // Cancels all running commands at the start of test mode.
+  public void utilityInit() {
+    // Cancels all running commands at the start of utility mode.
     CommandScheduler.getInstance().cancelAll();
   }
 
-  /** This function is called periodically during test mode. */
+  /** This function is called periodically during utility mode. */
   @Override
-  public void testPeriodic() {}
+  public void utilityPeriodic() {}
 }

wpilibjExamples/src/main/java/org/wpilib/templates/commandv2/Robot.java

@@ -30,7 +30,7 @@ public class Robot extends TimedRobot {
 
   /**
    * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
-   * that you want ran during disabled, autonomous, teleoperated and test.
+   * that you want ran during disabled, autonomous, teleoperated and utility.
    *
    * <p>This runs after the mode specific periodic functions, but before LiveWindow and
    * SmartDashboard integrated updating.
@@ -82,14 +82,14 @@ public class Robot extends TimedRobot {
   public void teleopPeriodic() {}
 
   @Override
-  public void testInit() {
-    // Cancels all running commands at the start of test mode.
+  public void utilityInit() {
+    // Cancels all running commands at the start of utility mode.
     CommandScheduler.getInstance().cancelAll();
   }
 
-  /** This function is called periodically during test mode. */
+  /** This function is called periodically during utility mode. */
   @Override
-  public void testPeriodic() {}
+  public void utilityPeriodic() {}
 
   /** This function is called once when the robot is first started up. */
   @Override

wpilibjExamples/src/main/java/org/wpilib/templates/commandv2skeleton/Robot.java

@@ -60,13 +60,13 @@ public class Robot extends TimedRobot {
   public void teleopExit() {}
 
   @Override
-  public void testInit() {
+  public void utilityInit() {
     CommandScheduler.getInstance().cancelAll();
   }
 
   @Override
-  public void testPeriodic() {}
+  public void utilityPeriodic() {}
 
   @Override
-  public void testExit() {}
+  public void utilityExit() {}
 }

wpilibjExamples/src/main/java/org/wpilib/templates/educational/EducationalRobot.java

@@ -28,7 +28,7 @@ public class EducationalRobot extends RobotBase {
     run();
   }
 
-  public void test() {
+  public void utility() {
     run();
   }
 
@@ -39,7 +39,7 @@ public class EducationalRobot extends RobotBase {
     // Create an opmode per robot mode
     RobotState.addOpMode(RobotMode.AUTONOMOUS, "Auto");
     RobotState.addOpMode(RobotMode.TELEOPERATED, "Teleop");
-    RobotState.addOpMode(RobotMode.TEST, "Test");
+    RobotState.addOpMode(RobotMode.UTILITY, "Utility");
     RobotState.publishOpModes();
 
     final ControlWord word = new ControlWord();
@@ -73,9 +73,9 @@ public class EducationalRobot extends RobotBase {
             Thread.currentThread().interrupt();
           }
         }
-      } else if (isTest()) {
-        test();
-        while (isTest() && isEnabled()) {
+      } else if (isUtility()) {
+        utility();
+        while (isUtility() && isEnabled()) {
           try {
             WPIUtilJNI.waitForObject(event);
           } catch (InterruptedException e) {