diff --git a/robotpyExamples/ArmSimulation/subsystems/arm.py b/robotpyExamples/ArmSimulation/subsystems/arm.py
index e35e7e5700..ca8e1b8b11 100644
--- a/robotpyExamples/ArmSimulation/subsystems/arm.py
+++ b/robotpyExamples/ArmSimulation/subsystems/arm.py
@@ -76,7 +76,7 @@ class Arm:
         # In this method, we update our simulation of what our arm is doing
         # First, we set our "inputs" (voltages)
         self.armSim.setInput(
-            [self.motor.getDutyCycle() * wpilib.RobotController.getBatteryVoltage()]
+            [self.motor.getThrottle() * wpilib.RobotController.getBatteryVoltage()]
         )
 
         # Next, we update it. The standard loop time is 20ms.
@@ -111,4 +111,4 @@ class Arm:
         self.motor.setVoltage(pidOutput)
 
     def stop(self) -> None:
-        self.motor.setDutyCycle(0.0)
+        self.motor.setThrottle(0.0)
diff --git a/robotpyExamples/DifferentialDrivePoseEstimator/drivetrain.py b/robotpyExamples/DifferentialDrivePoseEstimator/drivetrain.py
index d8efdc8f7a..3b90cb1b71 100644
--- a/robotpyExamples/DifferentialDrivePoseEstimator/drivetrain.py
+++ b/robotpyExamples/DifferentialDrivePoseEstimator/drivetrain.py
@@ -244,8 +244,8 @@ class Drivetrain:
         # simulation, and write the simulated positions and velocities to our
         # simulated encoder and gyro.
         self.drivetrainSimulator.setInputs(
-            self.leftLeader.getDutyCycle() * wpilib.RobotController.getInputVoltage(),
-            self.rightLeader.getDutyCycle() * wpilib.RobotController.getInputVoltage(),
+            self.leftLeader.getThrottle() * wpilib.RobotController.getInputVoltage(),
+            self.rightLeader.getThrottle() * wpilib.RobotController.getInputVoltage(),
         )
         self.drivetrainSimulator.update(0.02)
 
diff --git a/robotpyExamples/ElevatorExponentialSimulation/subsystems/elevator.py b/robotpyExamples/ElevatorExponentialSimulation/subsystems/elevator.py
index f20ee52b7c..71a2c10334 100644
--- a/robotpyExamples/ElevatorExponentialSimulation/subsystems/elevator.py
+++ b/robotpyExamples/ElevatorExponentialSimulation/subsystems/elevator.py
@@ -84,7 +84,7 @@ class Elevator:
         # In this method, we update our simulation of what our elevator is doing
         # First, we set our "inputs" (voltages)
         self.elevatorSim.setInputVoltage(
-            self.motorSim.getDutyCycle() * wpilib.RobotController.getBatteryVoltage()
+            self.motorSim.getThrottle() * wpilib.RobotController.getBatteryVoltage()
         )
 
         # Next, we update it. The standard loop time is 20ms.
@@ -120,7 +120,7 @@ class Elevator:
 
     def stop(self) -> None:
         """Stop the control loop and motor output."""
-        self.motor.setDutyCycle(0.0)
+        self.motor.setThrottle(0.0)
 
     def reset(self) -> None:
         """Reset Exponential profile to begin from current position on enable."""
diff --git a/robotpyExamples/ElevatorSimulation/subsystems/elevator.py b/robotpyExamples/ElevatorSimulation/subsystems/elevator.py
index 7ea78107fc..001531faac 100644
--- a/robotpyExamples/ElevatorSimulation/subsystems/elevator.py
+++ b/robotpyExamples/ElevatorSimulation/subsystems/elevator.py
@@ -68,7 +68,7 @@ class Elevator:
         # In this method, we update our simulation of what our elevator is doing
         # First, we set our "inputs" (voltages)
         self.elevatorSim.setInputVoltage(
-            self.motorSim.getDutyCycle() * wpilib.RobotController.getBatteryVoltage()
+            self.motorSim.getThrottle() * wpilib.RobotController.getBatteryVoltage()
         )
 
         # Next, we update it. The standard loop time is 20ms.
@@ -99,7 +99,7 @@ class Elevator:
     def stop(self) -> None:
         """Stop the control loop and motor output."""
         self.controller.setGoal(0.0)
-        self.motor.setDutyCycle(0.0)
+        self.motor.setThrottle(0.0)
 
     def updateTelemetry(self) -> None:
         """Update telemetry, including the mechanism visualization."""
diff --git a/robotpyExamples/FlywheelBangBangController/robot.py b/robotpyExamples/FlywheelBangBangController/robot.py
index 67eac98d36..a2e199c583 100755
--- a/robotpyExamples/FlywheelBangBangController/robot.py
+++ b/robotpyExamples/FlywheelBangBangController/robot.py
@@ -102,7 +102,7 @@ class MyRobot(wpilib.TimedRobot):
         # To update our simulation, we set motor voltage inputs, update the
         # simulation, and write the simulated velocities to our simulated encoder
         self.flywheelSim.setInputVoltage(
-            self.flywheelMotor.getDutyCycle() * wpilib.RobotController.getInputVoltage()
+            self.flywheelMotor.getThrottle() * wpilib.RobotController.getInputVoltage()
         )
         self.flywheelSim.update(0.02)
         self.encoderSim.setRate(self.flywheelSim.getAngularVelocity())
diff --git a/robotpyExamples/Mechanism2d/robot.py b/robotpyExamples/Mechanism2d/robot.py
index 75f82fc281..5a7135c9ef 100755
--- a/robotpyExamples/Mechanism2d/robot.py
+++ b/robotpyExamples/Mechanism2d/robot.py
@@ -56,5 +56,5 @@ class MyRobot(wpilib.TimedRobot):
         self.wrist.setAngle(self.wristPot.get())
 
     def teleopPeriodic(self):
-        self.elevatorMotor.setDutyCycle(self.joystick.getRawAxis(0))
-        self.wristMotor.setDutyCycle(self.joystick.getRawAxis(1))
+        self.elevatorMotor.setThrottle(self.joystick.getRawAxis(0))
+        self.wristMotor.setThrottle(self.joystick.getRawAxis(1))
diff --git a/robotpyExamples/MotorControl/robot.py b/robotpyExamples/MotorControl/robot.py
index a41b2428e8..c8c23d73f9 100755
--- a/robotpyExamples/MotorControl/robot.py
+++ b/robotpyExamples/MotorControl/robot.py
@@ -43,4 +43,4 @@ class MyRobot(wpilib.TimedRobot):
         wpilib.SmartDashboard.putNumber("Encoder", self.encoder.getDistance())
 
     def teleopPeriodic(self):
-        self.motor.setDutyCycle(self.joystick.getY())
+        self.motor.setThrottle(self.joystick.getY())
diff --git a/robotpyExamples/SimpleDifferentialDriveSimulation/drivetrain.py b/robotpyExamples/SimpleDifferentialDriveSimulation/drivetrain.py
index c6b426be3f..ca551c7c0f 100644
--- a/robotpyExamples/SimpleDifferentialDriveSimulation/drivetrain.py
+++ b/robotpyExamples/SimpleDifferentialDriveSimulation/drivetrain.py
@@ -145,8 +145,8 @@ class Drivetrain:
         # simulated encoder and gyro. We negate the right side so that positive
         # voltages make the right side move forward.
         self.drivetrainSimulator.setInputs(
-            self.leftLeader.getDutyCycle() * wpilib.RobotController.getInputVoltage(),
-            self.rightLeader.getDutyCycle() * wpilib.RobotController.getInputVoltage(),
+            self.leftLeader.getThrottle() * wpilib.RobotController.getInputVoltage(),
+            self.rightLeader.getThrottle() * wpilib.RobotController.getInputVoltage(),
         )
         self.drivetrainSimulator.update(0.02)
 
diff --git a/robotpyExamples/SysId/subsystems/shooter.py b/robotpyExamples/SysId/subsystems/shooter.py
index 841f6f8b75..3bf3c11d96 100644
--- a/robotpyExamples/SysId/subsystems/shooter.py
+++ b/robotpyExamples/SysId/subsystems/shooter.py
@@ -93,7 +93,7 @@ class Shooter(Subsystem):
                 )
                 + self.shooter_feedforward.calculate(target_velocity_radians)
             )
-            self.feeder_motor.setDutyCycle(ShooterConstants.kFeederVelocity)
+            self.feeder_motor.setThrottle(ShooterConstants.kFeederVelocity)
 
         def _stop_motors(interrupted: bool) -> None:
             self.shooter_motor.stopMotor()
diff --git a/robotpyExamples/UnitTest/subsystems/intake.py b/robotpyExamples/UnitTest/subsystems/intake.py
index d330d9b6ea..1d617a31ff 100644
--- a/robotpyExamples/UnitTest/subsystems/intake.py
+++ b/robotpyExamples/UnitTest/subsystems/intake.py
@@ -20,17 +20,17 @@ class Intake:
         )
 
     def deploy(self) -> None:
-        self.piston.setDutyCycle(wpilib.DoubleSolenoid.Value.FORWARD)
+        self.piston.setThrottle(wpilib.DoubleSolenoid.Value.FORWARD)
 
     def retract(self) -> None:
-        self.piston.setDutyCycle(wpilib.DoubleSolenoid.Value.REVERSE)
-        self.motor.setDutyCycle(0)  # turn off the motor
+        self.piston.setThrottle(wpilib.DoubleSolenoid.Value.REVERSE)
+        self.motor.setThrottle(0)  # turn off the motor
 
     def activate(self, velocity: float) -> None:
         if self.isDeployed():
-            self.motor.setDutyCycle(velocity)
+            self.motor.setThrottle(velocity)
         else:  # if piston isn't open, do nothing
-            self.motor.setDutyCycle(0)
+            self.motor.setThrottle(0)
 
     def isDeployed(self) -> bool:
         return self.piston.get() == wpilib.DoubleSolenoid.Value.FORWARD
diff --git a/robotpyExamples/XrpReference/subsystems/drivetrain.py b/robotpyExamples/XrpReference/subsystems/drivetrain.py
index 8918b1b49e..ae0b1ccf03 100644
--- a/robotpyExamples/XrpReference/subsystems/drivetrain.py
+++ b/robotpyExamples/XrpReference/subsystems/drivetrain.py
@@ -32,7 +32,7 @@ class Drivetrain(commands2.Subsystem):
 
         # Set up the differential drive controller
         self.drive = wpilib.DifferentialDrive(
-            self.leftMotor.setDutyCycle, self.rightMotor.setDutyCycle
+            self.leftMotor.setThrottle, self.rightMotor.setThrottle
         )
 
         # TODO: these don't work
diff --git a/romiVendordep/src/main/java/org/wpilib/romi/RomiMotor.java b/romiVendordep/src/main/java/org/wpilib/romi/RomiMotor.java
index ab112d77da..c6ae05c9eb 100644
--- a/romiVendordep/src/main/java/org/wpilib/romi/RomiMotor.java
+++ b/romiVendordep/src/main/java/org/wpilib/romi/RomiMotor.java
@@ -15,7 +15,7 @@ public class RomiMotor extends PWMMotorController {
   /** Common initialization code called by all constructors. */
   protected final void initRomiMotor() {
     m_pwm.setOutputPeriod(5);
-    setDutyCycle(0.0);
+    setThrottle(0.0);
   }
 
   /**
diff --git a/romiVendordep/src/main/native/cpp/romi/RomiMotor.cpp b/romiVendordep/src/main/native/cpp/romi/RomiMotor.cpp
index bb1d5b9fbc..1686b2cc9b 100644
--- a/romiVendordep/src/main/native/cpp/romi/RomiMotor.cpp
+++ b/romiVendordep/src/main/native/cpp/romi/RomiMotor.cpp
@@ -8,5 +8,5 @@ using namespace wpi::romi;
 
 RomiMotor::RomiMotor(int channel) : PWMMotorController("Romi Motor", channel) {
   m_pwm.SetOutputPeriod(5_ms);
-  SetDutyCycle(0.0);
+  SetThrottle(0.0);
 }
diff --git a/wpilibc/src/generate/main/native/cpp/hardware/motor/pwm_motor_controller.cpp.jinja b/wpilibc/src/generate/main/native/cpp/hardware/motor/pwm_motor_controller.cpp.jinja
index de2d66fe3d..111483d4f5 100644
--- a/wpilibc/src/generate/main/native/cpp/hardware/motor/pwm_motor_controller.cpp.jinja
+++ b/wpilibc/src/generate/main/native/cpp/hardware/motor/pwm_motor_controller.cpp.jinja
@@ -13,7 +13,7 @@ using namespace wpi;
 {{ name }}::{{ name }}(int channel) : PWMMotorController("{{ name }}", channel) {
   SetBounds({{ pulse_width_ms.max }}_ms, {{ pulse_width_ms.deadbandMax }}_ms, {{ pulse_width_ms.center }}_ms, {{ pulse_width_ms.deadbandMin }}_ms, {{ pulse_width_ms.min }}_ms);
   m_pwm.SetOutputPeriod({{ OutputPeriod | default("5", true)}}_ms);
-  SetDutyCycle(0.0);
+  SetThrottle(0.0);
 
   HAL_ReportUsage("IO", GetChannel(), "{{ ResourceName }}");
 }
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/Koors40.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/Koors40.cpp
index 107a5243d2..116e3753b8 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/Koors40.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/Koors40.cpp
@@ -13,7 +13,7 @@ using namespace wpi;
 Koors40::Koors40(int channel) : PWMMotorController("Koors40", channel) {
   SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
   m_pwm.SetOutputPeriod(20_ms);
-  SetDutyCycle(0.0);
+  SetThrottle(0.0);
 
   HAL_ReportUsage("IO", GetChannel(), "Koors40");
 }
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMSparkFlex.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMSparkFlex.cpp
index 3b95e977b3..1baf628e8b 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMSparkFlex.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMSparkFlex.cpp
@@ -13,7 +13,7 @@ using namespace wpi;
 PWMSparkFlex::PWMSparkFlex(int channel) : PWMMotorController("PWMSparkFlex", channel) {
   SetBounds(2.003_ms, 1.55_ms, 1.5_ms, 1.46_ms, 0.999_ms);
   m_pwm.SetOutputPeriod(5_ms);
-  SetDutyCycle(0.0);
+  SetThrottle(0.0);
 
   HAL_ReportUsage("IO", GetChannel(), "RevSparkFlexPWM");
 }
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMSparkMax.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMSparkMax.cpp
index 4e85e75b6d..54bb620cf8 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMSparkMax.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMSparkMax.cpp
@@ -13,7 +13,7 @@ using namespace wpi;
 PWMSparkMax::PWMSparkMax(int channel) : PWMMotorController("PWMSparkMax", channel) {
   SetBounds(2.003_ms, 1.55_ms, 1.5_ms, 1.46_ms, 0.999_ms);
   m_pwm.SetOutputPeriod(5_ms);
-  SetDutyCycle(0.0);
+  SetThrottle(0.0);
 
   HAL_ReportUsage("IO", GetChannel(), "RevSparkMaxPWM");
 }
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMTalonFX.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMTalonFX.cpp
index 2d743b1518..f33e0fcd52 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMTalonFX.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMTalonFX.cpp
@@ -13,7 +13,7 @@ using namespace wpi;
 PWMTalonFX::PWMTalonFX(int channel) : PWMMotorController("PWMTalonFX", channel) {
   SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
   m_pwm.SetOutputPeriod(5_ms);
-  SetDutyCycle(0.0);
+  SetThrottle(0.0);
 
   HAL_ReportUsage("IO", GetChannel(), "TalonFX");
 }
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMTalonSRX.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMTalonSRX.cpp
index d5e00d310b..57adf949f6 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMTalonSRX.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMTalonSRX.cpp
@@ -13,7 +13,7 @@ using namespace wpi;
 PWMTalonSRX::PWMTalonSRX(int channel) : PWMMotorController("PWMTalonSRX", channel) {
   SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
   m_pwm.SetOutputPeriod(5_ms);
-  SetDutyCycle(0.0);
+  SetThrottle(0.0);
 
   HAL_ReportUsage("IO", GetChannel(), "PWMTalonSRX");
 }
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMVenom.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMVenom.cpp
index b3d791bbb0..ed079c4e76 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMVenom.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMVenom.cpp
@@ -13,7 +13,7 @@ using namespace wpi;
 PWMVenom::PWMVenom(int channel) : PWMMotorController("PWMVenom", channel) {
   SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
   m_pwm.SetOutputPeriod(5_ms);
-  SetDutyCycle(0.0);
+  SetThrottle(0.0);
 
   HAL_ReportUsage("IO", GetChannel(), "FusionVenom");
 }
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMVictorSPX.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMVictorSPX.cpp
index 1450847760..f651181a76 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMVictorSPX.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMVictorSPX.cpp
@@ -13,7 +13,7 @@ using namespace wpi;
 PWMVictorSPX::PWMVictorSPX(int channel) : PWMMotorController("PWMVictorSPX", channel) {
   SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
   m_pwm.SetOutputPeriod(5_ms);
-  SetDutyCycle(0.0);
+  SetThrottle(0.0);
 
   HAL_ReportUsage("IO", GetChannel(), "PWMVictorSPX");
 }
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/Spark.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/Spark.cpp
index 0912b84529..889011e917 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/Spark.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/Spark.cpp
@@ -13,7 +13,7 @@ using namespace wpi;
 Spark::Spark(int channel) : PWMMotorController("Spark", channel) {
   SetBounds(2.003_ms, 1.55_ms, 1.5_ms, 1.46_ms, 0.999_ms);
   m_pwm.SetOutputPeriod(5_ms);
-  SetDutyCycle(0.0);
+  SetThrottle(0.0);
 
   HAL_ReportUsage("IO", GetChannel(), "RevSPARK");
 }
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/SparkMini.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/SparkMini.cpp
index 7a6290e22e..609cf7181f 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/SparkMini.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/SparkMini.cpp
@@ -13,7 +13,7 @@ using namespace wpi;
 SparkMini::SparkMini(int channel) : PWMMotorController("SparkMini", channel) {
   SetBounds(2.5_ms, 1.51_ms, 1.5_ms, 1.49_ms, 0.5_ms);
   m_pwm.SetOutputPeriod(5_ms);
-  SetDutyCycle(0.0);
+  SetThrottle(0.0);
 
   HAL_ReportUsage("IO", GetChannel(), "RevSPARK");
 }
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/Talon.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/Talon.cpp
index 337e4f20a7..d3c658a145 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/Talon.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/Talon.cpp
@@ -13,7 +13,7 @@ using namespace wpi;
 Talon::Talon(int channel) : PWMMotorController("Talon", channel) {
   SetBounds(2.037_ms, 1.539_ms, 1.513_ms, 1.487_ms, 0.989_ms);
   m_pwm.SetOutputPeriod(5_ms);
-  SetDutyCycle(0.0);
+  SetThrottle(0.0);
 
   HAL_ReportUsage("IO", GetChannel(), "Talon");
 }
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/VictorSP.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/VictorSP.cpp
index fbca7e7500..a6c36dacf5 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/VictorSP.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/VictorSP.cpp
@@ -13,7 +13,7 @@ using namespace wpi;
 VictorSP::VictorSP(int channel) : PWMMotorController("VictorSP", channel) {
   SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
   m_pwm.SetOutputPeriod(5_ms);
-  SetDutyCycle(0.0);
+  SetThrottle(0.0);
 
   HAL_ReportUsage("IO", GetChannel(), "VictorSP");
 }
diff --git a/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp b/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
index bba37f2f58..22f86b58fd 100644
--- a/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
+++ b/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
@@ -17,19 +17,15 @@
 
 using namespace wpi;
 
-WPI_IGNORE_DEPRECATED
-
 DifferentialDrive::DifferentialDrive(MotorController& leftMotor,
                                      MotorController& rightMotor)
     : DifferentialDrive{
-          [&](double output) { leftMotor.SetDutyCycle(output); },
-          [&](double output) { rightMotor.SetDutyCycle(output); }} {
+          [&](double output) { leftMotor.SetThrottle(output); },
+          [&](double output) { rightMotor.SetThrottle(output); }} {
   wpi::util::SendableRegistry::AddChild(this, &leftMotor);
   wpi::util::SendableRegistry::AddChild(this, &rightMotor);
 }
 
-WPI_UNIGNORE_DEPRECATED
-
 DifferentialDrive::DifferentialDrive(std::function<void(double)> leftMotor,
                                      std::function<void(double)> rightMotor)
     : m_leftMotor{std::move(leftMotor)}, m_rightMotor{std::move(rightMotor)} {
diff --git a/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp b/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
index 7b7f48df60..7278341bbf 100644
--- a/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
+++ b/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
@@ -17,25 +17,20 @@
 
 using namespace wpi;
 
-WPI_IGNORE_DEPRECATED
-
 MecanumDrive::MecanumDrive(MotorController& frontLeftMotor,
                            MotorController& rearLeftMotor,
                            MotorController& frontRightMotor,
                            MotorController& rearRightMotor)
-    : MecanumDrive{
-          [&](double output) { frontLeftMotor.SetDutyCycle(output); },
-          [&](double output) { rearLeftMotor.SetDutyCycle(output); },
-          [&](double output) { frontRightMotor.SetDutyCycle(output); },
-          [&](double output) { rearRightMotor.SetDutyCycle(output); }} {
+    : MecanumDrive{[&](double output) { frontLeftMotor.SetThrottle(output); },
+                   [&](double output) { rearLeftMotor.SetThrottle(output); },
+                   [&](double output) { frontRightMotor.SetThrottle(output); },
+                   [&](double output) { rearRightMotor.SetThrottle(output); }} {
   wpi::util::SendableRegistry::AddChild(this, &frontLeftMotor);
   wpi::util::SendableRegistry::AddChild(this, &rearLeftMotor);
   wpi::util::SendableRegistry::AddChild(this, &frontRightMotor);
   wpi::util::SendableRegistry::AddChild(this, &rearRightMotor);
 }
 
-WPI_UNIGNORE_DEPRECATED
-
 MecanumDrive::MecanumDrive(std::function<void(double)> frontLeftMotor,
                            std::function<void(double)> rearLeftMotor,
                            std::function<void(double)> frontRightMotor,
diff --git a/wpilibc/src/main/native/cpp/hardware/expansionhub/ExpansionHubMotor.cpp b/wpilibc/src/main/native/cpp/hardware/expansionhub/ExpansionHubMotor.cpp
index bb1f6b1489..f856356699 100644
--- a/wpilibc/src/main/native/cpp/hardware/expansionhub/ExpansionHubMotor.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/expansionhub/ExpansionHubMotor.cpp
@@ -92,10 +92,10 @@ ExpansionHubMotor::~ExpansionHubMotor() noexcept {
   m_hub.UnreserveMotor(m_channel);
 }
 
-void ExpansionHubMotor::SetDutyCycle(double dutyCycle) {
+void ExpansionHubMotor::SetThrottle(double throttle) {
   SetEnabled(true);
   m_modePublisher.Set(kPercentageMode);
-  m_setpointPublisher.Set(dutyCycle);
+  m_setpointPublisher.Set(throttle);
 }
 
 void ExpansionHubMotor::SetVoltage(wpi::units::volt_t voltage) {
diff --git a/wpilibc/src/main/native/cpp/hardware/motor/MotorController.cpp b/wpilibc/src/main/native/cpp/hardware/motor/MotorController.cpp
index 2a286a7d1d..712dfe8cdc 100644
--- a/wpilibc/src/main/native/cpp/hardware/motor/MotorController.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/motor/MotorController.cpp
@@ -10,5 +10,5 @@ using namespace wpi;
 
 void MotorController::SetVoltage(wpi::units::volt_t voltage) {
   // NOLINTNEXTLINE(bugprone-integer-division)
-  SetDutyCycle(voltage / RobotController::GetBatteryVoltage());
+  SetThrottle(voltage / RobotController::GetBatteryVoltage());
 }
diff --git a/wpilibc/src/main/native/cpp/hardware/motor/PWMMotorController.cpp b/wpilibc/src/main/native/cpp/hardware/motor/PWMMotorController.cpp
index b9dc956b11..f6d7b8fb93 100644
--- a/wpilibc/src/main/native/cpp/hardware/motor/PWMMotorController.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/motor/PWMMotorController.cpp
@@ -14,28 +14,28 @@
 
 using namespace wpi;
 
-void PWMMotorController::SetDutyCycle(double dutyCycle) {
+void PWMMotorController::SetThrottle(double throttle) {
   if (m_isInverted) {
-    dutyCycle = -dutyCycle;
+    throttle = -throttle;
   }
-  SetDutyCycleInternal(dutyCycle);
+  SetDutyCycleInternal(throttle);
 
   for (auto& follower : m_nonowningFollowers) {
-    follower->SetDutyCycle(dutyCycle);
+    follower->SetThrottle(throttle);
   }
   for (auto& follower : m_owningFollowers) {
-    follower->SetDutyCycle(dutyCycle);
+    follower->SetThrottle(throttle);
   }
 
   Feed();
 }
 
-double PWMMotorController::GetDutyCycle() const {
+double PWMMotorController::GetThrottle() const {
   return GetDutyCycleInternal() * (m_isInverted ? -1.0 : 1.0);
 }
 
 wpi::units::volt_t PWMMotorController::GetVoltage() const {
-  return GetDutyCycle() * RobotController::GetBatteryVoltage();
+  return GetThrottle() * RobotController::GetBatteryVoltage();
 }
 
 void PWMMotorController::SetInverted(bool isInverted) {
@@ -49,8 +49,8 @@ bool PWMMotorController::GetInverted() const {
 void PWMMotorController::Disable() {
   m_pwm.SetDisabled();
 
-  if (m_simDutyCycle) {
-    m_simDutyCycle.Set(0.0);
+  if (m_simThrottle) {
+    m_simThrottle.Set(0.0);
   }
 
   for (auto& follower : m_nonowningFollowers) {
@@ -81,28 +81,24 @@ void PWMMotorController::AddFollower(PWMMotorController& follower) {
   m_nonowningFollowers.emplace_back(&follower);
 }
 
-WPI_IGNORE_DEPRECATED
-
 PWMMotorController::PWMMotorController(std::string_view name, int channel)
     : m_pwm(channel, false) {
   wpi::util::SendableRegistry::Add(this, name, channel);
 
   m_simDevice = wpi::hal::SimDevice{"PWMMotorController", channel};
   if (m_simDevice) {
-    m_simDutyCycle = m_simDevice.CreateDouble(
-        "DutyCycle", wpi::hal::SimDevice::Direction::OUTPUT, 0.0);
+    m_simThrottle = m_simDevice.CreateDouble(
+        "Throttle", wpi::hal::SimDevice::Direction::OUTPUT, 0.0);
     m_pwm.SetSimDevice(m_simDevice);
   }
 }
 
-WPI_UNIGNORE_DEPRECATED
-
 void PWMMotorController::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Motor Controller");
   builder.SetActuator(true);
   builder.AddDoubleProperty(
-      "Value", [=, this] { return GetDutyCycle(); },
-      [=, this](double value) { SetDutyCycle(value); });
+      "Value", [=, this] { return GetThrottle(); },
+      [=, this](double value) { SetThrottle(value); });
 }
 
 wpi::units::microsecond_t PWMMotorController::GetMinPositivePwm() const {
@@ -136,8 +132,8 @@ void PWMMotorController::SetDutyCycleInternal(double dutyCycle) {
     dutyCycle = 0.0;
   }
 
-  if (m_simDutyCycle) {
-    m_simDutyCycle.Set(dutyCycle);
+  if (m_simThrottle) {
+    m_simThrottle.Set(dutyCycle);
   }
 
   wpi::units::microsecond_t rawValue;
diff --git a/wpilibc/src/main/native/cpp/simulation/PWMMotorControllerSim.cpp b/wpilibc/src/main/native/cpp/simulation/PWMMotorControllerSim.cpp
index 45210585f8..54a4b1f61a 100644
--- a/wpilibc/src/main/native/cpp/simulation/PWMMotorControllerSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/PWMMotorControllerSim.cpp
@@ -16,9 +16,9 @@ PWMMotorControllerSim::PWMMotorControllerSim(
 
 PWMMotorControllerSim::PWMMotorControllerSim(int channel) {
   wpi::sim::SimDeviceSim deviceSim{"PWMMotorController", channel};
-  m_simDutyCycle = deviceSim.GetDouble("DutyCycle");
+  m_simThrottle = deviceSim.GetDouble("Throttle");
 }
 
-double PWMMotorControllerSim::GetDutyCycle() const {
-  return m_simDutyCycle.Get();
+double PWMMotorControllerSim::GetThrottle() const {
+  return m_simThrottle.Get();
 }
diff --git a/wpilibc/src/main/native/include/wpi/drive/DifferentialDrive.hpp b/wpilibc/src/main/native/include/wpi/drive/DifferentialDrive.hpp
index a38c884493..7378246d01 100644
--- a/wpilibc/src/main/native/include/wpi/drive/DifferentialDrive.hpp
+++ b/wpilibc/src/main/native/include/wpi/drive/DifferentialDrive.hpp
@@ -8,7 +8,6 @@
 #include <string>
 
 #include "wpi/drive/RobotDriveBase.hpp"
-#include "wpi/util/deprecated.hpp"
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
@@ -70,8 +69,6 @@ class DifferentialDrive : public RobotDriveBase,
     double right = 0.0;
   };
 
-  WPI_IGNORE_DEPRECATED
-
   /**
    * Construct a DifferentialDrive.
    *
@@ -84,8 +81,6 @@ class DifferentialDrive : public RobotDriveBase,
    */
   DifferentialDrive(MotorController& leftMotor, MotorController& rightMotor);
 
-  WPI_UNIGNORE_DEPRECATED
-
   /**
    * Construct a DifferentialDrive.
    *
diff --git a/wpilibc/src/main/native/include/wpi/drive/MecanumDrive.hpp b/wpilibc/src/main/native/include/wpi/drive/MecanumDrive.hpp
index 237ccebdac..8e6dcf8b89 100644
--- a/wpilibc/src/main/native/include/wpi/drive/MecanumDrive.hpp
+++ b/wpilibc/src/main/native/include/wpi/drive/MecanumDrive.hpp
@@ -5,13 +5,11 @@
 #pragma once
 
 #include <functional>
-#include <memory>
 #include <string>
 
 #include "wpi/drive/RobotDriveBase.hpp"
 #include "wpi/math/geometry/Rotation2d.hpp"
 #include "wpi/units/angle.hpp"
-#include "wpi/util/deprecated.hpp"
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
@@ -71,8 +69,6 @@ class MecanumDrive : public RobotDriveBase,
     double rearRight = 0.0;
   };
 
-  WPI_IGNORE_DEPRECATED
-
   /**
    * Construct a MecanumDrive.
    *
@@ -87,8 +83,6 @@ class MecanumDrive : public RobotDriveBase,
                MotorController& frontRightMotor,
                MotorController& rearRightMotor);
 
-  WPI_UNIGNORE_DEPRECATED
-
   /**
    * Construct a MecanumDrive.
    *
diff --git a/wpilibc/src/main/native/include/wpi/drive/RobotDriveBase.hpp b/wpilibc/src/main/native/include/wpi/drive/RobotDriveBase.hpp
index 02f5cf6ba3..6d8c7f8ed7 100644
--- a/wpilibc/src/main/native/include/wpi/drive/RobotDriveBase.hpp
+++ b/wpilibc/src/main/native/include/wpi/drive/RobotDriveBase.hpp
@@ -4,7 +4,6 @@
 
 #pragma once
 
-#include <memory>
 #include <span>
 #include <string>
 
diff --git a/wpilibc/src/main/native/include/wpi/hardware/expansionhub/ExpansionHubMotor.hpp b/wpilibc/src/main/native/include/wpi/hardware/expansionhub/ExpansionHubMotor.hpp
index 56a53e4594..18c05a6fa6 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/expansionhub/ExpansionHubMotor.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/expansionhub/ExpansionHubMotor.hpp
@@ -4,16 +4,12 @@
 
 #pragma once
 
-#include <memory>
-
 #include "wpi/hardware/expansionhub/ExpansionHub.hpp"
 #include "wpi/hardware/expansionhub/ExpansionHubPidConstants.hpp"
 #include "wpi/nt/BooleanTopic.hpp"
 #include "wpi/nt/DoubleTopic.hpp"
 #include "wpi/nt/IntegerTopic.hpp"
-#include "wpi/units/angle.hpp"
 #include "wpi/units/current.hpp"
-#include "wpi/units/time.hpp"
 #include "wpi/units/voltage.hpp"
 
 namespace wpi {
@@ -33,12 +29,12 @@ class ExpansionHubMotor {
   ~ExpansionHubMotor() noexcept;
 
   /**
-   * Sets the duty cycle.
+   * Sets the throttle.
    *
-   * @param dutyCycle The duty cycle between -1 and 1 (sign indicates
-   *     direction).
+   * @param throttle The throttle where -1 indicates full reverse and 1
+   *     indicates full forward.
    */
-  void SetDutyCycle(double dutyCycle);
+  void SetThrottle(double throttle);
 
   /**
    * Sets the voltage to run the motor at. This value will be continously scaled
diff --git a/wpilibc/src/main/native/include/wpi/hardware/motor/MotorController.hpp b/wpilibc/src/main/native/include/wpi/hardware/motor/MotorController.hpp
index 4e186e2898..25dbc2ac1f 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/motor/MotorController.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/motor/MotorController.hpp
@@ -16,12 +16,12 @@ class MotorController {
   virtual ~MotorController() = default;
 
   /**
-   * Sets the duty cycle of the motor controller.
+   * Sets the throttle of the motor controller.
    *
-   * @param dutyCycle The duty cycle between -1 and 1 (sign indicates
-   *     direction).
+   * @param throttle The throttle where -1 indicates full reverse and 1
+   *     indicates full forward.
    */
-  virtual void SetDutyCycle(double dutyCycle) = 0;
+  virtual void SetThrottle(double throttle) = 0;
 
   /**
    * Sets the voltage output of the motor controller.
@@ -40,11 +40,12 @@ class MotorController {
   virtual void SetVoltage(wpi::units::volt_t voltage);
 
   /**
-   * Gets the duty cycle of the motor controller.
+   * Gets the throttle of the motor controller.
    *
-   * @return The duty cycle between -1 and 1 (sign indicates direction).
+   * @return The throttle where -1 represents full reverse and 1 represents full
+   *     forward.
    */
-  virtual double GetDutyCycle() const = 0;
+  virtual double GetThrottle() const = 0;
 
   /**
    * Sets the inversion state of the motor controller.
diff --git a/wpilibc/src/main/native/include/wpi/hardware/motor/PWMMotorController.hpp b/wpilibc/src/main/native/include/wpi/hardware/motor/PWMMotorController.hpp
index 289ade70eb..89e5fab8cb 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/motor/PWMMotorController.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/motor/PWMMotorController.hpp
@@ -17,14 +17,11 @@
 #include "wpi/hardware/motor/MotorController.hpp"
 #include "wpi/hardware/motor/MotorSafety.hpp"
 #include "wpi/units/voltage.hpp"
-#include "wpi/util/deprecated.hpp"
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
 namespace wpi {
 
-WPI_IGNORE_DEPRECATED
-
 /**
  * Common base class for all PWM Motor Controllers.
  */
@@ -37,9 +34,9 @@ class PWMMotorController
   PWMMotorController(PWMMotorController&&) = default;
   PWMMotorController& operator=(PWMMotorController&&) = default;
 
-  void SetDutyCycle(double dutyCycle) override;
+  void SetThrottle(double throttle) override;
 
-  double GetDutyCycle() const override;
+  double GetThrottle() const override;
 
   /**
    * Gets the voltage output of the motor controller, nominally between -12 V
@@ -119,7 +116,7 @@ class PWMMotorController
   std::vector<std::unique_ptr<PWMMotorController>> m_owningFollowers;
 
   wpi::hal::SimDevice m_simDevice;
-  wpi::hal::SimDouble m_simDutyCycle;
+  wpi::hal::SimDouble m_simThrottle;
 
   bool m_eliminateDeadband{0};
   wpi::units::microsecond_t m_minPwm{0};
@@ -136,6 +133,4 @@ class PWMMotorController
   PWM* GetPwm() { return &m_pwm; }
 };
 
-WPI_UNIGNORE_DEPRECATED
-
 }  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/simulation/PWMMotorControllerSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/PWMMotorControllerSim.hpp
index e0ed551588..f6d44910b5 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/PWMMotorControllerSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/PWMMotorControllerSim.hpp
@@ -19,10 +19,10 @@ class PWMMotorControllerSim {
 
   explicit PWMMotorControllerSim(int channel);
 
-  double GetDutyCycle() const;
+  double GetThrottle() const;
 
  private:
-  wpi::hal::SimDouble m_simDutyCycle;
+  wpi::hal::SimDouble m_simThrottle;
 };
 }  // namespace sim
 }  // namespace wpi
diff --git a/wpilibc/src/main/python/semiwrap/ExpansionHubMotor.yml b/wpilibc/src/main/python/semiwrap/ExpansionHubMotor.yml
index 8fe86dff21..cdc2f67712 100644
--- a/wpilibc/src/main/python/semiwrap/ExpansionHubMotor.yml
+++ b/wpilibc/src/main/python/semiwrap/ExpansionHubMotor.yml
@@ -2,7 +2,7 @@ classes:
   wpi::ExpansionHubMotor:
     methods:
       ExpansionHubMotor:
-      SetDutyCycle:
+      SetThrottle:
       SetVoltage:
       SetPositionSetpoint:
       SetVelocitySetpoint:
diff --git a/wpilibc/src/main/python/semiwrap/MotorController.yml b/wpilibc/src/main/python/semiwrap/MotorController.yml
index 7b8ee821aa..db9fdd8e79 100644
--- a/wpilibc/src/main/python/semiwrap/MotorController.yml
+++ b/wpilibc/src/main/python/semiwrap/MotorController.yml
@@ -1,9 +1,9 @@
 classes:
   wpi::MotorController:
     methods:
-      SetDutyCycle:
+      SetThrottle:
       SetVoltage:
-      GetDutyCycle:
+      GetThrottle:
       SetInverted:
       GetInverted:
       Disable:
diff --git a/wpilibc/src/main/python/semiwrap/MotorControllerGroup.yml b/wpilibc/src/main/python/semiwrap/MotorControllerGroup.yml
index 9ead657137..7bf24ec224 100644
--- a/wpilibc/src/main/python/semiwrap/MotorControllerGroup.yml
+++ b/wpilibc/src/main/python/semiwrap/MotorControllerGroup.yml
@@ -33,9 +33,9 @@ classes:
         param_override:
           args:
             ignore: true
-      SetDutyCycle:
+      SetThrottle:
       SetVoltage:
-      GetDutyCycle:
+      GetThrottle:
       SetInverted:
       GetInverted:
       Disable:
diff --git a/wpilibc/src/main/python/semiwrap/PWMMotorController.yml b/wpilibc/src/main/python/semiwrap/PWMMotorController.yml
index 4ace69f85c..f07466974b 100644
--- a/wpilibc/src/main/python/semiwrap/PWMMotorController.yml
+++ b/wpilibc/src/main/python/semiwrap/PWMMotorController.yml
@@ -8,8 +8,8 @@ classes:
     attributes:
       m_pwm:
     methods:
-      SetDutyCycle:
-      GetDutyCycle:
+      SetThrottle:
+      GetThrottle:
       GetVoltage:
       SetInverted:
       GetInverted:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/PWMMotorControllerSim.yml b/wpilibc/src/main/python/semiwrap/simulation/PWMMotorControllerSim.yml
index 7915857848..c193adfafe 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/PWMMotorControllerSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/PWMMotorControllerSim.yml
@@ -5,4 +5,4 @@ classes:
         overloads:
           const PWMMotorController&:
           int:
-      GetDutyCycle:
+      GetThrottle:
diff --git a/wpilibc/src/main/python/wpilib/src/rpy/MotorControllerGroup.cpp b/wpilibc/src/main/python/wpilib/src/rpy/MotorControllerGroup.cpp
index a03af5028f..9db4fb9313 100644
--- a/wpilibc/src/main/python/wpilib/src/rpy/MotorControllerGroup.cpp
+++ b/wpilibc/src/main/python/wpilib/src/rpy/MotorControllerGroup.cpp
@@ -17,9 +17,9 @@ void PyMotorControllerGroup::Initialize() {
   wpi::util::SendableRegistry::Add(this, "MotorControllerGroup", instances);
 }
 
-void PyMotorControllerGroup::SetDutyCycle(double dutyCycle) {
+void PyMotorControllerGroup::SetThrottle(double throttle) {
   for (auto motorController : m_motorControllers) {
-    motorController->SetDutyCycle(m_isInverted ? -dutyCycle : dutyCycle);
+    motorController->SetThrottle(m_isInverted ? -throttle : throttle);
   }
 }
 
@@ -29,9 +29,9 @@ void PyMotorControllerGroup::SetVoltage(wpi::units::volt_t voltage) {
   }
 }
 
-double PyMotorControllerGroup::GetDutyCycle() const {
+double PyMotorControllerGroup::GetThrottle() const {
   if (!m_motorControllers.empty()) {
-    return m_motorControllers.front()->GetDutyCycle() * (m_isInverted ? -1 : 1);
+    return m_motorControllers.front()->GetThrottle() * (m_isInverted ? -1 : 1);
   }
   return 0.0;
 }
@@ -51,6 +51,6 @@ void PyMotorControllerGroup::Disable() {
 void PyMotorControllerGroup::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Motor Controller");
   builder.SetActuator(true);
-  builder.AddDoubleProperty("Value", [=, this]() { return GetDutyCycle(); },
-                            [=, this](double value) { SetDutyCycle(value); });
+  builder.AddDoubleProperty("Value", [=, this]() { return GetThrottle(); },
+                            [=, this](double value) { SetThrottle(value); });
 }
diff --git a/wpilibc/src/main/python/wpilib/src/rpy/MotorControllerGroup.h b/wpilibc/src/main/python/wpilib/src/rpy/MotorControllerGroup.h
index a7728119c3..df5fa26f0f 100644
--- a/wpilibc/src/main/python/wpilib/src/rpy/MotorControllerGroup.h
+++ b/wpilibc/src/main/python/wpilib/src/rpy/MotorControllerGroup.h
@@ -26,9 +26,9 @@ class PyMotorControllerGroup : public wpi::util::Sendable,
   PyMotorControllerGroup(PyMotorControllerGroup&&) = default;
   PyMotorControllerGroup& operator=(PyMotorControllerGroup&&) = default;
 
-  void SetDutyCycle(double dutyCycle) override;
+  void SetThrottle(double throttle) override;
   void SetVoltage(wpi::units::volt_t voltage) override;
-  double GetDutyCycle() const override;
+  double GetThrottle() const override;
   void SetInverted(bool isInverted) override;
   bool GetInverted() const override;
   void Disable() override;
diff --git a/wpilibc/src/test/native/cpp/drive/DifferentialDriveTest.cpp b/wpilibc/src/test/native/cpp/drive/DifferentialDriveTest.cpp
index a0c53b695c..f562086292 100644
--- a/wpilibc/src/test/native/cpp/drive/DifferentialDriveTest.cpp
+++ b/wpilibc/src/test/native/cpp/drive/DifferentialDriveTest.cpp
@@ -244,232 +244,232 @@ TEST(DifferentialDriveTest, ArcadeDrive) {
   wpi::MockPWMMotorController left;
   wpi::MockPWMMotorController right;
   wpi::DifferentialDrive drive{
-      [&](double output) { left.SetDutyCycle(output); },
-      [&](double output) { right.SetDutyCycle(output); }};
+      [&](double output) { left.SetThrottle(output); },
+      [&](double output) { right.SetThrottle(output); }};
   drive.SetDeadband(0.0);
 
   // Forward
   drive.ArcadeDrive(1.0, 0.0, false);
-  EXPECT_DOUBLE_EQ(1.0, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(1.0, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, right.GetThrottle());
 
   // Forward left turn
   drive.ArcadeDrive(0.5, 0.5, false);
-  EXPECT_DOUBLE_EQ(0.0, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(0.5, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(0.0, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(0.5, right.GetThrottle());
 
   // Forward right turn
   drive.ArcadeDrive(0.5, -0.5, false);
-  EXPECT_DOUBLE_EQ(0.5, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(0.0, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(0.5, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(0.0, right.GetThrottle());
 
   // Backward
   drive.ArcadeDrive(-1.0, 0.0, false);
-  EXPECT_DOUBLE_EQ(-1.0, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-1.0, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(-1.0, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(-1.0, right.GetThrottle());
 
   // Backward left turn
   drive.ArcadeDrive(-0.5, 0.5, false);
-  EXPECT_DOUBLE_EQ(-0.5, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(0.0, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(-0.5, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(0.0, right.GetThrottle());
 
   // Backward right turn
   drive.ArcadeDrive(-0.5, -0.5, false);
-  EXPECT_DOUBLE_EQ(0.0, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-0.5, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(0.0, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(-0.5, right.GetThrottle());
 }
 
 TEST(DifferentialDriveTest, ArcadeDriveSquared) {
   wpi::MockPWMMotorController left;
   wpi::MockPWMMotorController right;
   wpi::DifferentialDrive drive{
-      [&](double output) { left.SetDutyCycle(output); },
-      [&](double output) { right.SetDutyCycle(output); }};
+      [&](double output) { left.SetThrottle(output); },
+      [&](double output) { right.SetThrottle(output); }};
   drive.SetDeadband(0.0);
 
   // Forward
   drive.ArcadeDrive(1.0, 0.0, true);
-  EXPECT_DOUBLE_EQ(1.0, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(1.0, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, right.GetThrottle());
 
   // Forward left turn
   drive.ArcadeDrive(0.5, 0.5, true);
-  EXPECT_DOUBLE_EQ(0.0, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(0.25, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(0.0, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(0.25, right.GetThrottle());
 
   // Forward right turn
   drive.ArcadeDrive(0.5, -0.5, true);
-  EXPECT_DOUBLE_EQ(0.25, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(0.0, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(0.25, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(0.0, right.GetThrottle());
 
   // Backward
   drive.ArcadeDrive(-1.0, 0.0, true);
-  EXPECT_DOUBLE_EQ(-1.0, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-1.0, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(-1.0, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(-1.0, right.GetThrottle());
 
   // Backward left turn
   drive.ArcadeDrive(-0.5, 0.5, true);
-  EXPECT_DOUBLE_EQ(-0.25, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(0.0, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(-0.25, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(0.0, right.GetThrottle());
 
   // Backward right turn
   drive.ArcadeDrive(-0.5, -0.5, true);
-  EXPECT_DOUBLE_EQ(0.0, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-0.25, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(0.0, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(-0.25, right.GetThrottle());
 }
 
 TEST(DifferentialDriveTest, CurvatureDrive) {
   wpi::MockPWMMotorController left;
   wpi::MockPWMMotorController right;
   wpi::DifferentialDrive drive{
-      [&](double output) { left.SetDutyCycle(output); },
-      [&](double output) { right.SetDutyCycle(output); }};
+      [&](double output) { left.SetThrottle(output); },
+      [&](double output) { right.SetThrottle(output); }};
   drive.SetDeadband(0.0);
 
   // Forward
   drive.CurvatureDrive(1.0, 0.0, false);
-  EXPECT_DOUBLE_EQ(1.0, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(1.0, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, right.GetThrottle());
 
   // Forward left turn
   drive.CurvatureDrive(0.5, 0.5, false);
-  EXPECT_DOUBLE_EQ(0.25, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(0.75, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(0.25, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(0.75, right.GetThrottle());
 
   // Forward right turn
   drive.CurvatureDrive(0.5, -0.5, false);
-  EXPECT_DOUBLE_EQ(0.75, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(0.25, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(0.75, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(0.25, right.GetThrottle());
 
   // Backward
   drive.CurvatureDrive(-1.0, 0.0, false);
-  EXPECT_DOUBLE_EQ(-1.0, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-1.0, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(-1.0, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(-1.0, right.GetThrottle());
 
   // Backward left turn
   drive.CurvatureDrive(-0.5, 0.5, false);
-  EXPECT_DOUBLE_EQ(-0.75, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-0.25, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(-0.75, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(-0.25, right.GetThrottle());
 
   // Backward right turn
   drive.CurvatureDrive(-0.5, -0.5, false);
-  EXPECT_DOUBLE_EQ(-0.25, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-0.75, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(-0.25, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(-0.75, right.GetThrottle());
 }
 
 TEST(DifferentialDriveTest, CurvatureDriveTurnInPlace) {
   wpi::MockPWMMotorController left;
   wpi::MockPWMMotorController right;
   wpi::DifferentialDrive drive{
-      [&](double output) { left.SetDutyCycle(output); },
-      [&](double output) { right.SetDutyCycle(output); }};
+      [&](double output) { left.SetThrottle(output); },
+      [&](double output) { right.SetThrottle(output); }};
   drive.SetDeadband(0.0);
 
   // Forward
   drive.CurvatureDrive(1.0, 0.0, true);
-  EXPECT_DOUBLE_EQ(1.0, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(1.0, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, right.GetThrottle());
 
   // Forward left turn
   drive.CurvatureDrive(0.5, 0.5, true);
-  EXPECT_DOUBLE_EQ(0.0, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(0.0, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, right.GetThrottle());
 
   // Forward right turn
   drive.CurvatureDrive(0.5, -0.5, true);
-  EXPECT_DOUBLE_EQ(1.0, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(0.0, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(1.0, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(0.0, right.GetThrottle());
 
   // Backward
   drive.CurvatureDrive(-1.0, 0.0, true);
-  EXPECT_DOUBLE_EQ(-1.0, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-1.0, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(-1.0, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(-1.0, right.GetThrottle());
 
   // Backward left turn
   drive.CurvatureDrive(-0.5, 0.5, true);
-  EXPECT_DOUBLE_EQ(-1.0, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(0.0, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(-1.0, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(0.0, right.GetThrottle());
 
   // Backward right turn
   drive.CurvatureDrive(-0.5, -0.5, true);
-  EXPECT_DOUBLE_EQ(0.0, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-1.0, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(0.0, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(-1.0, right.GetThrottle());
 }
 
 TEST(DifferentialDriveTest, TankDrive) {
   wpi::MockPWMMotorController left;
   wpi::MockPWMMotorController right;
   wpi::DifferentialDrive drive{
-      [&](double output) { left.SetDutyCycle(output); },
-      [&](double output) { right.SetDutyCycle(output); }};
+      [&](double output) { left.SetThrottle(output); },
+      [&](double output) { right.SetThrottle(output); }};
   drive.SetDeadband(0.0);
 
   // Forward
   drive.TankDrive(1.0, 1.0, false);
-  EXPECT_DOUBLE_EQ(1.0, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(1.0, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, right.GetThrottle());
 
   // Forward left turn
   drive.TankDrive(0.5, 1.0, false);
-  EXPECT_DOUBLE_EQ(0.5, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(0.5, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, right.GetThrottle());
 
   // Forward right turn
   drive.TankDrive(1.0, 0.5, false);
-  EXPECT_DOUBLE_EQ(1.0, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(0.5, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(1.0, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(0.5, right.GetThrottle());
 
   // Backward
   drive.TankDrive(-1.0, -1.0, false);
-  EXPECT_DOUBLE_EQ(-1.0, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-1.0, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(-1.0, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(-1.0, right.GetThrottle());
 
   // Backward left turn
   drive.TankDrive(-0.5, -1.0, false);
-  EXPECT_DOUBLE_EQ(-0.5, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-1.0, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(-0.5, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(-1.0, right.GetThrottle());
 
   // Backward right turn
   drive.TankDrive(-0.5, 1.0, false);
-  EXPECT_DOUBLE_EQ(-0.5, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(-0.5, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, right.GetThrottle());
 }
 
 TEST(DifferentialDriveTest, TankDriveSquared) {
   wpi::MockPWMMotorController left;
   wpi::MockPWMMotorController right;
   wpi::DifferentialDrive drive{
-      [&](double output) { left.SetDutyCycle(output); },
-      [&](double output) { right.SetDutyCycle(output); }};
+      [&](double output) { left.SetThrottle(output); },
+      [&](double output) { right.SetThrottle(output); }};
   drive.SetDeadband(0.0);
 
   // Forward
   drive.TankDrive(1.0, 1.0, true);
-  EXPECT_DOUBLE_EQ(1.0, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(1.0, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, right.GetThrottle());
 
   // Forward left turn
   drive.TankDrive(0.5, 1.0, true);
-  EXPECT_DOUBLE_EQ(0.25, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(0.25, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, right.GetThrottle());
 
   // Forward right turn
   drive.TankDrive(1.0, 0.5, true);
-  EXPECT_DOUBLE_EQ(1.0, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(0.25, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(1.0, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(0.25, right.GetThrottle());
 
   // Backward
   drive.TankDrive(-1.0, -1.0, true);
-  EXPECT_DOUBLE_EQ(-1.0, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-1.0, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(-1.0, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(-1.0, right.GetThrottle());
 
   // Backward left turn
   drive.TankDrive(-0.5, -1.0, true);
-  EXPECT_DOUBLE_EQ(-0.25, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-1.0, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(-0.25, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(-1.0, right.GetThrottle());
 
   // Backward right turn
   drive.TankDrive(-1.0, -0.5, true);
-  EXPECT_DOUBLE_EQ(-1.0, left.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-0.25, right.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(-1.0, left.GetThrottle());
+  EXPECT_DOUBLE_EQ(-0.25, right.GetThrottle());
 }
diff --git a/wpilibc/src/test/native/cpp/drive/MecanumDriveTest.cpp b/wpilibc/src/test/native/cpp/drive/MecanumDriveTest.cpp
index 48fe6b2bad..91ad2170b7 100644
--- a/wpilibc/src/test/native/cpp/drive/MecanumDriveTest.cpp
+++ b/wpilibc/src/test/native/cpp/drive/MecanumDriveTest.cpp
@@ -87,46 +87,46 @@ TEST(MecanumDriveTest, Cartesian) {
   wpi::MockPWMMotorController rl;
   wpi::MockPWMMotorController fr;
   wpi::MockPWMMotorController rr;
-  wpi::MecanumDrive drive{[&](double output) { fl.SetDutyCycle(output); },
-                          [&](double output) { rl.SetDutyCycle(output); },
-                          [&](double output) { fr.SetDutyCycle(output); },
-                          [&](double output) { rr.SetDutyCycle(output); }};
+  wpi::MecanumDrive drive{[&](double output) { fl.SetThrottle(output); },
+                          [&](double output) { rl.SetThrottle(output); },
+                          [&](double output) { fr.SetThrottle(output); },
+                          [&](double output) { rr.SetThrottle(output); }};
   drive.SetDeadband(0.0);
 
   // Forward
   drive.DriveCartesian(1.0, 0.0, 0.0);
-  EXPECT_DOUBLE_EQ(1.0, fl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, fr.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, rl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, rr.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(1.0, fl.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, fr.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, rl.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, rr.GetThrottle());
 
   // Left
   drive.DriveCartesian(0.0, -1.0, 0.0);
-  EXPECT_DOUBLE_EQ(-1.0, fl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, fr.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, rl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-1.0, rr.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(-1.0, fl.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, fr.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, rl.GetThrottle());
+  EXPECT_DOUBLE_EQ(-1.0, rr.GetThrottle());
 
   // Right
   drive.DriveCartesian(0.0, 1.0, 0.0);
-  EXPECT_DOUBLE_EQ(1.0, fl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-1.0, fr.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-1.0, rl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, rr.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(1.0, fl.GetThrottle());
+  EXPECT_DOUBLE_EQ(-1.0, fr.GetThrottle());
+  EXPECT_DOUBLE_EQ(-1.0, rl.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, rr.GetThrottle());
 
   // Rotate CCW
   drive.DriveCartesian(0.0, 0.0, -1.0);
-  EXPECT_DOUBLE_EQ(-1.0, fl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, fr.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-1.0, rl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, rr.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(-1.0, fl.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, fr.GetThrottle());
+  EXPECT_DOUBLE_EQ(-1.0, rl.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, rr.GetThrottle());
 
   // Rotate CW
   drive.DriveCartesian(0.0, 0.0, 1.0);
-  EXPECT_DOUBLE_EQ(1.0, fl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-1.0, fr.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, rl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-1.0, rr.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(1.0, fl.GetThrottle());
+  EXPECT_DOUBLE_EQ(-1.0, fr.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, rl.GetThrottle());
+  EXPECT_DOUBLE_EQ(-1.0, rr.GetThrottle());
 }
 
 TEST(MecanumDriveTest, CartesianGyro90CW) {
@@ -134,46 +134,46 @@ TEST(MecanumDriveTest, CartesianGyro90CW) {
   wpi::MockPWMMotorController rl;
   wpi::MockPWMMotorController fr;
   wpi::MockPWMMotorController rr;
-  wpi::MecanumDrive drive{[&](double output) { fl.SetDutyCycle(output); },
-                          [&](double output) { rl.SetDutyCycle(output); },
-                          [&](double output) { fr.SetDutyCycle(output); },
-                          [&](double output) { rr.SetDutyCycle(output); }};
+  wpi::MecanumDrive drive{[&](double output) { fl.SetThrottle(output); },
+                          [&](double output) { rl.SetThrottle(output); },
+                          [&](double output) { fr.SetThrottle(output); },
+                          [&](double output) { rr.SetThrottle(output); }};
   drive.SetDeadband(0.0);
 
   // Forward in global frame; left in robot frame
   drive.DriveCartesian(1.0, 0.0, 0.0, 90_deg);
-  EXPECT_DOUBLE_EQ(-1.0, fl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, fr.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, rl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-1.0, rr.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(-1.0, fl.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, fr.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, rl.GetThrottle());
+  EXPECT_DOUBLE_EQ(-1.0, rr.GetThrottle());
 
   // Left in global frame; backward in robot frame
   drive.DriveCartesian(0.0, -1.0, 0.0, 90_deg);
-  EXPECT_DOUBLE_EQ(-1.0, fl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-1.0, fr.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-1.0, rl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-1.0, rr.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(-1.0, fl.GetThrottle());
+  EXPECT_DOUBLE_EQ(-1.0, fr.GetThrottle());
+  EXPECT_DOUBLE_EQ(-1.0, rl.GetThrottle());
+  EXPECT_DOUBLE_EQ(-1.0, rr.GetThrottle());
 
   // Right in global frame; forward in robot frame
   drive.DriveCartesian(0.0, 1.0, 0.0, 90_deg);
-  EXPECT_DOUBLE_EQ(1.0, fl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, fr.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, rl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, rr.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(1.0, fl.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, fr.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, rl.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, rr.GetThrottle());
 
   // Rotate CCW
   drive.DriveCartesian(0.0, 0.0, -1.0, 90_deg);
-  EXPECT_DOUBLE_EQ(-1.0, fl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, fr.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-1.0, rl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, rr.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(-1.0, fl.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, fr.GetThrottle());
+  EXPECT_DOUBLE_EQ(-1.0, rl.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, rr.GetThrottle());
 
   // Rotate CW
   drive.DriveCartesian(0.0, 0.0, 1.0, 90_deg);
-  EXPECT_DOUBLE_EQ(1.0, fl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-1.0, fr.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, rl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-1.0, rr.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(1.0, fl.GetThrottle());
+  EXPECT_DOUBLE_EQ(-1.0, fr.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, rl.GetThrottle());
+  EXPECT_DOUBLE_EQ(-1.0, rr.GetThrottle());
 }
 
 TEST(MecanumDriveTest, Polar) {
@@ -181,44 +181,44 @@ TEST(MecanumDriveTest, Polar) {
   wpi::MockPWMMotorController rl;
   wpi::MockPWMMotorController fr;
   wpi::MockPWMMotorController rr;
-  wpi::MecanumDrive drive{[&](double output) { fl.SetDutyCycle(output); },
-                          [&](double output) { rl.SetDutyCycle(output); },
-                          [&](double output) { fr.SetDutyCycle(output); },
-                          [&](double output) { rr.SetDutyCycle(output); }};
+  wpi::MecanumDrive drive{[&](double output) { fl.SetThrottle(output); },
+                          [&](double output) { rl.SetThrottle(output); },
+                          [&](double output) { fr.SetThrottle(output); },
+                          [&](double output) { rr.SetThrottle(output); }};
   drive.SetDeadband(0.0);
 
   // Forward
   drive.DrivePolar(1.0, 0_deg, 0.0);
-  EXPECT_DOUBLE_EQ(1.0, fl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, fr.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, rl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, rr.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(1.0, fl.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, fr.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, rl.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, rr.GetThrottle());
 
   // Left
   drive.DrivePolar(1.0, -90_deg, 0.0);
-  EXPECT_DOUBLE_EQ(-1.0, fl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, fr.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, rl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-1.0, rr.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(-1.0, fl.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, fr.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, rl.GetThrottle());
+  EXPECT_DOUBLE_EQ(-1.0, rr.GetThrottle());
 
   // Right
   drive.DrivePolar(1.0, 90_deg, 0.0);
-  EXPECT_DOUBLE_EQ(1.0, fl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-1.0, fr.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-1.0, rl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, rr.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(1.0, fl.GetThrottle());
+  EXPECT_DOUBLE_EQ(-1.0, fr.GetThrottle());
+  EXPECT_DOUBLE_EQ(-1.0, rl.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, rr.GetThrottle());
 
   // Rotate CCW
   drive.DrivePolar(0.0, 0_deg, -1.0);
-  EXPECT_DOUBLE_EQ(-1.0, fl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, fr.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-1.0, rl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, rr.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(-1.0, fl.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, fr.GetThrottle());
+  EXPECT_DOUBLE_EQ(-1.0, rl.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, rr.GetThrottle());
 
   // Rotate CW
   drive.DrivePolar(0.0, 0_deg, 1.0);
-  EXPECT_DOUBLE_EQ(1.0, fl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-1.0, fr.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(1.0, rl.GetDutyCycle());
-  EXPECT_DOUBLE_EQ(-1.0, rr.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(1.0, fl.GetThrottle());
+  EXPECT_DOUBLE_EQ(-1.0, fr.GetThrottle());
+  EXPECT_DOUBLE_EQ(1.0, rl.GetThrottle());
+  EXPECT_DOUBLE_EQ(-1.0, rr.GetThrottle());
 }
diff --git a/wpilibc/src/test/native/cpp/motorcontrol/MockMotorController.cpp b/wpilibc/src/test/native/cpp/motorcontrol/MockMotorController.cpp
index 74d181b00f..a4f8732ca9 100644
--- a/wpilibc/src/test/native/cpp/motorcontrol/MockMotorController.cpp
+++ b/wpilibc/src/test/native/cpp/motorcontrol/MockMotorController.cpp
@@ -6,12 +6,12 @@
 
 using namespace wpi;
 
-void MockMotorController::SetDutyCycle(double dutyCycle) {
-  m_dutyCycle = m_isInverted ? -dutyCycle : dutyCycle;
+void MockMotorController::SetThrottle(double throttle) {
+  m_throttle = m_isInverted ? -throttle : throttle;
 }
 
-double MockMotorController::GetDutyCycle() const {
-  return m_dutyCycle;
+double MockMotorController::GetThrottle() const {
+  return m_throttle;
 }
 
 void MockMotorController::SetInverted(bool isInverted) {
@@ -23,5 +23,5 @@ bool MockMotorController::GetInverted() const {
 }
 
 void MockMotorController::Disable() {
-  m_dutyCycle = 0;
+  m_throttle = 0;
 }
diff --git a/wpilibc/src/test/native/cpp/motorcontrol/MockPWMMotorController.cpp b/wpilibc/src/test/native/cpp/motorcontrol/MockPWMMotorController.cpp
index e2a4e6dfbc..af6d8e1284 100644
--- a/wpilibc/src/test/native/cpp/motorcontrol/MockPWMMotorController.cpp
+++ b/wpilibc/src/test/native/cpp/motorcontrol/MockPWMMotorController.cpp
@@ -6,12 +6,12 @@
 
 using namespace wpi;
 
-void MockPWMMotorController::SetDutyCycle(double dutyCycle) {
-  m_dutyCycle = m_isInverted ? -dutyCycle : dutyCycle;
+void MockPWMMotorController::SetThrottle(double throttle) {
+  m_throttle = m_isInverted ? -throttle : throttle;
 }
 
-double MockPWMMotorController::GetDutyCycle() const {
-  return m_dutyCycle;
+double MockPWMMotorController::GetThrottle() const {
+  return m_throttle;
 }
 
 void MockPWMMotorController::SetInverted(bool isInverted) {
@@ -23,7 +23,7 @@ bool MockPWMMotorController::GetInverted() const {
 }
 
 void MockPWMMotorController::Disable() {
-  m_dutyCycle = 0;
+  m_throttle = 0;
 }
 
 void MockPWMMotorController::StopMotor() {
diff --git a/wpilibc/src/test/native/cpp/simulation/DCMotorSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/DCMotorSimTest.cpp
index 9db3636b3b..e411933b5a 100644
--- a/wpilibc/src/test/native/cpp/simulation/DCMotorSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/DCMotorSimTest.cpp
@@ -37,7 +37,7 @@ TEST(DCMotorSimTest, VoltageSteadyState) {
     // Then, SimulationPeriodic runs
     wpi::sim::RoboRioSim::SetVInVoltage(
         wpi::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
-    sim.SetInputVoltage(motor.GetDutyCycle() *
+    sim.SetInputVoltage(motor.GetThrottle() *
                         wpi::RobotController::GetBatteryVoltage());
     sim.Update(20_ms);
     encoderSim.SetRate(sim.GetAngularVelocity().value());
@@ -53,7 +53,7 @@ TEST(DCMotorSimTest, VoltageSteadyState) {
     // Then, SimulationPeriodic runs
     wpi::sim::RoboRioSim::SetVInVoltage(
         wpi::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
-    sim.SetInputVoltage(motor.GetDutyCycle() *
+    sim.SetInputVoltage(motor.GetThrottle() *
                         wpi::RobotController::GetBatteryVoltage());
     sim.Update(20_ms);
     encoderSim.SetRate(sim.GetAngularVelocity().value());
@@ -80,12 +80,12 @@ TEST(DCMotorSimTest, PositionFeedbackControl) {
 
   for (int i = 0; i < 140; i++) {
     // RobotPeriodic runs first
-    motor.SetDutyCycle(controller.Calculate(encoder.GetDistance(), 750));
+    motor.SetThrottle(controller.Calculate(encoder.GetDistance(), 750));
 
     // Then, SimulationPeriodic runs
     wpi::sim::RoboRioSim::SetVInVoltage(
         wpi::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
-    sim.SetInputVoltage(motor.GetDutyCycle() *
+    sim.SetInputVoltage(motor.GetThrottle() *
                         wpi::RobotController::GetBatteryVoltage());
     sim.Update(20_ms);
     encoderSim.SetDistance(sim.GetAngularPosition().value());
diff --git a/wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp
index 3c34acf4c2..f002a288b6 100644
--- a/wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp
@@ -30,9 +30,9 @@ TEST(ElevatorSimTest, StateSpaceSim) {
   for (size_t i = 0; i < 100; ++i) {
     controller.SetSetpoint(2.0);
     auto nextVoltage = controller.Calculate(encoderSim.GetDistance());
-    motor.SetDutyCycle(nextVoltage / wpi::RobotController::GetInputVoltage());
+    motor.SetThrottle(nextVoltage / wpi::RobotController::GetInputVoltage());
 
-    wpi::math::Vectord<1> u{motor.GetDutyCycle() *
+    wpi::math::Vectord<1> u{motor.GetThrottle() *
                             wpi::RobotController::GetInputVoltage()};
     sim.SetInput(u);
     sim.Update(20_ms);
diff --git a/wpilibc/src/test/native/cpp/simulation/PWMMotorControlllerSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/PWMMotorControlllerSimTest.cpp
index 0d35f9d779..46336a7333 100644
--- a/wpilibc/src/test/native/cpp/simulation/PWMMotorControlllerSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/PWMMotorControlllerSimTest.cpp
@@ -15,13 +15,13 @@ TEST(PWMMotorControllerSimTest, TestMotor) {
   wpi::Spark spark{0};
   wpi::sim::PWMMotorControllerSim sim{spark};
 
-  spark.SetDutyCycle(0);
-  EXPECT_EQ(0, sim.GetDutyCycle());
+  spark.SetThrottle(0);
+  EXPECT_EQ(0, sim.GetThrottle());
 
-  spark.SetDutyCycle(0.354);
-  EXPECT_EQ(0.354, sim.GetDutyCycle());
+  spark.SetThrottle(0.354);
+  EXPECT_EQ(0.354, sim.GetThrottle());
 
-  spark.SetDutyCycle(-0.785);
-  EXPECT_EQ(-0.785, sim.GetDutyCycle());
+  spark.SetThrottle(-0.785);
+  EXPECT_EQ(-0.785, sim.GetThrottle());
 }
 }  // namespace wpi::sim
diff --git a/wpilibc/src/test/native/cpp/simulation/StateSpaceSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/StateSpaceSimTest.cpp
index 07c1f25333..b67a00b832 100644
--- a/wpilibc/src/test/native/cpp/simulation/StateSpaceSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/StateSpaceSimTest.cpp
@@ -42,7 +42,7 @@ TEST(StateSpaceSimTest, FlywheelSim) {
     wpi::sim::RoboRioSim::SetVInVoltage(
         wpi::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
     sim.SetInput(wpi::math::Vectord<1>{
-        motor.GetDutyCycle() * wpi::RobotController::GetInputVoltage()});
+        motor.GetThrottle() * wpi::RobotController::GetInputVoltage()});
     sim.Update(20_ms);
     encoderSim.SetRate(sim.GetAngularVelocity().value());
   }
diff --git a/wpilibc/src/test/native/include/motorcontrol/MockMotorController.hpp b/wpilibc/src/test/native/include/motorcontrol/MockMotorController.hpp
index 85a0e2d6bc..df0f58ab71 100644
--- a/wpilibc/src/test/native/include/motorcontrol/MockMotorController.hpp
+++ b/wpilibc/src/test/native/include/motorcontrol/MockMotorController.hpp
@@ -5,25 +5,20 @@
 #pragma once
 
 #include "wpi/hardware/motor/MotorController.hpp"
-#include "wpi/util/deprecated.hpp"
 
 namespace wpi {
 
-WPI_IGNORE_DEPRECATED
-
 class MockMotorController : public MotorController {
  public:
-  void SetDutyCycle(double dutyCycle) override;
-  double GetDutyCycle() const override;
+  void SetThrottle(double throttle) override;
+  double GetThrottle() const override;
   void SetInverted(bool isInverted) override;
   bool GetInverted() const override;
   void Disable() override;
 
  private:
-  double m_dutyCycle = 0.0;
+  double m_throttle = 0.0;
   bool m_isInverted = false;
 };
 
-WPI_UNIGNORE_DEPRECATED
-
 }  // namespace wpi
diff --git a/wpilibc/src/test/native/include/motorcontrol/MockPWMMotorController.hpp b/wpilibc/src/test/native/include/motorcontrol/MockPWMMotorController.hpp
index 216d13db8a..188640e7f8 100644
--- a/wpilibc/src/test/native/include/motorcontrol/MockPWMMotorController.hpp
+++ b/wpilibc/src/test/native/include/motorcontrol/MockPWMMotorController.hpp
@@ -8,15 +8,15 @@ namespace wpi {
 
 class MockPWMMotorController {
  public:
-  void SetDutyCycle(double dutyCycle);
-  double GetDutyCycle() const;
+  void SetThrottle(double throttle);
+  double GetThrottle() const;
   void SetInverted(bool isInverted);
   bool GetInverted() const;
   void Disable();
   void StopMotor();
 
  private:
-  double m_dutyCycle = 0.0;
+  double m_throttle = 0.0;
   bool m_isInverted = false;
 };
 
diff --git a/wpilibc/src/test/python/test_wpilib.py b/wpilibc/src/test/python/test_wpilib.py
index 901c43272f..8841aa149d 100644
--- a/wpilibc/src/test/python/test_wpilib.py
+++ b/wpilibc/src/test/python/test_wpilib.py
@@ -27,13 +27,13 @@ def test_motorcontrollergroup():
     t2 = wpilib.Talon(8)
     g = wpilib.MotorControllerGroup(t1, t2)
 
-    g.setDutyCycle(1)
-    assert t1.getDutyCycle() == pytest.approx(1)
-    assert t2.getDutyCycle() == pytest.approx(1)
+    g.setThrottle(1)
+    assert t1.getThrottle() == pytest.approx(1)
+    assert t2.getThrottle() == pytest.approx(1)
 
-    g.setDutyCycle(-1)
-    assert t1.getDutyCycle() == pytest.approx(-1)
-    assert t2.getDutyCycle() == pytest.approx(-1)
+    g.setThrottle(-1)
+    assert t1.getThrottle() == pytest.approx(-1)
+    assert t2.getThrottle() == pytest.approx(-1)
 
 
 def test_motorcontrollergroup_error():
diff --git a/wpilibcExamples/src/main/cpp/examples/ArcadeDriveGamepad/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArcadeDriveGamepad/cpp/Robot.cpp
index 3de0d20205..d0cd3b477e 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArcadeDriveGamepad/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArcadeDriveGamepad/cpp/Robot.cpp
@@ -15,8 +15,8 @@ class Robot : public wpi::TimedRobot {
   wpi::PWMSparkMax m_leftMotor{0};
   wpi::PWMSparkMax m_rightMotor{1};
   wpi::DifferentialDrive m_robotDrive{
-      [&](double output) { m_leftMotor.SetDutyCycle(output); },
-      [&](double output) { m_rightMotor.SetDutyCycle(output); }};
+      [&](double output) { m_leftMotor.SetThrottle(output); },
+      [&](double output) { m_rightMotor.SetThrottle(output); }};
   wpi::Gamepad m_driverController{0};
 
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.cpp b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.cpp
index 3c71acd4fa..0d2e4f9800 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.cpp
@@ -24,7 +24,7 @@ void Arm::SimulationPeriodic() {
   // In this method, we update our simulation of what our arm is doing
   // First, we set our "inputs" (voltages)
   m_armSim.SetInput(wpi::math::Vectord<1>{
-      m_motor.GetDutyCycle() * wpi::RobotController::GetInputVoltage()});
+      m_motor.GetThrottle() * wpi::RobotController::GetInputVoltage()});
 
   // Next, we update it. The standard loop time is 20ms.
   m_armSim.Update(20_ms);
@@ -59,5 +59,5 @@ void Arm::ReachSetpoint() {
 }
 
 void Arm::Stop() {
-  m_motor.SetDutyCycle(0.0);
+  m_motor.SetThrottle(0.0);
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
index cb71c3b13f..ddf698a202 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
@@ -123,9 +123,9 @@ void Drivetrain::SimulationPeriodic() {
   // simulation, and write the simulated positions and velocities to our
   // simulated encoder and gyro.
   m_drivetrainSimulator.SetInputs(
-      wpi::units::volt_t{m_leftLeader.GetDutyCycle()} *
+      wpi::units::volt_t{m_leftLeader.GetThrottle()} *
           wpi::RobotController::GetInputVoltage(),
-      wpi::units::volt_t{m_rightLeader.GetDutyCycle()} *
+      wpi::units::volt_t{m_rightLeader.GetThrottle()} *
           wpi::RobotController::GetInputVoltage());
   m_drivetrainSimulator.Update(20_ms);
 
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/cpp/subsystems/Elevator.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/cpp/subsystems/Elevator.cpp
index 889d7254d4..82e249ce3c 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/cpp/subsystems/Elevator.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/cpp/subsystems/Elevator.cpp
@@ -20,7 +20,7 @@ void Elevator::SimulationPeriodic() {
   // In this method, we update our simulation of what our elevator is doing
   // First, we set our "inputs" (voltages)
   m_elevatorSim.SetInput(wpi::math::Vectord<1>{
-      m_motorSim.GetDutyCycle() * wpi::RobotController::GetInputVoltage()});
+      m_motorSim.GetThrottle() * wpi::RobotController::GetInputVoltage()});
 
   // Next, we update it. The standard loop time is 20ms.
   m_elevatorSim.Update(20_ms);
@@ -59,5 +59,5 @@ void Elevator::Reset() {
 }
 
 void Elevator::Stop() {
-  m_motor.SetDutyCycle(0.0);
+  m_motor.SetThrottle(0.0);
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/subsystems/Elevator.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/subsystems/Elevator.cpp
index 16728793b3..2f9f595e66 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/subsystems/Elevator.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/subsystems/Elevator.cpp
@@ -20,7 +20,7 @@ void Elevator::SimulationPeriodic() {
   // In this method, we update our simulation of what our elevator is doing
   // First, we set our "inputs" (voltages)
   m_elevatorSim.SetInput(wpi::math::Vectord<1>{
-      m_motorSim.GetDutyCycle() * wpi::RobotController::GetInputVoltage()});
+      m_motorSim.GetThrottle() * wpi::RobotController::GetInputVoltage()});
 
   // Next, we update it. The standard loop time is 20ms.
   m_elevatorSim.Update(20_ms);
@@ -50,5 +50,5 @@ void Elevator::ReachGoal(wpi::units::meter_t goal) {
 
 void Elevator::Stop() {
   m_controller.SetGoal(0.0_m);
-  m_motor.SetDutyCycle(0.0);
+  m_motor.SetThrottle(0.0);
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
index 76344c27d3..1bdfbece68 100644
--- a/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
@@ -52,8 +52,8 @@ class Robot : public wpi::TimedRobot {
   wpi::PWMSparkMax m_left{0};
   wpi::PWMSparkMax m_right{1};
   wpi::DifferentialDrive m_robotDrive{
-      [&](double output) { m_left.SetDutyCycle(output); },
-      [&](double output) { m_right.SetDutyCycle(output); }};
+      [&](double output) { m_left.SetThrottle(output); },
+      [&](double output) { m_right.SetThrottle(output); }};
 
   wpi::Gamepad m_controller{0};
   wpi::Timer m_timer;
diff --git a/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
index 24862fd34d..75cfbc6612 100644
--- a/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
@@ -51,8 +51,8 @@ class Robot : public wpi::TimedRobot {
   wpi::PWMSparkMax m_left{kLeftMotorPort};
   wpi::PWMSparkMax m_right{kRightMotorPort};
   wpi::DifferentialDrive m_drive{
-      [&](double output) { m_left.SetDutyCycle(output); },
-      [&](double output) { m_right.SetDutyCycle(output); }};
+      [&](double output) { m_left.SetThrottle(output); },
+      [&](double output) { m_right.SetThrottle(output); }};
 
   wpi::OnboardIMU m_imu{kIMUMountOrientation};
   wpi::Joystick m_joystick{kJoystickPort};
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.hpp
index 09ebf8401e..0367dd2409 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.hpp
@@ -63,8 +63,8 @@ class DriveSubsystem : public wpi::cmd::SubsystemBase {
 
   // The robot's drive
   wpi::DifferentialDrive m_drive{
-      [&](double output) { m_left1.SetDutyCycle(output); },
-      [&](double output) { m_right1.SetDutyCycle(output); }};
+      [&](double output) { m_left1.SetThrottle(output); },
+      [&](double output) { m_right1.SetThrottle(output); }};
 
   // The left-side drive encoder
   wpi::Encoder m_leftEncoder;
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.hpp
index 09ebf8401e..0367dd2409 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.hpp
@@ -63,8 +63,8 @@ class DriveSubsystem : public wpi::cmd::SubsystemBase {
 
   // The robot's drive
   wpi::DifferentialDrive m_drive{
-      [&](double output) { m_left1.SetDutyCycle(output); },
-      [&](double output) { m_right1.SetDutyCycle(output); }};
+      [&](double output) { m_left1.SetThrottle(output); },
+      [&](double output) { m_right1.SetThrottle(output); }};
 
   // The left-side drive encoder
   wpi::Encoder m_leftEncoder;
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
index f2c32c4e6f..5bc01edabf 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
@@ -52,10 +52,10 @@ class Robot : public wpi::TimedRobot {
   wpi::PWMSparkMax m_frontRight{kFrontRightMotorPort};
   wpi::PWMSparkMax m_rearRight{kRearRightMotorPort};
   wpi::MecanumDrive m_robotDrive{
-      [&](double output) { m_frontLeft.SetDutyCycle(output); },
-      [&](double output) { m_rearLeft.SetDutyCycle(output); },
-      [&](double output) { m_frontRight.SetDutyCycle(output); },
-      [&](double output) { m_rearRight.SetDutyCycle(output); }};
+      [&](double output) { m_frontLeft.SetThrottle(output); },
+      [&](double output) { m_rearLeft.SetThrottle(output); },
+      [&](double output) { m_frontRight.SetThrottle(output); },
+      [&](double output) { m_rearRight.SetThrottle(output); }};
 
   wpi::OnboardIMU m_imu{kIMUMountOrientation};
   wpi::Joystick m_joystick{kJoystickPort};
diff --git a/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
index c9b230a60b..2d965a1dd5 100644
--- a/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
@@ -44,8 +44,8 @@ class Robot : public wpi::TimedRobot {
   }
 
   void TeleopPeriodic() override {
-    m_elevatorMotor.SetDutyCycle(m_joystick.GetRawAxis(0));
-    m_wristMotor.SetDutyCycle(m_joystick.GetRawAxis(1));
+    m_elevatorMotor.SetThrottle(m_joystick.GetRawAxis(0));
+    m_wristMotor.SetThrottle(m_joystick.GetRawAxis(1));
   }
 
  private:
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Intake.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Intake.cpp
index 588cfc1321..bf6e51f904 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Intake.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Intake.cpp
@@ -6,7 +6,7 @@
 
 wpi::cmd::CommandPtr Intake::IntakeCommand() {
   return RunOnce([this] { m_piston.Set(wpi::DoubleSolenoid::FORWARD); })
-      .AndThen(Run([this] { m_motor.SetDutyCycle(1.0); }))
+      .AndThen(Run([this] { m_motor.SetThrottle(1.0); }))
       .WithName("Intake");
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Shooter.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Shooter.cpp
index 72a51de262..69f4d7e7f9 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Shooter.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Shooter.cpp
@@ -34,6 +34,6 @@ wpi::cmd::CommandPtr Shooter::ShootCommand(
              // run the feeder
              wpi::cmd::cmd::WaitUntil([this] {
                return m_shooterFeedback.AtSetpoint();
-             }).AndThen([this] { m_feederMotor.SetDutyCycle(1.0); }))
+             }).AndThen([this] { m_feederMotor.SetThrottle(1.0); }))
       .WithName("Shoot");
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Storage.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Storage.cpp
index 6c4dddf35f..6ff8553290 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Storage.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Storage.cpp
@@ -10,5 +10,5 @@ Storage::Storage() {
 }
 
 wpi::cmd::CommandPtr Storage::RunCommand() {
-  return Run([this] { m_motor.SetDutyCycle(1.0); }).WithName("Run");
+  return Run([this] { m_motor.SetThrottle(1.0); }).WithName("Run");
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.hpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.hpp
index 97ba7ba6f4..8ac5b46f1b 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.hpp
@@ -55,8 +55,8 @@ class Drive : public wpi::cmd::SubsystemBase {
   wpi::PWMSparkMax m_rightFollower{DriveConstants::kRightMotor2Port};
 
   wpi::DifferentialDrive m_drive{
-      [&](double output) { m_leftLeader.SetDutyCycle(output); },
-      [&](double output) { m_rightLeader.SetDutyCycle(output); }};
+      [&](double output) { m_leftLeader.SetThrottle(output); },
+      [&](double output) { m_rightLeader.SetThrottle(output); }};
 
   wpi::Encoder m_leftEncoder{DriveConstants::kLeftEncoderPorts[0],
                              DriveConstants::kLeftEncoderPorts[1],
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.hpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.hpp
index 6352890298..104584f57f 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.hpp
@@ -106,8 +106,8 @@ class Drivetrain : public wpi::cmd::SubsystemBase {
   wpi::Encoder m_rightEncoder{6, 7};
 
   wpi::DifferentialDrive m_drive{
-      [&](double output) { m_leftMotor.SetDutyCycle(output); },
-      [&](double output) { m_rightMotor.SetDutyCycle(output); }};
+      [&](double output) { m_leftMotor.SetThrottle(output); },
+      [&](double output) { m_rightMotor.SetThrottle(output); }};
 
   wpi::romi::RomiGyro m_gyro;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
index a395ce7cc9..e32dcf358f 100644
--- a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
@@ -43,9 +43,9 @@ void Drivetrain::SimulationPeriodic() {
   // simulated encoder and gyro. We negate the right side so that positive
   // voltages make the right side move forward.
   m_drivetrainSimulator.SetInputs(
-      wpi::units::volt_t{m_leftLeader.GetDutyCycle()} *
+      wpi::units::volt_t{m_leftLeader.GetThrottle()} *
           wpi::RobotController::GetInputVoltage(),
-      wpi::units::volt_t{m_rightLeader.GetDutyCycle()} *
+      wpi::units::volt_t{m_rightLeader.GetThrottle()} *
           wpi::RobotController::GetInputVoltage());
   m_drivetrainSimulator.Update(20_ms);
 
diff --git a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/subsystems/Shooter.cpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/subsystems/Shooter.cpp
index 43a93237f8..512ef2be72 100644
--- a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/subsystems/Shooter.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/subsystems/Shooter.cpp
@@ -22,7 +22,7 @@ wpi::cmd::CommandPtr Shooter::RunShooterCommand(
                        m_shooterEncoder.GetRate(), shooterVelocity())} +
                    m_shooterFeedforward.Calculate(
                        wpi::units::turns_per_second_t{shooterVelocity()}));
-               m_feederMotor.SetDutyCycle(constants::shooter::kFeederVelocity);
+               m_feederMotor.SetThrottle(constants::shooter::kFeederVelocity);
              },
              {this})
       .WithName("Set Shooter Velocity");
diff --git a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/subsystems/Drive.hpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/subsystems/Drive.hpp
index 578e7db9ce..bf47d51768 100644
--- a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/subsystems/Drive.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/subsystems/Drive.hpp
@@ -27,8 +27,8 @@ class Drive : public wpi::cmd::SubsystemBase {
   wpi::PWMSparkMax m_leftMotor{constants::drive::kLeftMotor1Port};
   wpi::PWMSparkMax m_rightMotor{constants::drive::kRightMotor1Port};
   wpi::DifferentialDrive m_drive{
-      [this](auto val) { m_leftMotor.SetDutyCycle(val); },
-      [this](auto val) { m_rightMotor.SetDutyCycle(val); }};
+      [this](auto val) { m_leftMotor.SetThrottle(val); },
+      [this](auto val) { m_rightMotor.SetThrottle(val); }};
 
   wpi::Encoder m_leftEncoder{constants::drive::kLeftEncoderPorts[0],
                              constants::drive::kLeftEncoderPorts[1],
@@ -48,13 +48,13 @@ class Drive : public wpi::cmd::SubsystemBase {
           },
           [this](wpi::sysid::SysIdRoutineLog* log) {
             log->Motor("drive-left")
-                .voltage(m_leftMotor.GetDutyCycle() *
+                .voltage(m_leftMotor.GetThrottle() *
                          wpi::RobotController::GetBatteryVoltage())
                 .position(wpi::units::meter_t{m_leftEncoder.GetDistance()})
                 .velocity(
                     wpi::units::meters_per_second_t{m_leftEncoder.GetRate()});
             log->Motor("drive-right")
-                .voltage(m_rightMotor.GetDutyCycle() *
+                .voltage(m_rightMotor.GetThrottle() *
                          wpi::RobotController::GetBatteryVoltage())
                 .position(wpi::units::meter_t{m_rightEncoder.GetDistance()})
                 .velocity(
diff --git a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/subsystems/Shooter.hpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/subsystems/Shooter.hpp
index 3bcbc59656..ce9c393347 100644
--- a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/subsystems/Shooter.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/subsystems/Shooter.hpp
@@ -41,7 +41,7 @@ class Shooter : public wpi::cmd::SubsystemBase {
           },
           [this](wpi::sysid::SysIdRoutineLog* log) {
             log->Motor("shooter-wheel")
-                .voltage(m_shooterMotor.GetDutyCycle() *
+                .voltage(m_shooterMotor.GetThrottle() *
                          wpi::RobotController::GetBatteryVoltage())
                 .position(wpi::units::turn_t{m_shooterEncoder.GetDistance()})
                 .velocity(
diff --git a/wpilibcExamples/src/main/cpp/examples/TankDriveGamepad/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/TankDriveGamepad/cpp/Robot.cpp
index 0d9301aca8..a4a8e57d89 100644
--- a/wpilibcExamples/src/main/cpp/examples/TankDriveGamepad/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/TankDriveGamepad/cpp/Robot.cpp
@@ -15,8 +15,8 @@ class Robot : public wpi::TimedRobot {
   wpi::PWMSparkMax m_leftMotor{0};
   wpi::PWMSparkMax m_rightMotor{1};
   wpi::DifferentialDrive m_robotDrive{
-      [&](double output) { m_leftMotor.SetDutyCycle(output); },
-      [&](double output) { m_rightMotor.SetDutyCycle(output); }};
+      [&](double output) { m_leftMotor.SetThrottle(output); },
+      [&](double output) { m_rightMotor.SetThrottle(output); }};
   wpi::Gamepad m_driverController{0};
 
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/subsystems/Intake.cpp b/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/subsystems/Intake.cpp
index 9f1a690306..4b929ee93c 100644
--- a/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/subsystems/Intake.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/subsystems/Intake.cpp
@@ -10,14 +10,14 @@ void Intake::Deploy() {
 
 void Intake::Retract() {
   m_piston.Set(wpi::DoubleSolenoid::Value::REVERSE);
-  m_motor.SetDutyCycle(0);  // turn off the motor
+  m_motor.SetThrottle(0);  // turn off the motor
 }
 
 void Intake::Activate(double velocity) {
   if (IsDeployed()) {
-    m_motor.SetDutyCycle(velocity);
+    m_motor.SetThrottle(velocity);
   } else {  // if piston isn't open, do nothing
-    m_motor.SetDutyCycle(0);
+    m_motor.SetThrottle(0);
   }
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Drivetrain.hpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Drivetrain.hpp
index 207703b854..9481144319 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Drivetrain.hpp
@@ -111,8 +111,8 @@ class Drivetrain : public wpi::cmd::SubsystemBase {
   wpi::Encoder m_rightEncoder{6, 7};
 
   wpi::DifferentialDrive m_drive{
-      [&](double output) { m_leftMotor.SetDutyCycle(output); },
-      [&](double output) { m_rightMotor.SetDutyCycle(output); }};
+      [&](double output) { m_leftMotor.SetThrottle(output); },
+      [&](double output) { m_rightMotor.SetThrottle(output); }};
 
   wpi::xrp::XRPGyro m_gyro;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/Xrptimed/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/Xrptimed/include/Robot.hpp
index c172dad6c5..9c536e4ff9 100644
--- a/wpilibcExamples/src/main/cpp/examples/Xrptimed/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/Xrptimed/include/Robot.hpp
@@ -27,6 +27,6 @@ class Robot : public wpi::TimedRobot {
   wpi::Timer m_timer;
 
   wpi::DifferentialDrive m_drive{
-      [&](double output) { m_leftMotor.SetDutyCycle(output); },
-      [&](double output) { m_rightMotor.SetDutyCycle(output); }};
+      [&](double output) { m_leftMotor.SetThrottle(output); },
+      [&](double output) { m_rightMotor.SetThrottle(output); }};
 };
diff --git a/wpilibcExamples/src/main/cpp/snippets/EncoderDrive/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/EncoderDrive/cpp/Robot.cpp
index e9f92d1377..8fae070107 100644
--- a/wpilibcExamples/src/main/cpp/snippets/EncoderDrive/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/EncoderDrive/cpp/Robot.cpp
@@ -44,8 +44,8 @@ class Robot : public wpi::TimedRobot {
   wpi::Spark rightLeader{2};
   wpi::Spark rightFollower{3};
   wpi::DifferentialDrive drive{
-      [&](double output) { leftLeader.SetDutyCycle(output); },
-      [&](double output) { rightLeader.SetDutyCycle(output); }};
+      [&](double output) { leftLeader.SetThrottle(output); },
+      [&](double output) { rightLeader.SetThrottle(output); }};
 };
 
 #ifndef RUNNING_WPILIB_TESTS
diff --git a/wpilibcExamples/src/main/cpp/snippets/EncoderHoming/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/EncoderHoming/cpp/Robot.cpp
index fbef12c1f5..8525d7da90 100644
--- a/wpilibcExamples/src/main/cpp/snippets/EncoderHoming/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/EncoderHoming/cpp/Robot.cpp
@@ -17,9 +17,9 @@ class Robot : public wpi::TimedRobot {
     // Runs the motor backwards at half velocity until the limit switch is
     // pressed then turn off the motor and reset the encoder
     if (!m_limit.Get()) {
-      m_spark.SetDutyCycle(-0.5);
+      m_spark.SetThrottle(-0.5);
     } else {
-      m_spark.SetDutyCycle(0);
+      m_spark.SetThrottle(0);
       m_encoder.Reset();
     }
   }
diff --git a/wpilibcExamples/src/main/cpp/snippets/EventLoop/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/EventLoop/cpp/Robot.cpp
index 363d48fa43..667eb737e3 100644
--- a/wpilibcExamples/src/main/cpp/snippets/EventLoop/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/EventLoop/cpp/Robot.cpp
@@ -36,14 +36,14 @@ class Robot : public wpi::TimedRobot {
      // and there is not a ball at the kicker
      && !isBallAtKicker)
         // activate the intake
-        .IfHigh([&intake = m_intake] { intake.SetDutyCycle(0.5); });
+        .IfHigh([&intake = m_intake] { intake.SetThrottle(0.5); });
 
     // if the thumb button is not held
     (!intakeButton
      // or there is a ball in the kicker
      || isBallAtKicker)
         // stop the intake
-        .IfHigh([&intake = m_intake] { intake.SetDutyCycle(0.0); });
+        .IfHigh([&intake = m_intake] { intake.SetThrottle(0.0); });
 
     wpi::BooleanEvent shootTrigger{
         &m_loop, [&joystick = m_joystick] { return joystick.GetTrigger(); }};
@@ -60,7 +60,7 @@ class Robot : public wpi::TimedRobot {
         });
     // if not, stop
     (!shootTrigger).IfHigh([&shooter = m_shooter] {
-      shooter.SetDutyCycle(0.0);
+      shooter.SetThrottle(0.0);
     });
 
     wpi::BooleanEvent atTargetVelocity =
@@ -71,13 +71,13 @@ class Robot : public wpi::TimedRobot {
             .Debounce(0.2_s);
 
     // if we're at the target velocity, kick the ball into the shooter wheel
-    atTargetVelocity.IfHigh([&kicker = m_kicker] { kicker.SetDutyCycle(0.7); });
+    atTargetVelocity.IfHigh([&kicker = m_kicker] { kicker.SetThrottle(0.7); });
 
     // when we stop being at the target velocity, it means the ball was shot
     atTargetVelocity
         .Falling()
         // so stop the kicker
-        .IfHigh([&kicker = m_kicker] { kicker.SetDutyCycle(0.0); });
+        .IfHigh([&kicker = m_kicker] { kicker.SetThrottle(0.0); });
   }
 
   void RobotPeriodic() override { m_loop.Poll(); }
diff --git a/wpilibcExamples/src/main/cpp/snippets/FlywheelBangBangController/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/FlywheelBangBangController/cpp/Robot.cpp
index acb3935e63..2dbe0edba9 100644
--- a/wpilibcExamples/src/main/cpp/snippets/FlywheelBangBangController/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/FlywheelBangBangController/cpp/Robot.cpp
@@ -52,7 +52,7 @@ class Robot : public wpi::TimedRobot {
     // To update our simulation, we set motor voltage inputs, update the
     // simulation, and write the simulated velocities to our simulated encoder
     m_flywheelSim.SetInputVoltage(
-        m_flywheelMotor.GetDutyCycle() *
+        m_flywheelMotor.GetThrottle() *
         wpi::units::volt_t{wpi::RobotController::GetInputVoltage()});
     m_flywheelSim.Update(20_ms);
     m_encoderSim.SetRate(m_flywheelSim.GetAngularVelocity().value());
diff --git a/wpilibcExamples/src/main/cpp/snippets/LimitSwitch/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/LimitSwitch/cpp/Robot.cpp
index aead3fb950..33259d0bba 100644
--- a/wpilibcExamples/src/main/cpp/snippets/LimitSwitch/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/LimitSwitch/cpp/Robot.cpp
@@ -18,20 +18,20 @@ class Robot : public wpi::TimedRobot {
     if (velocity > 0) {
       if (m_toplimitSwitch.Get()) {
         // We are going up and top limit is tripped so stop
-        m_motor.SetDutyCycle(0);
+        m_motor.SetThrottle(0);
       } else {
         // We are going up but top limit is not tripped so go at commanded
         // velocity
-        m_motor.SetDutyCycle(velocity);
+        m_motor.SetThrottle(velocity);
       }
     } else {
       if (m_bottomlimitSwitch.Get()) {
         // We are going down and bottom limit is tripped so stop
-        m_motor.SetDutyCycle(0);
+        m_motor.SetThrottle(0);
       } else {
         // We are going down but bottom limit is not tripped so go at commanded
         // velocity
-        m_motor.SetDutyCycle(velocity);
+        m_motor.SetThrottle(velocity);
       }
     }
   }
diff --git a/wpilibcExamples/src/main/cpp/snippets/MotorControl/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/MotorControl/cpp/Robot.cpp
index 2ba0bb21f0..f63e8bdc43 100644
--- a/wpilibcExamples/src/main/cpp/snippets/MotorControl/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/MotorControl/cpp/Robot.cpp
@@ -23,7 +23,7 @@
  */
 class Robot : public wpi::TimedRobot {
  public:
-  void TeleopPeriodic() override { m_motor.SetDutyCycle(m_stick.GetY()); }
+  void TeleopPeriodic() override { m_motor.SetThrottle(m_stick.GetY()); }
 
   /*
    * The RobotPeriodic function is called every control packet no matter the
diff --git a/wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp b/wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp
index 69c2c1c498..36a1016e79 100644
--- a/wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp
@@ -134,7 +134,7 @@ TEST_P(ArmSimulationTest, Teleop) {
 
     wpi::sim::StepTiming(3_s);
 
-    ASSERT_NEAR(0.0, m_motorSim.GetDutyCycle(), 0.05);
+    ASSERT_NEAR(0.0, m_motorSim.GetThrottle(), 0.05);
     EXPECT_NEAR(kMinAngle.value(), m_encoderSim.GetDistance(), 2.0);
   }
 }
diff --git a/wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/ElevatorSimulationTest.cpp b/wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/ElevatorSimulationTest.cpp
index fdc95a76d4..2998b62c5b 100644
--- a/wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/ElevatorSimulationTest.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/ElevatorSimulationTest.cpp
@@ -118,7 +118,7 @@ TEST_F(ElevatorSimulationTest, Teleop) {
     // advance 75 timesteps
     wpi::sim::StepTiming(1.5_s);
 
-    ASSERT_NEAR(0.0, m_motorSim.GetDutyCycle(), 0.05);
+    ASSERT_NEAR(0.0, m_motorSim.GetThrottle(), 0.05);
     ASSERT_NEAR(0.0, m_encoderSim.GetDistance(), 0.05);
   }
 }
diff --git a/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp b/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp
index b5caefe11b..6306cf493a 100644
--- a/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp
@@ -27,13 +27,13 @@ TEST_F(IntakeTest, DoesntWorkWhenClosed) {
   EXPECT_DOUBLE_EQ(
       0.0,
       simMotor
-          .GetDutyCycle());  // make sure that the value set to the motor is 0
+          .GetThrottle());  // make sure that the value set to the motor is 0
 }
 
 TEST_F(IntakeTest, WorksWhenOpen) {
   intake.Deploy();
   intake.Activate(0.5);
-  EXPECT_DOUBLE_EQ(0.5, simMotor.GetDutyCycle());
+  EXPECT_DOUBLE_EQ(0.5, simMotor.GetThrottle());
 }
 
 TEST_F(IntakeTest, Retract) {
diff --git a/wpilibj/src/generate/main/java/pwm_motor_controller.java.jinja b/wpilibj/src/generate/main/java/pwm_motor_controller.java.jinja
index 3b3bce64f7..75b8a000c0 100644
--- a/wpilibj/src/generate/main/java/pwm_motor_controller.java.jinja
+++ b/wpilibj/src/generate/main/java/pwm_motor_controller.java.jinja
@@ -37,7 +37,7 @@ public class {{ name }} extends PWMMotorController {
 
     setBoundsMicroseconds({{ (pulse_width_ms.max * 1000) | int }}, {{ (pulse_width_ms.deadbandMax * 1000) | int }}, {{ (pulse_width_ms.center * 1000) | int }}, {{ (pulse_width_ms.deadbandMin * 1000) | int }}, {{ (pulse_width_ms.min * 1000) | int }});
     m_pwm.setOutputPeriod({{ OutputPeriod | default("5", true)}});
-    setDutyCycle(0.0);
+    setThrottle(0.0);
 
     HAL.reportUsage("IO", getChannel(), "{{ ResourceName }}");
   }
diff --git a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/Koors40.java b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/Koors40.java
index fe4cdbb94e..74dcfb78f9 100644
--- a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/Koors40.java
+++ b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/Koors40.java
@@ -37,7 +37,7 @@ public class Koors40 extends PWMMotorController {
 
     setBoundsMicroseconds(2004, 1520, 1500, 1480, 997);
     m_pwm.setOutputPeriod(20);
-    setDutyCycle(0.0);
+    setThrottle(0.0);
 
     HAL.reportUsage("IO", getChannel(), "Koors40");
   }
diff --git a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMSparkFlex.java b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMSparkFlex.java
index 4d10bdb576..5125e0c58f 100644
--- a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMSparkFlex.java
+++ b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMSparkFlex.java
@@ -37,7 +37,7 @@ public class PWMSparkFlex extends PWMMotorController {
 
     setBoundsMicroseconds(2003, 1550, 1500, 1460, 999);
     m_pwm.setOutputPeriod(5);
-    setDutyCycle(0.0);
+    setThrottle(0.0);
 
     HAL.reportUsage("IO", getChannel(), "RevSparkFlexPWM");
   }
diff --git a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMSparkMax.java b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMSparkMax.java
index 715fcd5fbe..cf6f60b709 100644
--- a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMSparkMax.java
+++ b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMSparkMax.java
@@ -37,7 +37,7 @@ public class PWMSparkMax extends PWMMotorController {
 
     setBoundsMicroseconds(2003, 1550, 1500, 1460, 999);
     m_pwm.setOutputPeriod(5);
-    setDutyCycle(0.0);
+    setThrottle(0.0);
 
     HAL.reportUsage("IO", getChannel(), "RevSparkMaxPWM");
   }
diff --git a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMTalonFX.java b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMTalonFX.java
index 6f4d320618..d513a7c2d6 100644
--- a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMTalonFX.java
+++ b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMTalonFX.java
@@ -37,7 +37,7 @@ public class PWMTalonFX extends PWMMotorController {
 
     setBoundsMicroseconds(2004, 1520, 1500, 1480, 997);
     m_pwm.setOutputPeriod(5);
-    setDutyCycle(0.0);
+    setThrottle(0.0);
 
     HAL.reportUsage("IO", getChannel(), "TalonFX");
   }
diff --git a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMTalonSRX.java b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMTalonSRX.java
index 9a8b4d5602..6129f87183 100644
--- a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMTalonSRX.java
+++ b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMTalonSRX.java
@@ -37,7 +37,7 @@ public class PWMTalonSRX extends PWMMotorController {
 
     setBoundsMicroseconds(2004, 1520, 1500, 1480, 997);
     m_pwm.setOutputPeriod(5);
-    setDutyCycle(0.0);
+    setThrottle(0.0);
 
     HAL.reportUsage("IO", getChannel(), "PWMTalonSRX");
   }
diff --git a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMVenom.java b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMVenom.java
index 225b245173..0e1f70a814 100644
--- a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMVenom.java
+++ b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMVenom.java
@@ -37,7 +37,7 @@ public class PWMVenom extends PWMMotorController {
 
     setBoundsMicroseconds(2004, 1520, 1500, 1480, 997);
     m_pwm.setOutputPeriod(5);
-    setDutyCycle(0.0);
+    setThrottle(0.0);
 
     HAL.reportUsage("IO", getChannel(), "FusionVenom");
   }
diff --git a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMVictorSPX.java b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMVictorSPX.java
index 641552d0a5..daec60ce78 100644
--- a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMVictorSPX.java
+++ b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMVictorSPX.java
@@ -37,7 +37,7 @@ public class PWMVictorSPX extends PWMMotorController {
 
     setBoundsMicroseconds(2004, 1520, 1500, 1480, 997);
     m_pwm.setOutputPeriod(5);
-    setDutyCycle(0.0);
+    setThrottle(0.0);
 
     HAL.reportUsage("IO", getChannel(), "PWMVictorSPX");
   }
diff --git a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/Spark.java b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/Spark.java
index 51e27bb638..0716d5e5a1 100644
--- a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/Spark.java
+++ b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/Spark.java
@@ -37,7 +37,7 @@ public class Spark extends PWMMotorController {
 
     setBoundsMicroseconds(2003, 1550, 1500, 1460, 999);
     m_pwm.setOutputPeriod(5);
-    setDutyCycle(0.0);
+    setThrottle(0.0);
 
     HAL.reportUsage("IO", getChannel(), "RevSPARK");
   }
diff --git a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/SparkMini.java b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/SparkMini.java
index 2e41ba2491..5abf4f7de2 100644
--- a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/SparkMini.java
+++ b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/SparkMini.java
@@ -37,7 +37,7 @@ public class SparkMini extends PWMMotorController {
 
     setBoundsMicroseconds(2500, 1510, 1500, 1490, 500);
     m_pwm.setOutputPeriod(5);
-    setDutyCycle(0.0);
+    setThrottle(0.0);
 
     HAL.reportUsage("IO", getChannel(), "RevSPARK");
   }
diff --git a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/Talon.java b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/Talon.java
index 3a2237cdea..c00e4f54f9 100644
--- a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/Talon.java
+++ b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/Talon.java
@@ -37,7 +37,7 @@ public class Talon extends PWMMotorController {
 
     setBoundsMicroseconds(2037, 1539, 1513, 1487, 989);
     m_pwm.setOutputPeriod(5);
-    setDutyCycle(0.0);
+    setThrottle(0.0);
 
     HAL.reportUsage("IO", getChannel(), "Talon");
   }
diff --git a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/VictorSP.java b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/VictorSP.java
index e813ff9c26..338d246729 100644
--- a/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/VictorSP.java
+++ b/wpilibj/src/generated/main/java/org/wpilib/hardware/motor/VictorSP.java
@@ -37,7 +37,7 @@ public class VictorSP extends PWMMotorController {
 
     setBoundsMicroseconds(2004, 1520, 1500, 1480, 997);
     m_pwm.setOutputPeriod(5);
-    setDutyCycle(0.0);
+    setThrottle(0.0);
 
     HAL.reportUsage("IO", getChannel(), "VictorSP");
   }
diff --git a/wpilibj/src/main/java/org/wpilib/drive/DifferentialDrive.java b/wpilibj/src/main/java/org/wpilib/drive/DifferentialDrive.java
index c11337366a..03fae9a8e3 100644
--- a/wpilibj/src/main/java/org/wpilib/drive/DifferentialDrive.java
+++ b/wpilibj/src/main/java/org/wpilib/drive/DifferentialDrive.java
@@ -104,8 +104,8 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
   @SuppressWarnings({"removal", "this-escape"})
   public DifferentialDrive(MotorController leftMotor, MotorController rightMotor) {
     this(
-        (double output) -> leftMotor.setDutyCycle(output),
-        (double output) -> rightMotor.setDutyCycle(output));
+        (double output) -> leftMotor.setThrottle(output),
+        (double output) -> rightMotor.setThrottle(output));
     SendableRegistry.addChild(this, leftMotor);
     SendableRegistry.addChild(this, rightMotor);
   }
diff --git a/wpilibj/src/main/java/org/wpilib/drive/MecanumDrive.java b/wpilibj/src/main/java/org/wpilib/drive/MecanumDrive.java
index 0da6f5d945..8badcfb676 100644
--- a/wpilibj/src/main/java/org/wpilib/drive/MecanumDrive.java
+++ b/wpilibj/src/main/java/org/wpilib/drive/MecanumDrive.java
@@ -120,10 +120,10 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
       MotorController frontRightMotor,
       MotorController rearRightMotor) {
     this(
-        (double output) -> frontLeftMotor.setDutyCycle(output),
-        (double output) -> rearLeftMotor.setDutyCycle(output),
-        (double output) -> frontRightMotor.setDutyCycle(output),
-        (double output) -> rearRightMotor.setDutyCycle(output));
+        (double output) -> frontLeftMotor.setThrottle(output),
+        (double output) -> rearLeftMotor.setThrottle(output),
+        (double output) -> frontRightMotor.setThrottle(output),
+        (double output) -> rearRightMotor.setThrottle(output));
     SendableRegistry.addChild(this, frontLeftMotor);
     SendableRegistry.addChild(this, rearLeftMotor);
     SendableRegistry.addChild(this, frontRightMotor);
diff --git a/wpilibj/src/main/java/org/wpilib/hardware/expansionhub/ExpansionHubMotor.java b/wpilibj/src/main/java/org/wpilib/hardware/expansionhub/ExpansionHubMotor.java
index 50f6662e66..2bf42e9bef 100644
--- a/wpilibj/src/main/java/org/wpilib/hardware/expansionhub/ExpansionHubMotor.java
+++ b/wpilibj/src/main/java/org/wpilib/hardware/expansionhub/ExpansionHubMotor.java
@@ -151,14 +151,14 @@ public class ExpansionHubMotor implements AutoCloseable {
   }
 
   /**
-   * Sets the duty cycle.
+   * Sets the throttle.
    *
-   * @param dutyCycle The duty cycle between -1 and 1 (sign indicates direction).
+   * @param throttle The throttle where -1 represents full reverse and 1 represents full forward.
    */
-  public void setDutyCycle(double dutyCycle) {
+  public void setThrottle(double throttle) {
     setEnabled(true);
     m_modePublisher.set(kPercentageMode);
-    m_setpointPublisher.set(dutyCycle);
+    m_setpointPublisher.set(throttle);
   }
 
   /**
diff --git a/wpilibj/src/main/java/org/wpilib/hardware/motor/MotorController.java b/wpilibj/src/main/java/org/wpilib/hardware/motor/MotorController.java
index dceb04bd34..a8f52f107d 100644
--- a/wpilibj/src/main/java/org/wpilib/hardware/motor/MotorController.java
+++ b/wpilibj/src/main/java/org/wpilib/hardware/motor/MotorController.java
@@ -12,11 +12,11 @@ import org.wpilib.units.measure.Voltage;
 /** Interface for motor controlling devices. */
 public interface MotorController {
   /**
-   * Sets the duty cycle of the motor controller.
+   * Sets the throttle of the motor controller.
    *
-   * @param dutyCycle The duty cycle between -1 and 1 (sign indicates direction).
+   * @param throttle The throttle where -1 indicates full reverse and 1 indicates full forward.
    */
-  void setDutyCycle(double dutyCycle);
+  void setThrottle(double throttle);
 
   /**
    * Sets the voltage output of the motor controller.
@@ -31,7 +31,7 @@ public interface MotorController {
    * @param voltage The voltage.
    */
   default void setVoltage(double voltage) {
-    setDutyCycle(voltage / RobotController.getBatteryVoltage());
+    setThrottle(voltage / RobotController.getBatteryVoltage());
   }
 
   /**
@@ -51,11 +51,11 @@ public interface MotorController {
   }
 
   /**
-   * Gets the duty cycle of the motor controller.
+   * Gets the throttle of the motor controller.
    *
-   * @return The duty cycle between -1 and 1 (sign indicates direction).
+   * @return The throttle where -1 represents full reverse and 1 represents full forward.
    */
-  double getDutyCycle();
+  double getThrottle();
 
   /**
    * Sets the inversion state of the motor controller.
diff --git a/wpilibj/src/main/java/org/wpilib/hardware/motor/PWMMotorController.java b/wpilibj/src/main/java/org/wpilib/hardware/motor/PWMMotorController.java
index 76389d71dc..190282e5fa 100644
--- a/wpilibj/src/main/java/org/wpilib/hardware/motor/PWMMotorController.java
+++ b/wpilibj/src/main/java/org/wpilib/hardware/motor/PWMMotorController.java
@@ -25,7 +25,7 @@ public abstract class PWMMotorController extends MotorSafety
   protected PWM m_pwm;
 
   private SimDevice m_simDevice;
-  private SimDouble m_simDutyCycle;
+  private SimDouble m_simThrottle;
 
   private boolean m_eliminateDeadband;
   private int m_minPwm;
@@ -47,7 +47,7 @@ public abstract class PWMMotorController extends MotorSafety
 
     m_simDevice = SimDevice.create("PWMMotorController", channel);
     if (m_simDevice != null) {
-      m_simDutyCycle = m_simDevice.createDouble("DutyCycle", Direction.OUTPUT, 0.0);
+      m_simThrottle = m_simDevice.createDouble("Throttle", Direction.OUTPUT, 0.0);
       m_pwm.setSimDevice(m_simDevice);
     }
   }
@@ -61,7 +61,7 @@ public abstract class PWMMotorController extends MotorSafety
     if (m_simDevice != null) {
       m_simDevice.close();
       m_simDevice = null;
-      m_simDutyCycle = null;
+      m_simThrottle = null;
     }
   }
 
@@ -102,8 +102,8 @@ public abstract class PWMMotorController extends MotorSafety
       dutyCycle = 0.0;
     }
 
-    if (m_simDutyCycle != null) {
-      m_simDutyCycle.set(dutyCycle);
+    if (m_simThrottle != null) {
+      m_simThrottle.set(dutyCycle);
     }
 
     int rawValue;
@@ -161,21 +161,21 @@ public abstract class PWMMotorController extends MotorSafety
   }
 
   @Override
-  public void setDutyCycle(double dutyCycle) {
+  public void setThrottle(double throttle) {
     if (m_isInverted) {
-      dutyCycle = -dutyCycle;
+      throttle = -throttle;
     }
-    setDutyCycleInternal(dutyCycle);
+    setDutyCycleInternal(throttle);
 
     for (var follower : m_followers) {
-      follower.setDutyCycle(dutyCycle);
+      follower.setThrottle(throttle);
     }
 
     feed();
   }
 
   @Override
-  public double getDutyCycle() {
+  public double getThrottle() {
     return getDutyCycleInternal() * (m_isInverted ? -1.0 : 1.0);
   }
 
@@ -185,7 +185,7 @@ public abstract class PWMMotorController extends MotorSafety
    * @return The voltage of the motor controller, nominally between -12 V and 12 V.
    */
   public double getVoltage() {
-    return getDutyCycle() * RobotController.getBatteryVoltage();
+    return getThrottle() * RobotController.getBatteryVoltage();
   }
 
   @Override
@@ -202,8 +202,8 @@ public abstract class PWMMotorController extends MotorSafety
   public void disable() {
     m_pwm.setDisabled();
 
-    if (m_simDutyCycle != null) {
-      m_simDutyCycle.set(0.0);
+    if (m_simThrottle != null) {
+      m_simThrottle.set(0.0);
     }
 
     for (var follower : m_followers) {
@@ -263,6 +263,6 @@ public abstract class PWMMotorController extends MotorSafety
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("Motor Controller");
     builder.setActuator(true);
-    builder.addDoubleProperty("Value", this::getDutyCycle, this::setDutyCycle);
+    builder.addDoubleProperty("Value", this::getThrottle, this::setThrottle);
   }
 }
diff --git a/wpilibj/src/main/java/org/wpilib/simulation/PWMMotorControllerSim.java b/wpilibj/src/main/java/org/wpilib/simulation/PWMMotorControllerSim.java
index d9f480d0ab..d8d9727230 100644
--- a/wpilibj/src/main/java/org/wpilib/simulation/PWMMotorControllerSim.java
+++ b/wpilibj/src/main/java/org/wpilib/simulation/PWMMotorControllerSim.java
@@ -9,7 +9,7 @@ import org.wpilib.hardware.motor.PWMMotorController;
 
 /** Class to control a simulated PWM motor controller. */
 public class PWMMotorControllerSim {
-  private final SimDouble m_simDutyCycle;
+  private final SimDouble m_simThrottle;
 
   /**
    * Constructor.
@@ -27,15 +27,15 @@ public class PWMMotorControllerSim {
    */
   public PWMMotorControllerSim(int channel) {
     SimDeviceSim simDevice = new SimDeviceSim("PWMMotorController", channel);
-    m_simDutyCycle = simDevice.getDouble("DutyCycle");
+    m_simThrottle = simDevice.getDouble("Throttle");
   }
 
   /**
-   * Gets the motor duty cycle.
+   * Gets the motor throttle.
    *
-   * @return Duty cycle
+   * @return Throttle
    */
-  public double getDutyCycle() {
-    return m_simDutyCycle.get();
+  public double getThrottle() {
+    return m_simThrottle.get();
   }
 }
diff --git a/wpilibj/src/test/java/org/wpilib/drive/DifferentialDriveTest.java b/wpilibj/src/test/java/org/wpilib/drive/DifferentialDriveTest.java
index 0b95e1d04f..9403767d04 100644
--- a/wpilibj/src/test/java/org/wpilib/drive/DifferentialDriveTest.java
+++ b/wpilibj/src/test/java/org/wpilib/drive/DifferentialDriveTest.java
@@ -253,227 +253,227 @@ class DifferentialDriveTest {
   void testArcadeDrive() {
     var left = new MockPWMMotorController();
     var right = new MockPWMMotorController();
-    var drive = new DifferentialDrive(left::setDutyCycle, right::setDutyCycle);
+    var drive = new DifferentialDrive(left::setThrottle, right::setThrottle);
     drive.setDeadband(0.0);
 
     // Forward
     drive.arcadeDrive(1.0, 0.0, false);
-    assertEquals(1.0, left.getDutyCycle(), 1e-9);
-    assertEquals(1.0, right.getDutyCycle(), 1e-9);
+    assertEquals(1.0, left.getThrottle(), 1e-9);
+    assertEquals(1.0, right.getThrottle(), 1e-9);
 
     // Forward left turn
     drive.arcadeDrive(0.5, 0.5, false);
-    assertEquals(0.0, left.getDutyCycle(), 1e-9);
-    assertEquals(0.5, right.getDutyCycle(), 1e-9);
+    assertEquals(0.0, left.getThrottle(), 1e-9);
+    assertEquals(0.5, right.getThrottle(), 1e-9);
 
     // Forward right turn
     drive.arcadeDrive(0.5, -0.5, false);
-    assertEquals(0.5, left.getDutyCycle(), 1e-9);
-    assertEquals(0.0, right.getDutyCycle(), 1e-9);
+    assertEquals(0.5, left.getThrottle(), 1e-9);
+    assertEquals(0.0, right.getThrottle(), 1e-9);
 
     // Backward
     drive.arcadeDrive(-1.0, 0.0, false);
-    assertEquals(-1.0, left.getDutyCycle(), 1e-9);
-    assertEquals(-1.0, right.getDutyCycle(), 1e-9);
+    assertEquals(-1.0, left.getThrottle(), 1e-9);
+    assertEquals(-1.0, right.getThrottle(), 1e-9);
 
     // Backward left turn
     drive.arcadeDrive(-0.5, 0.5, false);
-    assertEquals(-0.5, left.getDutyCycle(), 1e-9);
-    assertEquals(0.0, right.getDutyCycle(), 1e-9);
+    assertEquals(-0.5, left.getThrottle(), 1e-9);
+    assertEquals(0.0, right.getThrottle(), 1e-9);
 
     // Backward right turn
     drive.arcadeDrive(-0.5, -0.5, false);
-    assertEquals(0.0, left.getDutyCycle(), 1e-9);
-    assertEquals(-0.5, right.getDutyCycle(), 1e-9);
+    assertEquals(0.0, left.getThrottle(), 1e-9);
+    assertEquals(-0.5, right.getThrottle(), 1e-9);
   }
 
   @Test
   void testArcadeDriveSquared() {
     var left = new MockPWMMotorController();
     var right = new MockPWMMotorController();
-    var drive = new DifferentialDrive(left::setDutyCycle, right::setDutyCycle);
+    var drive = new DifferentialDrive(left::setThrottle, right::setThrottle);
     drive.setDeadband(0.0);
 
     // Forward
     drive.arcadeDrive(1.0, 0.0, true);
-    assertEquals(1.0, left.getDutyCycle(), 1e-9);
-    assertEquals(1.0, right.getDutyCycle(), 1e-9);
+    assertEquals(1.0, left.getThrottle(), 1e-9);
+    assertEquals(1.0, right.getThrottle(), 1e-9);
 
     // Forward left turn
     drive.arcadeDrive(0.5, 0.5, true);
-    assertEquals(0.0, left.getDutyCycle(), 1e-9);
-    assertEquals(0.25, right.getDutyCycle(), 1e-9);
+    assertEquals(0.0, left.getThrottle(), 1e-9);
+    assertEquals(0.25, right.getThrottle(), 1e-9);
 
     // Forward right turn
     drive.arcadeDrive(0.5, -0.5, true);
-    assertEquals(0.25, left.getDutyCycle(), 1e-9);
-    assertEquals(0.0, right.getDutyCycle(), 1e-9);
+    assertEquals(0.25, left.getThrottle(), 1e-9);
+    assertEquals(0.0, right.getThrottle(), 1e-9);
 
     // Backward
     drive.arcadeDrive(-1.0, 0.0, true);
-    assertEquals(-1.0, left.getDutyCycle(), 1e-9);
-    assertEquals(-1.0, right.getDutyCycle(), 1e-9);
+    assertEquals(-1.0, left.getThrottle(), 1e-9);
+    assertEquals(-1.0, right.getThrottle(), 1e-9);
 
     // Backward left turn
     drive.arcadeDrive(-0.5, 0.5, true);
-    assertEquals(-0.25, left.getDutyCycle(), 1e-9);
-    assertEquals(0.0, right.getDutyCycle(), 1e-9);
+    assertEquals(-0.25, left.getThrottle(), 1e-9);
+    assertEquals(0.0, right.getThrottle(), 1e-9);
 
     // Backward right turn
     drive.arcadeDrive(-0.5, -0.5, true);
-    assertEquals(0.0, left.getDutyCycle(), 1e-9);
-    assertEquals(-0.25, right.getDutyCycle(), 1e-9);
+    assertEquals(0.0, left.getThrottle(), 1e-9);
+    assertEquals(-0.25, right.getThrottle(), 1e-9);
   }
 
   @Test
   void testCurvatureDrive() {
     var left = new MockPWMMotorController();
     var right = new MockPWMMotorController();
-    var drive = new DifferentialDrive(left::setDutyCycle, right::setDutyCycle);
+    var drive = new DifferentialDrive(left::setThrottle, right::setThrottle);
     drive.setDeadband(0.0);
 
     // Forward
     drive.curvatureDrive(1.0, 0.0, false);
-    assertEquals(1.0, left.getDutyCycle(), 1e-9);
-    assertEquals(1.0, right.getDutyCycle(), 1e-9);
+    assertEquals(1.0, left.getThrottle(), 1e-9);
+    assertEquals(1.0, right.getThrottle(), 1e-9);
 
     // Forward left turn
     drive.curvatureDrive(0.5, 0.5, false);
-    assertEquals(0.25, left.getDutyCycle(), 1e-9);
-    assertEquals(0.75, right.getDutyCycle(), 1e-9);
+    assertEquals(0.25, left.getThrottle(), 1e-9);
+    assertEquals(0.75, right.getThrottle(), 1e-9);
 
     // Forward right turn
     drive.curvatureDrive(0.5, -0.5, false);
-    assertEquals(0.75, left.getDutyCycle(), 1e-9);
-    assertEquals(0.25, right.getDutyCycle(), 1e-9);
+    assertEquals(0.75, left.getThrottle(), 1e-9);
+    assertEquals(0.25, right.getThrottle(), 1e-9);
 
     // Backward
     drive.curvatureDrive(-1.0, 0.0, false);
-    assertEquals(-1.0, left.getDutyCycle(), 1e-9);
-    assertEquals(-1.0, right.getDutyCycle(), 1e-9);
+    assertEquals(-1.0, left.getThrottle(), 1e-9);
+    assertEquals(-1.0, right.getThrottle(), 1e-9);
 
     // Backward left turn
     drive.curvatureDrive(-0.5, 0.5, false);
-    assertEquals(-0.75, left.getDutyCycle(), 1e-9);
-    assertEquals(-0.25, right.getDutyCycle(), 1e-9);
+    assertEquals(-0.75, left.getThrottle(), 1e-9);
+    assertEquals(-0.25, right.getThrottle(), 1e-9);
 
     // Backward right turn
     drive.curvatureDrive(-0.5, -0.5, false);
-    assertEquals(-0.25, left.getDutyCycle(), 1e-9);
-    assertEquals(-0.75, right.getDutyCycle(), 1e-9);
+    assertEquals(-0.25, left.getThrottle(), 1e-9);
+    assertEquals(-0.75, right.getThrottle(), 1e-9);
   }
 
   @Test
   void testCurvatureDriveTurnInPlace() {
     var left = new MockPWMMotorController();
     var right = new MockPWMMotorController();
-    var drive = new DifferentialDrive(left::setDutyCycle, right::setDutyCycle);
+    var drive = new DifferentialDrive(left::setThrottle, right::setThrottle);
     drive.setDeadband(0.0);
 
     // Forward
     drive.curvatureDrive(1.0, 0.0, true);
-    assertEquals(1.0, left.getDutyCycle(), 1e-9);
-    assertEquals(1.0, right.getDutyCycle(), 1e-9);
+    assertEquals(1.0, left.getThrottle(), 1e-9);
+    assertEquals(1.0, right.getThrottle(), 1e-9);
 
     // Forward left turn
     drive.curvatureDrive(0.5, 0.5, true);
-    assertEquals(0.0, left.getDutyCycle(), 1e-9);
-    assertEquals(1.0, right.getDutyCycle(), 1e-9);
+    assertEquals(0.0, left.getThrottle(), 1e-9);
+    assertEquals(1.0, right.getThrottle(), 1e-9);
 
     // Forward right turn
     drive.curvatureDrive(0.5, -0.5, true);
-    assertEquals(1.0, left.getDutyCycle(), 1e-9);
-    assertEquals(0.0, right.getDutyCycle(), 1e-9);
+    assertEquals(1.0, left.getThrottle(), 1e-9);
+    assertEquals(0.0, right.getThrottle(), 1e-9);
 
     // Backward
     drive.curvatureDrive(-1.0, 0.0, true);
-    assertEquals(-1.0, left.getDutyCycle(), 1e-9);
-    assertEquals(-1.0, right.getDutyCycle(), 1e-9);
+    assertEquals(-1.0, left.getThrottle(), 1e-9);
+    assertEquals(-1.0, right.getThrottle(), 1e-9);
 
     // Backward left turn
     drive.curvatureDrive(-0.5, 0.5, true);
-    assertEquals(-1.0, left.getDutyCycle(), 1e-9);
-    assertEquals(0.0, right.getDutyCycle(), 1e-9);
+    assertEquals(-1.0, left.getThrottle(), 1e-9);
+    assertEquals(0.0, right.getThrottle(), 1e-9);
 
     // Backward right turn
     drive.curvatureDrive(-0.5, -0.5, true);
-    assertEquals(0.0, left.getDutyCycle(), 1e-9);
-    assertEquals(-1.0, right.getDutyCycle(), 1e-9);
+    assertEquals(0.0, left.getThrottle(), 1e-9);
+    assertEquals(-1.0, right.getThrottle(), 1e-9);
   }
 
   @Test
   void testTankDrive() {
     var left = new MockPWMMotorController();
     var right = new MockPWMMotorController();
-    var drive = new DifferentialDrive(left::setDutyCycle, right::setDutyCycle);
+    var drive = new DifferentialDrive(left::setThrottle, right::setThrottle);
     drive.setDeadband(0.0);
 
     // Forward
     drive.tankDrive(1.0, 1.0, false);
-    assertEquals(1.0, left.getDutyCycle(), 1e-9);
-    assertEquals(1.0, right.getDutyCycle(), 1e-9);
+    assertEquals(1.0, left.getThrottle(), 1e-9);
+    assertEquals(1.0, right.getThrottle(), 1e-9);
 
     // Forward left turn
     drive.tankDrive(0.5, 1.0, false);
-    assertEquals(0.5, left.getDutyCycle(), 1e-9);
-    assertEquals(1.0, right.getDutyCycle(), 1e-9);
+    assertEquals(0.5, left.getThrottle(), 1e-9);
+    assertEquals(1.0, right.getThrottle(), 1e-9);
 
     // Forward right turn
     drive.tankDrive(1.0, 0.5, false);
-    assertEquals(1.0, left.getDutyCycle(), 1e-9);
-    assertEquals(0.5, right.getDutyCycle(), 1e-9);
+    assertEquals(1.0, left.getThrottle(), 1e-9);
+    assertEquals(0.5, right.getThrottle(), 1e-9);
 
     // Backward
     drive.tankDrive(-1.0, -1.0, false);
-    assertEquals(-1.0, left.getDutyCycle(), 1e-9);
-    assertEquals(-1.0, right.getDutyCycle(), 1e-9);
+    assertEquals(-1.0, left.getThrottle(), 1e-9);
+    assertEquals(-1.0, right.getThrottle(), 1e-9);
 
     // Backward left turn
     drive.tankDrive(-0.5, -1.0, false);
-    assertEquals(-0.5, left.getDutyCycle(), 1e-9);
-    assertEquals(-1.0, right.getDutyCycle(), 1e-9);
+    assertEquals(-0.5, left.getThrottle(), 1e-9);
+    assertEquals(-1.0, right.getThrottle(), 1e-9);
 
     // Backward right turn
     drive.tankDrive(-0.5, 1.0, false);
-    assertEquals(-0.5, left.getDutyCycle(), 1e-9);
-    assertEquals(1.0, right.getDutyCycle(), 1e-9);
+    assertEquals(-0.5, left.getThrottle(), 1e-9);
+    assertEquals(1.0, right.getThrottle(), 1e-9);
   }
 
   @Test
   void testTankDriveSquared() {
     var left = new MockPWMMotorController();
     var right = new MockPWMMotorController();
-    var drive = new DifferentialDrive(left::setDutyCycle, right::setDutyCycle);
+    var drive = new DifferentialDrive(left::setThrottle, right::setThrottle);
     drive.setDeadband(0.0);
 
     // Forward
     drive.tankDrive(1.0, 1.0, true);
-    assertEquals(1.0, left.getDutyCycle(), 1e-9);
-    assertEquals(1.0, right.getDutyCycle(), 1e-9);
+    assertEquals(1.0, left.getThrottle(), 1e-9);
+    assertEquals(1.0, right.getThrottle(), 1e-9);
 
     // Forward left turn
     drive.tankDrive(0.5, 1.0, true);
-    assertEquals(0.25, left.getDutyCycle(), 1e-9);
-    assertEquals(1.0, right.getDutyCycle(), 1e-9);
+    assertEquals(0.25, left.getThrottle(), 1e-9);
+    assertEquals(1.0, right.getThrottle(), 1e-9);
 
     // Forward right turn
     drive.tankDrive(1.0, 0.5, true);
-    assertEquals(1.0, left.getDutyCycle(), 1e-9);
-    assertEquals(0.25, right.getDutyCycle(), 1e-9);
+    assertEquals(1.0, left.getThrottle(), 1e-9);
+    assertEquals(0.25, right.getThrottle(), 1e-9);
 
     // Backward
     drive.tankDrive(-1.0, -1.0, true);
-    assertEquals(-1.0, left.getDutyCycle(), 1e-9);
-    assertEquals(-1.0, right.getDutyCycle(), 1e-9);
+    assertEquals(-1.0, left.getThrottle(), 1e-9);
+    assertEquals(-1.0, right.getThrottle(), 1e-9);
 
     // Backward left turn
     drive.tankDrive(-0.5, -1.0, true);
-    assertEquals(-0.25, left.getDutyCycle(), 1e-9);
-    assertEquals(-1.0, right.getDutyCycle(), 1e-9);
+    assertEquals(-0.25, left.getThrottle(), 1e-9);
+    assertEquals(-1.0, right.getThrottle(), 1e-9);
 
     // Backward right turn
     drive.tankDrive(-1.0, -0.5, true);
-    assertEquals(-1.0, left.getDutyCycle(), 1e-9);
-    assertEquals(-0.25, right.getDutyCycle(), 1e-9);
+    assertEquals(-1.0, left.getThrottle(), 1e-9);
+    assertEquals(-0.25, right.getThrottle(), 1e-9);
   }
 }
diff --git a/wpilibj/src/test/java/org/wpilib/drive/MecanumDriveTest.java b/wpilibj/src/test/java/org/wpilib/drive/MecanumDriveTest.java
index 94c7f55a89..556644ff25 100644
--- a/wpilibj/src/test/java/org/wpilib/drive/MecanumDriveTest.java
+++ b/wpilibj/src/test/java/org/wpilib/drive/MecanumDriveTest.java
@@ -95,43 +95,43 @@ class MecanumDriveTest {
     var fr = new MockPWMMotorController();
     var rr = new MockPWMMotorController();
     var drive =
-        new MecanumDrive(fl::setDutyCycle, rl::setDutyCycle, fr::setDutyCycle, rr::setDutyCycle);
+        new MecanumDrive(fl::setThrottle, rl::setThrottle, fr::setThrottle, rr::setThrottle);
     drive.setDeadband(0.0);
 
     // Forward
     drive.driveCartesian(1.0, 0.0, 0.0);
-    assertEquals(1.0, fl.getDutyCycle(), 1e-9);
-    assertEquals(1.0, fr.getDutyCycle(), 1e-9);
-    assertEquals(1.0, rl.getDutyCycle(), 1e-9);
-    assertEquals(1.0, rr.getDutyCycle(), 1e-9);
+    assertEquals(1.0, fl.getThrottle(), 1e-9);
+    assertEquals(1.0, fr.getThrottle(), 1e-9);
+    assertEquals(1.0, rl.getThrottle(), 1e-9);
+    assertEquals(1.0, rr.getThrottle(), 1e-9);
 
     // Left
     drive.driveCartesian(0.0, -1.0, 0.0);
-    assertEquals(-1.0, fl.getDutyCycle(), 1e-9);
-    assertEquals(1.0, fr.getDutyCycle(), 1e-9);
-    assertEquals(1.0, rl.getDutyCycle(), 1e-9);
-    assertEquals(-1.0, rr.getDutyCycle(), 1e-9);
+    assertEquals(-1.0, fl.getThrottle(), 1e-9);
+    assertEquals(1.0, fr.getThrottle(), 1e-9);
+    assertEquals(1.0, rl.getThrottle(), 1e-9);
+    assertEquals(-1.0, rr.getThrottle(), 1e-9);
 
     // Right
     drive.driveCartesian(0.0, 1.0, 0.0);
-    assertEquals(1.0, fl.getDutyCycle(), 1e-9);
-    assertEquals(-1.0, fr.getDutyCycle(), 1e-9);
-    assertEquals(-1.0, rl.getDutyCycle(), 1e-9);
-    assertEquals(1.0, rr.getDutyCycle(), 1e-9);
+    assertEquals(1.0, fl.getThrottle(), 1e-9);
+    assertEquals(-1.0, fr.getThrottle(), 1e-9);
+    assertEquals(-1.0, rl.getThrottle(), 1e-9);
+    assertEquals(1.0, rr.getThrottle(), 1e-9);
 
     // Rotate CCW
     drive.driveCartesian(0.0, 0.0, -1.0);
-    assertEquals(-1.0, fl.getDutyCycle(), 1e-9);
-    assertEquals(1.0, fr.getDutyCycle(), 1e-9);
-    assertEquals(-1.0, rl.getDutyCycle(), 1e-9);
-    assertEquals(1.0, rr.getDutyCycle(), 1e-9);
+    assertEquals(-1.0, fl.getThrottle(), 1e-9);
+    assertEquals(1.0, fr.getThrottle(), 1e-9);
+    assertEquals(-1.0, rl.getThrottle(), 1e-9);
+    assertEquals(1.0, rr.getThrottle(), 1e-9);
 
     // Rotate CW
     drive.driveCartesian(0.0, 0.0, 1.0);
-    assertEquals(1.0, fl.getDutyCycle(), 1e-9);
-    assertEquals(-1.0, fr.getDutyCycle(), 1e-9);
-    assertEquals(1.0, rl.getDutyCycle(), 1e-9);
-    assertEquals(-1.0, rr.getDutyCycle(), 1e-9);
+    assertEquals(1.0, fl.getThrottle(), 1e-9);
+    assertEquals(-1.0, fr.getThrottle(), 1e-9);
+    assertEquals(1.0, rl.getThrottle(), 1e-9);
+    assertEquals(-1.0, rr.getThrottle(), 1e-9);
   }
 
   @Test
@@ -141,43 +141,43 @@ class MecanumDriveTest {
     var fr = new MockPWMMotorController();
     var rr = new MockPWMMotorController();
     var drive =
-        new MecanumDrive(fl::setDutyCycle, rl::setDutyCycle, fr::setDutyCycle, rr::setDutyCycle);
+        new MecanumDrive(fl::setThrottle, rl::setThrottle, fr::setThrottle, rr::setThrottle);
     drive.setDeadband(0.0);
 
     // Forward in global frame; left in robot frame
     drive.driveCartesian(1.0, 0.0, 0.0, Rotation2d.kCCW_Pi_2);
-    assertEquals(-1.0, fl.getDutyCycle(), 1e-9);
-    assertEquals(1.0, fr.getDutyCycle(), 1e-9);
-    assertEquals(1.0, rl.getDutyCycle(), 1e-9);
-    assertEquals(-1.0, rr.getDutyCycle(), 1e-9);
+    assertEquals(-1.0, fl.getThrottle(), 1e-9);
+    assertEquals(1.0, fr.getThrottle(), 1e-9);
+    assertEquals(1.0, rl.getThrottle(), 1e-9);
+    assertEquals(-1.0, rr.getThrottle(), 1e-9);
 
     // Left in global frame; backward in robot frame
     drive.driveCartesian(0.0, -1.0, 0.0, Rotation2d.kCCW_Pi_2);
-    assertEquals(-1.0, fl.getDutyCycle(), 1e-9);
-    assertEquals(-1.0, fr.getDutyCycle(), 1e-9);
-    assertEquals(-1.0, rl.getDutyCycle(), 1e-9);
-    assertEquals(-1.0, rr.getDutyCycle(), 1e-9);
+    assertEquals(-1.0, fl.getThrottle(), 1e-9);
+    assertEquals(-1.0, fr.getThrottle(), 1e-9);
+    assertEquals(-1.0, rl.getThrottle(), 1e-9);
+    assertEquals(-1.0, rr.getThrottle(), 1e-9);
 
     // Right in global frame; forward in robot frame
     drive.driveCartesian(0.0, 1.0, 0.0, Rotation2d.kCCW_Pi_2);
-    assertEquals(1.0, fl.getDutyCycle(), 1e-9);
-    assertEquals(1.0, fr.getDutyCycle(), 1e-9);
-    assertEquals(1.0, rl.getDutyCycle(), 1e-9);
-    assertEquals(1.0, rr.getDutyCycle(), 1e-9);
+    assertEquals(1.0, fl.getThrottle(), 1e-9);
+    assertEquals(1.0, fr.getThrottle(), 1e-9);
+    assertEquals(1.0, rl.getThrottle(), 1e-9);
+    assertEquals(1.0, rr.getThrottle(), 1e-9);
 
     // Rotate CCW
     drive.driveCartesian(0.0, 0.0, -1.0, Rotation2d.kCCW_Pi_2);
-    assertEquals(-1.0, fl.getDutyCycle(), 1e-9);
-    assertEquals(1.0, fr.getDutyCycle(), 1e-9);
-    assertEquals(-1.0, rl.getDutyCycle(), 1e-9);
-    assertEquals(1.0, rr.getDutyCycle(), 1e-9);
+    assertEquals(-1.0, fl.getThrottle(), 1e-9);
+    assertEquals(1.0, fr.getThrottle(), 1e-9);
+    assertEquals(-1.0, rl.getThrottle(), 1e-9);
+    assertEquals(1.0, rr.getThrottle(), 1e-9);
 
     // Rotate CW
     drive.driveCartesian(0.0, 0.0, 1.0, Rotation2d.kCCW_Pi_2);
-    assertEquals(1.0, fl.getDutyCycle(), 1e-9);
-    assertEquals(-1.0, fr.getDutyCycle(), 1e-9);
-    assertEquals(1.0, rl.getDutyCycle(), 1e-9);
-    assertEquals(-1.0, rr.getDutyCycle(), 1e-9);
+    assertEquals(1.0, fl.getThrottle(), 1e-9);
+    assertEquals(-1.0, fr.getThrottle(), 1e-9);
+    assertEquals(1.0, rl.getThrottle(), 1e-9);
+    assertEquals(-1.0, rr.getThrottle(), 1e-9);
   }
 
   @Test
@@ -187,42 +187,42 @@ class MecanumDriveTest {
     var fr = new MockPWMMotorController();
     var rr = new MockPWMMotorController();
     var drive =
-        new MecanumDrive(fl::setDutyCycle, rl::setDutyCycle, fr::setDutyCycle, rr::setDutyCycle);
+        new MecanumDrive(fl::setThrottle, rl::setThrottle, fr::setThrottle, rr::setThrottle);
     drive.setDeadband(0.0);
 
     // Forward
     drive.drivePolar(1.0, Rotation2d.kZero, 0.0);
-    assertEquals(1.0, fl.getDutyCycle(), 1e-9);
-    assertEquals(1.0, fr.getDutyCycle(), 1e-9);
-    assertEquals(1.0, rl.getDutyCycle(), 1e-9);
-    assertEquals(1.0, rr.getDutyCycle(), 1e-9);
+    assertEquals(1.0, fl.getThrottle(), 1e-9);
+    assertEquals(1.0, fr.getThrottle(), 1e-9);
+    assertEquals(1.0, rl.getThrottle(), 1e-9);
+    assertEquals(1.0, rr.getThrottle(), 1e-9);
 
     // Left
     drive.drivePolar(1.0, Rotation2d.kCW_Pi_2, 0.0);
-    assertEquals(-1.0, fl.getDutyCycle(), 1e-9);
-    assertEquals(1.0, fr.getDutyCycle(), 1e-9);
-    assertEquals(1.0, rl.getDutyCycle(), 1e-9);
-    assertEquals(-1.0, rr.getDutyCycle(), 1e-9);
+    assertEquals(-1.0, fl.getThrottle(), 1e-9);
+    assertEquals(1.0, fr.getThrottle(), 1e-9);
+    assertEquals(1.0, rl.getThrottle(), 1e-9);
+    assertEquals(-1.0, rr.getThrottle(), 1e-9);
 
     // Right
     drive.drivePolar(1.0, Rotation2d.kCCW_Pi_2, 0.0);
-    assertEquals(1.0, fl.getDutyCycle(), 1e-9);
-    assertEquals(-1.0, fr.getDutyCycle(), 1e-9);
-    assertEquals(-1.0, rl.getDutyCycle(), 1e-9);
-    assertEquals(1.0, rr.getDutyCycle(), 1e-9);
+    assertEquals(1.0, fl.getThrottle(), 1e-9);
+    assertEquals(-1.0, fr.getThrottle(), 1e-9);
+    assertEquals(-1.0, rl.getThrottle(), 1e-9);
+    assertEquals(1.0, rr.getThrottle(), 1e-9);
 
     // Rotate CCW
     drive.drivePolar(0.0, Rotation2d.kZero, -1.0);
-    assertEquals(-1.0, fl.getDutyCycle(), 1e-9);
-    assertEquals(1.0, fr.getDutyCycle(), 1e-9);
-    assertEquals(-1.0, rl.getDutyCycle(), 1e-9);
-    assertEquals(1.0, rr.getDutyCycle(), 1e-9);
+    assertEquals(-1.0, fl.getThrottle(), 1e-9);
+    assertEquals(1.0, fr.getThrottle(), 1e-9);
+    assertEquals(-1.0, rl.getThrottle(), 1e-9);
+    assertEquals(1.0, rr.getThrottle(), 1e-9);
 
     // Rotate CW
     drive.drivePolar(0.0, Rotation2d.kZero, 1.0);
-    assertEquals(1.0, fl.getDutyCycle(), 1e-9);
-    assertEquals(-1.0, fr.getDutyCycle(), 1e-9);
-    assertEquals(1.0, rl.getDutyCycle(), 1e-9);
-    assertEquals(-1.0, rr.getDutyCycle(), 1e-9);
+    assertEquals(1.0, fl.getThrottle(), 1e-9);
+    assertEquals(-1.0, fr.getThrottle(), 1e-9);
+    assertEquals(1.0, rl.getThrottle(), 1e-9);
+    assertEquals(-1.0, rr.getThrottle(), 1e-9);
   }
 }
diff --git a/wpilibj/src/test/java/org/wpilib/hardware/motor/MockMotorController.java b/wpilibj/src/test/java/org/wpilib/hardware/motor/MockMotorController.java
index bf652fda50..fe630418ac 100644
--- a/wpilibj/src/test/java/org/wpilib/hardware/motor/MockMotorController.java
+++ b/wpilibj/src/test/java/org/wpilib/hardware/motor/MockMotorController.java
@@ -6,17 +6,17 @@ package org.wpilib.hardware.motor;
 
 @SuppressWarnings("removal")
 public class MockMotorController implements MotorController {
-  private double m_dutyCycle;
+  private double m_throttle;
   private boolean m_isInverted;
 
   @Override
-  public void setDutyCycle(double dutyCycle) {
-    m_dutyCycle = m_isInverted ? -dutyCycle : dutyCycle;
+  public void setThrottle(double throttle) {
+    m_throttle = m_isInverted ? -throttle : throttle;
   }
 
   @Override
-  public double getDutyCycle() {
-    return m_dutyCycle;
+  public double getThrottle() {
+    return m_throttle;
   }
 
   @Override
@@ -31,6 +31,6 @@ public class MockMotorController implements MotorController {
 
   @Override
   public void disable() {
-    m_dutyCycle = 0;
+    m_throttle = 0;
   }
 }
diff --git a/wpilibj/src/test/java/org/wpilib/hardware/motor/MockPWMMotorController.java b/wpilibj/src/test/java/org/wpilib/hardware/motor/MockPWMMotorController.java
index b5262005bb..7fea4ea8bd 100644
--- a/wpilibj/src/test/java/org/wpilib/hardware/motor/MockPWMMotorController.java
+++ b/wpilibj/src/test/java/org/wpilib/hardware/motor/MockPWMMotorController.java
@@ -5,15 +5,15 @@
 package org.wpilib.hardware.motor;
 
 public class MockPWMMotorController {
-  private double m_dutyCycle;
+  private double m_throttle;
   private boolean m_isInverted;
 
-  public void setDutyCycle(double dutyCycle) {
-    m_dutyCycle = m_isInverted ? -dutyCycle : dutyCycle;
+  public void setThrottle(double throttle) {
+    m_throttle = m_isInverted ? -throttle : throttle;
   }
 
-  public double getDutyCycle() {
-    return m_dutyCycle;
+  public double getThrottle() {
+    return m_throttle;
   }
 
   public void setInverted(boolean isInverted) {
@@ -25,7 +25,7 @@ public class MockPWMMotorController {
   }
 
   public void disable() {
-    m_dutyCycle = 0;
+    m_throttle = 0;
   }
 
   public void stopMotor() {
diff --git a/wpilibj/src/test/java/org/wpilib/simulation/DCMotorSimTest.java b/wpilibj/src/test/java/org/wpilib/simulation/DCMotorSimTest.java
index 4c18e83474..f71a2a1120 100644
--- a/wpilibj/src/test/java/org/wpilib/simulation/DCMotorSimTest.java
+++ b/wpilibj/src/test/java/org/wpilib/simulation/DCMotorSimTest.java
@@ -38,7 +38,7 @@ class DCMotorSimTest {
         // ------ SimulationPeriodic() happens after user code -------
         RoboRioSim.setVInVoltage(
             BatterySim.calculateDefaultBatteryLoadedVoltage(sim.getCurrentDraw()));
-        sim.setInputVoltage(motor.getDutyCycle() * RobotController.getBatteryVoltage());
+        sim.setInputVoltage(motor.getThrottle() * RobotController.getBatteryVoltage());
         sim.update(0.020);
         encoderSim.setRate(sim.getAngularVelocity());
       }
@@ -51,7 +51,7 @@ class DCMotorSimTest {
         // ------ SimulationPeriodic() happens after user code -------
         RoboRioSim.setVInVoltage(
             BatterySim.calculateDefaultBatteryLoadedVoltage(sim.getCurrentDraw()));
-        sim.setInputVoltage(motor.getDutyCycle() * RobotController.getBatteryVoltage());
+        sim.setInputVoltage(motor.getThrottle() * RobotController.getBatteryVoltage());
         sim.update(0.020);
         encoderSim.setRate(sim.getAngularVelocity());
       }
@@ -76,12 +76,12 @@ class DCMotorSimTest {
       encoderSim.resetData();
 
       for (int i = 0; i < 140; i++) {
-        motor.setDutyCycle(controller.calculate(encoder.getDistance(), 750));
+        motor.setThrottle(controller.calculate(encoder.getDistance(), 750));
 
         // ------ SimulationPeriodic() happens after user code -------
         RoboRioSim.setVInVoltage(
             BatterySim.calculateDefaultBatteryLoadedVoltage(sim.getCurrentDraw()));
-        sim.setInputVoltage(motor.getDutyCycle() * RobotController.getBatteryVoltage());
+        sim.setInputVoltage(motor.getThrottle() * RobotController.getBatteryVoltage());
         sim.update(0.020);
         encoderSim.setDistance(sim.getAngularPosition());
         encoderSim.setRate(sim.getAngularVelocity());
diff --git a/wpilibj/src/test/java/org/wpilib/simulation/ElevatorSimTest.java b/wpilibj/src/test/java/org/wpilib/simulation/ElevatorSimTest.java
index b06e3ba4d2..7b079d753f 100644
--- a/wpilibj/src/test/java/org/wpilib/simulation/ElevatorSimTest.java
+++ b/wpilibj/src/test/java/org/wpilib/simulation/ElevatorSimTest.java
@@ -48,11 +48,11 @@ class ElevatorSimTest {
         double nextVoltage = controller.calculate(encoderSim.getDistance());
 
         double currentBatteryVoltage = RobotController.getBatteryVoltage();
-        motor.setDutyCycle(nextVoltage / currentBatteryVoltage);
+        motor.setThrottle(nextVoltage / currentBatteryVoltage);
 
         // ------ SimulationPeriodic() happens after user code -------
 
-        var u = VecBuilder.fill(motor.getDutyCycle() * currentBatteryVoltage);
+        var u = VecBuilder.fill(motor.getThrottle() * currentBatteryVoltage);
         sim.setInput(u);
         sim.update(0.020);
         var y = sim.getOutput();
diff --git a/wpilibj/src/test/java/org/wpilib/simulation/PWMMotorControllerSimTest.java b/wpilibj/src/test/java/org/wpilib/simulation/PWMMotorControllerSimTest.java
index 14a852df25..5d4f998f48 100644
--- a/wpilibj/src/test/java/org/wpilib/simulation/PWMMotorControllerSimTest.java
+++ b/wpilibj/src/test/java/org/wpilib/simulation/PWMMotorControllerSimTest.java
@@ -18,14 +18,14 @@ class PWMMotorControllerSimTest {
     try (Spark spark = new Spark(0)) {
       PWMMotorControllerSim sim = new PWMMotorControllerSim(spark);
 
-      spark.setDutyCycle(0);
-      assertEquals(0, sim.getDutyCycle());
+      spark.setThrottle(0);
+      assertEquals(0, sim.getThrottle());
 
-      spark.setDutyCycle(0.354);
-      assertEquals(0.354, sim.getDutyCycle());
+      spark.setThrottle(0.354);
+      assertEquals(0.354, sim.getThrottle());
 
-      spark.setDutyCycle(-0.785);
-      assertEquals(-0.785, sim.getDutyCycle());
+      spark.setThrottle(-0.785);
+      assertEquals(-0.785, sim.getThrottle());
     }
   }
 }
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/arcadedrivegamepad/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/arcadedrivegamepad/Robot.java
index d3f440d46f..a7fe831b9c 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/arcadedrivegamepad/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/arcadedrivegamepad/Robot.java
@@ -18,7 +18,7 @@ public class Robot extends TimedRobot {
   private final PWMSparkMax m_leftMotor = new PWMSparkMax(0);
   private final PWMSparkMax m_rightMotor = new PWMSparkMax(1);
   private final DifferentialDrive m_robotDrive =
-      new DifferentialDrive(m_leftMotor::setDutyCycle, m_rightMotor::setDutyCycle);
+      new DifferentialDrive(m_leftMotor::setThrottle, m_rightMotor::setThrottle);
   private final Gamepad m_driverController = new Gamepad(0);
 
   /** Called once at the beginning of the robot program. */
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/armsimulation/subsystems/Arm.java b/wpilibjExamples/src/main/java/org/wpilib/examples/armsimulation/subsystems/Arm.java
index 8306277e9e..fda913c301 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/armsimulation/subsystems/Arm.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/armsimulation/subsystems/Arm.java
@@ -86,7 +86,7 @@ public class Arm implements AutoCloseable {
   public void simulationPeriodic() {
     // In this method, we update our simulation of what our arm is doing
     // First, we set our "inputs" (voltages)
-    m_armSim.setInput(m_motor.getDutyCycle() * RobotController.getBatteryVoltage());
+    m_armSim.setInput(m_motor.getThrottle() * RobotController.getBatteryVoltage());
 
     // Next, we update it. The standard loop time is 20ms.
     m_armSim.update(0.020);
@@ -120,7 +120,7 @@ public class Arm implements AutoCloseable {
   }
 
   public void stop() {
-    m_motor.setDutyCycle(0.0);
+    m_motor.setThrottle(0.0);
   }
 
   @Override
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/Drivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/Drivetrain.java
index 3c875525d2..6aa067264d 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/Drivetrain.java
@@ -248,8 +248,8 @@ public class Drivetrain {
     // simulation, and write the simulated positions and velocities to our
     // simulated encoder and gyro.
     m_drivetrainSimulator.setInputs(
-        m_leftLeader.getDutyCycle() * RobotController.getInputVoltage(),
-        m_rightLeader.getDutyCycle() * RobotController.getInputVoltage());
+        m_leftLeader.getThrottle() * RobotController.getInputVoltage(),
+        m_rightLeader.getThrottle() * RobotController.getInputVoltage());
     m_drivetrainSimulator.update(0.02);
 
     m_leftEncoderSim.setDistance(m_drivetrainSimulator.getLeftPosition());
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/ExampleSmartMotorController.java b/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/ExampleSmartMotorController.java
index ee1b9217e1..9f26abc84d 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/ExampleSmartMotorController.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/ExampleSmartMotorController.java
@@ -72,11 +72,11 @@ public class ExampleSmartMotorController {
   /** Resets the encoder to zero distance. */
   public void resetEncoder() {}
 
-  public void setDutyCycle(double dutyCycle) {
-    m_value = dutyCycle;
+  public void setThrottle(double throttle) {
+    m_value = throttle;
   }
 
-  public double getDutyCycle() {
+  public double getThrottle() {
     return m_value;
   }
 
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java
index 72a23456a2..7604dfd0cd 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java
@@ -37,7 +37,7 @@ public class DriveSubsystem extends SubsystemBase {
 
   // The robot's drive
   private final DifferentialDrive m_drive =
-      new DifferentialDrive(m_leftLeader::setDutyCycle, m_rightLeader::setDutyCycle);
+      new DifferentialDrive(m_leftLeader::setThrottle, m_rightLeader::setThrottle);
 
   // The trapezoid profile
   private final TrapezoidProfile m_profile =
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorexponentialprofile/ExampleSmartMotorController.java b/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorexponentialprofile/ExampleSmartMotorController.java
index c87b5ae953..fa564ea88d 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorexponentialprofile/ExampleSmartMotorController.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorexponentialprofile/ExampleSmartMotorController.java
@@ -70,9 +70,9 @@ public class ExampleSmartMotorController {
   /** Resets the encoder to zero distance. */
   public void resetEncoder() {}
 
-  public void setDutyCycle(double dutyCycle) {}
+  public void setThrottle(double throttle) {}
 
-  public double getDutyCycle() {
+  public double getThrottle() {
     return 0;
   }
 
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorexponentialsimulation/subsystems/Elevator.java b/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorexponentialsimulation/subsystems/Elevator.java
index 13609f099f..33dabafae8 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorexponentialsimulation/subsystems/Elevator.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorexponentialsimulation/subsystems/Elevator.java
@@ -85,7 +85,7 @@ public class Elevator implements AutoCloseable {
   public void simulationPeriodic() {
     // In this method, we update our simulation of what our elevator is doing
     // First, we set our "inputs" (voltages)
-    m_elevatorSim.setInput(m_motorSim.getDutyCycle() * RobotController.getBatteryVoltage());
+    m_elevatorSim.setInput(m_motorSim.getThrottle() * RobotController.getBatteryVoltage());
 
     // Next, we update it. The standard loop time is 20ms.
     m_elevatorSim.update(0.020);
@@ -118,7 +118,7 @@ public class Elevator implements AutoCloseable {
 
   /** Stop the control loop and motor output. */
   public void stop() {
-    m_motor.setDutyCycle(0.0);
+    m_motor.setThrottle(0.0);
   }
 
   /** Reset Exponential profile to begin from current position on enable. */
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorsimulation/subsystems/Elevator.java b/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorsimulation/subsystems/Elevator.java
index 7194ee62d9..dc2cd935db 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorsimulation/subsystems/Elevator.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorsimulation/subsystems/Elevator.java
@@ -78,7 +78,7 @@ public class Elevator implements AutoCloseable {
   public void simulationPeriodic() {
     // In this method, we update our simulation of what our elevator is doing
     // First, we set our "inputs" (voltages)
-    m_elevatorSim.setInput(m_motorSim.getDutyCycle() * RobotController.getBatteryVoltage());
+    m_elevatorSim.setInput(m_motorSim.getThrottle() * RobotController.getBatteryVoltage());
 
     // Next, we update it. The standard loop time is 20ms.
     m_elevatorSim.update(0.020);
@@ -107,7 +107,7 @@ public class Elevator implements AutoCloseable {
   /** Stop the control loop and motor output. */
   public void stop() {
     m_controller.setGoal(0.0);
-    m_motor.setDutyCycle(0.0);
+    m_motor.setThrottle(0.0);
   }
 
   /** Update telemetry, including the mechanism visualization. */
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/elevatortrapezoidprofile/ExampleSmartMotorController.java b/wpilibjExamples/src/main/java/org/wpilib/examples/elevatortrapezoidprofile/ExampleSmartMotorController.java
index 59294f4391..9eb8acd5f2 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/elevatortrapezoidprofile/ExampleSmartMotorController.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/elevatortrapezoidprofile/ExampleSmartMotorController.java
@@ -70,9 +70,9 @@ public class ExampleSmartMotorController {
   /** Resets the encoder to zero distance. */
   public void resetEncoder() {}
 
-  public void setDutyCycle(double dutyCycle) {}
+  public void setThrottle(double throttle) {}
 
-  public double getDutyCycle() {
+  public double getThrottle() {
     return 0;
   }
 
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/gettingstarted/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/gettingstarted/Robot.java
index 6f66aeba96..52ad3f2935 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/gettingstarted/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/gettingstarted/Robot.java
@@ -20,7 +20,7 @@ public class Robot extends TimedRobot {
   private final PWMSparkMax m_leftDrive = new PWMSparkMax(0);
   private final PWMSparkMax m_rightDrive = new PWMSparkMax(1);
   private final DifferentialDrive m_robotDrive =
-      new DifferentialDrive(m_leftDrive::setDutyCycle, m_rightDrive::setDutyCycle);
+      new DifferentialDrive(m_leftDrive::setThrottle, m_rightDrive::setThrottle);
   private final Gamepad m_controller = new Gamepad(0);
   private final Timer m_timer = new Timer();
 
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/gyro/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/gyro/Robot.java
index 141091f907..5dffe8d44d 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/gyro/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/gyro/Robot.java
@@ -29,7 +29,7 @@ public class Robot extends TimedRobot {
   private final PWMSparkMax m_leftDrive = new PWMSparkMax(kLeftMotorPort);
   private final PWMSparkMax m_rightDrive = new PWMSparkMax(kRightMotorPort);
   private final DifferentialDrive m_robotDrive =
-      new DifferentialDrive(m_leftDrive::setDutyCycle, m_rightDrive::setDutyCycle);
+      new DifferentialDrive(m_leftDrive::setThrottle, m_rightDrive::setThrottle);
   private final OnboardIMU m_imu = new OnboardIMU(kIMUMountOrientation);
   private final Joystick m_joystick = new Joystick(kJoystickPort);
 
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/subsystems/DriveSubsystem.java
index a6c4b4faef..e59465c92f 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/subsystems/DriveSubsystem.java
@@ -23,7 +23,7 @@ public class DriveSubsystem extends SubsystemBase {
 
   // The robot's drive
   private final DifferentialDrive m_drive =
-      new DifferentialDrive(m_leftLeader::setDutyCycle, m_rightLeader::setDutyCycle);
+      new DifferentialDrive(m_leftLeader::setThrottle, m_rightLeader::setThrottle);
 
   // The left-side drive encoder
   private final Encoder m_leftEncoder =
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/subsystems/DriveSubsystem.java
index a79e47f2ab..d7f7795ded 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/subsystems/DriveSubsystem.java
@@ -23,7 +23,7 @@ public class DriveSubsystem extends SubsystemBase {
 
   // The robot's drive
   private final DifferentialDrive m_drive =
-      new DifferentialDrive(m_leftLeader::setDutyCycle, m_rightLeader::setDutyCycle);
+      new DifferentialDrive(m_leftLeader::setThrottle, m_rightLeader::setThrottle);
 
   // The left-side drive encoder
   private final Encoder m_leftEncoder =
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdrive/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdrive/Robot.java
index ef5dedd299..d03d9e421a 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdrive/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdrive/Robot.java
@@ -42,10 +42,10 @@ public class Robot extends TimedRobot {
 
     m_robotDrive =
         new MecanumDrive(
-            frontLeft::setDutyCycle,
-            rearLeft::setDutyCycle,
-            frontRight::setDutyCycle,
-            rearRight::setDutyCycle);
+            frontLeft::setThrottle,
+            rearLeft::setThrottle,
+            frontRight::setThrottle,
+            rearRight::setThrottle);
 
     SendableRegistry.addChild(m_robotDrive, frontLeft);
     SendableRegistry.addChild(m_robotDrive, rearLeft);
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/mechanism2d/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/mechanism2d/Robot.java
index d045a9c9eb..ad7197b907 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/mechanism2d/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/mechanism2d/Robot.java
@@ -65,7 +65,7 @@ public class Robot extends TimedRobot {
 
   @Override
   public void teleopPeriodic() {
-    m_elevatorMotor.setDutyCycle(m_joystick.getRawAxis(0));
-    m_wristMotor.setDutyCycle(m_joystick.getRawAxis(1));
+    m_elevatorMotor.setThrottle(m_joystick.getRawAxis(0));
+    m_wristMotor.setThrottle(m_joystick.getRawAxis(1));
   }
 }
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Drive.java b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Drive.java
index 37f0abe202..b6655c8e04 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Drive.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Drive.java
@@ -33,7 +33,7 @@ public class Drive extends SubsystemBase {
   // The robot's drive
   @NotLogged // Would duplicate motor data, there's no point sending it twice
   private final DifferentialDrive m_drive =
-      new DifferentialDrive(m_leftLeader::setDutyCycle, m_rightLeader::setDutyCycle);
+      new DifferentialDrive(m_leftLeader::setThrottle, m_rightLeader::setThrottle);
 
   // The left-side drive encoder
   private final Encoder m_leftEncoder =
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Intake.java b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Intake.java
index 5710e9c0df..6c9dce7bfe 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Intake.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Intake.java
@@ -29,7 +29,7 @@ public class Intake extends SubsystemBase {
   /** Returns a command that deploys the intake, and then runs the intake motor indefinitely. */
   public Command intakeCommand() {
     return runOnce(() -> m_pistons.set(DoubleSolenoid.Value.FORWARD))
-        .andThen(run(() -> m_motor.setDutyCycle(1.0)))
+        .andThen(run(() -> m_motor.setThrottle(1.0)))
         .withName("Intake");
   }
 
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Shooter.java b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Shooter.java
index 47d93afa20..58582d1d17 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Shooter.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Shooter.java
@@ -56,14 +56,14 @@ public class Shooter extends SubsystemBase {
             // Run the shooter flywheel at the desired setpoint using feedforward and feedback
             run(
                 () -> {
-                  m_shooterMotor.setDutyCycle(
+                  m_shooterMotor.setThrottle(
                       m_shooterFeedforward.calculate(setpointRotationsPerSecond)
                           + m_shooterFeedback.calculate(
                               m_shooterEncoder.getRate(), setpointRotationsPerSecond));
                 }),
 
             // Wait until the shooter has reached the setpoint, and then run the feeder
-            waitUntil(m_shooterFeedback::atSetpoint).andThen(() -> m_feederMotor.setDutyCycle(1)))
+            waitUntil(m_shooterFeedback::atSetpoint).andThen(() -> m_feederMotor.setThrottle(1)))
         .withName("Shoot");
   }
 }
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Storage.java b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Storage.java
index 2b2d61c988..17e197f28e 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Storage.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Storage.java
@@ -34,6 +34,6 @@ public class Storage extends SubsystemBase {
 
   /** Returns a command that runs the storage motor indefinitely. */
   public Command runCommand() {
-    return run(() -> m_motor.setDutyCycle(1)).withName("run");
+    return run(() -> m_motor.setThrottle(1)).withName("run");
   }
 }
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/subsystems/Drivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/subsystems/Drivetrain.java
index 48a732b042..26c5940af4 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/subsystems/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/subsystems/Drivetrain.java
@@ -27,7 +27,7 @@ public class Drivetrain extends SubsystemBase {
 
   // Set up the differential drive controller
   private final DifferentialDrive m_diffDrive =
-      new DifferentialDrive(m_leftMotor::setDutyCycle, m_rightMotor::setDutyCycle);
+      new DifferentialDrive(m_leftMotor::setThrottle, m_rightMotor::setThrottle);
 
   // Set up the RomiGyro
   private final RomiGyro m_gyro = new RomiGyro();
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/simpledifferentialdrivesimulation/Drivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/examples/simpledifferentialdrivesimulation/Drivetrain.java
index 53c894295c..f138ba2646 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/simpledifferentialdrivesimulation/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/simpledifferentialdrivesimulation/Drivetrain.java
@@ -136,8 +136,8 @@ public class Drivetrain {
     // simulated encoder and gyro. We negate the right side so that positive
     // voltages make the right side move forward.
     m_drivetrainSimulator.setInputs(
-        m_leftLeader.getDutyCycle() * RobotController.getInputVoltage(),
-        m_rightLeader.getDutyCycle() * RobotController.getInputVoltage());
+        m_leftLeader.getThrottle() * RobotController.getInputVoltage(),
+        m_rightLeader.getThrottle() * RobotController.getInputVoltage());
     m_drivetrainSimulator.update(0.02);
 
     m_leftEncoderSim.setDistance(m_drivetrainSimulator.getLeftPosition());
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/subsystems/Drive.java b/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/subsystems/Drive.java
index 0af3ffa879..58804fc6f7 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/subsystems/Drive.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/subsystems/Drive.java
@@ -27,7 +27,7 @@ public class Drive extends SubsystemBase {
 
   // The robot's drive
   private final DifferentialDrive m_drive =
-      new DifferentialDrive(m_leftMotor::setDutyCycle, m_rightMotor::setDutyCycle);
+      new DifferentialDrive(m_leftMotor::setThrottle, m_rightMotor::setThrottle);
 
   // The left-side drive encoder
   private final Encoder m_leftEncoder =
@@ -61,14 +61,14 @@ public class Drive extends SubsystemBase {
                 // the entire group to be one motor.
                 log.motor("drive-left")
                     .voltage(
-                        Volts.of(m_leftMotor.getDutyCycle() * RobotController.getBatteryVoltage()))
+                        Volts.of(m_leftMotor.getThrottle() * RobotController.getBatteryVoltage()))
                     .linearPosition(Meters.of(m_leftEncoder.getDistance()))
                     .linearVelocity(MetersPerSecond.of(m_leftEncoder.getRate()));
                 // Record a frame for the right motors.  Since these share an encoder, we consider
                 // the entire group to be one motor.
                 log.motor("drive-right")
                     .voltage(
-                        Volts.of(m_rightMotor.getDutyCycle() * RobotController.getBatteryVoltage()))
+                        Volts.of(m_rightMotor.getThrottle() * RobotController.getBatteryVoltage()))
                     .linearPosition(Meters.of(m_rightEncoder.getDistance()))
                     .linearVelocity(MetersPerSecond.of(m_rightEncoder.getRate()));
               },
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/subsystems/Shooter.java b/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/subsystems/Shooter.java
index e864953b4b..1c62532ece 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/subsystems/Shooter.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/subsystems/Shooter.java
@@ -48,7 +48,7 @@ public class Shooter extends SubsystemBase {
                 log.motor("shooter-wheel")
                     .voltage(
                         Volts.of(
-                            m_shooterMotor.getDutyCycle() * RobotController.getBatteryVoltage()))
+                            m_shooterMotor.getThrottle() * RobotController.getBatteryVoltage()))
                     .angularPosition(Rotations.of(m_shooterEncoder.getDistance()))
                     .angularVelocity(RotationsPerSecond.of(m_shooterEncoder.getRate()));
               },
@@ -80,7 +80,7 @@ public class Shooter extends SubsystemBase {
           m_shooterMotor.setVoltage(
               m_shooterFeedback.calculate(m_shooterEncoder.getRate(), shooterVelocity.getAsDouble())
                   + m_shooterFeedforward.calculate(shooterVelocity.getAsDouble()));
-          m_feederMotor.setDutyCycle(ShooterConstants.kFeederVelocity);
+          m_feederMotor.setThrottle(ShooterConstants.kFeederVelocity);
         })
         .finallyDo(
             () -> {
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/tankdrivegamepad/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/tankdrivegamepad/Robot.java
index 057ac39fd5..ccb50c6079 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/tankdrivegamepad/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/tankdrivegamepad/Robot.java
@@ -18,7 +18,7 @@ public class Robot extends TimedRobot {
   private final PWMSparkMax m_leftMotor = new PWMSparkMax(0);
   private final PWMSparkMax m_rightMotor = new PWMSparkMax(1);
   private final DifferentialDrive m_robotDrive =
-      new DifferentialDrive(m_leftMotor::setDutyCycle, m_rightMotor::setDutyCycle);
+      new DifferentialDrive(m_leftMotor::setThrottle, m_rightMotor::setThrottle);
   private final Gamepad m_driverController = new Gamepad(0);
 
   /** Called once at the beginning of the robot program. */
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/unittest/subsystems/Intake.java b/wpilibjExamples/src/main/java/org/wpilib/examples/unittest/subsystems/Intake.java
index 063663d6ed..5bb8bfcf58 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/unittest/subsystems/Intake.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/unittest/subsystems/Intake.java
@@ -29,14 +29,14 @@ public class Intake implements AutoCloseable {
 
   public void retract() {
     m_piston.set(DoubleSolenoid.Value.REVERSE);
-    m_motor.setDutyCycle(0); // turn off the motor
+    m_motor.setThrottle(0); // turn off the motor
   }
 
   public void activate(double velocity) {
     if (isDeployed()) {
-      m_motor.setDutyCycle(velocity);
+      m_motor.setThrottle(velocity);
     } else { // if piston isn't open, do nothing
-      m_motor.setDutyCycle(0);
+      m_motor.setThrottle(0);
     }
   }
 
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/subsystems/Drivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/subsystems/Drivetrain.java
index cf78719711..289fcd0b08 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/subsystems/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/subsystems/Drivetrain.java
@@ -30,7 +30,7 @@ public class Drivetrain extends SubsystemBase {
 
   // Set up the differential drive controller
   private final DifferentialDrive m_diffDrive =
-      new DifferentialDrive(m_leftMotor::setDutyCycle, m_rightMotor::setDutyCycle);
+      new DifferentialDrive(m_leftMotor::setThrottle, m_rightMotor::setThrottle);
 
   // Set up the XRPGyro
   private final XRPGyro m_gyro = new XRPGyro();
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/xrptimed/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/xrptimed/Robot.java
index e4d100d5df..8a6d8feff0 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/xrptimed/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/xrptimed/Robot.java
@@ -20,7 +20,7 @@ public class Robot extends TimedRobot {
   private final XRPMotor m_leftDrive = new XRPMotor(0);
   private final XRPMotor m_rightDrive = new XRPMotor(1);
   private final DifferentialDrive m_robotDrive =
-      new DifferentialDrive(m_leftDrive::setDutyCycle, m_rightDrive::setDutyCycle);
+      new DifferentialDrive(m_leftDrive::setThrottle, m_rightDrive::setThrottle);
   // Assumes a gamepad plugged into channel 0
   private final Joystick m_controller = new Joystick(0);
   private final Timer m_timer = new Timer();
diff --git a/wpilibjExamples/src/main/java/org/wpilib/snippets/encoderdrive/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/snippets/encoderdrive/Robot.java
index 0aa1e613d5..02dfa40ba9 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/snippets/encoderdrive/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/snippets/encoderdrive/Robot.java
@@ -22,7 +22,7 @@ public class Robot extends TimedRobot {
   Spark m_rightLeader = new Spark(2);
   Spark m_rightFollower = new Spark(3);
   DifferentialDrive m_drive =
-      new DifferentialDrive(m_leftLeader::setDutyCycle, m_rightLeader::setDutyCycle);
+      new DifferentialDrive(m_leftLeader::setThrottle, m_rightLeader::setThrottle);
 
   /** Called once at the beginning of the robot program. */
   public Robot() {
diff --git a/wpilibjExamples/src/main/java/org/wpilib/snippets/encoderhoming/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/snippets/encoderhoming/Robot.java
index ffb8db7c5d..24c42dcfc0 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/snippets/encoderhoming/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/snippets/encoderhoming/Robot.java
@@ -26,9 +26,9 @@ public class Robot extends TimedRobot {
   @Override
   public void autonomousPeriodic() {
     if (!m_limit.get()) {
-      m_spark.setDutyCycle(-0.5);
+      m_spark.setThrottle(-0.5);
     } else {
-      m_spark.setDutyCycle(0.0);
+      m_spark.setThrottle(0.0);
       m_encoder.reset();
     }
   }
diff --git a/wpilibjExamples/src/main/java/org/wpilib/snippets/eventloop/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/snippets/eventloop/Robot.java
index 014caf2b72..1c180083dc 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/snippets/eventloop/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/snippets/eventloop/Robot.java
@@ -42,7 +42,7 @@ public class Robot extends TimedRobot {
         // and there is not a ball at the kicker
         .and(isBallAtKicker.negate())
         // activate the intake
-        .ifHigh(() -> m_intake.setDutyCycle(0.5));
+        .ifHigh(() -> m_intake.setThrottle(0.5));
 
     // if the thumb button is not held
     intakeButton
@@ -73,7 +73,7 @@ public class Robot extends TimedRobot {
             .debounce(0.2);
 
     // if we're at the target velocity, kick the ball into the shooter wheel
-    atTargetVelocity.ifHigh(() -> m_kicker.setDutyCycle(0.7));
+    atTargetVelocity.ifHigh(() -> m_kicker.setThrottle(0.7));
 
     // when we stop being at the target velocity, it means the ball was shot
     atTargetVelocity
diff --git a/wpilibjExamples/src/main/java/org/wpilib/snippets/flywheelbangbangcontroller/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/snippets/flywheelbangbangcontroller/Robot.java
index ffc33defc7..2deb9e0bee 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/snippets/flywheelbangbangcontroller/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/snippets/flywheelbangbangcontroller/Robot.java
@@ -95,7 +95,7 @@ public class Robot extends TimedRobot {
     // To update our simulation, we set motor voltage inputs, update the
     // simulation, and write the simulated velocities to our simulated encoder
     m_flywheelSim.setInputVoltage(
-        m_flywheelMotor.getDutyCycle() * RobotController.getInputVoltage());
+        m_flywheelMotor.getThrottle() * RobotController.getInputVoltage());
     m_flywheelSim.update(0.02);
     m_encoderSim.setRate(m_flywheelSim.getAngularVelocity());
   }
diff --git a/wpilibjExamples/src/main/java/org/wpilib/snippets/limitswitch/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/snippets/limitswitch/Robot.java
index 93faa490bb..e4faff1b98 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/snippets/limitswitch/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/snippets/limitswitch/Robot.java
@@ -33,18 +33,18 @@ public class Robot extends TimedRobot {
     if (velocity > 0) {
       if (m_toplimitSwitch.get()) {
         // We are going up and top limit is tripped so stop
-        m_motor.setDutyCycle(0);
+        m_motor.setThrottle(0);
       } else {
         // We are going up but top limit is not tripped so go at commanded velocity
-        m_motor.setDutyCycle(velocity);
+        m_motor.setThrottle(velocity);
       }
     } else {
       if (m_bottomlimitSwitch.get()) {
         // We are going down and bottom limit is tripped so stop
-        m_motor.setDutyCycle(0);
+        m_motor.setThrottle(0);
       } else {
         // We are going down but bottom limit is not tripped so go at commanded velocity
-        m_motor.setDutyCycle(velocity);
+        m_motor.setThrottle(velocity);
       }
     }
   }
diff --git a/wpilibjExamples/src/main/java/org/wpilib/snippets/motorcontrol/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/snippets/motorcontrol/Robot.java
index 9b5de7cc04..5119bfdd07 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/snippets/motorcontrol/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/snippets/motorcontrol/Robot.java
@@ -52,6 +52,6 @@ public class Robot extends TimedRobot {
   /** The teleop periodic function is called every control packet in teleop. */
   @Override
   public void teleopPeriodic() {
-    m_motor.setDutyCycle(m_joystick.getY());
+    m_motor.setThrottle(m_joystick.getY());
   }
 }
diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/romicommandv2/subsystems/RomiDrivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/templates/romicommandv2/subsystems/RomiDrivetrain.java
index a0a41017e4..60f8c5e15e 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/templates/romicommandv2/subsystems/RomiDrivetrain.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/templates/romicommandv2/subsystems/RomiDrivetrain.java
@@ -25,7 +25,7 @@ public class RomiDrivetrain extends SubsystemBase {
 
   // Set up the differential drive controller
   private final DifferentialDrive m_diffDrive =
-      new DifferentialDrive(m_leftMotor::setDutyCycle, m_rightMotor::setDutyCycle);
+      new DifferentialDrive(m_leftMotor::setThrottle, m_rightMotor::setThrottle);
 
   /** Creates a new RomiDrivetrain. */
   public RomiDrivetrain() {
diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/romieducational/RomiDrivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/templates/romieducational/RomiDrivetrain.java
index ac70e09802..3bcf03dda9 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/templates/romieducational/RomiDrivetrain.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/templates/romieducational/RomiDrivetrain.java
@@ -24,7 +24,7 @@ public class RomiDrivetrain {
 
   // Set up the differential drive controller
   private final DifferentialDrive m_diffDrive =
-      new DifferentialDrive(m_leftMotor::setDutyCycle, m_rightMotor::setDutyCycle);
+      new DifferentialDrive(m_leftMotor::setThrottle, m_rightMotor::setThrottle);
 
   /** Creates a new RomiDrivetrain. */
   public RomiDrivetrain() {
diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/romitimed/RomiDrivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/templates/romitimed/RomiDrivetrain.java
index f17420a144..f0bd81d763 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/templates/romitimed/RomiDrivetrain.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/templates/romitimed/RomiDrivetrain.java
@@ -24,7 +24,7 @@ public class RomiDrivetrain {
 
   // Set up the differential drive controller
   private final DifferentialDrive m_diffDrive =
-      new DifferentialDrive(m_leftMotor::setDutyCycle, m_rightMotor::setDutyCycle);
+      new DifferentialDrive(m_leftMotor::setThrottle, m_rightMotor::setThrottle);
 
   /** Creates a new RomiDrivetrain. */
   public RomiDrivetrain() {
diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/xrpcommandv2/subsystems/XRPDrivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/templates/xrpcommandv2/subsystems/XRPDrivetrain.java
index be877dca7c..daa425c040 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/templates/xrpcommandv2/subsystems/XRPDrivetrain.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/templates/xrpcommandv2/subsystems/XRPDrivetrain.java
@@ -28,7 +28,7 @@ public class XRPDrivetrain extends SubsystemBase {
 
   // Set up the differential drive controller
   private final DifferentialDrive m_diffDrive =
-      new DifferentialDrive(m_leftMotor::setDutyCycle, m_rightMotor::setDutyCycle);
+      new DifferentialDrive(m_leftMotor::setThrottle, m_rightMotor::setThrottle);
 
   /** Creates a new XRPDrivetrain. */
   public XRPDrivetrain() {
diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/xrpeducational/XRPDrivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/templates/xrpeducational/XRPDrivetrain.java
index f9f00592b8..7192bea520 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/templates/xrpeducational/XRPDrivetrain.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/templates/xrpeducational/XRPDrivetrain.java
@@ -27,7 +27,7 @@ public class XRPDrivetrain {
 
   // Set up the differential drive controller
   private final DifferentialDrive m_diffDrive =
-      new DifferentialDrive(m_leftMotor::setDutyCycle, m_rightMotor::setDutyCycle);
+      new DifferentialDrive(m_leftMotor::setThrottle, m_rightMotor::setThrottle);
 
   /** Creates a new XRPDrivetrain. */
   public XRPDrivetrain() {
diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/xrptimed/XRPDrivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/templates/xrptimed/XRPDrivetrain.java
index c2a9b90de4..21f86df29b 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/templates/xrptimed/XRPDrivetrain.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/templates/xrptimed/XRPDrivetrain.java
@@ -27,7 +27,7 @@ public class XRPDrivetrain {
 
   // Set up the differential drive controller
   private final DifferentialDrive m_diffDrive =
-      new DifferentialDrive(m_leftMotor::setDutyCycle, m_rightMotor::setDutyCycle);
+      new DifferentialDrive(m_leftMotor::setThrottle, m_rightMotor::setThrottle);
 
   /** Creates a new XRPDrivetrain. */
   public XRPDrivetrain() {
diff --git a/wpilibjExamples/src/test/java/org/wpilib/examples/armsimulation/ArmSimulationTest.java b/wpilibjExamples/src/test/java/org/wpilib/examples/armsimulation/ArmSimulationTest.java
index 49e29d6066..db3e45e30d 100644
--- a/wpilibjExamples/src/test/java/org/wpilib/examples/armsimulation/ArmSimulationTest.java
+++ b/wpilibjExamples/src/test/java/org/wpilib/examples/armsimulation/ArmSimulationTest.java
@@ -142,7 +142,7 @@ class ArmSimulationTest {
       // advance 75 timesteps
       SimHooks.stepTiming(3.5);
 
-      assertEquals(0.0, m_motorSim.getDutyCycle(), 0.01);
+      assertEquals(0.0, m_motorSim.getThrottle(), 0.01);
       assertEquals(Constants.kMinAngleRads, m_encoderSim.getDistance(), 2.0);
     }
   }
diff --git a/wpilibjExamples/src/test/java/org/wpilib/examples/elevatorsimulation/ElevatorSimulationTest.java b/wpilibjExamples/src/test/java/org/wpilib/examples/elevatorsimulation/ElevatorSimulationTest.java
index 674bd7048b..ec9b775004 100644
--- a/wpilibjExamples/src/test/java/org/wpilib/examples/elevatorsimulation/ElevatorSimulationTest.java
+++ b/wpilibjExamples/src/test/java/org/wpilib/examples/elevatorsimulation/ElevatorSimulationTest.java
@@ -131,7 +131,7 @@ class ElevatorSimulationTest {
       // advance 75 timesteps
       SimHooks.stepTiming(1.5);
 
-      assertEquals(0.0, m_motorSim.getDutyCycle(), 0.05);
+      assertEquals(0.0, m_motorSim.getThrottle(), 0.05);
       assertEquals(0.0, m_encoderSim.getDistance(), 0.05);
     }
   }
diff --git a/wpilibjExamples/src/test/java/org/wpilib/examples/unittest/subsystems/IntakeTest.java b/wpilibjExamples/src/test/java/org/wpilib/examples/unittest/subsystems/IntakeTest.java
index aada8fef21..dbe57359ca 100644
--- a/wpilibjExamples/src/test/java/org/wpilib/examples/unittest/subsystems/IntakeTest.java
+++ b/wpilibjExamples/src/test/java/org/wpilib/examples/unittest/subsystems/IntakeTest.java
@@ -47,14 +47,14 @@ class IntakeTest {
     m_intake.retract(); // close the intake
     m_intake.activate(0.5); // try to activate the motor
     assertEquals(
-        0.0, m_simMotor.getDutyCycle(), DELTA); // make sure that the value set to the motor is 0
+        0.0, m_simMotor.getThrottle(), DELTA); // make sure that the value set to the motor is 0
   }
 
   @Test
   void worksWhenOpen() {
     m_intake.deploy();
     m_intake.activate(0.5);
-    assertEquals(0.5, m_simMotor.getDutyCycle(), DELTA);
+    assertEquals(0.5, m_simMotor.getThrottle(), DELTA);
   }
 
   @Test
diff --git a/xrpVendordep/src/main/java/org/wpilib/xrp/XRPMotor.java b/xrpVendordep/src/main/java/org/wpilib/xrp/XRPMotor.java
index 5f632237c3..0c7b0796ec 100644
--- a/xrpVendordep/src/main/java/org/wpilib/xrp/XRPMotor.java
+++ b/xrpVendordep/src/main/java/org/wpilib/xrp/XRPMotor.java
@@ -41,7 +41,7 @@ public class XRPMotor implements MotorController {
     s_simDeviceNameMap.put(3, "motor4");
   }
 
-  private final SimDouble m_simVelocity;
+  private final SimDouble m_simThrottle;
   private final SimBoolean m_simInverted;
 
   /**
@@ -59,29 +59,29 @@ public class XRPMotor implements MotorController {
     if (xrpMotorSimDevice != null) {
       xrpMotorSimDevice.createBoolean("init", Direction.OUTPUT, true);
       m_simInverted = xrpMotorSimDevice.createBoolean("inverted", Direction.INPUT, false);
-      m_simVelocity = xrpMotorSimDevice.createDouble("velocity", Direction.OUTPUT, 0.0);
+      m_simThrottle = xrpMotorSimDevice.createDouble("throttle", Direction.OUTPUT, 0.0);
     } else {
       m_simInverted = null;
-      m_simVelocity = null;
+      m_simThrottle = null;
     }
   }
 
   @Override
-  public void setDutyCycle(double velocity) {
-    if (m_simVelocity != null) {
+  public void setThrottle(double throttle) {
+    if (m_simThrottle != null) {
       boolean invert = false;
       if (m_simInverted != null) {
         invert = m_simInverted.get();
       }
 
-      m_simVelocity.set(invert ? -velocity : velocity);
+      m_simThrottle.set(invert ? -throttle : throttle);
     }
   }
 
   @Override
-  public double getDutyCycle() {
-    if (m_simVelocity != null) {
-      return m_simVelocity.get();
+  public double getThrottle() {
+    if (m_simThrottle != null) {
+      return m_simThrottle.get();
     }
 
     return 0.0;
@@ -101,6 +101,6 @@ public class XRPMotor implements MotorController {
 
   @Override
   public void disable() {
-    setDutyCycle(0.0);
+    setThrottle(0.0);
   }
 }
diff --git a/xrpVendordep/src/main/native/cpp/xrp/XRPMotor.cpp b/xrpVendordep/src/main/native/cpp/xrp/XRPMotor.cpp
index f61374327f..c1dc97d9c7 100644
--- a/xrpVendordep/src/main/native/cpp/xrp/XRPMotor.cpp
+++ b/xrpVendordep/src/main/native/cpp/xrp/XRPMotor.cpp
@@ -31,8 +31,6 @@ void XRPMotor::CheckDeviceAllocation(int deviceNum) {
   s_registeredDevices.insert(deviceNum);
 }
 
-WPI_IGNORE_DEPRECATED
-
 XRPMotor::XRPMotor(int deviceNum) {
   CheckDeviceAllocation(deviceNum);
 
@@ -43,27 +41,25 @@ XRPMotor::XRPMotor(int deviceNum) {
     m_simDevice.CreateBoolean("init", hal::SimDevice::Direction::OUTPUT, true);
     m_simInverted = m_simDevice.CreateBoolean(
         "inverted", hal::SimDevice::Direction::INPUT, false);
-    m_simVelocity = m_simDevice.CreateDouble(
-        "velocity", hal::SimDevice::Direction::OUTPUT, 0.0);
+    m_simThrottle = m_simDevice.CreateDouble(
+        "throttle", hal::SimDevice::Direction::OUTPUT, 0.0);
   }
 }
 
-WPI_UNIGNORE_DEPRECATED
-
-void XRPMotor::SetDutyCycle(double velocity) {
-  if (m_simVelocity) {
+void XRPMotor::SetThrottle(double throttle) {
+  if (m_simThrottle) {
     bool invert = false;
     if (m_simInverted) {
       invert = m_simInverted.Get();
     }
 
-    m_simVelocity.Set(invert ? -velocity : velocity);
+    m_simThrottle.Set(invert ? -throttle : throttle);
   }
 }
 
-double XRPMotor::GetDutyCycle() const {
-  if (m_simVelocity) {
-    return m_simVelocity.Get();
+double XRPMotor::GetThrottle() const {
+  if (m_simThrottle) {
+    return m_simThrottle.Get();
   }
 
   return 0.0;
@@ -84,11 +80,11 @@ bool XRPMotor::GetInverted() const {
 }
 
 void XRPMotor::Disable() {
-  SetDutyCycle(0.0);
+  SetThrottle(0.0);
 }
 
 void XRPMotor::StopMotor() {
-  SetDutyCycle(0.0);
+  SetThrottle(0.0);
 }
 
 std::string XRPMotor::GetDescription() const {
diff --git a/xrpVendordep/src/main/native/include/wpi/xrp/XRPMotor.hpp b/xrpVendordep/src/main/native/include/wpi/xrp/XRPMotor.hpp
index c8f6d7bfe2..6a4d6bb292 100644
--- a/xrpVendordep/src/main/native/include/wpi/xrp/XRPMotor.hpp
+++ b/xrpVendordep/src/main/native/include/wpi/xrp/XRPMotor.hpp
@@ -11,12 +11,9 @@
 #include "wpi/hal/SimDevice.hpp"
 #include "wpi/hardware/motor/MotorController.hpp"
 #include "wpi/hardware/motor/MotorSafety.hpp"
-#include "wpi/util/deprecated.hpp"
 
 namespace wpi::xrp {
 
-WPI_IGNORE_DEPRECATED
-
 /**
  * @defgroup xrp_api XRP Hardware API
  * @{
@@ -36,8 +33,8 @@ class XRPMotor : public wpi::MotorController, public wpi::MotorSafety {
    */
   explicit XRPMotor(int deviceNum);
 
-  void SetDutyCycle(double value) override;
-  double GetDutyCycle() const override;
+  void SetThrottle(double throttle) override;
+  double GetThrottle() const override;
 
   void SetInverted(bool isInverted) override;
   bool GetInverted() const override;
@@ -49,7 +46,7 @@ class XRPMotor : public wpi::MotorController, public wpi::MotorSafety {
 
  private:
   hal::SimDevice m_simDevice;
-  hal::SimDouble m_simVelocity;
+  hal::SimDouble m_simThrottle;
   hal::SimBoolean m_simInverted;
 
   std::string m_deviceName;
@@ -62,6 +59,4 @@ class XRPMotor : public wpi::MotorController, public wpi::MotorSafety {
 
 /** @} */
 
-WPI_UNIGNORE_DEPRECATED
-
 }  // namespace wpi::xrp
diff --git a/xrpVendordep/src/main/python/semiwrap/XRPMotor.yml b/xrpVendordep/src/main/python/semiwrap/XRPMotor.yml
index da2abd2a86..bbf868d94b 100644
--- a/xrpVendordep/src/main/python/semiwrap/XRPMotor.yml
+++ b/xrpVendordep/src/main/python/semiwrap/XRPMotor.yml
@@ -2,8 +2,8 @@ classes:
   wpi::xrp::XRPMotor:
     methods:
       XRPMotor:
-      SetDutyCycle:
-      GetDutyCycle:
+      SetThrottle:
+      GetThrottle:
       SetInverted:
       GetInverted:
       Disable: