[wpilib] Rename MotorController setDutyCycle() to setThrottle() (#8720)

Fixes #8716.

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 }}");
 }

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");
 }

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");
 }

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");
 }

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");
 }

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");
 }

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");
 }

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");
 }

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");
 }

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");
 }

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");
 }

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");
 }

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)} {

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,

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) {

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());
 }

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;

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();
 }

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.
    *

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.
    *

wpilibc/src/main/native/include/wpi/drive/RobotDriveBase.hpp

@@ -4,7 +4,6 @@
 
 #pragma once
 
-#include <memory>
 #include <span>
 #include <string>
 

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

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.

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

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

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

@@ -2,7 +2,7 @@ classes:
   wpi::ExpansionHubMotor:
     methods:
       ExpansionHubMotor:
-      SetDutyCycle:
+      SetThrottle:
       SetVoltage:
       SetPositionSetpoint:
       SetVelocitySetpoint:

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

@@ -1,9 +1,9 @@
 classes:
   wpi::MotorController:
     methods:
-      SetDutyCycle:
+      SetThrottle:
       SetVoltage:
-      GetDutyCycle:
+      GetThrottle:
       SetInverted:
       GetInverted:
       Disable:

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:

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

@@ -8,8 +8,8 @@ classes:
     attributes:
       m_pwm:
     methods:
-      SetDutyCycle:
-      GetDutyCycle:
+      SetThrottle:
+      GetThrottle:
       GetVoltage:
       SetInverted:
       GetInverted:

wpilibc/src/main/python/semiwrap/simulation/PWMMotorControllerSim.yml

@@ -5,4 +5,4 @@ classes:
         overloads:
           const PWMMotorController&:
           int:
-      GetDutyCycle:
+      GetThrottle:

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); });
 }

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;

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());
 }

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());
 }

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;
 }

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() {

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());

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);

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

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());
   }

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

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;
 };
 

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():