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

Fixes #8716.

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