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

Fixes #8716.

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;