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

Fixes #8716.

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 }}");
   }

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");
   }

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");
   }

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");
   }

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");
   }

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");
   }

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");
   }

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");
   }

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");
   }

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");
   }

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");
   }

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");
   }

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);
   }

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);

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);
   }
 
   /**

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.

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);
   }
 }

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();
   }
 }

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);
   }
 }

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);
   }
 }

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;
   }
 }

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() {

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());

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();

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());
     }
   }
 }