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

Fixes #8716.

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();
   }
 }