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

Fixes #8716.

xrpVendordep/src/main/java/org/wpilib/xrp/XRPMotor.java

@@ -41,7 +41,7 @@ public class XRPMotor implements MotorController {
     s_simDeviceNameMap.put(3, "motor4");
   }
 
-  private final SimDouble m_simVelocity;
+  private final SimDouble m_simThrottle;
   private final SimBoolean m_simInverted;
 
   /**
@@ -59,29 +59,29 @@ public class XRPMotor implements MotorController {
     if (xrpMotorSimDevice != null) {
       xrpMotorSimDevice.createBoolean("init", Direction.OUTPUT, true);
       m_simInverted = xrpMotorSimDevice.createBoolean("inverted", Direction.INPUT, false);
-      m_simVelocity = xrpMotorSimDevice.createDouble("velocity", Direction.OUTPUT, 0.0);
+      m_simThrottle = xrpMotorSimDevice.createDouble("throttle", Direction.OUTPUT, 0.0);
     } else {
       m_simInverted = null;
-      m_simVelocity = null;
+      m_simThrottle = null;
     }
   }
 
   @Override
-  public void setDutyCycle(double velocity) {
-    if (m_simVelocity != null) {
+  public void setThrottle(double throttle) {
+    if (m_simThrottle != null) {
       boolean invert = false;
       if (m_simInverted != null) {
         invert = m_simInverted.get();
       }
 
-      m_simVelocity.set(invert ? -velocity : velocity);
+      m_simThrottle.set(invert ? -throttle : throttle);
     }
   }
 
   @Override
-  public double getDutyCycle() {
-    if (m_simVelocity != null) {
-      return m_simVelocity.get();
+  public double getThrottle() {
+    if (m_simThrottle != null) {
+      return m_simThrottle.get();
     }
 
     return 0.0;
@@ -101,6 +101,6 @@ public class XRPMotor implements MotorController {
 
   @Override
   public void disable() {
-    setDutyCycle(0.0);
+    setThrottle(0.0);
   }
 }

xrpVendordep/src/main/native/cpp/xrp/XRPMotor.cpp

@@ -31,8 +31,6 @@ void XRPMotor::CheckDeviceAllocation(int deviceNum) {
   s_registeredDevices.insert(deviceNum);
 }
 
-WPI_IGNORE_DEPRECATED
-
 XRPMotor::XRPMotor(int deviceNum) {
   CheckDeviceAllocation(deviceNum);
 
@@ -43,27 +41,25 @@ XRPMotor::XRPMotor(int deviceNum) {
     m_simDevice.CreateBoolean("init", hal::SimDevice::Direction::OUTPUT, true);
     m_simInverted = m_simDevice.CreateBoolean(
         "inverted", hal::SimDevice::Direction::INPUT, false);
-    m_simVelocity = m_simDevice.CreateDouble(
-        "velocity", hal::SimDevice::Direction::OUTPUT, 0.0);
+    m_simThrottle = m_simDevice.CreateDouble(
+        "throttle", hal::SimDevice::Direction::OUTPUT, 0.0);
   }
 }
 
-WPI_UNIGNORE_DEPRECATED
-
-void XRPMotor::SetDutyCycle(double velocity) {
-  if (m_simVelocity) {
+void XRPMotor::SetThrottle(double throttle) {
+  if (m_simThrottle) {
     bool invert = false;
     if (m_simInverted) {
       invert = m_simInverted.Get();
     }
 
-    m_simVelocity.Set(invert ? -velocity : velocity);
+    m_simThrottle.Set(invert ? -throttle : throttle);
   }
 }
 
-double XRPMotor::GetDutyCycle() const {
-  if (m_simVelocity) {
-    return m_simVelocity.Get();
+double XRPMotor::GetThrottle() const {
+  if (m_simThrottle) {
+    return m_simThrottle.Get();
   }
 
   return 0.0;
@@ -84,11 +80,11 @@ bool XRPMotor::GetInverted() const {
 }
 
 void XRPMotor::Disable() {
-  SetDutyCycle(0.0);
+  SetThrottle(0.0);
 }
 
 void XRPMotor::StopMotor() {
-  SetDutyCycle(0.0);
+  SetThrottle(0.0);
 }
 
 std::string XRPMotor::GetDescription() const {

xrpVendordep/src/main/native/include/wpi/xrp/XRPMotor.hpp

@@ -11,12 +11,9 @@
 #include "wpi/hal/SimDevice.hpp"
 #include "wpi/hardware/motor/MotorController.hpp"
 #include "wpi/hardware/motor/MotorSafety.hpp"
-#include "wpi/util/deprecated.hpp"
 
 namespace wpi::xrp {
 
-WPI_IGNORE_DEPRECATED
-
 /**
  * @defgroup xrp_api XRP Hardware API
  * @{
@@ -36,8 +33,8 @@ class XRPMotor : public wpi::MotorController, public wpi::MotorSafety {
    */
   explicit XRPMotor(int deviceNum);
 
-  void SetDutyCycle(double value) override;
-  double GetDutyCycle() const override;
+  void SetThrottle(double throttle) override;
+  double GetThrottle() const override;
 
   void SetInverted(bool isInverted) override;
   bool GetInverted() const override;
@@ -49,7 +46,7 @@ class XRPMotor : public wpi::MotorController, public wpi::MotorSafety {
 
  private:
   hal::SimDevice m_simDevice;
-  hal::SimDouble m_simVelocity;
+  hal::SimDouble m_simThrottle;
   hal::SimBoolean m_simInverted;
 
   std::string m_deviceName;
@@ -62,6 +59,4 @@ class XRPMotor : public wpi::MotorController, public wpi::MotorSafety {
 
 /** @} */
 
-WPI_UNIGNORE_DEPRECATED
-
 }  // namespace wpi::xrp

xrpVendordep/src/main/python/semiwrap/XRPMotor.yml

@@ -2,8 +2,8 @@ classes:
   wpi::xrp::XRPMotor:
     methods:
       XRPMotor:
-      SetDutyCycle:
-      GetDutyCycle:
+      SetThrottle:
+      GetThrottle:
       SetInverted:
       GetInverted:
       Disable: