[examples] Use PWMSparkMax instead of PWMVictorSPX (#3156)

This accurately reflects the motor controllers that are distributed in
the Kit of Parts.

wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp

@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <frc/Joystick.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
 #include <frc/drive/DifferentialDrive.h>
 
@@ -12,8 +12,8 @@
  * Runs the motors with arcade steering.
  */
 class Robot : public frc::TimedRobot {
-  frc::PWMVictorSPX m_leftMotor{0};
-  frc::PWMVictorSPX m_rightMotor{1};
+  frc::PWMSparkMax m_leftMotor{0};
+  frc::PWMSparkMax m_rightMotor{1};
   frc::DifferentialDrive m_robotDrive{m_leftMotor, m_rightMotor};
   frc::Joystick m_stick{0};
 

wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp

@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <frc/GenericHID.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
 #include <frc/XboxController.h>
 #include <frc/drive/DifferentialDrive.h>
@@ -13,8 +13,8 @@
  * Runs the motors with split arcade steering and an Xbox controller.
  */
 class Robot : public frc::TimedRobot {
-  frc::PWMVictorSPX m_leftMotor{0};
-  frc::PWMVictorSPX m_rightMotor{1};
+  frc::PWMSparkMax m_leftMotor{0};
+  frc::PWMSparkMax m_rightMotor{1};
   frc::DifferentialDrive m_robotDrive{m_leftMotor, m_rightMotor};
   frc::XboxController m_driverController{0};
 

wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/ArmSubsystem.h

@@ -5,7 +5,7 @@
 #pragma once
 
 #include <frc/Encoder.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/controller/ArmFeedforward.h>
 #include <frc2/command/ProfiledPIDSubsystem.h>
 #include <units/angle.h>
@@ -24,7 +24,7 @@ class ArmSubsystem : public frc2::ProfiledPIDSubsystem<units::radians> {
   units::radian_t GetMeasurement() override;
 
  private:
-  frc::PWMVictorSPX m_motor;
+  frc::PWMSparkMax m_motor;
   frc::Encoder m_encoder;
   frc::ArmFeedforward m_feedforward;
 };

wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/DriveSubsystem.h

@@ -5,7 +5,7 @@
 #pragma once
 
 #include <frc/Encoder.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/SpeedControllerGroup.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc2/command/SubsystemBase.h>
@@ -70,10 +70,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
   // declared private and exposed only through public methods.
 
   // The motor controllers
-  frc::PWMVictorSPX m_left1;
-  frc::PWMVictorSPX m_left2;
-  frc::PWMVictorSPX m_right1;
-  frc::PWMVictorSPX m_right2;
+  frc::PWMSparkMax m_left1;
+  frc::PWMSparkMax m_left2;
+  frc::PWMSparkMax m_right1;
+  frc::PWMSparkMax m_right2;
 
   // The motors on the left side of the drive
   frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};

wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/DriveSubsystem.h

@@ -5,7 +5,7 @@
 #pragma once
 
 #include <frc/Encoder.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/SpeedControllerGroup.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc2/command/SubsystemBase.h>
@@ -70,10 +70,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
   // declared private and exposed only through public methods.
 
   // The motor controllers
-  frc::PWMVictorSPX m_left1;
-  frc::PWMVictorSPX m_left2;
-  frc::PWMVictorSPX m_right1;
-  frc::PWMVictorSPX m_right2;
+  frc::PWMSparkMax m_left1;
+  frc::PWMSparkMax m_left2;
+  frc::PWMSparkMax m_right1;
+  frc::PWMSparkMax m_right2;
 
   // The motors on the left side of the drive
   frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};

wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp

@@ -5,7 +5,7 @@
 #include <frc/Encoder.h>
 #include <frc/GenericHID.h>
 #include <frc/Joystick.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/RobotController.h>
 #include <frc/StateSpaceUtil.h>
 #include <frc/TimedRobot.h>
@@ -43,7 +43,7 @@ class Robot : public frc::TimedRobot {
   // Standard classes for controlling our arm
   frc2::PIDController m_controller{kArmKp, 0, 0};
   frc::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
-  frc::PWMVictorSPX m_motor{kMotorPort};
+  frc::PWMSparkMax m_motor{kMotorPort};
   frc::Joystick m_joystick{kJoystickPort};
 
   // Simulation classes help us simulate what's going on, including gravity.

wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h

@@ -6,7 +6,7 @@
 
 #include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/SpeedControllerGroup.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
@@ -52,10 +52,10 @@ class Drivetrain {
   static constexpr double kWheelRadius = 0.0508;  // meters
   static constexpr int kEncoderResolution = 4096;
 
-  frc::PWMVictorSPX m_leftLeader{1};
-  frc::PWMVictorSPX m_leftFollower{2};
-  frc::PWMVictorSPX m_rightLeader{3};
-  frc::PWMVictorSPX m_rightFollower{4};
+  frc::PWMSparkMax m_leftLeader{1};
+  frc::PWMSparkMax m_leftFollower{2};
+  frc::PWMSparkMax m_rightLeader{3};
+  frc::PWMSparkMax m_rightFollower{4};
 
   frc::SpeedControllerGroup m_leftGroup{m_leftLeader, m_leftFollower};
   frc::SpeedControllerGroup m_rightGroup{m_rightLeader, m_rightFollower};

wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h

@@ -6,7 +6,7 @@
 
 #include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/SpeedControllerGroup.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
@@ -52,10 +52,10 @@ class Drivetrain {
   static constexpr units::meter_t kWheelRadius = 0.0508_m;
   static constexpr int kEncoderResolution = 4096;
 
-  frc::PWMVictorSPX m_leftLeader{1};
-  frc::PWMVictorSPX m_leftFollower{2};
-  frc::PWMVictorSPX m_rightLeader{3};
-  frc::PWMVictorSPX m_rightFollower{4};
+  frc::PWMSparkMax m_leftLeader{1};
+  frc::PWMSparkMax m_leftFollower{2};
+  frc::PWMSparkMax m_rightLeader{3};
+  frc::PWMSparkMax m_rightFollower{4};
 
   frc::SpeedControllerGroup m_leftGroup{m_leftLeader, m_leftFollower};
   frc::SpeedControllerGroup m_rightGroup{m_rightLeader, m_rightFollower};

wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp

@@ -4,7 +4,7 @@
 
 #include <frc/Encoder.h>
 #include <frc/Joystick.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
 #include <frc/controller/ProfiledPIDController.h>
 #include <frc/trajectory/TrapezoidProfile.h>
@@ -37,7 +37,7 @@ class Robot : public frc::TimedRobot {
  private:
   frc::Joystick m_joystick{1};
   frc::Encoder m_encoder{1, 2};
-  frc::PWMVictorSPX m_motor{1};
+  frc::PWMSparkMax m_motor{1};
 
   // Create a PID controller whose setpoint's change is subject to maximum
   // velocity and acceleration constraints.

wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp

@@ -5,7 +5,7 @@
 #include <frc/Encoder.h>
 #include <frc/GenericHID.h>
 #include <frc/Joystick.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/RobotController.h>
 #include <frc/StateSpaceUtil.h>
 #include <frc/TimedRobot.h>
@@ -48,7 +48,7 @@ class Robot : public frc::TimedRobot {
   // Standard classes for controlling our elevator
   frc2::PIDController m_controller{kElevatorKp, 0, 0};
   frc::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
-  frc::PWMVictorSPX m_motor{kMotorPort};
+  frc::PWMSparkMax m_motor{kMotorPort};
   frc::Joystick m_joystick{kJoystickPort};
 
   // Simulation classes help us simulate what's going on, including gravity.

wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/DriveSubsystem.h

@@ -5,7 +5,7 @@
 #pragma once
 
 #include <frc/Encoder.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/SpeedControllerGroup.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc2/command/SubsystemBase.h>
@@ -70,10 +70,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
   // declared private and exposed only through public methods.
 
   // The motor controllers
-  frc::PWMVictorSPX m_left1;
-  frc::PWMVictorSPX m_left2;
-  frc::PWMVictorSPX m_right1;
-  frc::PWMVictorSPX m_right2;
+  frc::PWMSparkMax m_left1;
+  frc::PWMSparkMax m_left2;
+  frc::PWMSparkMax m_right1;
+  frc::PWMSparkMax m_right2;
 
   // The motors on the left side of the drive
   frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};

wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/ShooterSubsystem.h

@@ -5,7 +5,7 @@
 #pragma once
 
 #include <frc/Encoder.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
 #include <frc2/command/PIDSubsystem.h>
 #include <units/angle.h>
@@ -25,8 +25,8 @@ class ShooterSubsystem : public frc2::PIDSubsystem {
   void StopFeeder();
 
  private:
-  frc::PWMVictorSPX m_shooterMotor;
-  frc::PWMVictorSPX m_feederMotor;
+  frc::PWMSparkMax m_shooterMotor;
+  frc::PWMSparkMax m_feederMotor;
   frc::Encoder m_shooterEncoder;
   frc::SimpleMotorFeedforward<units::turns> m_shooterFeedforward;
 };

wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Claw.h

@@ -5,7 +5,7 @@
 #pragma once
 
 #include <frc/DigitalInput.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc2/command/SubsystemBase.h>
 
 /**
@@ -50,6 +50,6 @@ class Claw : public frc2::SubsystemBase {
   void Periodic() override;
 
  private:
-  frc::PWMVictorSPX m_motor{7};
+  frc::PWMSparkMax m_motor{7};
   frc::DigitalInput m_contact{5};
 };

wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/DriveTrain.h

@@ -7,7 +7,7 @@
 #include <frc/AnalogGyro.h>
 #include <frc/AnalogInput.h>
 #include <frc/Encoder.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/SpeedControllerGroup.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc2/command/SubsystemBase.h>
@@ -64,12 +64,12 @@ class DriveTrain : public frc2::SubsystemBase {
   void Periodic() override;
 
  private:
-  frc::PWMVictorSPX m_frontLeft{1};
-  frc::PWMVictorSPX m_rearLeft{2};
+  frc::PWMSparkMax m_frontLeft{1};
+  frc::PWMSparkMax m_rearLeft{2};
   frc::SpeedControllerGroup m_left{m_frontLeft, m_rearLeft};
 
-  frc::PWMVictorSPX m_frontRight{3};
-  frc::PWMVictorSPX m_rearRight{4};
+  frc::PWMSparkMax m_frontRight{3};
+  frc::PWMSparkMax m_rearRight{4};
   frc::SpeedControllerGroup m_right{m_frontRight, m_rearRight};
 
   frc::DifferentialDrive m_robotDrive{m_left, m_right};

wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Elevator.h

@@ -5,7 +5,7 @@
 #pragma once
 
 #include <frc/AnalogPotentiometer.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc2/command/PIDSubsystem.h>
 
 /**
@@ -43,7 +43,7 @@ class Elevator : public frc2::PIDSubsystem {
   void Periodic() override;
 
  private:
-  frc::PWMVictorSPX m_motor{5};
+  frc::PWMSparkMax m_motor{5};
   double m_setpoint = 0;
 
 // Conversion value of potentiometer varies between the real world and

wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Wrist.h

@@ -5,7 +5,7 @@
 #pragma once
 
 #include <frc/AnalogPotentiometer.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc2/command/PIDSubsystem.h>
 
 /**
@@ -40,7 +40,7 @@ class Wrist : public frc2::PIDSubsystem {
   void Periodic() override;
 
  private:
-  frc::PWMVictorSPX m_motor{6};
+  frc::PWMSparkMax m_motor{6};
   double m_setpoint = 0;
 
 // Conversion value of potentiometer varies between the real world and

wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp

@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <frc/Joystick.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
 #include <frc/Timer.h>
 #include <frc/drive/DifferentialDrive.h>
@@ -45,8 +45,8 @@ class Robot : public frc::TimedRobot {
 
  private:
   // Robot drive system
-  frc::PWMVictorSPX m_left{0};
-  frc::PWMVictorSPX m_right{1};
+  frc::PWMSparkMax m_left{0};
+  frc::PWMSparkMax m_right{1};
   frc::DifferentialDrive m_robotDrive{m_left, m_right};
 
   frc::Joystick m_stick{0};

wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp

@@ -6,7 +6,7 @@
 
 #include <frc/AnalogGyro.h>
 #include <frc/Joystick.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
 #include <frc/drive/DifferentialDrive.h>
 
@@ -44,8 +44,8 @@ class Robot : public frc::TimedRobot {
   static constexpr int kGyroPort = 0;
   static constexpr int kJoystickPort = 0;
 
-  frc::PWMVictorSPX m_left{kLeftMotorPort};
-  frc::PWMVictorSPX m_right{kRightMotorPort};
+  frc::PWMSparkMax m_left{kLeftMotorPort};
+  frc::PWMSparkMax m_right{kRightMotorPort};
   frc::DifferentialDrive m_robotDrive{m_left, m_right};
 
   frc::AnalogGyro m_gyro{kGyroPort};

wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/subsystems/DriveSubsystem.h

@@ -6,7 +6,7 @@
 
 #include <frc/ADXRS450_Gyro.h>
 #include <frc/Encoder.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/SpeedControllerGroup.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc2/command/SubsystemBase.h>
@@ -86,10 +86,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
   // declared private and exposed only through public methods.
 
   // The motor controllers
-  frc::PWMVictorSPX m_left1;
-  frc::PWMVictorSPX m_left2;
-  frc::PWMVictorSPX m_right1;
-  frc::PWMVictorSPX m_right2;
+  frc::PWMSparkMax m_left1;
+  frc::PWMSparkMax m_left2;
+  frc::PWMSparkMax m_right1;
+  frc::PWMSparkMax m_right2;
 
   // The motors on the left side of the drive
   frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};

wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp

@@ -4,7 +4,7 @@
 
 #include <frc/AnalogGyro.h>
 #include <frc/Joystick.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
 #include <frc/drive/MecanumDrive.h>
 
@@ -44,10 +44,10 @@ class Robot : public frc::TimedRobot {
   static constexpr int kGyroPort = 0;
   static constexpr int kJoystickPort = 0;
 
-  frc::PWMVictorSPX m_frontLeft{kFrontLeftMotorPort};
-  frc::PWMVictorSPX m_rearLeft{kRearLeftMotorPort};
-  frc::PWMVictorSPX m_frontRight{kFrontRightMotorPort};
-  frc::PWMVictorSPX m_rearRight{kRearRightMotorPort};
+  frc::PWMSparkMax m_frontLeft{kFrontLeftMotorPort};
+  frc::PWMSparkMax m_rearLeft{kRearLeftMotorPort};
+  frc::PWMSparkMax m_frontRight{kFrontRightMotorPort};
+  frc::PWMSparkMax m_rearRight{kRearRightMotorPort};
   frc::MecanumDrive m_robotDrive{m_frontLeft, m_rearLeft, m_frontRight,
                                  m_rearRight};
 

wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.h

@@ -5,7 +5,7 @@
 #pragma once
 
 #include <frc/Encoder.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/SpeedControllerGroup.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc2/command/SubsystemBase.h>
@@ -70,10 +70,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
   // declared private and exposed only through public methods.
 
   // The motor controllers
-  frc::PWMVictorSPX m_left1;
-  frc::PWMVictorSPX m_left2;
-  frc::PWMVictorSPX m_right1;
-  frc::PWMVictorSPX m_right2;
+  frc::PWMSparkMax m_left1;
+  frc::PWMSparkMax m_left2;
+  frc::PWMSparkMax m_right1;
+  frc::PWMSparkMax m_right2;
 
   // The motors on the left side of the drive
   frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};

wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.h

@@ -5,7 +5,7 @@
 #pragma once
 
 #include <frc/Encoder.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/SpeedControllerGroup.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc2/command/SubsystemBase.h>
@@ -70,10 +70,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
   // declared private and exposed only through public methods.
 
   // The motor controllers
-  frc::PWMVictorSPX m_left1;
-  frc::PWMVictorSPX m_left2;
-  frc::PWMVictorSPX m_right1;
-  frc::PWMVictorSPX m_right2;
+  frc::PWMSparkMax m_left1;
+  frc::PWMSparkMax m_left2;
+  frc::PWMSparkMax m_right1;
+  frc::PWMSparkMax m_right2;
 
   // The motors on the left side of the drive
   frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};

wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h

@@ -6,7 +6,7 @@
 
 #include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
 #include <frc/geometry/Translation2d.h>
@@ -35,10 +35,10 @@ class Drivetrain {
       wpi::math::pi};  // 1/2 rotation per second
 
  private:
-  frc::PWMVictorSPX m_frontLeftMotor{1};
-  frc::PWMVictorSPX m_frontRightMotor{2};
-  frc::PWMVictorSPX m_backLeftMotor{3};
-  frc::PWMVictorSPX m_backRightMotor{4};
+  frc::PWMSparkMax m_frontLeftMotor{1};
+  frc::PWMSparkMax m_frontRightMotor{2};
+  frc::PWMSparkMax m_backLeftMotor{3};
+  frc::PWMSparkMax m_backRightMotor{4};
 
   frc::Encoder m_frontLeftEncoder{0, 1};
   frc::Encoder m_frontRightEncoder{2, 3};

wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/subsystems/DriveSubsystem.h

@@ -6,7 +6,7 @@
 
 #include <frc/ADXRS450_Gyro.h>
 #include <frc/Encoder.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/drive/MecanumDrive.h>
 #include <frc/geometry/Pose2d.h>
 #include <frc/geometry/Rotation2d.h>
@@ -135,10 +135,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
   // declared private and exposed only through public methods.
 
   // The motor controllers
-  frc::PWMVictorSPX m_frontLeft;
-  frc::PWMVictorSPX m_rearLeft;
-  frc::PWMVictorSPX m_frontRight;
-  frc::PWMVictorSPX m_rearRight;
+  frc::PWMSparkMax m_frontLeft;
+  frc::PWMSparkMax m_rearLeft;
+  frc::PWMSparkMax m_frontRight;
+  frc::PWMSparkMax m_rearRight;
 
   // The robot's drive
   frc::MecanumDrive m_drive{m_frontLeft, m_rearLeft, m_frontRight, m_rearRight};

wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp

@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <frc/Joystick.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
 #include <frc/drive/MecanumDrive.h>
 
@@ -35,10 +35,10 @@ class Robot : public frc::TimedRobot {
 
   static constexpr int kJoystickChannel = 0;
 
-  frc::PWMVictorSPX m_frontLeft{kFrontLeftChannel};
-  frc::PWMVictorSPX m_rearLeft{kRearLeftChannel};
-  frc::PWMVictorSPX m_frontRight{kFrontRightChannel};
-  frc::PWMVictorSPX m_rearRight{kRearRightChannel};
+  frc::PWMSparkMax m_frontLeft{kFrontLeftChannel};
+  frc::PWMSparkMax m_rearLeft{kRearLeftChannel};
+  frc::PWMSparkMax m_frontRight{kFrontRightChannel};
+  frc::PWMSparkMax m_rearRight{kRearRightChannel};
   frc::MecanumDrive m_robotDrive{m_frontLeft, m_rearLeft, m_frontRight,
                                  m_rearRight};
 

wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp

@@ -17,7 +17,7 @@ frc::MecanumDriveWheelSpeeds Drivetrain::GetCurrentState() const {
 
 void Drivetrain::SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds) {
   std::function<void(units::meters_per_second_t, const frc::Encoder&,
-                     frc2::PIDController&, frc::PWMVictorSPX&)>
+                     frc2::PIDController&, frc::PWMSparkMax&)>
       calcAndSetSpeeds =
           [&m_feedforward = m_feedforward](units::meters_per_second_t speed,
                                            const auto& encoder,

wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h

@@ -6,7 +6,7 @@
 
 #include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
 #include <frc/estimator/MecanumDrivePoseEstimator.h>
@@ -35,10 +35,10 @@ class Drivetrain {
       wpi::math::pi};  // 1/2 rotation per second
 
  private:
-  frc::PWMVictorSPX m_frontLeftMotor{1};
-  frc::PWMVictorSPX m_frontRightMotor{2};
-  frc::PWMVictorSPX m_backLeftMotor{3};
-  frc::PWMVictorSPX m_backRightMotor{4};
+  frc::PWMSparkMax m_frontLeftMotor{1};
+  frc::PWMSparkMax m_frontRightMotor{2};
+  frc::PWMSparkMax m_backLeftMotor{3};
+  frc::PWMSparkMax m_backRightMotor{4};
 
   frc::Encoder m_frontLeftEncoder{0, 1};
   frc::Encoder m_frontRightEncoder{2, 3};

wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp

@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <frc/Joystick.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
 
 /**
@@ -20,7 +20,7 @@ class Robot : public frc::TimedRobot {
 
  private:
   frc::Joystick m_stick{0};
-  frc::PWMVictorSPX m_motor{0};
+  frc::PWMSparkMax m_motor{0};
 };
 
 #ifndef RUNNING_FRC_TESTS

wpilibcExamples/src/main/cpp/examples/MotorControlEncoder/cpp/Robot.cpp

@@ -4,7 +4,7 @@
 
 #include <frc/Encoder.h>
 #include <frc/Joystick.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <wpi/math>
@@ -40,7 +40,7 @@ class Robot : public frc::TimedRobot {
 
  private:
   frc::Joystick m_stick{0};
-  frc::PWMVictorSPX m_motor{0};
+  frc::PWMSparkMax m_motor{0};
   frc::Encoder m_encoder{0, 1};
 };
 

wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Collector.h

@@ -5,7 +5,7 @@
 #pragma once
 
 #include <frc/DigitalInput.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/Solenoid.h>
 #include <frc/commands/Subsystem.h>
 
@@ -66,7 +66,7 @@ class Collector : public frc::Subsystem {
 
  private:
   // Subsystem devices
-  frc::PWMVictorSPX m_rollerMotor{6};
+  frc::PWMSparkMax m_rollerMotor{6};
   frc::DigitalInput m_ballDetector{10};
   frc::Solenoid m_piston{1};
   frc::DigitalInput m_openDetector{6};

wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/DriveTrain.h

@@ -6,7 +6,7 @@
 
 #include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/SpeedControllerGroup.h>
 #include <frc/commands/Subsystem.h>
 #include <frc/drive/DifferentialDrive.h>
@@ -60,12 +60,12 @@ class DriveTrain : public frc::Subsystem {
 
  private:
   // Subsystem devices
-  frc::PWMVictorSPX m_frontLeftCIM{1};
-  frc::PWMVictorSPX m_rearLeftCIM{2};
+  frc::PWMSparkMax m_frontLeftCIM{1};
+  frc::PWMSparkMax m_rearLeftCIM{2};
   frc::SpeedControllerGroup m_leftCIMs{m_frontLeftCIM, m_rearLeftCIM};
 
-  frc::PWMVictorSPX m_frontRightCIM{3};
-  frc::PWMVictorSPX m_rearRightCIM{4};
+  frc::PWMSparkMax m_frontRightCIM{3};
+  frc::PWMSparkMax m_rearRightCIM{4};
   frc::SpeedControllerGroup m_rightCIMs{m_frontRightCIM, m_rearRightCIM};
 
   frc::DifferentialDrive m_robotDrive{m_leftCIMs, m_rightCIMs};

wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Pivot.h

@@ -6,7 +6,7 @@
 
 #include <frc/AnalogPotentiometer.h>
 #include <frc/DigitalInput.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/commands/PIDSubsystem.h>
 
 /**
@@ -67,5 +67,5 @@ class Pivot : public frc::PIDSubsystem {
   frc::AnalogPotentiometer m_pot{1};
 
   // Motor to move the pivot
-  frc::PWMVictorSPX m_motor{5};
+  frc::PWMSparkMax m_motor{5};
 };

wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp

@@ -6,7 +6,7 @@
 
 #include <frc/AnalogInput.h>
 #include <frc/Joystick.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
 #include <frc/controller/PIDController.h>
 
@@ -62,7 +62,7 @@ class Robot : public frc::TimedRobot {
 
   frc::AnalogInput m_potentiometer{kPotChannel};
   frc::Joystick m_joystick{kJoystickChannel};
-  frc::PWMVictorSPX m_elevatorMotor{kMotorChannel};
+  frc::PWMSparkMax m_elevatorMotor{kMotorChannel};
 
   frc2::PIDController m_pidController{kP, kI, kD};
 };

wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h

@@ -6,7 +6,7 @@
 
 #include <frc/ADXRS450_Gyro.h>
 #include <frc/Encoder.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/SpeedControllerGroup.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc/geometry/Pose2d.h>
@@ -117,10 +117,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
   // declared private and exposed only through public methods.
 
   // The motor controllers
-  frc::PWMVictorSPX m_left1;
-  frc::PWMVictorSPX m_left2;
-  frc::PWMVictorSPX m_right1;
-  frc::PWMVictorSPX m_right2;
+  frc::PWMSparkMax m_left1;
+  frc::PWMSparkMax m_left2;
+  frc::PWMSparkMax m_right1;
+  frc::PWMSparkMax m_right2;
 
   // The motors on the left side of the drive
   frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};

wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h

@@ -6,7 +6,7 @@
 
 #include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/SpeedControllerGroup.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
@@ -52,10 +52,10 @@ class Drivetrain {
   static constexpr double kWheelRadius = 0.0508;  // meters
   static constexpr int kEncoderResolution = 4096;
 
-  frc::PWMVictorSPX m_leftLeader{1};
-  frc::PWMVictorSPX m_leftFollower{2};
-  frc::PWMVictorSPX m_rightLeader{3};
-  frc::PWMVictorSPX m_rightFollower{4};
+  frc::PWMSparkMax m_leftLeader{1};
+  frc::PWMSparkMax m_leftFollower{2};
+  frc::PWMSparkMax m_rightLeader{3};
+  frc::PWMSparkMax m_rightFollower{4};
 
   frc::SpeedControllerGroup m_leftGroup{m_leftLeader, m_leftFollower};
   frc::SpeedControllerGroup m_rightGroup{m_rightLeader, m_rightFollower};

wpilibcExamples/src/main/cpp/examples/ShuffleBoard/cpp/Robot.cpp

@@ -5,7 +5,7 @@
 #include <frc/AnalogPotentiometer.h>
 #include <frc/Encoder.h>
 #include <frc/Joystick.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc/shuffleboard/Shuffleboard.h>
@@ -61,9 +61,9 @@ class Robot : public frc::TimedRobot {
   }
 
  private:
-  frc::PWMVictorSPX m_left{0};
-  frc::PWMVictorSPX m_right{1};
-  frc::PWMVictorSPX m_elevatorMotor{2};
+  frc::PWMSparkMax m_left{0};
+  frc::PWMSparkMax m_right{1};
+  frc::PWMSparkMax m_elevatorMotor{2};
 
   frc::DifferentialDrive m_robotDrive{m_left, m_right};
 

wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h

@@ -6,7 +6,7 @@
 
 #include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/SpeedControllerGroup.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
@@ -68,10 +68,10 @@ class Drivetrain {
   static constexpr double kWheelRadius = 0.0508;  // meters
   static constexpr int kEncoderResolution = 4096;
 
-  frc::PWMVictorSPX m_leftLeader{1};
-  frc::PWMVictorSPX m_leftFollower{2};
-  frc::PWMVictorSPX m_rightLeader{3};
-  frc::PWMVictorSPX m_rightFollower{4};
+  frc::PWMSparkMax m_leftLeader{1};
+  frc::PWMSparkMax m_leftFollower{2};
+  frc::PWMSparkMax m_rightLeader{3};
+  frc::PWMSparkMax m_rightFollower{4};
 
   frc::SpeedControllerGroup m_leftGroup{m_leftLeader, m_leftFollower};
   frc::SpeedControllerGroup m_rightGroup{m_rightLeader, m_rightFollower};

wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp

@@ -4,7 +4,7 @@
 
 #include <frc/Encoder.h>
 #include <frc/GenericHID.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/StateSpaceUtil.h>
 #include <frc/TimedRobot.h>
 #include <frc/XboxController.h>
@@ -84,7 +84,7 @@ class Robot : public frc::TimedRobot {
   // An encoder set up to measure arm position in radians per second.
   frc::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
 
-  frc::PWMVictorSPX m_motor{kMotorPort};
+  frc::PWMSparkMax m_motor{kMotorPort};
   frc::XboxController m_joystick{kJoystickPort};
 
   frc::TrapezoidProfile<units::radians>::Constraints m_constraints{

wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h

@@ -6,7 +6,7 @@
 
 #include <frc/ADXRS450_Gyro.h>
 #include <frc/Encoder.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/SpeedControllerGroup.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc/geometry/Pose2d.h>
@@ -128,10 +128,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
   // declared private and exposed only through public methods.
 
   // The motor controllers
-  frc::PWMVictorSPX m_left1{DriveConstants::kLeftMotor1Port};
-  frc::PWMVictorSPX m_left2{DriveConstants::kLeftMotor2Port};
-  frc::PWMVictorSPX m_right1{DriveConstants::kRightMotor1Port};
-  frc::PWMVictorSPX m_right2{DriveConstants::kRightMotor2Port};
+  frc::PWMSparkMax m_left1{DriveConstants::kLeftMotor1Port};
+  frc::PWMSparkMax m_left2{DriveConstants::kLeftMotor2Port};
+  frc::PWMSparkMax m_right1{DriveConstants::kRightMotor1Port};
+  frc::PWMSparkMax m_right2{DriveConstants::kRightMotor2Port};
 
   // The motors on the left side of the drive
   frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};

wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp

@@ -4,7 +4,7 @@
 
 #include <frc/Encoder.h>
 #include <frc/GenericHID.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/StateSpaceUtil.h>
 #include <frc/TimedRobot.h>
 #include <frc/XboxController.h>
@@ -81,7 +81,7 @@ class Robot : public frc::TimedRobot {
   // An encoder set up to measure elevator height in meters.
   frc::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
 
-  frc::PWMVictorSPX m_motor{kMotorPort};
+  frc::PWMSparkMax m_motor{kMotorPort};
   frc::XboxController m_joystick{kJoystickPort};
 
   frc::TrapezoidProfile<units::meters>::Constraints m_constraints{3_fps,

wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp

@@ -5,7 +5,7 @@
 #include <frc/DriverStation.h>
 #include <frc/Encoder.h>
 #include <frc/GenericHID.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/StateSpaceUtil.h>
 #include <frc/TimedRobot.h>
 #include <frc/XboxController.h>
@@ -77,7 +77,7 @@ class Robot : public frc::TimedRobot {
   // An encoder set up to measure flywheel velocity in radians per second.
   frc::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
 
-  frc::PWMVictorSPX m_motor{kMotorPort};
+  frc::PWMSparkMax m_motor{kMotorPort};
   frc::XboxController m_joystick{kJoystickPort};
 
  public:

wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp

@@ -5,7 +5,7 @@
 #include <frc/DriverStation.h>
 #include <frc/Encoder.h>
 #include <frc/GenericHID.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/StateSpaceUtil.h>
 #include <frc/TimedRobot.h>
 #include <frc/XboxController.h>
@@ -78,7 +78,7 @@ class Robot : public frc::TimedRobot {
   // An encoder set up to measure flywheel velocity in radians per second.
   frc::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
 
-  frc::PWMVictorSPX m_motor{kMotorPort};
+  frc::PWMSparkMax m_motor{kMotorPort};
   frc::XboxController m_joystick{kJoystickPort};
 
  public:

wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h

@@ -5,7 +5,7 @@
 #pragma once
 
 #include <frc/Encoder.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/ProfiledPIDController.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
@@ -31,8 +31,8 @@ class SwerveModule {
   static constexpr auto kModuleMaxAngularAcceleration =
       wpi::math::pi * 2_rad_per_s / 1_s;  // radians per second^2
 
-  frc::PWMVictorSPX m_driveMotor;
-  frc::PWMVictorSPX m_turningMotor;
+  frc::PWMSparkMax m_driveMotor;
+  frc::PWMSparkMax m_turningMotor;
 
   frc::Encoder m_driveEncoder{0, 1};
   frc::Encoder m_turningEncoder{2, 3};

wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h

@@ -6,7 +6,7 @@
 
 #include <frc/ADXRS450_Gyro.h>
 #include <frc/Encoder.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/drive/MecanumDrive.h>
 #include <frc/geometry/Pose2d.h>
 #include <frc/geometry/Rotation2d.h>

wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.h

@@ -5,7 +5,7 @@
 #pragma once
 
 #include <frc/Encoder.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/ProfiledPIDController.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
@@ -31,8 +31,8 @@ class SwerveModule {
   static constexpr auto kModuleMaxAngularAcceleration =
       wpi::math::pi * 2_rad_per_s / 1_s;  // radians per second^2
 
-  frc::PWMVictorSPX m_driveMotor;
-  frc::PWMVictorSPX m_turningMotor;
+  frc::PWMSparkMax m_driveMotor;
+  frc::PWMSparkMax m_turningMotor;
 
   frc::Encoder m_driveEncoder{0, 1};
   frc::Encoder m_turningEncoder{2, 3};

wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp

@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <frc/GenericHID.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
 #include <frc/XboxController.h>
 #include <frc/drive/DifferentialDrive.h>
@@ -13,8 +13,8 @@
  * Runs the motors with tank steering and an Xbox controller.
  */
 class Robot : public frc::TimedRobot {
-  frc::PWMVictorSPX m_leftMotor{0};
-  frc::PWMVictorSPX m_rightMotor{1};
+  frc::PWMSparkMax m_leftMotor{0};
+  frc::PWMSparkMax m_rightMotor{1};
   frc::DifferentialDrive m_robotDrive{m_leftMotor, m_rightMotor};
   frc::XboxController m_driverController{0};
 

wpilibcExamples/src/main/cpp/examples/Ultrasonic/cpp/Robot.cpp

@@ -4,7 +4,7 @@
 
 #include <frc/AnalogInput.h>
 #include <frc/MedianFilter.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
 #include <frc/drive/DifferentialDrive.h>
 
@@ -49,8 +49,8 @@ class Robot : public frc::TimedRobot {
 
   frc::AnalogInput m_ultrasonic{kUltrasonicPort};
 
-  frc::PWMVictorSPX m_left{kLeftMotorPort};
-  frc::PWMVictorSPX m_right{kRightMotorPort};
+  frc::PWMSparkMax m_left{kLeftMotorPort};
+  frc::PWMSparkMax m_right{kRightMotorPort};
   frc::DifferentialDrive m_robotDrive{m_left, m_right};
 };
 

wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp

@@ -4,7 +4,7 @@
 
 #include <frc/AnalogInput.h>
 #include <frc/MedianFilter.h>
-#include <frc/PWMVictorSPX.h>
+#include <frc/PWMSparkMax.h>
 #include <frc/TimedRobot.h>
 #include <frc/controller/PIDController.h>
 #include <frc/drive/DifferentialDrive.h>
@@ -55,8 +55,8 @@ class Robot : public frc::TimedRobot {
 
   frc::AnalogInput m_ultrasonic{kUltrasonicPort};
 
-  frc::PWMVictorSPX m_left{kLeftMotorPort};
-  frc::PWMVictorSPX m_right{kRightMotorPort};
+  frc::PWMSparkMax m_left{kLeftMotorPort};
+  frc::PWMSparkMax m_right{kRightMotorPort};
   frc::DifferentialDrive m_robotDrive{m_left, m_right};
 
   frc2::PIDController m_pidController{kP, kI, kD};