[hal] Clean up references to removed HAL features (#8695)

#7695, #7696, #7697, #7701, #7724, #7753, #7861 removed various features from the HAL, but forgot to clean up the handles, the WS API, or both. Additionally, since AnalogInput is the only remaining analog I/O, AnalogJNI was renamed to the more specific AnalogInputJNI.
2026-06-26 01:51:41 +00:00 · 2026-03-20 19:50:02 -04:00
parent f1aa84aecf
commit dba033eaee
11 changed files with 82 additions and 180 deletions
--- a/hal/src/main/java/org/wpilib/hardware/hal/AnalogInputJNI.java
+++ b/hal/src/main/java/org/wpilib/hardware/hal/AnalogInputJNI.java
@@ -9,7 +9,7 @@ package org.wpilib.hardware.hal;
 *
 * @see "wpi/hal/AnalogInput.h"
 */
-public class AnalogJNI extends JNIWrapper {
+public class AnalogInputJNI extends JNIWrapper {
  /**
   * Initializes the analog input port using the given port object.
   *
@@ -230,5 +230,5 @@ public class AnalogJNI extends JNIWrapper {
  public static native int getAnalogOffset(int analogPortHandle);

  /** Utility class. */
-  private AnalogJNI() {}
+  private AnalogInputJNI() {}
 }
--- a/hal/src/main/native/cpp/jni/AnalogInputJNI.cpp
+++ b/hal/src/main/native/cpp/jni/AnalogInputJNI.cpp
@@ -7,7 +7,7 @@
 #include <cassert>

 #include "HALUtil.hpp"
-#include "org_wpilib_hardware_hal_AnalogJNI.h"
+#include "org_wpilib_hardware_hal_AnalogInputJNI.h"
 #include "wpi/hal/AnalogInput.h"
 #include "wpi/hal/Ports.h"
 #include "wpi/hal/handles/HandlesInternal.hpp"
@@ -18,12 +18,12 @@ using namespace wpi::hal;
 extern "C" {

 /*
- * Class:     org_wpilib_hardware_hal_AnalogJNI
+ * Class:     org_wpilib_hardware_hal_AnalogInputJNI
 * Method:    initializeAnalogInputPort
 * Signature: (I)I
 */
 JNIEXPORT jint JNICALL
-Java_org_wpilib_hardware_hal_AnalogJNI_initializeAnalogInputPort
+Java_org_wpilib_hardware_hal_AnalogInputJNI_initializeAnalogInputPort
  (JNIEnv* env, jclass, jint channel)
 {
  int32_t status = 0;
@@ -34,12 +34,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_initializeAnalogInputPort
 }

 /*
- * Class:     org_wpilib_hardware_hal_AnalogJNI
+ * Class:     org_wpilib_hardware_hal_AnalogInputJNI
 * Method:    freeAnalogInputPort
 * Signature: (I)V
 */
 JNIEXPORT void JNICALL
-Java_org_wpilib_hardware_hal_AnalogJNI_freeAnalogInputPort
+Java_org_wpilib_hardware_hal_AnalogInputJNI_freeAnalogInputPort
  (JNIEnv* env, jclass, jint id)
 {
  if (id != HAL_kInvalidHandle) {
@@ -48,12 +48,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_freeAnalogInputPort
 }

 /*
- * Class:     org_wpilib_hardware_hal_AnalogJNI
+ * Class:     org_wpilib_hardware_hal_AnalogInputJNI
 * Method:    checkAnalogModule
 * Signature: (B)Z
 */
 JNIEXPORT jboolean JNICALL
-Java_org_wpilib_hardware_hal_AnalogJNI_checkAnalogModule
+Java_org_wpilib_hardware_hal_AnalogInputJNI_checkAnalogModule
  (JNIEnv*, jclass, jbyte value)
 {
  jboolean returnValue = HAL_CheckAnalogModule(value);
@@ -61,12 +61,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_checkAnalogModule
 }

 /*
- * Class:     org_wpilib_hardware_hal_AnalogJNI
+ * Class:     org_wpilib_hardware_hal_AnalogInputJNI
 * Method:    checkAnalogInputChannel
 * Signature: (I)Z
 */
 JNIEXPORT jboolean JNICALL
-Java_org_wpilib_hardware_hal_AnalogJNI_checkAnalogInputChannel
+Java_org_wpilib_hardware_hal_AnalogInputJNI_checkAnalogInputChannel
  (JNIEnv*, jclass, jint value)
 {
  jboolean returnValue = HAL_CheckAnalogInputChannel(value);
@@ -74,12 +74,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_checkAnalogInputChannel
 }

 /*
- * Class:     org_wpilib_hardware_hal_AnalogJNI
+ * Class:     org_wpilib_hardware_hal_AnalogInputJNI
 * Method:    setAnalogInputSimDevice
 * Signature: (II)V
 */
 JNIEXPORT void JNICALL
-Java_org_wpilib_hardware_hal_AnalogJNI_setAnalogInputSimDevice
+Java_org_wpilib_hardware_hal_AnalogInputJNI_setAnalogInputSimDevice
  (JNIEnv* env, jclass, jint handle, jint device)
 {
  HAL_SetAnalogInputSimDevice((HAL_AnalogInputHandle)handle,
@@ -87,12 +87,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_setAnalogInputSimDevice
 }

 /*
- * Class:     org_wpilib_hardware_hal_AnalogJNI
+ * Class:     org_wpilib_hardware_hal_AnalogInputJNI
 * Method:    setAnalogSampleRate
 * Signature: (D)V
 */
 JNIEXPORT void JNICALL
-Java_org_wpilib_hardware_hal_AnalogJNI_setAnalogSampleRate
+Java_org_wpilib_hardware_hal_AnalogInputJNI_setAnalogSampleRate
  (JNIEnv* env, jclass, jdouble value)
 {
  int32_t status = 0;
@@ -101,12 +101,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_setAnalogSampleRate
 }

 /*
- * Class:     org_wpilib_hardware_hal_AnalogJNI
+ * Class:     org_wpilib_hardware_hal_AnalogInputJNI
 * Method:    getAnalogSampleRate
 * Signature: ()D
 */
 JNIEXPORT jdouble JNICALL
-Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogSampleRate
+Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogSampleRate
  (JNIEnv* env, jclass)
 {
  int32_t status = 0;
@@ -116,12 +116,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogSampleRate
 }

 /*
- * Class:     org_wpilib_hardware_hal_AnalogJNI
+ * Class:     org_wpilib_hardware_hal_AnalogInputJNI
 * Method:    setAnalogAverageBits
 * Signature: (II)V
 */
 JNIEXPORT void JNICALL
-Java_org_wpilib_hardware_hal_AnalogJNI_setAnalogAverageBits
+Java_org_wpilib_hardware_hal_AnalogInputJNI_setAnalogAverageBits
  (JNIEnv* env, jclass, jint id, jint value)
 {
  int32_t status = 0;
@@ -130,12 +130,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_setAnalogAverageBits
 }

 /*
- * Class:     org_wpilib_hardware_hal_AnalogJNI
+ * Class:     org_wpilib_hardware_hal_AnalogInputJNI
 * Method:    getAnalogAverageBits
 * Signature: (I)I
 */
 JNIEXPORT jint JNICALL
-Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogAverageBits
+Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogAverageBits
  (JNIEnv* env, jclass, jint id)
 {
  int32_t status = 0;
@@ -146,12 +146,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogAverageBits
 }

 /*
- * Class:     org_wpilib_hardware_hal_AnalogJNI
+ * Class:     org_wpilib_hardware_hal_AnalogInputJNI
 * Method:    setAnalogOversampleBits
 * Signature: (II)V
 */
 JNIEXPORT void JNICALL
-Java_org_wpilib_hardware_hal_AnalogJNI_setAnalogOversampleBits
+Java_org_wpilib_hardware_hal_AnalogInputJNI_setAnalogOversampleBits
  (JNIEnv* env, jclass, jint id, jint value)
 {
  int32_t status = 0;
@@ -160,12 +160,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_setAnalogOversampleBits
 }

 /*
- * Class:     org_wpilib_hardware_hal_AnalogJNI
+ * Class:     org_wpilib_hardware_hal_AnalogInputJNI
 * Method:    getAnalogOversampleBits
 * Signature: (I)I
 */
 JNIEXPORT jint JNICALL
-Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogOversampleBits
+Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogOversampleBits
  (JNIEnv* env, jclass, jint id)
 {
  int32_t status = 0;
@@ -176,12 +176,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogOversampleBits
 }

 /*
- * Class:     org_wpilib_hardware_hal_AnalogJNI
+ * Class:     org_wpilib_hardware_hal_AnalogInputJNI
 * Method:    getAnalogValue
 * Signature: (I)S
 */
 JNIEXPORT jshort JNICALL
-Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogValue
+Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogValue
  (JNIEnv* env, jclass, jint id)
 {
  int32_t status = 0;
@@ -191,12 +191,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogValue
 }

 /*
- * Class:     org_wpilib_hardware_hal_AnalogJNI
+ * Class:     org_wpilib_hardware_hal_AnalogInputJNI
 * Method:    getAnalogAverageValue
 * Signature: (I)I
 */
 JNIEXPORT jint JNICALL
-Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogAverageValue
+Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogAverageValue
  (JNIEnv* env, jclass, jint id)
 {
  int32_t status = 0;
@@ -207,12 +207,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogAverageValue
 }

 /*
- * Class:     org_wpilib_hardware_hal_AnalogJNI
+ * Class:     org_wpilib_hardware_hal_AnalogInputJNI
 * Method:    getAnalogVoltsToValue
 * Signature: (ID)I
 */
 JNIEXPORT jint JNICALL
-Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogVoltsToValue
+Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogVoltsToValue
  (JNIEnv* env, jclass, jint id, jdouble voltageValue)
 {
  int32_t status = 0;
@@ -223,12 +223,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogVoltsToValue
 }

 /*
- * Class:     org_wpilib_hardware_hal_AnalogJNI
+ * Class:     org_wpilib_hardware_hal_AnalogInputJNI
 * Method:    getAnalogValueToVolts
 * Signature: (II)D
 */
 JNIEXPORT jdouble JNICALL
-Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogValueToVolts
+Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogValueToVolts
  (JNIEnv* env, jclass, jint id, jint rawValue)
 {
  int32_t status = 0;
@@ -239,12 +239,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogValueToVolts
 }

 /*
- * Class:     org_wpilib_hardware_hal_AnalogJNI
+ * Class:     org_wpilib_hardware_hal_AnalogInputJNI
 * Method:    getAnalogVoltage
 * Signature: (I)D
 */
 JNIEXPORT jdouble JNICALL
-Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogVoltage
+Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogVoltage
  (JNIEnv* env, jclass, jint id)
 {
  int32_t status = 0;
@@ -255,12 +255,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogVoltage
 }

 /*
- * Class:     org_wpilib_hardware_hal_AnalogJNI
+ * Class:     org_wpilib_hardware_hal_AnalogInputJNI
 * Method:    getAnalogAverageVoltage
 * Signature: (I)D
 */
 JNIEXPORT jdouble JNICALL
-Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogAverageVoltage
+Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogAverageVoltage
  (JNIEnv* env, jclass, jint id)
 {
  int32_t status = 0;
@@ -271,12 +271,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogAverageVoltage
 }

 /*
- * Class:     org_wpilib_hardware_hal_AnalogJNI
+ * Class:     org_wpilib_hardware_hal_AnalogInputJNI
 * Method:    getAnalogLSBWeight
 * Signature: (I)I
 */
 JNIEXPORT jint JNICALL
-Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogLSBWeight
+Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogLSBWeight
  (JNIEnv* env, jclass, jint id)
 {
  int32_t status = 0;
@@ -287,12 +287,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogLSBWeight
 }

 /*
- * Class:     org_wpilib_hardware_hal_AnalogJNI
+ * Class:     org_wpilib_hardware_hal_AnalogInputJNI
 * Method:    getAnalogOffset
 * Signature: (I)I
 */
 JNIEXPORT jint JNICALL
-Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogOffset
+Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogOffset
  (JNIEnv* env, jclass, jint id)
 {
  int32_t status = 0;
--- a/hal/src/main/native/include/wpi/hal/Types.h
+++ b/hal/src/main/native/include/wpi/hal/Types.h
@@ -20,10 +20,6 @@ typedef HAL_Handle HAL_AlertHandle;

 typedef HAL_Handle HAL_AnalogInputHandle;

-typedef HAL_Handle HAL_AnalogOutputHandle;
-
-typedef HAL_Handle HAL_AnalogTriggerHandle;
-
 typedef HAL_Handle HAL_CompressorHandle;

 typedef HAL_Handle HAL_CounterHandle;
@@ -38,12 +34,8 @@ typedef HAL_Handle HAL_FPGAEncoderHandle;

 typedef HAL_Handle HAL_GyroHandle;

-typedef HAL_Handle HAL_InterruptHandle;
-
 typedef HAL_Handle HAL_NotifierHandle;

-typedef HAL_Handle HAL_RelayHandle;
-
 typedef HAL_Handle HAL_SolenoidHandle;

 typedef HAL_Handle HAL_SerialPortHandle;
@@ -54,8 +46,6 @@ typedef HAL_Handle HAL_SimDeviceHandle;

 typedef HAL_Handle HAL_SimValueHandle;

-typedef HAL_Handle HAL_DMAHandle;
-
 typedef HAL_Handle HAL_DutyCycleHandle;

 typedef HAL_Handle HAL_AddressableLEDHandle;
--- a/hal/src/main/native/include/wpi/hal/handles/HandlesInternal.hpp
+++ b/hal/src/main/native/include/wpi/hal/handles/HandlesInternal.hpp
@@ -40,39 +40,33 @@ class HandleBase {
 constexpr int16_t INVALID_HANDLE_INDEX = -1;

 /**
- * Enum of HAL handle types. Vendors/Teams should use Vendor (17).
+ * Enum of HAL handle types. Vendors/Teams should use Vendor (12).
 */
 enum class HAL_HandleEnum {
  UNDEFINED = 0,
  DIO = wpi::util::HANDLE_TYPE_HAL_BASE,
  PORT = 2,
  NOTIFIER = 3,
-  INTERRUPT = 4,
-  ANALOG_OUTPUT = 5,
-  ANALOG_INPUT = 6,
-  ANALOG_TRIGGER = 7,
-  RELAY = 8,
-  PWM = 9,
-  DIGITAL_PWM = 10,
-  COUNTER = 11,
-  FPGA_ENCODER = 12,
-  ENCODER = 13,
-  COMPRESSOR = 14,
-  SOLENOID = 15,
-  ANALOG_GYRO = 16,
-  VENDOR = 17,
-  SIMULATION_JNI = 18,
-  CAN = 19,
-  SERIAL_PORT = 20,
-  DUTY_CYCLE = 21,
-  DMA = 22,
-  ADDRESSABLE_LED = 23,
-  CTRE_PCM = 24,
-  CTRE_PDP = 25,
-  REV_PDH = 26,
-  REV_PH = 27,
-  CAN_STREAM = 28,
-  ALERT = 29,
+  ANALOG_INPUT = 4,
+  PWM = 5,
+  DIGITAL_PWM = 6,
+  COUNTER = 7,
+  FPGA_ENCODER = 8,
+  ENCODER = 9,
+  COMPRESSOR = 10,
+  SOLENOID = 11,
+  VENDOR = 12,
+  SIMULATION_JNI = 13,
+  CAN = 14,
+  SERIAL_PORT = 15,
+  DUTY_CYCLE = 16,
+  ADDRESSABLE_LED = 17,
+  CTRE_PCM = 18,
+  CTRE_PDP = 19,
+  REV_PDH = 20,
+  REV_PH = 21,
+  CAN_STREAM = 22,
+  ALERT = 23,
 };

 /**
--- a/hal/src/main/native/sim/Power.cpp
+++ b/hal/src/main/native/sim/Power.cpp
@@ -17,7 +17,6 @@ extern "C" {
 double HAL_GetVinVoltage(int32_t* status) {
  return SimRoboRioData->vInVoltage;
 }
-void HAL_SetUserRailEnabled5V(HAL_Bool enabled, int32_t* status) {}
 double HAL_GetUserVoltage3V3(int32_t* status) {
  return SimRoboRioData->userVoltage3V3;
 }
--- a/simulation/halsim_ws_core/doc/hardware_ws_api.md
+++ b/simulation/halsim_ws_core/doc/hardware_ws_api.md
@@ -78,7 +78,6 @@ The “hardware“ (which might be a full-fledged 3D simulation engine, a physic
 | ----------------------- | -------------------------- | ------------------------- |
 | [``"AddressableLED"``][]| Addressable LED Strip      | Arbitrary device number   |
 | [``"AI"``][]            | Analog input               | Port index, e.g. "1", "2" |
-| [``"AO"``][]            | Analog output              | Port index, e.g. "1", "2" |
 | [``"CTREPCM"``][]       | PCM                        | Module number, e.g. "1", "2" |
 | [``"DIO"``][]           | Digital input/output       | Port index, e.g. "1", "2" |
 | [``"dPWM"``][]          | Duty cycle output          | Arbitrary device number   |
@@ -116,17 +115,6 @@ The basic analog input just reads a voltage. An analog input can also be configu
 | ``"<oversample_bits"`` | Integer | The number of oversampling bits                     |
 | ``">voltage"``         | Float   | Input voltage, in volts                             |

-#### Analog Output ("AO")
-
-[``"AO"``]:#analog-output-ao
-
-The basic analog output just sends a voltage.
-
-| Data Key              | Type    | Description                                          |
-| --------------------- | ------- | ---------------------------------------------------- |
-| ``"<init"``           | Boolean | If analog output is initialized in the robot program |
-| ``"<voltage"``        | Float   | Output voltage, in volts                             |
-
 #### Digital Input/Output ("DIO")

 [``"DIO"``]:#digital-inputoutput-dio
@@ -351,17 +339,7 @@ The RoboRIO.

 | Data Key           | Type    | Description                                 |
 | ------------------ | ------- | ------------------------------------------- |
-| ``">fpga_button"`` | Boolean | FPGA button state                           |
 | ``">vin_voltage"`` | Float   | Vin rail voltage                            |
-| ``">vin_current"`` | Float   | Vin rail current                            |
-| ``">6v_voltage"``  | Float   | 6V rail voltage                             |
-| ``">6v_current"``  | Float   | 6V rail current                             |
-| ``">6v_active"``   | Boolean | True if 6V rail active, false if inactive   |
-| ``">6v_faults"``   | Integer | Number of faults on 6V rail                 |
-| ``">5v_voltage"``  | Float   | 5V rail voltage                             |
-| ``">5v_current"``  | Float   | 5V rail current                             |
-| ``">5v_active"``   | Boolean | True if 5V rail active, false if inactive   |
-| ``">5v_faults"``   | Integer | Number of faults on 5V rail                 |
 | ``">3v3_voltage"`` | Float   | 3.3V rail voltage                           |
 | ``">3v3_current"`` | Float   | 3.3V rail current                           |
 | ``">3v3_active"``  | Boolean | True if 3.3V rail active, false if inactive |
--- a/simulation/halsim_ws_core/doc/wpilib-ws.yaml
+++ b/simulation/halsim_ws_core/doc/wpilib-ws.yaml
@@ -42,7 +42,6 @@ components:
            - $ref: "#/components/schemas/accelData"
            - $ref: "#/components/schemas/addressableLEDData"
            - $ref: "#/components/schemas/aiData"
-            - $ref: "#/components/schemas/aoData"
            - $ref: "#/components/schemas/dioData"
            - $ref: "#/components/schemas/dpwmData"
            - $ref: "#/components/schemas/driverstationData"
@@ -138,30 +137,6 @@ components:
              type: number
              description: "Input voltage, in volts"

-    aoData:
-      type: object
-      required:
-      - type
-      - device
-      properties:
-        type:
-          type: string
-          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
-          const: AO
-        device:
-          type: string
-          description: Device Identifier (usually channel)
-        data:
-          type: object
-          description: "Analog Output Data (type: AO, device: channel number)"
-          properties:
-            <init:
-              type: boolean
-              description: "If analog output is initialized in the robot program"
-            "<voltage":
-              type: number
-              description: "Output voltage, in volts"
-
    dioData:
      type: object
      required:
@@ -553,39 +528,9 @@ components:
          type: object
          description: "RoboRIO Data (type: RoboRIO)"
          properties:
-            ">fpga_button":
-              type: boolean
-              description: "FPGA button state"
            ">vin_voltage":
              type: number
              description: "Vin rail voltage"
-            ">vin_current":
-              type: number
-              description: "Vin rail current"
-            ">6v_voltage":
-              type: number
-              description: "6V rail voltage"
-            ">6v_current":
-              type: number
-              description: "6V rail current"
-            ">6v_active":
-              type: boolean
-              description: "True if 6V rail active, false if inactive"
-            ">6v_faults":
-              type: integer
-              description: "Number of faults on 6V rail"
-            ">5v_voltage":
-              type: number
-              description: "5V rail voltage"
-            ">5v_current":
-              type: number
-              description: "5V rail current"
-            ">5v_active":
-              type: boolean
-              description: "True if 5V rail active, false if inactive"
-            ">5v_faults":
-              type: integer
-              description: "Number of faults on 5V rail"
            ">3v3_voltage":
              type: number
              description: "3.3V rail voltage"
--- a/wpilibc/src/main/native/include/wpi/hardware/rotation/DutyCycle.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/rotation/DutyCycle.hpp
@@ -17,7 +17,6 @@ namespace wpi {
 *
 * <p>PWM input signals are specified with a frequency and a ratio of high to
 * low in that frequency. These can be attached to any SmartIO.
- *
 */
 class DutyCycle : public wpi::util::Sendable,
                  public wpi::util::SendableHelper<DutyCycle> {
--- a/wpilibj/src/main/java/org/wpilib/hardware/discrete/AnalogInput.java
+++ b/wpilibj/src/main/java/org/wpilib/hardware/discrete/AnalogInput.java
@@ -4,7 +4,7 @@

 package org.wpilib.hardware.discrete;

-import org.wpilib.hardware.hal.AnalogJNI;
+import org.wpilib.hardware.hal.AnalogInputJNI;
 import org.wpilib.hardware.hal.HAL;
 import org.wpilib.hardware.hal.SimDevice;
 import org.wpilib.util.sendable.Sendable;
@@ -27,10 +27,10 @@ public class AnalogInput implements Sendable, AutoCloseable {
   */
  @SuppressWarnings("this-escape")
  public AnalogInput(final int channel) {
-    AnalogJNI.checkAnalogInputChannel(channel);
+    AnalogInputJNI.checkAnalogInputChannel(channel);
    m_channel = channel;

-    m_port = AnalogJNI.initializeAnalogInputPort(channel);
+    m_port = AnalogInputJNI.initializeAnalogInputPort(channel);

    HAL.reportUsage("IO", channel, "AnalogInput");
    SendableRegistry.add(this, "AnalogInput", channel);
@@ -39,7 +39,7 @@ public class AnalogInput implements Sendable, AutoCloseable {
  @Override
  public void close() {
    SendableRegistry.remove(this);
-    AnalogJNI.freeAnalogInputPort(m_port);
+    AnalogInputJNI.freeAnalogInputPort(m_port);
    m_port = 0;
    m_channel = 0;
  }
@@ -52,7 +52,7 @@ public class AnalogInput implements Sendable, AutoCloseable {
   * @return A sample straight from this channel.
   */
  public int getValue() {
-    return AnalogJNI.getAnalogValue(m_port);
+    return AnalogInputJNI.getAnalogValue(m_port);
  }

  /**
@@ -66,7 +66,7 @@ public class AnalogInput implements Sendable, AutoCloseable {
   * @return A sample from the oversample and average engine for this channel.
   */
  public int getAverageValue() {
-    return AnalogJNI.getAnalogAverageValue(m_port);
+    return AnalogInputJNI.getAnalogAverageValue(m_port);
  }

  /**
@@ -76,7 +76,7 @@ public class AnalogInput implements Sendable, AutoCloseable {
   * @return A scaled sample straight from this channel.
   */
  public double getVoltage() {
-    return AnalogJNI.getAnalogVoltage(m_port);
+    return AnalogInputJNI.getAnalogVoltage(m_port);
  }

  /**
@@ -89,7 +89,7 @@ public class AnalogInput implements Sendable, AutoCloseable {
   * @return A scaled sample from the output of the oversample and average engine for this channel.
   */
  public double getAverageVoltage() {
-    return AnalogJNI.getAnalogAverageVoltage(m_port);
+    return AnalogInputJNI.getAnalogAverageVoltage(m_port);
  }

  /**
@@ -101,7 +101,7 @@ public class AnalogInput implements Sendable, AutoCloseable {
   * @return Least significant bit weight.
   */
  public long getLSBWeight() {
-    return AnalogJNI.getAnalogLSBWeight(m_port);
+    return AnalogInputJNI.getAnalogLSBWeight(m_port);
  }

  /**
@@ -113,7 +113,7 @@ public class AnalogInput implements Sendable, AutoCloseable {
   * @return Offset constant.
   */
  public int getOffset() {
-    return AnalogJNI.getAnalogOffset(m_port);
+    return AnalogInputJNI.getAnalogOffset(m_port);
  }

  /**
@@ -132,7 +132,7 @@ public class AnalogInput implements Sendable, AutoCloseable {
   * @param bits The number of averaging bits.
   */
  public void setAverageBits(final int bits) {
-    AnalogJNI.setAnalogAverageBits(m_port, bits);
+    AnalogInputJNI.setAnalogAverageBits(m_port, bits);
  }

  /**
@@ -142,7 +142,7 @@ public class AnalogInput implements Sendable, AutoCloseable {
   * @return The number of averaging bits.
   */
  public int getAverageBits() {
-    return AnalogJNI.getAnalogAverageBits(m_port);
+    return AnalogInputJNI.getAnalogAverageBits(m_port);
  }

  /**
@@ -152,7 +152,7 @@ public class AnalogInput implements Sendable, AutoCloseable {
   * @param bits The number of oversample bits.
   */
  public void setOversampleBits(final int bits) {
-    AnalogJNI.setAnalogOversampleBits(m_port, bits);
+    AnalogInputJNI.setAnalogOversampleBits(m_port, bits);
  }

  /**
@@ -163,7 +163,7 @@ public class AnalogInput implements Sendable, AutoCloseable {
   * @return The number of oversample bits.
   */
  public int getOversampleBits() {
-    return AnalogJNI.getAnalogOversampleBits(m_port);
+    return AnalogInputJNI.getAnalogOversampleBits(m_port);
  }

  /**
@@ -175,7 +175,7 @@ public class AnalogInput implements Sendable, AutoCloseable {
   * @param samplesPerSecond The number of samples per second.
   */
  public static void setGlobalSampleRate(final double samplesPerSecond) {
-    AnalogJNI.setAnalogSampleRate(samplesPerSecond);
+    AnalogInputJNI.setAnalogSampleRate(samplesPerSecond);
  }

  /**
@@ -186,7 +186,7 @@ public class AnalogInput implements Sendable, AutoCloseable {
   * @return Sample rate.
   */
  public static double getGlobalSampleRate() {
-    return AnalogJNI.getAnalogSampleRate();
+    return AnalogInputJNI.getAnalogSampleRate();
  }

  /**
@@ -195,7 +195,7 @@ public class AnalogInput implements Sendable, AutoCloseable {
   * @param device simulated device handle
   */
  public void setSimDevice(SimDevice device) {
-    AnalogJNI.setAnalogInputSimDevice(m_port, device.getNativeHandle());
+    AnalogInputJNI.setAnalogInputSimDevice(m_port, device.getNativeHandle());
  }

  @Override
--- a/wpilibj/src/main/java/org/wpilib/hardware/rotation/DutyCycle.java
+++ b/wpilibj/src/main/java/org/wpilib/hardware/rotation/DutyCycle.java
@@ -14,10 +14,7 @@ import org.wpilib.util.sendable.SendableRegistry;
 * Class to read a duty cycle PWM input.
 *
 * <p>PWM input signals are specified with a frequency and a ratio of high to low in that frequency.
- * There are 8 of these in the roboRIO, and they can be attached to any SmartIO Channel.
- *
- * <p>These can be combined as the input of an AnalogTrigger to a Counter in order to implement
- * rollover checking.
+ * These can be attached to any SmartIO.
 */
 public class DutyCycle implements Sendable, AutoCloseable {
  // Explicitly package private
--- a/wpilibj/src/main/java/org/wpilib/system/SensorUtil.java
+++ b/wpilibj/src/main/java/org/wpilib/system/SensorUtil.java
@@ -4,7 +4,7 @@

 package org.wpilib.system;

-import org.wpilib.hardware.hal.AnalogJNI;
+import org.wpilib.hardware.hal.AnalogInputJNI;
 import org.wpilib.hardware.hal.ConstantsJNI;
 import org.wpilib.hardware.hal.DIOJNI;
 import org.wpilib.hardware.hal.PWMJNI;
@@ -87,7 +87,7 @@ public final class SensorUtil {
   * @param channel The channel number to check.
   */
  public static void checkAnalogInputChannel(final int channel) {
-    if (!AnalogJNI.checkAnalogInputChannel(channel)) {
+    if (!AnalogInputJNI.checkAnalogInputChannel(channel)) {
      String buf =
          "Requested analog input channel is out of range. Minimum: 0, Maximum: "
              + kAnalogInputChannels