diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java
index 9356481ffa0..a075af0c092 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java
@@ -150,7 +150,7 @@ public double calculate(double velocity, double acceleration) {
    *
    * @param velocity The velocity setpoint.
    * @return The computed feedforward.
-   * @deprecated Use the current/next velocity overload instead.
+   * @deprecated Use the unit-taking velocity overload instead.
    */
   @SuppressWarnings("removal")
   @Deprecated(forRemoval = true, since = "2025")
@@ -159,15 +159,15 @@ public double calculate(double velocity) {
   }
 
   /**
-   * Calculates the feedforward from the gains and setpoints assuming discrete control when the
-   * setpoint does not change.
+   * Calculates the feedforward from the gains and velocity setpoint assuming discrete control when
+   * the velocity setpoint does not change.
    *
    * @param <U> The velocity parameter either as distance or angle.
-   * @param setpoint The velocity setpoint.
+   * @param velocity The velocity setpoint.
    * @return The computed feedforward.
    */
-  public <U extends Unit> Voltage calculate(Measure<? extends PerUnit<U, TimeUnit>> setpoint) {
-    return calculate(setpoint, setpoint);
+  public <U extends Unit> Voltage calculate(Measure<? extends PerUnit<U, TimeUnit>> velocity) {
+    return calculate(velocity, velocity);
   }
 
   /**
diff --git a/wpimath/src/main/native/include/frc/controller/SimpleMotorFeedforward.h b/wpimath/src/main/native/include/frc/controller/SimpleMotorFeedforward.h
index 932172810df..87099047f5b 100644
--- a/wpimath/src/main/native/include/frc/controller/SimpleMotorFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/SimpleMotorFeedforward.h
@@ -84,14 +84,15 @@ class SimpleMotorFeedforward {
   }
 
   /**
-   * Calculates the feedforward from the gains and setpoint assuming discrete
-   * control. Use this method when the setpoint does not change.
+   * Calculates the feedforward from the gains and velocity setpoint assuming
+   * discrete control. Use this method when the velocity setpoint does not
+   * change.
    *
-   * @param setpoint The velocity setpoint.
+   * @param velocity The velocity setpoint.
    * @return The computed feedforward, in volts.
    */
-  constexpr units::volt_t Calculate(units::unit_t<Velocity> setpoint) const {
-    return Calculate(setpoint, setpoint);
+  constexpr units::volt_t Calculate(units::unit_t<Velocity> velocity) const {
+    return Calculate(velocity, velocity);
   }
 
   /**