diff --git a/docs/commands.md b/docs/commands.md
index c9769e8c..ae5e9e8f 100644
--- a/docs/commands.md
+++ b/docs/commands.md
@@ -111,7 +111,7 @@ All variables that are part of a `[...].config` object can be saved to non-volat
 The ODrive can run without encoder/hall feedback, but there is a minimum speed, usually around a few hunderd RPM.
 However the units of this mode is different from when using an encoder. Velocities are not measured in counts/s, instead it is electrical rad/s. This also applies to the gains. For example, `vel_gain` is in units of `A / (rad/s)` instead of `A / (count/s)`.
 
-To give an example, suppose you have a motor with 7 pole pairs, and you want to spin it at 3000 RPM. Then you would set the `vel_setpoint` to `3000 * 2*pi/60 * 7 = 2199 rad/s electrical`.
+To give an example, suppose you have a motor with 7 pole pairs, and you want to spin it at 3000 RPM. Then you would set the `input_vel` to `3000 * 2*pi/60 * 7 = 2199 rad/s electrical`.
 
 Below are some suggested starting parameters that you can use. Note that you _must_ set the `pm_flux_linkage` correctly for sensorless mode to work.
 
@@ -119,7 +119,7 @@ Below are some suggested starting parameters that you can use. Note that you _mu
 odrv0.axis0.controller.config.vel_gain = 0.01
 odrv0.axis0.controller.config.vel_integrator_gain = 0.05
 odrv0.axis0.controller.config.control_mode = 2
-odrv0.axis0.controller.vel_setpoint = 400
+odrv0.axis0.controller.input_vel = 400
 odrv0.axis0.motor.config.direction = 1
 odrv0.axis0.sensorless_estimator.config.pm_flux_linkage = 5.51328895422 / (<pole pairs> * <motor kv>)
 ```
diff --git a/docs/encoders.md b/docs/encoders.md
index cb038850..d0b60bdf 100644
--- a/docs/encoders.md
+++ b/docs/encoders.md
@@ -70,7 +70,7 @@ If calibration works, congratulations.
 
 Now try: 
 * `<axis>.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL`
-* `<axis>.controller.set_vel_setpoint(3000,0) `
+* `<axis>.controller.input_vel = 3000`
 let it loop a few times and then set:
 * `<axis>.requested_state = AXIS_STATE_IDLE`
 
diff --git a/docs/getting-started.md b/docs/getting-started.md
index 623e85da..fa532abf 100644
--- a/docs/getting-started.md
+++ b/docs/getting-started.md
@@ -337,7 +337,7 @@ If you try to increment the axis with a large step in one go that exceeds `cpr/2
 
 ### Velocity control
 Set `axis.controller.config.control_mode = CTRL_MODE_VELOCITY_CONTROL`.<br>
-You can now control the velocity with `axis.controller.vel_setpoint = 5000` [count/s].
+You can now control the velocity with `axis.controller.input_vel = 5000` [count/s].
 
 ### Ramped velocity control
 Set `axis.controller.config.control_mode = CTRL_MODE_VELOCITY_CONTROL`.<br>
diff --git a/docs/hoverboard.md b/docs/hoverboard.md
index 730391fd..91b50764 100644
--- a/docs/hoverboard.md
+++ b/docs/hoverboard.md
@@ -112,9 +112,9 @@ The ODrive starts in idle (we will look at changing this later) so we can enable
 odrv0.save_configuration()
 odrv0.reboot()
 odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
-odrv0.axis0.controller.vel_setpoint = 120
+odrv0.axis0.controller.input_vel = 120
 # Your motor should spin here
-odrv0.axis0.controller.vel_setpoint = 0
+odrv0.axis0.controller.input_vel = 0
 odrv0.axis0.requested_state = AXIS_STATE_IDLE
 ```
 
@@ -128,31 +128,31 @@ We also have to reboot to activate the PWM input.
 ```txt
 odrv0.config.gpio3_pwm_mapping.min = -200
 odrv0.config.gpio3_pwm_mapping.max = 200
-odrv0.config.gpio3_pwm_mapping.endpoint = odrv0.axis0.controller._remote_attributes['vel_setpoint']
+odrv0.config.gpio3_pwm_mapping.endpoint = odrv0.axis0.controller._remote_attributes['input_vel']
 
 odrv0.config.gpio4_pwm_mapping.min = -200
 odrv0.config.gpio4_pwm_mapping.max = 200
-odrv0.config.gpio4_pwm_mapping.endpoint = odrv0.axis1.controller._remote_attributes['vel_setpoint']
+odrv0.config.gpio4_pwm_mapping.endpoint = odrv0.axis1.controller._remote_attributes['input_vel']
 
 odrv0.save_configuration()
 odrv0.reboot()
 ```
 
-Now we can check that the sticks are writing to the velocity setpoint. Move the stick, print `vel_setpoint`, move to a different position, check again.
+Now we can check that the sticks are writing to the velocity setpoint. Move the stick, print `input_vel`, move to a different position, check again.
 ```txt
-In [1]: odrv0.axis1.controller.vel_setpoint
+In [1]: odrv0.axis1.controller.input_vel
 Out[1]: 0.1904754638671875
 
-In [2]: odrv0.axis1.controller.vel_setpoint
+In [2]: odrv0.axis1.controller.input_vel
 Out[2]: 0.1904754638671875
 
-In [3]: odrv0.axis1.controller.vel_setpoint
+In [3]: odrv0.axis1.controller.input_vel
 Out[3]: 28.152389526367188
 
-In [4]: odrv0.axis1.controller.vel_setpoint
+In [4]: odrv0.axis1.controller.input_vel
 Out[4]: 61.21905517578125
 
-In [5]: odrv0.axis1.controller.vel_setpoint
+In [5]: odrv0.axis1.controller.input_vel
 Out[5]: -52.990474700927734
 ```