From b28aeeec83d34077c0c43be3c073c391c0c96db3 Mon Sep 17 00:00:00 2001
From: Gold856 <117957790+Gold856@users.noreply.github.com>
Date: Tue, 1 Oct 2024 08:19:02 -0400
Subject: [PATCH] [cmd] Deprecate control commands and subsystems
---
.../main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java | 3 +++
.../java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java | 3 +++
.../edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java | 3 +++
.../edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java | 4 ++++
.../wpi/first/wpilibj2/command/TrapezoidProfileCommand.java | 4 +++-
.../wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java | 3 +++
.../src/main/native/include/frc2/command/PIDCommand.h | 4 +++-
.../src/main/native/include/frc2/command/PIDSubsystem.h | 4 +++-
.../src/main/native/include/frc2/command/ProfiledPIDCommand.h | 3 ++-
.../main/native/include/frc2/command/ProfiledPIDSubsystem.h | 4 +++-
.../native/include/frc2/command/TrapezoidProfileCommand.h | 3 ++-
.../native/include/frc2/command/TrapezoidProfileSubsystem.h | 4 +++-
12 files changed, 35 insertions(+), 7 deletions(-)
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java
index 360e15bf9d4..0a84d37c259 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java
@@ -16,7 +16,10 @@
* are performed synchronously in the command's execute() method.
*
* This class is provided by the NewCommands VendorDep
+ *
+ * @deprecated Use a PIDController instead
*/
+@Deprecated(forRemoval = true, since = "2025")
public class PIDCommand extends Command {
/** PID controller. */
protected final PIDController m_controller;
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
index 8146ca4d7b0..3be70d7a1f5 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
@@ -13,7 +13,10 @@
* synchronously from the subsystem's periodic() method.
*
*
This class is provided by the NewCommands VendorDep
+ *
+ * @deprecated Use a PIDController instead
*/
+@Deprecated(forRemoval = true, since = "2025")
public abstract class PIDSubsystem extends SubsystemBase {
/** PID controller. */
protected final PIDController m_controller;
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java
index b22ff51c4a3..428aabc7d11 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java
@@ -18,7 +18,10 @@
* output are performed synchronously in the command's execute() method.
*
*
This class is provided by the NewCommands VendorDep
+ *
+ * @deprecated Use a ProfiledPIDController instead
*/
+@Deprecated(forRemoval = true, since = "2025")
public class ProfiledPIDCommand extends Command {
/** Profiled PID controller. */
protected final ProfiledPIDController m_controller;
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
index 05318edc611..7dcc694d54f 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
@@ -9,13 +9,17 @@
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import edu.wpi.first.math.trajectory.TrapezoidProfile.State;
/**
* A subsystem that uses a {@link ProfiledPIDController} to control an output. The controller is run
* synchronously from the subsystem's periodic() method.
*
*
This class is provided by the NewCommands VendorDep
+ *
+ * @deprecated Use a ProfiledPIDController instead
*/
+@Deprecated(forRemoval = true, since = "2025")
public abstract class ProfiledPIDSubsystem extends SubsystemBase {
/** Profiled PID controller. */
protected final ProfiledPIDController m_controller;
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java
index 2fe8fa6d611..6c76bb41f58 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java
@@ -4,10 +4,10 @@
package edu.wpi.first.wpilibj2.command;
-import static edu.wpi.first.math.trajectory.TrapezoidProfile.State;
import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import edu.wpi.first.math.trajectory.TrapezoidProfile.State;
import java.util.function.Consumer;
import java.util.function.Supplier;
@@ -15,6 +15,8 @@
* A command that runs a {@link TrapezoidProfile}. Useful for smoothly controlling mechanism motion.
*
*
This class is provided by the NewCommands VendorDep
+ *
+ * @deprecated Use a TrapezoidProfile instead
*/
@Deprecated(since = "2025", forRemoval = true)
public class TrapezoidProfileCommand extends Command {
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java
index 44abdfc4db9..b3df8bc7721 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java
@@ -13,7 +13,10 @@
* how to use the current state of the motion profile by overriding the `useState` method.
*
*
This class is provided by the NewCommands VendorDep
+ *
+ * @deprecated Use a TrapezoidProfile instead
*/
+@Deprecated(forRemoval = true, since = "2025")
public abstract class TrapezoidProfileSubsystem extends SubsystemBase {
private final double m_period;
private final TrapezoidProfile m_profile;
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/PIDCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/PIDCommand.h
index ab16e7dd25d..9d0fa9bd0e4 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/PIDCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/PIDCommand.h
@@ -22,8 +22,10 @@ namespace frc2 {
* This class is provided by the NewCommands VendorDep
*
* @see PIDController
+ * @deprecated Use a PIDController instead
*/
-class PIDCommand : public CommandHelper {
+class [[deprecated("Use a PIDController instead")]] PIDCommand
+ : public CommandHelper {
public:
/**
* Creates a new PIDCommand, which controls the given output with a
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h b/wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h
index af7d2980874..64eecd7e07a 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h
@@ -16,8 +16,10 @@ namespace frc2 {
* This class is provided by the NewCommands VendorDep
*
* @see PIDController
+ * @deprecated Use a PIDController instead
*/
-class PIDSubsystem : public SubsystemBase {
+class [[deprecated("Use a PIDController instead")]] PIDSubsystem
+ : public SubsystemBase {
public:
/**
* Creates a new PIDSubsystem.
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDCommand.h
index 6fbb12b1994..b234c3d6262 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDCommand.h
@@ -24,9 +24,10 @@ namespace frc2 {
* This class is provided by the NewCommands VendorDep
*
* @see ProfiledPIDController
+ * @deprecated Use a ProfiledPIDController instead
*/
template
-class ProfiledPIDCommand
+class [[deprecated("Use a ProfiledPIDController instead")]] ProfiledPIDCommand
: public CommandHelper> {
using Distance_t = units::unit_t;
using Velocity =
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h b/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
index 1dac7fab276..b5786d959e7 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
@@ -17,9 +17,11 @@ namespace frc2 {
* This class is provided by the NewCommands VendorDep
*
* @see ProfiledPIDController
+ * @deprecated Use a ProfiledPIDController instead
*/
template
-class ProfiledPIDSubsystem : public SubsystemBase {
+class [[deprecated("Use a ProfiledPIDController instead")]] ProfiledPIDSubsystem
+ : public SubsystemBase {
using Distance_t = units::unit_t;
using Velocity =
units::compound_unit>;
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
index 7b1d70214d4..35999debdd7 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
@@ -20,9 +20,10 @@ namespace frc2 {
* This class is provided by the NewCommands VendorDep
*
* @see TrapezoidProfile
+ * @deprecated Use a TrapezoidProfile instead
*/
template
-class TrapezoidProfileCommand
+class [[deprecated("Use a TrapezoidProfile instead")]] TrapezoidProfileCommand
: public CommandHelper> {
using Distance_t = units::unit_t;
using Velocity =
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h b/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h
index 56680103122..54b75254c8d 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h
@@ -16,9 +16,11 @@ namespace frc2 {
* profile by overriding the `UseState` method.
*
* This class is provided by the NewCommands VendorDep
+ * @deprecated Use a TrapezoidProfile instead
*/
template
-class TrapezoidProfileSubsystem : public SubsystemBase {
+class [[deprecated("Use a TrapezoidProfile instead")]] TrapezoidProfileSubsystem
+ : public SubsystemBase {
using Distance_t = units::unit_t;
using Velocity =
units::compound_unit>;