Deprecated API

Contents

• Terminally Deprecated
• Classes
• Methods
• Constructors

Terminally Deprecated Elements

Element	Description
org.wpilib.command2.Command.deadlineWith(Command...)	Use Command.deadlineFor(org.wpilib.command2.Command...) instead.
org.wpilib.command2.Command.schedule()	Use CommandScheduler.getInstance().schedule(Command...) instead
org.wpilib.command2.ProxyCommand(Supplier<Command>)	This constructor's similarity to DeferredCommand is confusing and opens potential footguns for users who do not fully understand the semantics and implications of proxying, but who simply want runtime construction. Users who do know what they are doing and need a supplier-constructed proxied command should instead defer a proxy command.
org.wpilib.framework.IterativeRobotBase.setNetworkTablesFlushEnabled(boolean)	Deprecated without replacement.
org.wpilib.math.controller.PIDController.getPositionError()	Use getError() instead.
org.wpilib.math.controller.PIDController.getPositionTolerance()	Use getErrorTolerance() instead.
org.wpilib.math.controller.PIDController.getVelocityError()	Use getErrorDerivative() instead.
org.wpilib.math.controller.PIDController.getVelocityTolerance()	Use getErrorDerivativeTolerance() instead.
org.wpilib.math.trajectory.constraint.EllipticalRegionConstraint(Translation2d, double, double, Rotation2d, TrajectoryConstraint)	Use constructor taking Ellipse2d instead.
org.wpilib.math.trajectory.constraint.RectangularRegionConstraint(Translation2d, Translation2d, TrajectoryConstraint)	Use constructor taking Rectangle2d instead.
org.wpilib.system.Resource	Will be removed with no replacement.
org.wpilib.vision.apriltag.AprilTagFields.loadAprilTagLayoutField()	Use AprilTagFieldLayout.loadField(AprilTagFields) instead.

Deprecated Classes

Class	Description
org.wpilib.system.Resource	Will be removed with no replacement.

Deprecated Methods

Method	Description
org.wpilib.command2.Command.deadlineWith(Command...)	Use Command.deadlineFor(org.wpilib.command2.Command...) instead.
org.wpilib.command2.Command.schedule()	Use CommandScheduler.getInstance().schedule(Command...) instead
org.wpilib.framework.IterativeRobotBase.setNetworkTablesFlushEnabled(boolean)	Deprecated without replacement.
org.wpilib.hardware.rotation.Encoder.getPeriod()	Use getRate() in favor of this method.
org.wpilib.hardware.rotation.Encoder.setMaxPeriod(double)	Use setMinRate() in favor of this method. This takes unscaled periods and setMinRate() scales using value from setDistancePerPulse().
org.wpilib.math.controller.PIDController.getPositionError()	Use getError() instead.
org.wpilib.math.controller.PIDController.getPositionTolerance()	Use getErrorTolerance() instead.
org.wpilib.math.controller.PIDController.getVelocityError()	Use getErrorDerivative() instead.
org.wpilib.math.controller.PIDController.getVelocityTolerance()	Use getErrorDerivativeTolerance() instead.
org.wpilib.math.kinematics.SwerveModuleVelocity.optimize(SwerveModuleVelocity, Rotation2d)	Use the instance method instead.
org.wpilib.vision.apriltag.AprilTagFields.loadAprilTagLayoutField()	Use AprilTagFieldLayout.loadField(AprilTagFields) instead.

Deprecated Constructors

Constructor	Description
org.wpilib.command2.ProxyCommand(Supplier<Command>)	This constructor's similarity to DeferredCommand is confusing and opens potential footguns for users who do not fully understand the semantics and implications of proxying, but who simply want runtime construction. Users who do know what they are doing and need a supplier-constructed proxied command should instead defer a proxy command.
org.wpilib.math.trajectory.constraint.EllipticalRegionConstraint(Translation2d, double, double, Rotation2d, TrajectoryConstraint)	Use constructor taking Ellipse2d instead.
org.wpilib.math.trajectory.constraint.RectangularRegionConstraint(Translation2d, Translation2d, TrajectoryConstraint)	Use constructor taking Rectangle2d instead.