Deprecated API

Contents

• For Removal
• Interfaces
• Classes
• Fields
• Methods
• Constructors

For Removal

Element	Description
edu.wpi.first.math.MatBuilder(Nat<R>, Nat<C>)	Use MatBuilder.fill(edu.wpi.first.math.Nat<R>, edu.wpi.first.math.Nat<C>, double...) instead.
edu.wpi.first.math.Matrix.mat(Nat<R>, Nat<C>)	Use MatBuilder.fill(edu.wpi.first.math.Nat<R>, edu.wpi.first.math.Nat<C>, double...) instead.
edu.wpi.first.math.trajectory.TrapezoidProfile(TrapezoidProfile.Constraints, TrapezoidProfile.State, TrapezoidProfile.State)	Pass the desired and current state into calculate instead of constructing a new TrapezoidProfile with the desired and current state
edu.wpi.first.math.trajectory.TrapezoidProfile.calculate(double)	Pass the desired and current state into calculate instead of constructing a new TrapezoidProfile with the desired and current state
edu.wpi.first.networktables.NetworkTableEntry.clearFlags(int)	Use setPersistent() or topic properties instead
edu.wpi.first.networktables.NetworkTableEntry.delete()	Use unpublish() instead.
edu.wpi.first.networktables.NetworkTableEntry.getFlags()	Use isPersistent() or topic properties instead
edu.wpi.first.networktables.NetworkTableEntry.kPersistent	Use isPersistent() instead.
edu.wpi.first.networktables.NetworkTableEntry.setFlags(int)	Use setPersistent() or topic properties instead
edu.wpi.first.util.InterpolatingTreeMap	Use InterpolatingDoubleTreeMap instead
edu.wpi.first.wpilibj.interfaces.Accelerometer	This interface is being removed with no replacement.
edu.wpi.first.wpilibj.interfaces.Gyro	This interface is being removed with no replacement.
edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup	Use PWMMotorController.addFollower(PWMMotorController) or if using CAN motor controllers, use their method of following.
edu.wpi.first.wpilibj.Notifier.setHandler(Runnable)	Use setCallback() instead.
edu.wpi.first.wpilibj2.command.CommandBase	All functionality provided by CommandBase has been merged into Command. Use Command instead.
edu.wpi.first.wpilibj2.command.TrapezoidProfileCommand(TrapezoidProfile, Consumer<TrapezoidProfile.State>, Subsystem...)	The new constructor allows you to pass in a supplier for desired and current state. This allows you to change goals at runtime.

Interfaces

Interface	Description
edu.wpi.first.wpilibj.interfaces.Accelerometer	This interface is being removed with no replacement.
edu.wpi.first.wpilibj.interfaces.Gyro	This interface is being removed with no replacement.

Classes

Class	Description
edu.wpi.first.util.InterpolatingTreeMap	Use InterpolatingDoubleTreeMap instead
edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup	Use PWMMotorController.addFollower(PWMMotorController) or if using CAN motor controllers, use their method of following.
edu.wpi.first.wpilibj2.command.CommandBase	All functionality provided by CommandBase has been merged into Command. Use Command instead.

Fields

Field	Description
edu.wpi.first.networktables.NetworkTableEntry.kPersistent	Use isPersistent() instead.

Methods

Method	Description
edu.wpi.first.math.Matrix.mat(Nat<R>, Nat<C>)	Use MatBuilder.fill(edu.wpi.first.math.Nat<R>, edu.wpi.first.math.Nat<C>, double...) instead.
edu.wpi.first.math.trajectory.TrapezoidProfile.calculate(double)	Pass the desired and current state into calculate instead of constructing a new TrapezoidProfile with the desired and current state
edu.wpi.first.networktables.NetworkTableEntry.clearFlags(int)	Use setPersistent() or topic properties instead
edu.wpi.first.networktables.NetworkTableEntry.delete()	Use unpublish() instead.
edu.wpi.first.networktables.NetworkTableEntry.getFlags()	Use isPersistent() or topic properties instead
edu.wpi.first.networktables.NetworkTableEntry.setFlags(int)	Use setPersistent() or topic properties instead
edu.wpi.first.wpilibj.Encoder.getPeriod()	Use getRate() in favor of this method.
edu.wpi.first.wpilibj.Encoder.setMaxPeriod(double)	Use setMinRate() in favor of this method. This takes unscaled periods and setMinRate() scales using value from setDistancePerPulse().
edu.wpi.first.wpilibj.Notifier.setHandler(Runnable)	Use setCallback() instead.

Constructors

Constructor	Description
edu.wpi.first.math.MatBuilder(Nat<R>, Nat<C>)	Use MatBuilder.fill(edu.wpi.first.math.Nat<R>, edu.wpi.first.math.Nat<C>, double...) instead.
edu.wpi.first.math.trajectory.TrapezoidProfile(TrapezoidProfile.Constraints, TrapezoidProfile.State, TrapezoidProfile.State)	Pass the desired and current state into calculate instead of constructing a new TrapezoidProfile with the desired and current state
edu.wpi.first.wpilibj2.command.TrapezoidProfileCommand(TrapezoidProfile, Consumer<TrapezoidProfile.State>, Subsystem...)	The new constructor allows you to pass in a supplier for desired and current state. This allows you to change goals at runtime.