[wpilib] deprecate PIDCommand and PIDSubsystem

Resolves wpilibsuite#5067
spacey-sooty · Jan 5, 2024 · 7bdb06b · 7bdb06b
1 parent 13f4460
commit 7bdb06b
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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
@@ -40,6 +40,7 @@ public class PIDCommand extends Command {
    * @param useOutput the controller's output
    * @param requirements the subsystems required by this command
    */
+  @Deprecated
   public PIDCommand(
       PIDController controller,
       DoubleSupplier measurementSource,
@@ -67,6 +68,7 @@ public PIDCommand(
    * @param useOutput the controller's output
    * @param requirements the subsystems required by this command
    */
+  @Deprecated
   public PIDCommand(
       PIDController controller,
       DoubleSupplier measurementSource,

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
@@ -28,6 +28,7 @@ public abstract class PIDSubsystem extends SubsystemBase {
    * @param initialPosition the initial setpoint of the subsystem
    */
   @SuppressWarnings("this-escape")
+  @Deprecated
   public PIDSubsystem(PIDController controller, double initialPosition) {
     m_controller = requireNonNullParam(controller, "controller", "PIDSubsystem");
     setSetpoint(initialPosition);

diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/PIDCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/PIDCommand.cpp
@@ -8,6 +8,7 @@
 
 using namespace frc2;
 
+[[deprecated("This is now deprecated use PIDController instead")]]
 PIDCommand::PIDCommand(frc::PIDController controller,
                        std::function<double()> measurementSource,
                        std::function<double()> setpointSource,
@@ -20,6 +21,7 @@ PIDCommand::PIDCommand(frc::PIDController controller,
   AddRequirements(requirements);
 }
 
+[[deprecated("This is now deprecated use PIDController instead")]]
 PIDCommand::PIDCommand(frc::PIDController controller,
                        std::function<double()> measurementSource,
                        double setpoint, std::function<void(double)> useOutput,

diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/PIDSubsystem.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/PIDSubsystem.cpp
@@ -8,6 +8,7 @@
 
 using namespace frc2;
 
+[[deprecated("This is now deprecated use PIDController instead")]]
 PIDSubsystem::PIDSubsystem(frc::PIDController controller,
                            double initialPosition)
     : m_controller{std::move(controller)} {

diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/PIDCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/PIDCommand.h
@@ -7,6 +7,7 @@
 #include <functional>
 
 #include <frc/controller/PIDController.h>
+#include <wpi/deprecated.h>
 
 #include "frc2/command/Command.h"
 #include "frc2/command/CommandHelper.h"

diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h b/wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h
@@ -5,6 +5,7 @@
 #pragma once
 
 #include <frc/controller/PIDController.h>
+#include <wpi/deprecated.h>
 
 #include "frc2/command/SubsystemBase.h"