[cmd] Deprecate control commands and subsystems

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java

@@ -16,7 +16,10 @@
  * are performed synchronously in the command's execute() method.
  *
  * <p>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;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java

@@ -13,7 +13,10 @@
  * synchronously from the subsystem's periodic() method.
  *
  * <p>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;

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.
  *
  * <p>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;

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.
  *
  * <p>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;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java

@@ -4,17 +4,19 @@
 
 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;
 
 /**
  * A command that runs a {@link TrapezoidProfile}. Useful for smoothly controlling mechanism motion.
  *
  * <p>This class is provided by the NewCommands VendorDep
+ *
+ * @deprecated Use a TrapezoidProfile instead
  */
 @Deprecated(since = "2025", forRemoval = true)
 public class TrapezoidProfileCommand extends Command {

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.
  *
  * <p>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;

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<Command, PIDCommand> {
+class [[deprecated("Use a PIDController instead")]] PIDCommand
+    : public CommandHelper<Command, PIDCommand> {
  public:
   /**
    * Creates a new PIDCommand, which controls the given output with a

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.

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<Distance>
+ * @deprecated Use a ProfiledPIDController instead
  */
 template <class Distance>
-class ProfiledPIDCommand
+class [[deprecated("Use a ProfiledPIDController instead")]] ProfiledPIDCommand
     : public CommandHelper<Command, ProfiledPIDCommand<Distance>> {
   using Distance_t = units::unit_t<Distance>;
   using Velocity =

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 Distance>
-class ProfiledPIDSubsystem : public SubsystemBase {
+class [[deprecated("Use a ProfiledPIDController instead")]] ProfiledPIDSubsystem
+    : public SubsystemBase {
   using Distance_t = units::unit_t<Distance>;
   using Velocity =
       units::compound_unit<Distance, units::inverse<units::seconds>>;

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 Distance>
-class TrapezoidProfileCommand
+class [[deprecated("Use a TrapezoidProfile instead")]] TrapezoidProfileCommand
     : public CommandHelper<Command, TrapezoidProfileCommand<Distance>> {
   using Distance_t = units::unit_t<Distance>;
   using Velocity =

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 Distance>
-class TrapezoidProfileSubsystem : public SubsystemBase {
+class [[deprecated("Use a TrapezoidProfile instead")]] TrapezoidProfileSubsystem
+    : public SubsystemBase {
   using Distance_t = units::unit_t<Distance>;
   using Velocity =
       units::compound_unit<Distance, units::inverse<units::seconds>>;