diff --git a/config.gradle b/config.gradle
index 63b6df0b61..dd6779ab03 100644
--- a/config.gradle
+++ b/config.gradle
@@ -8,7 +8,7 @@ def windowsLinkerArgs = [ '/DEBUG:FULL' ]
 def windowsReleaseLinkerArgs = [ '/OPT:REF', '/OPT:ICF' ]
 
 def linuxCompilerArgs = ['-std=c++1y', '-Wformat=2', '-Wall', '-Wextra', '-Werror', '-pedantic', '-Wno-psabi', '-g',
-                         '-Wno-unused-parameter', '-fPIC', '-rdynamic', '-Wno-error=deprecated-declarations', '-pthread']
+                         '-Wno-unused-parameter', '-fPIC', '-rdynamic', '-pthread']
 def linuxLinkerArgs = ['-rdynamic', '-pthread']
 def linuxReleaseCompilerArgs = ['-O2']
 def linuxDebugCompilerArgs = ['-O0']
diff --git a/hal/src/main/native/athena/FRCDriverStation.cpp b/hal/src/main/native/athena/FRCDriverStation.cpp
index 1784ef8a7a..9e0c47ed91 100644
--- a/hal/src/main/native/athena/FRCDriverStation.cpp
+++ b/hal/src/main/native/athena/FRCDriverStation.cpp
@@ -33,11 +33,6 @@ static int newDSDataAvailableCounter{0};
 
 extern "C" {
 
-int32_t HAL_SetErrorData(const char* errors, int32_t errorsLength,
-                         int32_t waitMs) {
-  return setErrorData(errors, errorsLength, waitMs);
-}
-
 int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
                       const char* details, const char* location,
                       const char* callStack, HAL_Bool printMsg) {
diff --git a/hal/src/main/native/include/HAL/DriverStation.h b/hal/src/main/native/include/HAL/DriverStation.h
index 8049ece882..8ebc6df00b 100644
--- a/hal/src/main/native/include/HAL/DriverStation.h
+++ b/hal/src/main/native/include/HAL/DriverStation.h
@@ -98,8 +98,6 @@ struct HAL_MatchInfo {
 extern "C" {
 #endif
 
-int32_t HAL_SetErrorData(const char* errors, int32_t errorsLength,
-                         int32_t waitMs);
 int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
                       const char* details, const char* location,
                       const char* callStack, HAL_Bool printMsg);
diff --git a/hal/src/main/native/sim/DriverStation.cpp b/hal/src/main/native/sim/DriverStation.cpp
index 3aafca204b..7ee4c82877 100644
--- a/hal/src/main/native/sim/DriverStation.cpp
+++ b/hal/src/main/native/sim/DriverStation.cpp
@@ -29,11 +29,6 @@ static int newDSDataAvailableCounter{0};
 using namespace hal;
 
 extern "C" {
-int32_t HAL_SetErrorData(const char* errors, int32_t errorsLength,
-                         int32_t waitMs) {
-  return 0;
-}
-
 int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
                       const char* details, const char* location,
                       const char* callStack, HAL_Bool printMsg) {
diff --git a/myRobot/src/main/native/cpp/MyRobot.cpp b/myRobot/src/main/native/cpp/MyRobot.cpp
index 3a25f3df9f..98784789e6 100644
--- a/myRobot/src/main/native/cpp/MyRobot.cpp
+++ b/myRobot/src/main/native/cpp/MyRobot.cpp
@@ -5,7 +5,7 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
-#include "WPILib.h"
+#include "IterativeRobot.h"
 
 class MyRobot : public IterativeRobot {
   /**
diff --git a/wpilibc/src/main/native/include/RobotDrive.h b/wpilibc/src/main/native/include/RobotDrive.h
index 5203816407..b2b1dfec61 100644
--- a/wpilibc/src/main/native/include/RobotDrive.h
+++ b/wpilibc/src/main/native/include/RobotDrive.h
@@ -31,9 +31,7 @@ class GenericHID;
  * function (intended for hand created drive code, such as autonomous) or with
  * the Tank/Arcade functions intended to be used for Operator Control driving.
  */
-class WPI_DEPRECATED("Use DifferentialDrive or MecanumDrive classes instead.")
-    RobotDrive : public MotorSafety,
-                 public ErrorBase {
+class RobotDrive : public MotorSafety, public ErrorBase {
  public:
   enum MotorType {
     kFrontLeftMotor = 0,
@@ -42,17 +40,25 @@ class WPI_DEPRECATED("Use DifferentialDrive or MecanumDrive classes instead.")
     kRearRightMotor = 3
   };
 
+  WPI_DEPRECATED("Use DifferentialDrive or MecanumDrive classes instead.")
   RobotDrive(int leftMotorChannel, int rightMotorChannel);
+  WPI_DEPRECATED("Use DifferentialDrive or MecanumDrive classes instead.")
   RobotDrive(int frontLeftMotorChannel, int rearLeftMotorChannel,
              int frontRightMotorChannel, int rearRightMotorChannel);
+  WPI_DEPRECATED("Use DifferentialDrive or MecanumDrive classes instead.")
   RobotDrive(SpeedController* leftMotor, SpeedController* rightMotor);
+  WPI_DEPRECATED("Use DifferentialDrive or MecanumDrive classes instead.")
   RobotDrive(SpeedController& leftMotor, SpeedController& rightMotor);
+  WPI_DEPRECATED("Use DifferentialDrive or MecanumDrive classes instead.")
   RobotDrive(std::shared_ptr<SpeedController> leftMotor,
              std::shared_ptr<SpeedController> rightMotor);
+  WPI_DEPRECATED("Use DifferentialDrive or MecanumDrive classes instead.")
   RobotDrive(SpeedController* frontLeftMotor, SpeedController* rearLeftMotor,
              SpeedController* frontRightMotor, SpeedController* rearRightMotor);
+  WPI_DEPRECATED("Use DifferentialDrive or MecanumDrive classes instead.")
   RobotDrive(SpeedController& frontLeftMotor, SpeedController& rearLeftMotor,
              SpeedController& frontRightMotor, SpeedController& rearRightMotor);
+  WPI_DEPRECATED("Use DifferentialDrive or MecanumDrive classes instead.")
   RobotDrive(std::shared_ptr<SpeedController> frontLeftMotor,
              std::shared_ptr<SpeedController> rearLeftMotor,
              std::shared_ptr<SpeedController> frontRightMotor,
diff --git a/wpilibj/src/main/native/cpp/HAL.cpp b/wpilibj/src/main/native/cpp/HAL.cpp
index 6dcceb89a6..d60aad6c21 100644
--- a/wpilibj/src/main/native/cpp/HAL.cpp
+++ b/wpilibj/src/main/native/cpp/HAL.cpp
@@ -358,22 +358,6 @@ Java_edu_wpi_first_wpilibj_hal_HAL_getBrownedOut(JNIEnv* env, jclass) {
   return val;
 }
 
-/*
- * Class: edu_wpi_first_wpilibj_hal_HAL
- * Method:    HAL_SetErrorData
- * Signature: (Ljava/lang/String;)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_wpilibj_hal_HAL_setErrorData(JNIEnv* env, jclass,
-                                                jstring error) {
-  JStringRef errorStr{env, error};
-
-  NETCOMM_LOG(logDEBUG) << "Set Error: " << errorStr.c_str();
-  NETCOMM_LOG(logDEBUG) << "Length: " << errorStr.size();
-  jint returnValue = HAL_SetErrorData(errorStr.c_str(), (int32_t)errorStr.size(), 0);
-  return returnValue;
-}
-
 /*
  * Class: edu_wpi_first_wpilibj_hal_HAL
  * Method:    HAL_SendError