[wpilib] Deprecate Accelerometer and Gyro interfaces (#5445)

Accelerometer is hyper-specific to ADXL accelerometers, and Gyro is
less useful now that 3D IMUs are prevalent, and if those IMUs want to
support the Gyro interface, they also need to provide a way to set the
axis used for the Gyro interface, which is confusing. Higher-order
functions (e.g., lambdas) are a more flexible interface boundary than
interfaces, but they didn't exist when these interfaces were
created.

wpilibc/src/main/native/cpp/ADXL362.cpp

@@ -93,7 +93,6 @@ void ADXL362::SetRange(Range range) {
       m_gsPerLSB = 0.002;
       break;
     case kRange_8G:
-    case kRange_16G:  // 16G not supported; treat as 8G
       m_gsPerLSB = 0.004;
       break;
   }

wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp

@@ -140,6 +140,10 @@ void ADXRS450_Gyro::Calibrate() {
   m_spi.ResetAccumulator();
 }
 
+Rotation2d ADXRS450_Gyro::GetRotation2d() const {
+  return units::degree_t{-GetAngle()};
+}
+
 int ADXRS450_Gyro::GetPort() const {
   return m_port;
 }

wpilibc/src/main/native/cpp/AnalogGyro.cpp

@@ -133,6 +133,10 @@ void AnalogGyro::Calibrate() {
   FRC_CheckErrorStatus(status, "Channel {}", m_analog->GetChannel());
 }
 
+Rotation2d AnalogGyro::GetRotation2d() const {
+  return units::degree_t{-GetAngle()};
+}
+
 std::shared_ptr<AnalogInput> AnalogGyro::GetAnalogInput() const {
   return m_analog;
 }

wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp

@@ -22,11 +22,6 @@ BuiltInAccelerometer::BuiltInAccelerometer(Range range) {
 }
 
 void BuiltInAccelerometer::SetRange(Range range) {
-  if (range == kRange_16G) {
-    throw FRC_MakeError(err::ParameterOutOfRange,
-                        "16G range not supported (use k2G, k4G, or k8G)");
-  }
-
   HAL_SetAccelerometerActive(false);
   HAL_SetAccelerometerRange(static_cast<HAL_AccelerometerRange>(range));
   HAL_SetAccelerometerActive(true);

wpilibc/src/main/native/include/frc/ADXL345_I2C.h

@@ -9,7 +9,6 @@
 #include <wpi/sendable/SendableHelper.h>
 
 #include "frc/I2C.h"
-#include "frc/interfaces/Accelerometer.h"
 
 namespace frc {
 
@@ -24,10 +23,11 @@ namespace frc {
  * href="https://docs.wpilib.org/en/stable/docs/yearly-overview/known-issues.html#onboard-i2c-causing-system-lockups">
  * WPILib Known Issues</a> page for details.
  */
-class ADXL345_I2C : public Accelerometer,
-                    public nt::NTSendable,
+class ADXL345_I2C : public nt::NTSendable,
                     public wpi::SendableHelper<ADXL345_I2C> {
  public:
+  enum Range { kRange_2G = 0, kRange_4G = 1, kRange_8G = 2, kRange_16G = 3 };
+
   enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
 
   struct AllAxes {
@@ -53,11 +53,34 @@ class ADXL345_I2C : public Accelerometer,
   I2C::Port GetI2CPort() const;
   int GetI2CDeviceAddress() const;
 
-  // Accelerometer interface
-  void SetRange(Range range) final;
-  double GetX() override;
-  double GetY() override;
-  double GetZ() override;
+  /**
+   * Set the measuring range of the accelerometer.
+   *
+   * @param range The maximum acceleration, positive or negative, that the
+   *     accelerometer will measure.
+   */
+  void SetRange(Range range);
+
+  /**
+   * Returns the acceleration along the X axis in g-forces.
+   *
+   * @return The acceleration along the X axis in g-forces.
+   */
+  double GetX();
+
+  /**
+   * Returns the acceleration along the Y axis in g-forces.
+   *
+   * @return The acceleration along the Y axis in g-forces.
+   */
+  double GetY();
+
+  /**
+   * Returns the acceleration along the Z axis in g-forces.
+   *
+   * @return The acceleration along the Z axis in g-forces.
+   */
+  double GetZ();
 
   /**
    * Get the acceleration of one axis in Gs.

wpilibc/src/main/native/include/frc/ADXL345_SPI.h

@@ -9,7 +9,6 @@
 #include <wpi/sendable/SendableHelper.h>
 
 #include "frc/SPI.h"
-#include "frc/interfaces/Accelerometer.h"
 
 namespace frc {
 
@@ -19,10 +18,11 @@ namespace frc {
  * This class allows access to an Analog Devices ADXL345 3-axis accelerometer
  * via SPI. This class assumes the sensor is wired in 4-wire SPI mode.
  */
-class ADXL345_SPI : public Accelerometer,
-                    public nt::NTSendable,
+class ADXL345_SPI : public nt::NTSendable,
                     public wpi::SendableHelper<ADXL345_SPI> {
  public:
+  enum Range { kRange_2G = 0, kRange_4G = 1, kRange_8G = 2, kRange_16G = 3 };
+
   enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
 
   struct AllAxes {
@@ -46,11 +46,34 @@ class ADXL345_SPI : public Accelerometer,
 
   SPI::Port GetSpiPort() const;
 
-  // Accelerometer interface
-  void SetRange(Range range) final;
-  double GetX() override;
-  double GetY() override;
-  double GetZ() override;
+  /**
+   * Set the measuring range of the accelerometer.
+   *
+   * @param range The maximum acceleration, positive or negative, that the
+   *     accelerometer will measure.
+   */
+  void SetRange(Range range);
+
+  /**
+   * Returns the acceleration along the X axis in g-forces.
+   *
+   * @return The acceleration along the X axis in g-forces.
+   */
+  double GetX();
+
+  /**
+   * Returns the acceleration along the Y axis in g-forces.
+   *
+   * @return The acceleration along the Y axis in g-forces.
+   */
+  double GetY();
+
+  /**
+   * Returns the acceleration along the Z axis in g-forces.
+   *
+   * @return The acceleration along the Z axis in g-forces.
+   */
+  double GetZ();
 
   /**
    * Get the acceleration of one axis in Gs.

wpilibc/src/main/native/include/frc/ADXL362.h

@@ -9,7 +9,6 @@
 #include <wpi/sendable/SendableHelper.h>
 
 #include "frc/SPI.h"
-#include "frc/interfaces/Accelerometer.h"
 
 namespace frc {
 
@@ -18,10 +17,10 @@ namespace frc {
  *
  * This class allows access to an Analog Devices ADXL362 3-axis accelerometer.
  */
-class ADXL362 : public Accelerometer,
-                public nt::NTSendable,
-                public wpi::SendableHelper<ADXL362> {
+class ADXL362 : public nt::NTSendable, public wpi::SendableHelper<ADXL362> {
  public:
+  enum Range { kRange_2G = 0, kRange_4G = 1, kRange_8G = 2 };
+
   enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
   struct AllAxes {
     double XAxis;
@@ -52,11 +51,34 @@ class ADXL362 : public Accelerometer,
 
   SPI::Port GetSpiPort() const;
 
-  // Accelerometer interface
-  void SetRange(Range range) final;
-  double GetX() override;
-  double GetY() override;
-  double GetZ() override;
+  /**
+   * Set the measuring range of the accelerometer.
+   *
+   * @param range The maximum acceleration, positive or negative, that the
+   *     accelerometer will measure.
+   */
+  void SetRange(Range range);
+
+  /**
+   * Returns the acceleration along the X axis in g-forces.
+   *
+   * @return The acceleration along the X axis in g-forces.
+   */
+  double GetX();
+
+  /**
+   * Returns the acceleration along the Y axis in g-forces.
+   *
+   * @return The acceleration along the Y axis in g-forces.
+   */
+  double GetY();
+
+  /**
+   * Returns the acceleration along the Z axis in g-forces.
+   *
+   * @return The acceleration along the Z axis in g-forces.
+   */
+  double GetZ();
 
   /**
    * Get the acceleration of one axis in Gs.

wpilibc/src/main/native/include/frc/ADXRS450_Gyro.h

@@ -11,7 +11,7 @@
 #include <wpi/sendable/SendableHelper.h>
 
 #include "frc/SPI.h"
-#include "frc/interfaces/Gyro.h"
+#include "frc/geometry/Rotation2d.h"
 
 namespace frc {
 
@@ -28,8 +28,7 @@ namespace frc {
  * This class is for the digital ADXRS450 gyro sensor that connects via SPI.
  * Only one instance of an ADXRS %Gyro is supported.
  */
-class ADXRS450_Gyro : public Gyro,
-                      public wpi::Sendable,
+class ADXRS450_Gyro : public wpi::Sendable,
                       public wpi::SendableHelper<ADXRS450_Gyro> {
  public:
   /**
@@ -61,7 +60,7 @@ class ADXRS450_Gyro : public Gyro,
    *
    * @return the current heading of the robot in degrees.
    */
-  double GetAngle() const override;
+  double GetAngle() const;
 
   /**
    * Return the rate of rotation of the gyro
@@ -70,7 +69,7 @@ class ADXRS450_Gyro : public Gyro,
    *
    * @return the current rate in degrees per second
    */
-  double GetRate() const override;
+  double GetRate() const;
 
   /**
    * Reset the gyro.
@@ -79,11 +78,9 @@ class ADXRS450_Gyro : public Gyro,
    * significant drift in the gyro and it needs to be recalibrated after it has
    * been running.
    */
-  void Reset() override;
+  void Reset();
 
   /**
-   * Initialize the gyro.
-   *
    * Calibrate the gyro by running for a number of samples and computing the
    * center value. Then use the center value as the Accumulator center value for
    * subsequent measurements.
@@ -93,7 +90,22 @@ class ADXRS450_Gyro : public Gyro,
    * robot is first turned on while it's sitting at rest before the competition
    * starts.
    */
-  void Calibrate() final;
+  void Calibrate();
+
+  /**
+   * Return the heading of the robot as a Rotation2d.
+   *
+   * The angle is continuous, that is it will continue from 360 to 361 degrees.
+   * This allows algorithms that wouldn't want to see a discontinuity in the
+   * gyro output as it sweeps past from 360 to 0 on the second time around.
+   *
+   * The angle is expected to increase as the gyro turns counterclockwise when
+   * looked at from the top. It needs to follow the NWU axis convention.
+   *
+   * @return the current heading of the robot as a Rotation2d. This heading is
+   *         based on integration of the returned rate from the gyro.
+   */
+  Rotation2d GetRotation2d() const;
 
   /**
    * Get the SPI port number.

wpilibc/src/main/native/include/frc/AnalogGyro.h

@@ -10,7 +10,7 @@
 #include <wpi/sendable/Sendable.h>
 #include <wpi/sendable/SendableHelper.h>
 
-#include "frc/interfaces/Gyro.h"
+#include "frc/geometry/Rotation2d.h"
 
 namespace frc {
 
@@ -29,8 +29,7 @@ class AnalogInput;
  *
  * This class is for gyro sensors that connect to an analog input.
  */
-class AnalogGyro : public Gyro,
-                   public wpi::Sendable,
+class AnalogGyro : public wpi::Sendable,
                    public wpi::SendableHelper<AnalogGyro> {
  public:
   static constexpr int kOversampleBits = 10;
@@ -118,7 +117,7 @@ class AnalogGyro : public Gyro,
    * @return The current heading of the robot in degrees. This heading is based
    *         on integration of the returned rate from the gyro.
    */
-  double GetAngle() const override;
+  double GetAngle() const;
 
   /**
    * Return the rate of rotation of the gyro
@@ -127,7 +126,7 @@ class AnalogGyro : public Gyro,
    *
    * @return the current rate in degrees per second
    */
-  double GetRate() const override;
+  double GetRate() const;
 
   /**
    * Return the gyro center value. If run after calibration,
@@ -174,7 +173,7 @@ class AnalogGyro : public Gyro,
    * significant drift in the gyro and it needs to be recalibrated after it has
    * been running.
    */
-  void Reset() final;
+  void Reset();
 
   /**
    * Initialize the gyro.
@@ -183,7 +182,32 @@ class AnalogGyro : public Gyro,
    */
   void InitGyro();
 
-  void Calibrate() final;
+  /**
+   * Calibrate the gyro by running for a number of samples and computing the
+   * center value. Then use the center value as the Accumulator center value for
+   * subsequent measurements.
+   *
+   * It's important to make sure that the robot is not moving while the
+   * centering calculations are in progress, this is typically done when the
+   * robot is first turned on while it's sitting at rest before the competition
+   * starts.
+   */
+  void Calibrate();
+
+  /**
+   * Return the heading of the robot as a Rotation2d.
+   *
+   * The angle is continuous, that is it will continue from 360 to 361 degrees.
+   * This allows algorithms that wouldn't want to see a discontinuity in the
+   * gyro output as it sweeps past from 360 to 0 on the second time around.
+   *
+   * The angle is expected to increase as the gyro turns counterclockwise when
+   * looked at from the top. It needs to follow the NWU axis convention.
+   *
+   * @return the current heading of the robot as a Rotation2d. This heading is
+   *         based on integration of the returned rate from the gyro.
+   */
+  Rotation2d GetRotation2d() const;
 
   /**
    * Gets the analog input for the gyro.

wpilibc/src/main/native/include/frc/BuiltInAccelerometer.h

@@ -7,8 +7,6 @@
 #include <wpi/sendable/Sendable.h>
 #include <wpi/sendable/SendableHelper.h>
 
-#include "frc/interfaces/Accelerometer.h"
-
 namespace frc {
 
 /**
@@ -16,10 +14,11 @@ namespace frc {
  *
  * This class allows access to the roboRIO's internal accelerometer.
  */
-class BuiltInAccelerometer : public Accelerometer,
-                             public wpi::Sendable,
+class BuiltInAccelerometer : public wpi::Sendable,
                              public wpi::SendableHelper<BuiltInAccelerometer> {
  public:
+  enum Range { kRange_2G = 0, kRange_4G = 1, kRange_8G = 2 };
+
   /**
    * Constructor.
    *
@@ -30,30 +29,28 @@ class BuiltInAccelerometer : public Accelerometer,
   BuiltInAccelerometer(BuiltInAccelerometer&&) = default;
   BuiltInAccelerometer& operator=(BuiltInAccelerometer&&) = default;
 
-  // Accelerometer interface
   /**
    * Set the measuring range of the accelerometer.
    *
    * @param range The maximum acceleration, positive or negative, that the
-   *              accelerometer will measure. Not all accelerometers support all
-   *              ranges.
+   *     accelerometer will measure.
    */
-  void SetRange(Range range) final;
+  void SetRange(Range range);
 
   /**
    * @return The acceleration of the roboRIO along the X axis in g-forces
    */
-  double GetX() override;
+  double GetX();
 
   /**
    * @return The acceleration of the roboRIO along the Y axis in g-forces
    */
-  double GetY() override;
+  double GetY();
 
   /**
    * @return The acceleration of the roboRIO along the Z axis in g-forces
    */
-  double GetZ() override;
+  double GetZ();
 
   void InitSendable(wpi::SendableBuilder& builder) override;
 };

wpilibc/src/main/native/include/frc/interfaces/Accelerometer.h

@@ -8,8 +8,11 @@ namespace frc {
 
 /**
  * Interface for 3-axis accelerometers.
+ *
+ * @deprecated This interface is being removed with no replacement.
  */
-class Accelerometer {
+class [[deprecated(
+    "This interface is being removed with no replacement.")]] Accelerometer {
  public:
   Accelerometer() = default;
   virtual ~Accelerometer() = default;

wpilibc/src/main/native/include/frc/interfaces/Gyro.h

@@ -12,8 +12,11 @@ namespace frc {
 
 /**
  * Interface for yaw rate gyros.
+ *
+ * @deprecated This interface is being removed with no replacement.
  */
-class Gyro {
+class [[deprecated(
+    "This interface is being removed with no replacement.")]] Gyro {
  public:
   Gyro() = default;
   virtual ~Gyro() = default;

wpilibc/src/test/native/cpp/simulation/ADXL345SimTest.cpp

@@ -15,7 +15,7 @@ namespace frc::sim {
 TEST(ADXL345SimTest, SetSpiAttributes) {
   HAL_Initialize(500, 0);
 
-  ADXL345_SPI accel(SPI::kMXP, Accelerometer::kRange_2G);
+  ADXL345_SPI accel(SPI::kMXP, ADXL345_SPI::kRange_2G);
   ADXL345Sim sim(accel);
 
   EXPECT_EQ(0, accel.GetX());

wpilibc/src/test/native/cpp/simulation/ADXL362SimTest.cpp

@@ -14,7 +14,7 @@ namespace frc::sim {
 TEST(ADXL362SimTest, SetAttributes) {
   HAL_Initialize(500, 0);
 
-  ADXL362 accel(SPI::kMXP, Accelerometer::kRange_2G);
+  ADXL362 accel(SPI::kMXP, ADXL362::kRange_2G);
   ADXL362Sim sim(accel);
 
   EXPECT_EQ(0, accel.GetX());

wpilibc/src/test/native/cpp/simulation/AccelerometerSimTest.cpp

@@ -99,7 +99,7 @@ TEST(AcclerometerSimTest, SetRange) {
 
   EnumCallback callback;
 
-  Accelerometer::Range range = Accelerometer::kRange_4G;
+  BuiltInAccelerometer::Range range = BuiltInAccelerometer::kRange_4G;
   auto cb = sim.RegisterRangeCallback(callback.GetCallback(), false);
   BuiltInAccelerometer accel(range);
   EXPECT_TRUE(callback.WasTriggered());
@@ -108,7 +108,7 @@ TEST(AcclerometerSimTest, SetRange) {
 
   // 2G
   callback.Reset();
-  range = Accelerometer::kRange_2G;
+  range = BuiltInAccelerometer::kRange_2G;
   accel.SetRange(range);
   EXPECT_TRUE(callback.WasTriggered());
   EXPECT_EQ(static_cast<int>(range), sim.GetRange());
@@ -116,7 +116,7 @@ TEST(AcclerometerSimTest, SetRange) {
 
   // 4G
   callback.Reset();
-  range = Accelerometer::kRange_4G;
+  range = BuiltInAccelerometer::kRange_4G;
   accel.SetRange(range);
   EXPECT_TRUE(callback.WasTriggered());
   EXPECT_EQ(static_cast<int>(range), sim.GetRange());
@@ -124,15 +124,10 @@ TEST(AcclerometerSimTest, SetRange) {
 
   // 8G
   callback.Reset();
-  range = Accelerometer::kRange_8G;
+  range = BuiltInAccelerometer::kRange_8G;
   accel.SetRange(range);
   EXPECT_TRUE(callback.WasTriggered());
   EXPECT_EQ(static_cast<int>(range), sim.GetRange());
   EXPECT_EQ(static_cast<int>(range), callback.GetLastValue());
-
-  // 16G - Not supported
-  callback.Reset();
-  EXPECT_THROW(accel.SetRange(Accelerometer::kRange_16G), std::runtime_error);
-  EXPECT_FALSE(callback.WasTriggered());
 }
 }  // namespace frc::sim

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java

@@ -15,7 +15,6 @@ import edu.wpi.first.networktables.DoubleTopic;
 import edu.wpi.first.networktables.NTSendable;
 import edu.wpi.first.networktables.NTSendableBuilder;
 import edu.wpi.first.util.sendable.SendableRegistry;
-import edu.wpi.first.wpilibj.interfaces.Accelerometer;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 
@@ -27,7 +26,7 @@ import java.nio.ByteOrder;
  * WPILib Known Issues</a> page for details.
  */
 @SuppressWarnings({"TypeName", "PMD.UnusedPrivateField"})
-public class ADXL345_I2C implements Accelerometer, NTSendable, AutoCloseable {
+public class ADXL345_I2C implements NTSendable, AutoCloseable {
   private static final byte kAddress = 0x1D;
   private static final byte kPowerCtlRegister = 0x2D;
   private static final byte kDataFormatRegister = 0x31;
@@ -44,6 +43,13 @@ public class ADXL345_I2C implements Accelerometer, NTSendable, AutoCloseable {
   private static final byte kDataFormat_FullRes = 0x08;
   private static final byte kDataFormat_Justify = 0x04;
 
+  public enum Range {
+    k2G,
+    k4G,
+    k8G,
+    k16G
+  }
+
   public enum Axes {
     kX((byte) 0x00),
     kY((byte) 0x02),
@@ -137,10 +143,14 @@ public class ADXL345_I2C implements Accelerometer, NTSendable, AutoCloseable {
     }
   }
 
-  @Override
+  /**
+   * Set the measuring range of the accelerometer.
+   *
+   * @param range The maximum acceleration, positive or negative, that the accelerometer will
+   *     measure.
+   */
   public void setRange(Range range) {
     final byte value;
-
     switch (range) {
       case k2G:
         value = 0;
@@ -155,7 +165,7 @@ public class ADXL345_I2C implements Accelerometer, NTSendable, AutoCloseable {
         value = 3;
         break;
       default:
-        throw new IllegalArgumentException(range + " unsupported range type");
+        throw new IllegalArgumentException("Missing case for range type " + range);
     }
 
     // Specify the data format to read
@@ -166,17 +176,29 @@ public class ADXL345_I2C implements Accelerometer, NTSendable, AutoCloseable {
     }
   }
 
-  @Override
+  /**
+   * Returns the acceleration along the X axis in g-forces.
+   *
+   * @return The acceleration along the X axis in g-forces.
+   */
   public double getX() {
     return getAcceleration(Axes.kX);
   }
 
-  @Override
+  /**
+   * Returns the acceleration along the Y axis in g-forces.
+   *
+   * @return The acceleration along the Y axis in g-forces.
+   */
   public double getY() {
     return getAcceleration(Axes.kY);
   }
 
-  @Override
+  /**
+   * Returns the acceleration along the Z axis in g-forces.
+   *
+   * @return The acceleration along the Z axis in g-forces.
+   */
   public double getZ() {
     return getAcceleration(Axes.kZ);
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java

@@ -15,13 +15,12 @@ import edu.wpi.first.networktables.DoubleTopic;
 import edu.wpi.first.networktables.NTSendable;
 import edu.wpi.first.networktables.NTSendableBuilder;
 import edu.wpi.first.util.sendable.SendableRegistry;
-import edu.wpi.first.wpilibj.interfaces.Accelerometer;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 
 /** ADXL345 SPI Accelerometer. */
 @SuppressWarnings({"TypeName", "PMD.UnusedPrivateField"})
-public class ADXL345_SPI implements Accelerometer, NTSendable, AutoCloseable {
+public class ADXL345_SPI implements NTSendable, AutoCloseable {
   private static final int kPowerCtlRegister = 0x2D;
   private static final int kDataFormatRegister = 0x31;
   private static final int kDataRegister = 0x32;
@@ -41,6 +40,13 @@ public class ADXL345_SPI implements Accelerometer, NTSendable, AutoCloseable {
   private static final int kDataFormat_FullRes = 0x08;
   private static final int kDataFormat_Justify = 0x04;
 
+  public enum Range {
+    k2G,
+    k4G,
+    k8G,
+    k16G
+  }
+
   public enum Axes {
     kX((byte) 0x00),
     kY((byte) 0x02),
@@ -133,10 +139,14 @@ public class ADXL345_SPI implements Accelerometer, NTSendable, AutoCloseable {
     HAL.report(tResourceType.kResourceType_ADXL345, tInstances.kADXL345_SPI);
   }
 
-  @Override
+  /**
+   * Set the measuring range of the accelerometer.
+   *
+   * @param range The maximum acceleration, positive or negative, that the accelerometer will
+   *     measure.
+   */
   public void setRange(Range range) {
     final byte value;
-
     switch (range) {
       case k2G:
         value = 0;
@@ -151,7 +161,7 @@ public class ADXL345_SPI implements Accelerometer, NTSendable, AutoCloseable {
         value = 3;
         break;
       default:
-        throw new IllegalArgumentException(range + " unsupported");
+        throw new IllegalArgumentException("Missing case for range type " + range);
     }
 
     // Specify the data format to read
@@ -163,17 +173,29 @@ public class ADXL345_SPI implements Accelerometer, NTSendable, AutoCloseable {
     }
   }
 
-  @Override
+  /**
+   * Returns the acceleration along the X axis in g-forces.
+   *
+   * @return The acceleration along the X axis in g-forces.
+   */
   public double getX() {
     return getAcceleration(Axes.kX);
   }
 
-  @Override
+  /**
+   * Returns the acceleration along the Y axis in g-forces.
+   *
+   * @return The acceleration along the Y axis in g-forces.
+   */
   public double getY() {
     return getAcceleration(Axes.kY);
   }
 
-  @Override
+  /**
+   * Returns the acceleration along the Z axis in g-forces.
+   *
+   * @return The acceleration along the Z axis in g-forces.
+   */
   public double getZ() {
     return getAcceleration(Axes.kZ);
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL362.java

@@ -14,7 +14,6 @@ import edu.wpi.first.networktables.DoubleTopic;
 import edu.wpi.first.networktables.NTSendable;
 import edu.wpi.first.networktables.NTSendableBuilder;
 import edu.wpi.first.util.sendable.SendableRegistry;
-import edu.wpi.first.wpilibj.interfaces.Accelerometer;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 
@@ -23,7 +22,7 @@ import java.nio.ByteOrder;
  *
  * <p>This class allows access to an Analog Devices ADXL362 3-axis accelerometer.
  */
-public class ADXL362 implements Accelerometer, NTSendable, AutoCloseable {
+public class ADXL362 implements NTSendable, AutoCloseable {
   private static final byte kRegWrite = 0x0A;
   private static final byte kRegRead = 0x0B;
 
@@ -44,6 +43,12 @@ public class ADXL362 implements Accelerometer, NTSendable, AutoCloseable {
 
   private static final byte kPowerCtl_Measure = 0x02;
 
+  public enum Range {
+    k2G,
+    k4G,
+    k8G
+  }
+
   public enum Axes {
     kX((byte) 0x00),
     kY((byte) 0x02),
@@ -153,7 +158,12 @@ public class ADXL362 implements Accelerometer, NTSendable, AutoCloseable {
     }
   }
 
-  @Override
+  /**
+   * Set the measuring range of the accelerometer.
+   *
+   * @param range The maximum acceleration, positive or negative, that the accelerometer will
+   *     measure.
+   */
   public void setRange(Range range) {
     if (m_spi == null) {
       return;
@@ -170,12 +180,11 @@ public class ADXL362 implements Accelerometer, NTSendable, AutoCloseable {
         m_gsPerLSB = 0.002;
         break;
       case k8G:
-      case k16G: // 16G not supported; treat as 8G
         value = kFilterCtl_Range8G;
         m_gsPerLSB = 0.004;
         break;
       default:
-        throw new IllegalArgumentException(range + " unsupported");
+        throw new IllegalArgumentException("Missing case for range type " + range);
     }
 
     // Specify the data format to read
@@ -188,17 +197,29 @@ public class ADXL362 implements Accelerometer, NTSendable, AutoCloseable {
     }
   }
 
-  @Override
+  /**
+   * Returns the acceleration along the X axis in g-forces.
+   *
+   * @return The acceleration along the X axis in g-forces.
+   */
   public double getX() {
     return getAcceleration(Axes.kX);
   }
 
-  @Override
+  /**
+   * Returns the acceleration along the Y axis in g-forces.
+   *
+   * @return The acceleration along the Y axis in g-forces.
+   */
   public double getY() {
     return getAcceleration(Axes.kY);
   }
 
-  @Override
+  /**
+   * Returns the acceleration along the Z axis in g-forces.
+   *
+   * @return The acceleration along the Z axis in g-forces.
+   */
   public double getZ() {
     return getAcceleration(Axes.kZ);
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java

@@ -9,10 +9,10 @@ import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.SimBoolean;
 import edu.wpi.first.hal.SimDevice;
 import edu.wpi.first.hal.SimDouble;
+import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.util.sendable.Sendable;
 import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.util.sendable.SendableRegistry;
-import edu.wpi.first.wpilibj.interfaces.Gyro;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 
@@ -27,7 +27,7 @@ import java.nio.ByteOrder;
  * an ADXRS Gyro is supported.
  */
 @SuppressWarnings({"TypeName", "PMD.UnusedPrivateField"})
-public class ADXRS450_Gyro implements Gyro, Sendable {
+public class ADXRS450_Gyro implements Sendable, AutoCloseable {
   private static final double kSamplePeriod = 0.0005;
   private static final double kCalibrationSampleTime = 5.0;
   private static final double kDegreePerSecondPerLSB = 0.0125;
@@ -105,7 +105,14 @@ public class ADXRS450_Gyro implements Gyro, Sendable {
     return m_spi != null;
   }
 
-  @Override
+  /**
+   * Calibrate the gyro by running for a number of samples and computing the center value. Then use
+   * the center value as the Accumulator center value for subsequent measurements.
+   *
+   * <p>It's important to make sure that the robot is not moving while the centering calculations
+   * are in progress, this is typically done when the robot is first turned on while it's sitting at
+   * rest before the competition starts.
+   */
   public void calibrate() {
     if (m_spi == null) {
       return;
@@ -160,7 +167,12 @@ public class ADXRS450_Gyro implements Gyro, Sendable {
     return (buf.getInt(0) >> 5) & 0xffff;
   }
 
-  @Override
+  /**
+   * Reset the gyro.
+   *
+   * <p>Resets the gyro to a heading of zero. This can be used if there is significant drift in the
+   * gyro, and it needs to be recalibrated after it has been running.
+   */
   public void reset() {
     if (m_simAngle != null) {
       m_simAngle.reset();
@@ -184,7 +196,20 @@ public class ADXRS450_Gyro implements Gyro, Sendable {
     }
   }
 
-  @Override
+  /**
+   * Return the heading of the robot in degrees.
+   *
+   * <p>The angle is continuous, that is it will continue from 360 to 361 degrees. This allows
+   * algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past from
+   * 360 to 0 on the second time around.
+   *
+   * <p>The angle is expected to increase as the gyro turns clockwise when looked at from the top.
+   * It needs to follow the NED axis convention.
+   *
+   * <p>This heading is based on integration of the returned rate from the gyro.
+   *
+   * @return the current heading of the robot in degrees.
+   */
   public double getAngle() {
     if (m_simAngle != null) {
       return m_simAngle.get();
@@ -195,7 +220,16 @@ public class ADXRS450_Gyro implements Gyro, Sendable {
     return m_spi.getAccumulatorIntegratedValue() * kDegreePerSecondPerLSB;
   }
 
-  @Override
+  /**
+   * Return the rate of rotation of the gyro.
+   *
+   * <p>The rate is based on the most recent reading of the gyro analog value
+   *
+   * <p>The rate is expected to be positive as the gyro turns clockwise when looked at from the top.
+   * It needs to follow the NED axis convention.
+   *
+   * @return the current rate in degrees per second
+   */
   public double getRate() {
     if (m_simRate != null) {
       return m_simRate.get();
@@ -206,6 +240,24 @@ public class ADXRS450_Gyro implements Gyro, Sendable {
     return m_spi.getAccumulatorLastValue() * kDegreePerSecondPerLSB;
   }
 
+  /**
+   * Return the heading of the robot as a {@link edu.wpi.first.math.geometry.Rotation2d}.
+   *
+   * <p>The angle is continuous, that is it will continue from 360 to 361 degrees. This allows
+   * algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past from
+   * 360 to 0 on the second time around.
+   *
+   * <p>The angle is expected to increase as the gyro turns counterclockwise when looked at from the
+   * top. It needs to follow the NWU axis convention.
+   *
+   * <p>This heading is based on integration of the returned rate from the gyro.
+   *
+   * @return the current heading of the robot as a {@link edu.wpi.first.math.geometry.Rotation2d}.
+   */
+  public Rotation2d getRotation2d() {
+    return Rotation2d.fromDegrees(-getAngle());
+  }
+
   @Override
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("Gyro");

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogGyro.java

@@ -9,10 +9,10 @@ import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 import edu.wpi.first.hal.AnalogGyroJNI;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.util.sendable.Sendable;
 import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.util.sendable.SendableRegistry;
-import edu.wpi.first.wpilibj.interfaces.Gyro;
 
 /**
  * Use a rate gyro to return the robots heading relative to a starting position. The Gyro class
@@ -23,7 +23,7 @@ import edu.wpi.first.wpilibj.interfaces.Gyro;
  *
  * <p>This class is for gyro sensors that connect to an analog input.
  */
-public class AnalogGyro implements Gyro, Sendable {
+public class AnalogGyro implements Sendable, AutoCloseable {
   private static final double kDefaultVoltsPerDegreePerSecond = 0.007;
   protected AnalogInput m_analog;
   private boolean m_channelAllocated;
@@ -42,11 +42,36 @@ public class AnalogGyro implements Gyro, Sendable {
     SendableRegistry.addLW(this, "AnalogGyro", m_analog.getChannel());
   }
 
-  @Override
+  /**
+   * Calibrate the gyro by running for a number of samples and computing the center value. Then use
+   * the center value as the Accumulator center value for subsequent measurements.
+   *
+   * <p>It's important to make sure that the robot is not moving while the centering calculations
+   * are in progress, this is typically done when the robot is first turned on while it's sitting at
+   * rest before the competition starts.
+   */
   public void calibrate() {
     AnalogGyroJNI.calibrateAnalogGyro(m_gyroHandle);
   }
 
+  /**
+   * Return the heading of the robot as a {@link edu.wpi.first.math.geometry.Rotation2d}.
+   *
+   * <p>The angle is continuous, that is it will continue from 360 to 361 degrees. This allows
+   * algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past from
+   * 360 to 0 on the second time around.
+   *
+   * <p>The angle is expected to increase as the gyro turns counterclockwise when looked at from the
+   * top. It needs to follow the NWU axis convention.
+   *
+   * <p>This heading is based on integration of the returned rate from the gyro.
+   *
+   * @return the current heading of the robot as a {@link edu.wpi.first.math.geometry.Rotation2d}.
+   */
+  public Rotation2d getRotation2d() {
+    return Rotation2d.fromDegrees(-getAngle());
+  }
+
   /**
    * Gyro constructor using the channel number.
    *
@@ -109,7 +134,12 @@ public class AnalogGyro implements Gyro, Sendable {
     reset();
   }
 
-  @Override
+  /**
+   * Reset the gyro.
+   *
+   * <p>Resets the gyro to a heading of zero. This can be used if there is significant drift in the
+   * gyro, and it needs to be recalibrated after it has been running.
+   */
   public void reset() {
     AnalogGyroJNI.resetAnalogGyro(m_gyroHandle);
   }
@@ -125,7 +155,20 @@ public class AnalogGyro implements Gyro, Sendable {
     AnalogGyroJNI.freeAnalogGyro(m_gyroHandle);
   }
 
-  @Override
+  /**
+   * Return the heading of the robot in degrees.
+   *
+   * <p>The angle is continuous, that is it will continue from 360 to 361 degrees. This allows
+   * algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past from
+   * 360 to 0 on the second time around.
+   *
+   * <p>The angle is expected to increase as the gyro turns clockwise when looked at from the top.
+   * It needs to follow the NED axis convention.
+   *
+   * <p>This heading is based on integration of the returned rate from the gyro.
+   *
+   * @return the current heading of the robot in degrees.
+   */
   public double getAngle() {
     if (m_analog == null) {
       return 0.0;
@@ -134,7 +177,16 @@ public class AnalogGyro implements Gyro, Sendable {
     }
   }
 
-  @Override
+  /**
+   * Return the rate of rotation of the gyro.
+   *
+   * <p>The rate is based on the most recent reading of the gyro analog value
+   *
+   * <p>The rate is expected to be positive as the gyro turns clockwise when looked at from the top.
+   * It needs to follow the NED axis convention.
+   *
+   * @return the current rate in degrees per second
+   */
   public double getRate() {
     if (m_analog == null) {
       return 0.0;

wpilibj/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java

@@ -10,14 +10,19 @@ import edu.wpi.first.hal.HAL;
 import edu.wpi.first.util.sendable.Sendable;
 import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.util.sendable.SendableRegistry;
-import edu.wpi.first.wpilibj.interfaces.Accelerometer;
 
 /**
  * Built-in accelerometer.
  *
  * <p>This class allows access to the roboRIO's internal accelerometer.
  */
-public class BuiltInAccelerometer implements Accelerometer, Sendable, AutoCloseable {
+public class BuiltInAccelerometer implements Sendable, AutoCloseable {
+  public enum Range {
+    k2G,
+    k4G,
+    k8G
+  }
+
   /**
    * Constructor.
    *
@@ -39,7 +44,12 @@ public class BuiltInAccelerometer implements Accelerometer, Sendable, AutoClosea
     SendableRegistry.remove(this);
   }
 
-  @Override
+  /**
+   * Set the measuring range of the accelerometer.
+   *
+   * @param range The maximum acceleration, positive or negative, that the accelerometer will
+   *     measure.
+   */
   public void setRange(Range range) {
     AccelerometerJNI.setAccelerometerActive(false);
 
@@ -53,9 +63,8 @@ public class BuiltInAccelerometer implements Accelerometer, Sendable, AutoClosea
       case k8G:
         AccelerometerJNI.setAccelerometerRange(2);
         break;
-      case k16G:
       default:
-        throw new IllegalArgumentException(range + " range not supported (use k2G, k4G, or k8G)");
+        throw new IllegalArgumentException("Missing case for range type " + range);
     }
 
     AccelerometerJNI.setAccelerometerActive(true);
@@ -66,7 +75,6 @@ public class BuiltInAccelerometer implements Accelerometer, Sendable, AutoClosea
    *
    * @return The acceleration of the roboRIO along the X axis in g-forces
    */
-  @Override
   public double getX() {
     return AccelerometerJNI.getAccelerometerX();
   }
@@ -76,7 +84,6 @@ public class BuiltInAccelerometer implements Accelerometer, Sendable, AutoClosea
    *
    * @return The acceleration of the roboRIO along the Y axis in g-forces
    */
-  @Override
   public double getY() {
     return AccelerometerJNI.getAccelerometerY();
   }
@@ -86,7 +93,6 @@ public class BuiltInAccelerometer implements Accelerometer, Sendable, AutoClosea
    *
    * @return The acceleration of the roboRIO along the Z axis in g-forces
    */
-  @Override
   public double getZ() {
     return AccelerometerJNI.getAccelerometerZ();
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Accelerometer.java

@@ -4,7 +4,12 @@
 
 package edu.wpi.first.wpilibj.interfaces;
 
-/** Interface for 3-axis accelerometers. */
+/**
+ * Interface for 3-axis accelerometers.
+ *
+ * @deprecated This interface is being removed with no replacement.
+ */
+@Deprecated(since = "2024", forRemoval = true)
 public interface Accelerometer {
   enum Range {
     k2G,

wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java

@@ -6,7 +6,12 @@ package edu.wpi.first.wpilibj.interfaces;
 
 import edu.wpi.first.math.geometry.Rotation2d;
 
-/** Interface for yaw rate gyros. */
+/**
+ * Interface for yaw rate gyros.
+ *
+ * @deprecated This interface is being removed with no replacement.
+ */
+@Deprecated(since = "2024", forRemoval = true)
 public interface Gyro extends AutoCloseable {
   /**
    * Calibrate the gyro. It's important to make sure that the robot is not moving while the

wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInWidgets.java

@@ -4,8 +4,6 @@
 
 package edu.wpi.first.wpilibj.shuffleboard;
 
-import edu.wpi.first.wpilibj.interfaces.Accelerometer.Range;
-
 /**
  * The types of the widgets bundled with Shuffleboard.
  *
@@ -362,7 +360,6 @@ public enum BuiltInWidgets implements WidgetType {
    *
    * <table>
    * <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
-   * <tr><td>Range</td><td>{@link Range}</td><td>k16G</td><td>The accelerometer range</td></tr>
    * <tr><td>Show value</td><td>Boolean</td><td>true</td>
    * <td>Show or hide the acceleration values</td></tr>
    * <tr><td>Precision</td><td>Number</td><td>2</td>

wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ADXL345SimTest.java

@@ -11,14 +11,13 @@ import edu.wpi.first.wpilibj.ADXL345_I2C;
 import edu.wpi.first.wpilibj.ADXL345_SPI;
 import edu.wpi.first.wpilibj.I2C;
 import edu.wpi.first.wpilibj.SPI;
-import edu.wpi.first.wpilibj.interfaces.Accelerometer;
 import org.junit.jupiter.params.ParameterizedTest;
 import org.junit.jupiter.params.provider.EnumSource;
 
 class ADXL345SimTest {
   @ParameterizedTest
-  @EnumSource(Accelerometer.Range.class)
-  void testInitI2C(Accelerometer.Range range) {
+  @EnumSource(ADXL345_I2C.Range.class)
+  void testInitI2C(ADXL345_I2C.Range range) {
     HAL.initialize(500, 0);
 
     try (ADXL345_I2C accel = new ADXL345_I2C(I2C.Port.kMXP, range)) {
@@ -40,8 +39,8 @@ class ADXL345SimTest {
   }
 
   @ParameterizedTest
-  @EnumSource(Accelerometer.Range.class)
-  void testInitSPi(Accelerometer.Range range) {
+  @EnumSource(ADXL345_SPI.Range.class)
+  void testInitSPi(ADXL345_SPI.Range range) {
     HAL.initialize(500, 0);
 
     try (ADXL345_SPI accel = new ADXL345_SPI(SPI.Port.kMXP, range)) {

wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ADXL362SimTest.java

@@ -9,14 +9,13 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.ADXL362;
 import edu.wpi.first.wpilibj.SPI;
-import edu.wpi.first.wpilibj.interfaces.Accelerometer;
 import org.junit.jupiter.params.ParameterizedTest;
 import org.junit.jupiter.params.provider.EnumSource;
 
 class ADXL362SimTest {
   @ParameterizedTest
-  @EnumSource(Accelerometer.Range.class)
-  void testAccel(Accelerometer.Range range) {
+  @EnumSource(ADXL362.Range.class)
+  void testAccel(ADXL362.Range range) {
     HAL.initialize(500, 0);
 
     try (ADXL362 accel = new ADXL362(SPI.Port.kMXP, range)) {

wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AccelerometerSimTest.java

@@ -6,12 +6,10 @@ package edu.wpi.first.wpilibj.simulation;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertFalse;
-import static org.junit.jupiter.api.Assertions.assertThrows;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.BuiltInAccelerometer;
-import edu.wpi.first.wpilibj.interfaces.Accelerometer;
 import edu.wpi.first.wpilibj.simulation.testutils.BooleanCallback;
 import edu.wpi.first.wpilibj.simulation.testutils.DoubleCallback;
 import edu.wpi.first.wpilibj.simulation.testutils.EnumCallback;
@@ -102,7 +100,7 @@ class AccelerometerSimTest {
 
     EnumCallback callback = new EnumCallback();
 
-    Accelerometer.Range range = Accelerometer.Range.k4G;
+    BuiltInAccelerometer.Range range = BuiltInAccelerometer.Range.k4G;
     try (CallbackStore cb = sim.registerRangeCallback(callback, false);
         BuiltInAccelerometer accel = new BuiltInAccelerometer(range)) {
       assertTrue(callback.wasTriggered());
@@ -111,7 +109,7 @@ class AccelerometerSimTest {
 
       // 2G
       callback.reset();
-      range = Accelerometer.Range.k2G;
+      range = BuiltInAccelerometer.Range.k2G;
       accel.setRange(range);
       assertTrue(callback.wasTriggered());
       assertEquals(range.ordinal(), sim.getRange());
@@ -119,7 +117,7 @@ class AccelerometerSimTest {
 
       // 4G
       callback.reset();
-      range = Accelerometer.Range.k4G;
+      range = BuiltInAccelerometer.Range.k4G;
       accel.setRange(range);
       assertTrue(callback.wasTriggered());
       assertEquals(range.ordinal(), sim.getRange());
@@ -127,16 +125,11 @@ class AccelerometerSimTest {
 
       // 8G
       callback.reset();
-      range = Accelerometer.Range.k8G;
+      range = BuiltInAccelerometer.Range.k8G;
       accel.setRange(range);
       assertTrue(callback.wasTriggered());
       assertEquals(range.ordinal(), sim.getRange());
       assertEquals(range.ordinal(), callback.getSetValue());
-
-      // 16G - Not supported
-      callback.reset();
-      assertThrows(IllegalArgumentException.class, () -> accel.setRange(Accelerometer.Range.k16G));
-      assertFalse(callback.wasTriggered());
     }
   }
 }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/subsystems/DriveSubsystem.java

@@ -8,7 +8,6 @@ import edu.wpi.first.wpilibj.ADXRS450_Gyro;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants;
-import edu.wpi.first.wpilibj.interfaces.Gyro;
 import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj2.command.Subsystem;
@@ -44,7 +43,7 @@ public class DriveSubsystem extends Subsystem {
           DriveConstants.kRightEncoderReversed);
 
   // The gyro sensor
-  private final Gyro m_gyro = new ADXRS450_Gyro();
+  private final ADXRS450_Gyro m_gyro = new ADXRS450_Gyro();
 
   /** Creates a new DriveSubsystem. */
   public DriveSubsystem() {

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java

@@ -13,7 +13,6 @@ import edu.wpi.first.wpilibj.ADXRS450_Gyro;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.drive.MecanumDrive;
 import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.DriveConstants;
-import edu.wpi.first.wpilibj.interfaces.Gyro;
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj2.command.Subsystem;
 
@@ -55,7 +54,7 @@ public class DriveSubsystem extends Subsystem {
           DriveConstants.kRearRightEncoderReversed);
 
   // The gyro sensor
-  private final Gyro m_gyro = new ADXRS450_Gyro();
+  private final ADXRS450_Gyro m_gyro = new ADXRS450_Gyro();
 
   // Odometry class for tracking robot pose
   MecanumDriveOdometry m_odometry =

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java

@@ -11,7 +11,6 @@ import edu.wpi.first.wpilibj.ADXRS450_Gyro;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants;
-import edu.wpi.first.wpilibj.interfaces.Gyro;
 import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj2.command.Subsystem;
@@ -47,7 +46,7 @@ public class DriveSubsystem extends Subsystem {
           DriveConstants.kRightEncoderReversed);
 
   // The gyro sensor
-  private final Gyro m_gyro = new ADXRS450_Gyro();
+  private final ADXRS450_Gyro m_gyro = new ADXRS450_Gyro();
 
   // Odometry class for tracking robot pose
   private final DifferentialDriveOdometry m_odometry;

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/DriveSubsystem.java

@@ -12,7 +12,6 @@ import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.wpilibj.ADXRS450_Gyro;
 import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.DriveConstants;
-import edu.wpi.first.wpilibj.interfaces.Gyro;
 import edu.wpi.first.wpilibj2.command.Subsystem;
 
 public class DriveSubsystem extends Subsystem {
@@ -54,7 +53,7 @@ public class DriveSubsystem extends Subsystem {
           DriveConstants.kRearRightTurningEncoderReversed);
 
   // The gyro sensor
-  private final Gyro m_gyro = new ADXRS450_Gyro();
+  private final ADXRS450_Gyro m_gyro = new ADXRS450_Gyro();
 
   // Odometry class for tracking robot pose
   SwerveDriveOdometry m_odometry =

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometerTest.java

@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
 
 import static org.junit.Assert.assertEquals;
 
-import edu.wpi.first.wpilibj.interfaces.Accelerometer;
 import edu.wpi.first.wpilibj.test.AbstractComsSetup;
 import java.util.Arrays;
 import java.util.Collection;
@@ -23,7 +22,7 @@ public class BuiltInAccelerometerTest extends AbstractComsSetup {
   private static final double kAccelerationTolerance = 0.1;
   private final BuiltInAccelerometer m_accelerometer;
 
-  public BuiltInAccelerometerTest(Accelerometer.Range range) {
+  public BuiltInAccelerometerTest(BuiltInAccelerometer.Range range) {
     m_accelerometer = new BuiltInAccelerometer(range);
   }
 
@@ -38,10 +37,12 @@ public class BuiltInAccelerometerTest extends AbstractComsSetup {
 
   /** Test with all valid ranges to make sure unpacking is always done correctly. */
   @Parameters
-  public static Collection<Accelerometer.Range[]> generateData() {
+  public static Collection<BuiltInAccelerometer.Range[]> generateData() {
     return Arrays.asList(
-        new Accelerometer.Range[][] {
-          {Accelerometer.Range.k2G}, {Accelerometer.Range.k4G}, {Accelerometer.Range.k8G}
+        new BuiltInAccelerometer.Range[][] {
+          {BuiltInAccelerometer.Range.k2G},
+          {BuiltInAccelerometer.Range.k4G},
+          {BuiltInAccelerometer.Range.k8G}
         });
   }