Move robot base classes from opmode to framework (#8344)

Having these in opmode will be confusing to users when opmodes are added.
2026-06-19 00:41:43 +00:00 · 2025-11-08 15:08:38 -08:00
parent aeedfa588c
commit 18efd1e534
275 changed files with 285 additions and 285 deletions
--- a/wpilibcExamples/src/main/cpp/examples/AddressableLED/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/AddressableLED/include/Robot.hpp
@@ -6,9 +6,9 @@

 #include <array>

+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/led/AddressableLED.hpp>
 #include <wpi/hardware/led/LEDPattern.hpp>
-#include <wpi/opmode/TimedRobot.hpp>

 class Robot : public wpi::TimedRobot {
 public:
--- a/wpilibcExamples/src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp
@@ -16,10 +16,10 @@
 #include <wpi/apriltag/AprilTagDetector.hpp>
 #include <wpi/apriltag/AprilTagPoseEstimator.hpp>
 #include <wpi/cameraserver/CameraServer.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/math/geometry/Transform3d.hpp>
 #include <wpi/nt/IntegerArrayTopic.hpp>
 #include <wpi/nt/NetworkTableInstance.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 #include <wpi/units/angle.hpp>
 #include <wpi/units/length.hpp>

--- a/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp
@@ -4,8 +4,8 @@

 #include <wpi/drive/DifferentialDrive.hpp>
 #include <wpi/driverstation/Joystick.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/motor/PWMSparkMax.hpp>
-#include <wpi/opmode/TimedRobot.hpp>

 /**
 * This is a demo program showing the use of the DifferentialDrive class.
--- a/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp
@@ -4,8 +4,8 @@

 #include <wpi/drive/DifferentialDrive.hpp>
 #include <wpi/driverstation/XboxController.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/motor/PWMSparkMax.hpp>
-#include <wpi/opmode/TimedRobot.hpp>

 /**
 * This is a demo program showing the use of the DifferentialDrive class.
--- a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Robot.hpp
@@ -5,7 +5,7 @@
 #pragma once

 #include <wpi/driverstation/Joystick.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
+#include <wpi/framework/TimedRobot.hpp>

 #include "subsystems/Arm.hpp"

--- a/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
@@ -2,8 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.

+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/power/PowerDistribution.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 #include <wpi/smartdashboard/SmartDashboard.hpp>

 /**
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Robot.cpp
@@ -3,8 +3,8 @@
 // the WPILib BSD license file in the root directory of this project.

 #include <wpi/driverstation/XboxController.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/math/filter/SlewRateLimiter.hpp>
-#include <wpi/opmode/TimedRobot.hpp>

 #include "Drivetrain.hpp"

--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Robot.cpp
@@ -3,8 +3,8 @@
 // the WPILib BSD license file in the root directory of this project.

 #include <wpi/driverstation/XboxController.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/math/filter/SlewRateLimiter.hpp>
-#include <wpi/opmode/TimedRobot.hpp>

 #include "Drivetrain.hpp"

--- a/wpilibcExamples/src/main/cpp/examples/DigitalCommunication/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/DigitalCommunication/include/Robot.hpp
@@ -6,8 +6,8 @@

 #include <array>

+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/discrete/DigitalOutput.hpp>
-#include <wpi/opmode/TimedRobot.hpp>

 /**
 * This is a sample program demonstrating how to communicate to a light
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Robot.hpp
@@ -7,7 +7,7 @@
 #include <optional>

 #include <wpi/commands2/Command.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
+#include <wpi/framework/TimedRobot.hpp>

 #include "RobotContainer.hpp"

--- a/wpilibcExamples/src/main/cpp/examples/DutyCycleEncoder/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DutyCycleEncoder/cpp/Robot.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.

+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/rotation/DutyCycleEncoder.hpp>
 #include <wpi/math/util/MathUtil.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 #include <wpi/smartdashboard/SmartDashboard.hpp>

 constexpr double fullRange = 1.3;
--- a/wpilibcExamples/src/main/cpp/examples/DutyCycleInput/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DutyCycleInput/cpp/Robot.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.

+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/discrete/DigitalInput.hpp>
 #include <wpi/hardware/rotation/DutyCycle.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 #include <wpi/smartdashboard/SmartDashboard.hpp>

 class Robot : public wpi::TimedRobot {
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialProfile/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialProfile/cpp/Robot.cpp
@@ -5,9 +5,9 @@
 #include <numbers>

 #include <wpi/driverstation/Joystick.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/math/controller/SimpleMotorFeedforward.hpp>
 #include <wpi/math/trajectory/ExponentialProfile.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 #include <wpi/units/acceleration.hpp>
 #include <wpi/units/length.hpp>
 #include <wpi/units/time.hpp>
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/Robot.hpp
@@ -5,7 +5,7 @@
 #pragma once

 #include <wpi/driverstation/Joystick.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
+#include <wpi/framework/TimedRobot.hpp>

 #include "subsystems/Elevator.hpp"

--- a/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
@@ -5,12 +5,12 @@
 #include <numbers>

 #include <wpi/driverstation/Joystick.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/motor/PWMSparkMax.hpp>
 #include <wpi/hardware/rotation/Encoder.hpp>
 #include <wpi/math/controller/ElevatorFeedforward.hpp>
 #include <wpi/math/controller/ProfiledPIDController.hpp>
 #include <wpi/math/trajectory/TrapezoidProfile.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 #include <wpi/units/acceleration.hpp>
 #include <wpi/units/length.hpp>
 #include <wpi/units/time.hpp>
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/Robot.hpp
@@ -5,7 +5,7 @@
 #pragma once

 #include <wpi/driverstation/Joystick.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
+#include <wpi/framework/TimedRobot.hpp>

 #include "subsystems/Elevator.hpp"

--- a/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
@@ -5,9 +5,9 @@
 #include <numbers>

 #include <wpi/driverstation/Joystick.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/math/controller/SimpleMotorFeedforward.hpp>
 #include <wpi/math/trajectory/TrapezoidProfile.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 #include <wpi/units/acceleration.hpp>
 #include <wpi/units/length.hpp>
 #include <wpi/units/time.hpp>
--- a/wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp
@@ -4,8 +4,8 @@

 #include <numbers>

+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/rotation/Encoder.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 #include <wpi/smartdashboard/SmartDashboard.hpp>

 /**
--- a/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
@@ -5,11 +5,11 @@
 #include <wpi/driverstation/Joystick.hpp>
 #include <wpi/event/BooleanEvent.hpp>
 #include <wpi/event/EventLoop.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/motor/PWMSparkMax.hpp>
 #include <wpi/hardware/rotation/Encoder.hpp>
 #include <wpi/math/controller/PIDController.hpp>
 #include <wpi/math/controller/SimpleMotorFeedforward.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 #include <wpi/units/angular_velocity.hpp>
 #include <wpi/units/length.hpp>
 #include <wpi/units/time.hpp>
--- a/wpilibcExamples/src/main/cpp/examples/FlywheelBangBangController/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/FlywheelBangBangController/cpp/Robot.cpp
@@ -3,12 +3,12 @@
 // the WPILib BSD license file in the root directory of this project.

 #include <wpi/driverstation/Joystick.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/motor/PWMSparkMax.hpp>
 #include <wpi/hardware/rotation/Encoder.hpp>
 #include <wpi/math/controller/BangBangController.hpp>
 #include <wpi/math/controller/SimpleMotorFeedforward.hpp>
 #include <wpi/math/system/plant/LinearSystemId.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 #include <wpi/simulation/EncoderSim.hpp>
 #include <wpi/simulation/FlywheelSim.hpp>
 #include <wpi/smartdashboard/SmartDashboard.hpp>
--- a/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
@@ -4,8 +4,8 @@

 #include <wpi/drive/DifferentialDrive.hpp>
 #include <wpi/driverstation/XboxController.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/motor/PWMSparkMax.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 #include <wpi/system/Timer.hpp>

 class Robot : public wpi::TimedRobot {
--- a/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
@@ -6,9 +6,9 @@

 #include <wpi/drive/DifferentialDrive.hpp>
 #include <wpi/driverstation/Joystick.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/imu/OnboardIMU.hpp>
 #include <wpi/hardware/motor/PWMSparkMax.hpp>
-#include <wpi/opmode/TimedRobot.hpp>

 /**
 * This is a sample program to demonstrate how to use a gyro sensor to make a
--- a/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp
@@ -4,9 +4,9 @@

 #include <wpi/drive/MecanumDrive.hpp>
 #include <wpi/driverstation/Joystick.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/imu/OnboardIMU.hpp>
 #include <wpi/hardware/motor/PWMSparkMax.hpp>
-#include <wpi/opmode/TimedRobot.hpp>

 /**
 * This is a sample program that uses mecanum drive with a gyro sensor to
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Robot.hpp
@@ -5,7 +5,7 @@
 #pragma once

 #include <wpi/commands2/Command.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
+#include <wpi/framework/TimedRobot.hpp>

 #include "RobotContainer.hpp"

--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Robot.hpp
@@ -5,7 +5,7 @@
 #pragma once

 #include <wpi/commands2/Command.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
+#include <wpi/framework/TimedRobot.hpp>

 #include "RobotContainer.hpp"

--- a/wpilibcExamples/src/main/cpp/examples/HidRumble/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HidRumble/cpp/Robot.cpp
@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.

 #include <wpi/driverstation/XboxController.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
+#include <wpi/framework/TimedRobot.hpp>

 /**
 * This is a demo program showing the use of GenericHID's rumble feature.
--- a/wpilibcExamples/src/main/cpp/examples/HttpCamera/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HttpCamera/cpp/Robot.cpp
@@ -6,7 +6,7 @@
 #include <opencv2/core/types.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 #include <wpi/cameraserver/CameraServer.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
+#include <wpi/framework/TimedRobot.hpp>

 /**
 * This is a demo program showing the use of OpenCV to do vision processing. The
--- a/wpilibcExamples/src/main/cpp/examples/I2CCommunication/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/I2CCommunication/include/Robot.hpp
@@ -6,8 +6,8 @@

 #include <array>

+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/bus/I2C.hpp>
-#include <wpi/opmode/TimedRobot.hpp>

 /**
 * This is a sample program demonstrating how to communicate to a light
--- a/wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp
@@ -9,7 +9,7 @@
 #include <opencv2/core/types.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 #include <wpi/cameraserver/CameraServer.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
+#include <wpi/framework/TimedRobot.hpp>

 /**
 * This is a demo program showing the use of OpenCV to do vision processing. The
--- a/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Robot.cpp
@@ -3,8 +3,8 @@
 // the WPILib BSD license file in the root directory of this project.

 #include <wpi/driverstation/XboxController.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/math/filter/SlewRateLimiter.hpp>
-#include <wpi/opmode/TimedRobot.hpp>

 #include "Drivetrain.hpp"

--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
@@ -4,8 +4,8 @@

 #include <wpi/drive/MecanumDrive.hpp>
 #include <wpi/driverstation/Joystick.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/motor/PWMSparkMax.hpp>
-#include <wpi/opmode/TimedRobot.hpp>

 /**
 * This is a demo program showing how to use Mecanum control with the
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Robot.cpp
@@ -3,8 +3,8 @@
 // the WPILib BSD license file in the root directory of this project.

 #include <wpi/driverstation/XboxController.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/math/filter/SlewRateLimiter.hpp>
-#include <wpi/opmode/TimedRobot.hpp>

 #include "Drivetrain.hpp"

--- a/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
@@ -3,10 +3,10 @@
 // the WPILib BSD license file in the root directory of this project.

 #include <wpi/driverstation/Joystick.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/motor/PWMSparkMax.hpp>
 #include <wpi/hardware/rotation/AnalogPotentiometer.hpp>
 #include <wpi/hardware/rotation/Encoder.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 #include <wpi/simulation/SimHooks.hpp>
 #include <wpi/smartdashboard/Mechanism2d.hpp>
 #include <wpi/smartdashboard/MechanismLigament2d.hpp>
--- a/wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp
@@ -5,9 +5,9 @@
 #include <numbers>

 #include <wpi/driverstation/Joystick.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/motor/PWMSparkMax.hpp>
 #include <wpi/hardware/rotation/Encoder.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 #include <wpi/smartdashboard/SmartDashboard.hpp>

 /**
--- a/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/include/Robot.hpp
@@ -7,10 +7,10 @@
 #include <array>

 #include <wpi/driverstation/Joystick.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/motor/PWMSparkMax.hpp>
 #include <wpi/hardware/rotation/AnalogPotentiometer.hpp>
 #include <wpi/math/controller/PIDController.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 #include <wpi/units/length.hpp>

 /**
--- a/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp
@@ -5,7 +5,7 @@
 #include <cstdio>

 #include <wpi/cameraserver/CameraServer.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
+#include <wpi/framework/TimedRobot.hpp>

 /**
 * Uses the CameraServer class to automatically capture video from a USB webcam
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Robot.hpp
@@ -7,7 +7,7 @@
 #include <optional>

 #include <wpi/commands2/CommandPtr.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
+#include <wpi/framework/TimedRobot.hpp>

 #include "RapidReactCommandBot.hpp"

--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/Robot.hpp
@@ -5,7 +5,7 @@
 #pragma once

 #include <wpi/commands2/Command.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
+#include <wpi/framework/TimedRobot.hpp>

 #include "RobotContainer.hpp"

--- a/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/Robot.hpp
@@ -5,7 +5,7 @@
 #pragma once

 #include <wpi/commands2/Command.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
+#include <wpi/framework/TimedRobot.hpp>

 #include "RobotContainer.hpp"

--- a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp
@@ -3,10 +3,10 @@
 // the WPILib BSD license file in the root directory of this project.

 #include <wpi/driverstation/XboxController.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/math/controller/LTVUnicycleController.hpp>
 #include <wpi/math/filter/SlewRateLimiter.hpp>
 #include <wpi/math/trajectory/TrajectoryGenerator.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 #include <wpi/system/Timer.hpp>

 #include "Drivetrain.hpp"
--- a/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.hpp
@@ -5,12 +5,12 @@
 #pragma once

 #include <wpi/driverstation/Joystick.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/pneumatic/Compressor.hpp>
 #include <wpi/hardware/pneumatic/DoubleSolenoid.hpp>
 #include <wpi/hardware/pneumatic/PneumaticsControlModule.hpp>
 #include <wpi/hardware/pneumatic/Solenoid.hpp>
 #include <wpi/hardware/rotation/AnalogPotentiometer.hpp>
-#include <wpi/opmode/TimedRobot.hpp>

 /**
 * This is a sample program showing the use of the solenoid classes during
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
@@ -6,6 +6,7 @@

 #include <wpi/drive/DifferentialDrive.hpp>
 #include <wpi/driverstation/XboxController.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/motor/PWMSparkMax.hpp>
 #include <wpi/hardware/rotation/Encoder.hpp>
 #include <wpi/math/controller/LinearQuadraticRegulator.hpp>
@@ -14,7 +15,6 @@
 #include <wpi/math/system/plant/DCMotor.hpp>
 #include <wpi/math/system/plant/LinearSystemId.hpp>
 #include <wpi/math/trajectory/TrapezoidProfile.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 #include <wpi/units/angle.hpp>
 #include <wpi/units/moment_of_inertia.hpp>

--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
@@ -6,6 +6,7 @@

 #include <wpi/drive/DifferentialDrive.hpp>
 #include <wpi/driverstation/XboxController.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/motor/PWMSparkMax.hpp>
 #include <wpi/hardware/rotation/Encoder.hpp>
 #include <wpi/math/controller/LinearQuadraticRegulator.hpp>
@@ -14,7 +15,6 @@
 #include <wpi/math/system/plant/DCMotor.hpp>
 #include <wpi/math/system/plant/LinearSystemId.hpp>
 #include <wpi/math/trajectory/TrapezoidProfile.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 #include <wpi/units/acceleration.hpp>
 #include <wpi/units/length.hpp>
 #include <wpi/units/mass.hpp>
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
@@ -7,6 +7,7 @@
 #include <wpi/drive/DifferentialDrive.hpp>
 #include <wpi/driverstation/DriverStation.hpp>
 #include <wpi/driverstation/XboxController.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/motor/PWMSparkMax.hpp>
 #include <wpi/hardware/rotation/Encoder.hpp>
 #include <wpi/math/controller/LinearQuadraticRegulator.hpp>
@@ -14,7 +15,6 @@
 #include <wpi/math/system/LinearSystemLoop.hpp>
 #include <wpi/math/system/plant/DCMotor.hpp>
 #include <wpi/math/system/plant/LinearSystemId.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 #include <wpi/units/angular_velocity.hpp>

 /**
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
@@ -7,6 +7,7 @@
 #include <wpi/drive/DifferentialDrive.hpp>
 #include <wpi/driverstation/DriverStation.hpp>
 #include <wpi/driverstation/XboxController.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/motor/PWMSparkMax.hpp>
 #include <wpi/hardware/rotation/Encoder.hpp>
 #include <wpi/math/controller/LinearQuadraticRegulator.hpp>
@@ -14,7 +15,6 @@
 #include <wpi/math/system/LinearSystemLoop.hpp>
 #include <wpi/math/system/plant/DCMotor.hpp>
 #include <wpi/math/system/plant/LinearSystemId.hpp>
-#include <wpi/opmode/TimedRobot.hpp>

 /**
 * This is a sample program to demonstrate how to use a state-space controller
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Robot.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.

 #include <wpi/driverstation/XboxController.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/math/filter/SlewRateLimiter.hpp>
 #include <wpi/math/util/MathUtil.hpp>
-#include <wpi/opmode/TimedRobot.hpp>

 #include "Drivetrain.hpp"

--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Robot.cpp
@@ -3,8 +3,8 @@
 // the WPILib BSD license file in the root directory of this project.

 #include <wpi/driverstation/XboxController.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/math/filter/SlewRateLimiter.hpp>
-#include <wpi/opmode/TimedRobot.hpp>

 #include "Drivetrain.hpp"

--- a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/Robot.hpp
@@ -7,7 +7,7 @@
 #include <optional>

 #include <wpi/commands2/CommandPtr.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
+#include <wpi/framework/TimedRobot.hpp>

 #include "SysIdRoutineBot.hpp"

--- a/wpilibcExamples/src/main/cpp/examples/TankDrive/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/TankDrive/cpp/Robot.cpp
@@ -4,8 +4,8 @@

 #include <wpi/drive/DifferentialDrive.hpp>
 #include <wpi/driverstation/Joystick.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/motor/PWMSparkMax.hpp>
-#include <wpi/opmode/TimedRobot.hpp>

 /**
 * This is a demo program showing the use of the DifferentialDrive class.
--- a/wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp
@@ -4,8 +4,8 @@

 #include <wpi/drive/DifferentialDrive.hpp>
 #include <wpi/driverstation/XboxController.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/motor/PWMSparkMax.hpp>
-#include <wpi/opmode/TimedRobot.hpp>

 /**
 * This is a demo program showing the use of the DifferentialDrive class.
--- a/wpilibcExamples/src/main/cpp/examples/UnitTest/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/UnitTest/include/Robot.hpp
@@ -5,7 +5,7 @@
 #pragma once

 #include <wpi/driverstation/Joystick.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
+#include <wpi/framework/TimedRobot.hpp>

 #include "Constants.hpp"
 #include "subsystems/Intake.hpp"
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/Robot.hpp
@@ -5,7 +5,7 @@
 #pragma once

 #include <wpi/commands2/Command.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
+#include <wpi/framework/TimedRobot.hpp>

 #include "RobotContainer.hpp"

--- a/wpilibcExamples/src/main/cpp/snippets/ADXLAccelerometers/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/ADXLAccelerometers/cpp/Robot.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.

+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/accelerometer/ADXL345_I2C.hpp>
 #include <wpi/hardware/bus/I2C.hpp>
 #include <wpi/hardware/discrete/AnalogInput.hpp>
-#include <wpi/opmode/TimedRobot.hpp>

 /**
 * ADXL346, 362 Accelerometer snippets for frc-docs.
--- a/wpilibcExamples/src/main/cpp/snippets/AccelerometerCollision/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/AccelerometerCollision/cpp/Robot.cpp
@@ -2,8 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.

+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/imu/OnboardIMU.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 #include <wpi/smartdashboard/SmartDashboard.hpp>
 #include <wpi/units/acceleration.hpp>

--- a/wpilibcExamples/src/main/cpp/snippets/AccelerometerFilter/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/AccelerometerFilter/cpp/Robot.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.

+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/imu/OnboardIMU.hpp>
 #include <wpi/math/filter/LinearFilter.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 #include <wpi/smartdashboard/SmartDashboard.hpp>
 #include <wpi/units/acceleration.hpp>

--- a/wpilibcExamples/src/main/cpp/snippets/AnalogAccelerometer/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/AnalogAccelerometer/cpp/Robot.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.

+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/accelerometer/AnalogAccelerometer.hpp>
 #include <wpi/hardware/discrete/AnalogInput.hpp>
-#include <wpi/opmode/TimedRobot.hpp>

 /**
 * AnalogAccelerometer snippets for frc-docs.
--- a/wpilibcExamples/src/main/cpp/snippets/AnalogEncoder/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/AnalogEncoder/cpp/Robot.cpp
@@ -2,8 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.

+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/rotation/AnalogEncoder.hpp>
-#include <wpi/opmode/TimedRobot.hpp>

 /**
 * AnalogEncoder snippets for frc-docs.
--- a/wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp
@@ -2,8 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.

+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/discrete/AnalogInput.hpp>
-#include <wpi/opmode/TimedRobot.hpp>

 /**
 * AnalogInput snippets for frc-docs.
--- a/wpilibcExamples/src/main/cpp/snippets/AnalogPotentiometer/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/AnalogPotentiometer/cpp/Robot.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.

+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/discrete/AnalogInput.hpp>
 #include <wpi/hardware/rotation/AnalogPotentiometer.hpp>
-#include <wpi/opmode/TimedRobot.hpp>

 /**
 * AnalogPotentiometer snippets for frc-docs.
--- a/wpilibcExamples/src/main/cpp/snippets/DigitalInput/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/DigitalInput/cpp/Robot.cpp
@@ -2,8 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.

+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/discrete/DigitalInput.hpp>
-#include <wpi/opmode/TimedRobot.hpp>

 /**
 * Digital Input snippets for frc-docs.
--- a/wpilibcExamples/src/main/cpp/snippets/DutyCycleEncoder/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/DutyCycleEncoder/cpp/Robot.cpp
@@ -2,8 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.

+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/rotation/DutyCycleEncoder.hpp>
-#include <wpi/opmode/TimedRobot.hpp>

 /**
 * DutyCycleEncoder snippets for frc-docs.
--- a/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
@@ -2,8 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.

+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/rotation/Encoder.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 #include <wpi/util/deprecated.hpp>

 /**
--- a/wpilibcExamples/src/main/cpp/snippets/EncoderDrive/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/EncoderDrive/cpp/Robot.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.

 #include <wpi/drive/DifferentialDrive.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/motor/Spark.hpp>
 #include <wpi/hardware/rotation/Encoder.hpp>
-#include <wpi/opmode/TimedRobot.hpp>

 /**
 * Encoder drive to distance snippets for frc-docs.
--- a/wpilibcExamples/src/main/cpp/snippets/EncoderHoming/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/EncoderHoming/cpp/Robot.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.

+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/discrete/DigitalInput.hpp>
 #include <wpi/hardware/motor/Spark.hpp>
 #include <wpi/hardware/rotation/Encoder.hpp>
-#include <wpi/opmode/TimedRobot.hpp>

 /**
 * Encoder mechanism homing snippets for frc-docs.
--- a/wpilibcExamples/src/main/cpp/snippets/LimitSwitch/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/LimitSwitch/cpp/Robot.cpp
@@ -3,10 +3,10 @@
 // the WPILib BSD license file in the root directory of this project.

 #include <wpi/driverstation/Joystick.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/discrete/DigitalInput.hpp>
 #include <wpi/hardware/motor/PWMVictorSPX.hpp>
 #include <wpi/hardware/rotation/Encoder.hpp>
-#include <wpi/opmode/TimedRobot.hpp>

 /**
 * Limit Switch snippets for frc-docs.
--- a/wpilibcExamples/src/main/cpp/snippets/OnboardIMU/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/OnboardIMU/cpp/Robot.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.

+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/imu/OnboardIMU.hpp>
 #include <wpi/math/geometry/Rotation2d.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 #include <wpi/units/acceleration.hpp>
 #include <wpi/units/angle.hpp>

--- a/wpilibcExamples/src/main/cpp/snippets/ProfiledPIDFeedforward/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/ProfiledPIDFeedforward/cpp/Robot.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.

+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/motor/PWMSparkMax.hpp>
 #include <wpi/hardware/rotation/Encoder.hpp>
 #include <wpi/math/controller/ProfiledPIDController.hpp>
 #include <wpi/math/controller/SimpleMotorFeedforward.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 #include <wpi/units/acceleration.hpp>
 #include <wpi/units/length.hpp>
 #include <wpi/units/velocity.hpp>
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.hpp
@@ -7,7 +7,7 @@
 #include <optional>

 #include <wpi/commands2/CommandPtr.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
+#include <wpi/framework/TimedRobot.hpp>

 #include "RobotContainer.hpp"

--- a/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/include/Robot.hpp
@@ -7,7 +7,7 @@
 #include <optional>

 #include <wpi/commands2/CommandPtr.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
+#include <wpi/framework/TimedRobot.hpp>

 #include "RobotContainer.hpp"

--- a/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/include/Robot.hpp
@@ -6,7 +6,7 @@

 #include <atomic>

-#include <wpi/opmode/RobotBase.hpp>
+#include <wpi/framework/RobotBase.hpp>

 class Robot : public wpi::RobotBase {
 public:
--- a/wpilibcExamples/src/main/cpp/templates/timed/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/timed/include/Robot.hpp
@@ -6,7 +6,7 @@

 #include <string>

-#include <wpi/opmode/TimedRobot.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/smartdashboard/SendableChooser.hpp>

 class Robot : public wpi::TimedRobot {
--- a/wpilibcExamples/src/main/cpp/templates/timedskeleton/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/timedskeleton/include/Robot.hpp
@@ -4,7 +4,7 @@

 #pragma once

-#include <wpi/opmode/TimedRobot.hpp>
+#include <wpi/framework/TimedRobot.hpp>

 class Robot : public wpi::TimedRobot {
 public:
--- a/wpilibcExamples/src/main/cpp/templates/timeslice/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/timeslice/include/Robot.hpp
@@ -6,7 +6,7 @@

 #include <string>

-#include <wpi/opmode/TimesliceRobot.hpp>
+#include <wpi/framework/TimesliceRobot.hpp>
 #include <wpi/smartdashboard/SendableChooser.hpp>

 class Robot : public wpi::TimesliceRobot {
--- a/wpilibcExamples/src/main/cpp/templates/timesliceskeleton/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/timesliceskeleton/include/Robot.hpp
@@ -4,7 +4,7 @@

 #pragma once

-#include <wpi/opmode/TimesliceRobot.hpp>
+#include <wpi/framework/TimesliceRobot.hpp>

 class Robot : public wpi::TimesliceRobot {
 public: