[commands] Deprecate control commands and subsystems (#7143)

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

@@ -16,7 +16,10 @@ import java.util.function.DoubleSupplier;
  * 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 @@ import edu.wpi.first.math.controller.PIDController;
  * 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 @@ import java.util.function.Supplier;
  * 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 static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 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

@@ -4,10 +4,10 @@
 
 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;
 
@@ -15,6 +15,8 @@ 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 @@ import edu.wpi.first.math.trajectory.TrapezoidProfile;
  * 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;