[commands] Deprecate Command.schedule() (#7072)

It's only syntactic sugar over the CommandScheduler's schedule method and creates a footgun because it’s too obvious to try to use in incorrect places. Co-authored-by: Starlight220 <53231611+Starlight220@users.noreply.github.com>
2026-06-19 00:41:43 +00:00 · 2025-07-02 16:46:59 -04:00
parent a3ce880334
commit 26771e38fb
42 changed files with 77 additions and 66 deletions
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
@@ -533,7 +533,12 @@ public abstract class Command implements Sendable {
        });
  }

-  /** Schedules this command. */
+  /**
+   * Schedules this command.
+   *
+   * @deprecated Use CommandScheduler.getInstance().schedule(Command...) instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
  public void schedule() {
    CommandScheduler.getInstance().schedule(this);
  }
@@ -610,7 +615,7 @@ public abstract class Command implements Sendable {
        value -> {
          if (value) {
            if (!isScheduled()) {
-              schedule();
+              CommandScheduler.getInstance().schedule(this);
            }
          } else {
            if (isScheduled()) {
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyCommand.java
@@ -58,7 +58,7 @@ public class ProxyCommand extends Command {
  @Override
  public void initialize() {
    m_command = m_supplier.get();
-    m_command.schedule();
+    CommandScheduler.getInstance().schedule(m_command);
  }

  @Override
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java
@@ -28,7 +28,7 @@ public class ScheduleCommand extends Command {
  @Override
  public void initialize() {
    for (Command command : m_toSchedule) {
-      command.schedule();
+      CommandScheduler.getInstance().schedule(command);
    }
  }

--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java
@@ -93,7 +93,7 @@ public class Trigger implements BooleanSupplier {
    addBinding(
        (previous, current) -> {
          if (previous != current) {
-            command.schedule();
+            CommandScheduler.getInstance().schedule(command);
          }
        });
    return this;
@@ -110,7 +110,7 @@ public class Trigger implements BooleanSupplier {
    addBinding(
        (previous, current) -> {
          if (!previous && current) {
-            command.schedule();
+            CommandScheduler.getInstance().schedule(command);
          }
        });
    return this;
@@ -127,7 +127,7 @@ public class Trigger implements BooleanSupplier {
    addBinding(
        (previous, current) -> {
          if (previous && !current) {
-            command.schedule();
+            CommandScheduler.getInstance().schedule(command);
          }
        });
    return this;
@@ -148,7 +148,7 @@ public class Trigger implements BooleanSupplier {
    addBinding(
        (previous, current) -> {
          if (!previous && current) {
-            command.schedule();
+            CommandScheduler.getInstance().schedule(command);
          } else if (previous && !current) {
            command.cancel();
          }
@@ -171,7 +171,7 @@ public class Trigger implements BooleanSupplier {
    addBinding(
        (previous, current) -> {
          if (previous && !current) {
-            command.schedule();
+            CommandScheduler.getInstance().schedule(command);
          } else if (!previous && current) {
            command.cancel();
          }
@@ -193,7 +193,7 @@ public class Trigger implements BooleanSupplier {
            if (command.isScheduled()) {
              command.cancel();
            } else {
-              command.schedule();
+              CommandScheduler.getInstance().schedule(command);
            }
          }
        });
@@ -214,7 +214,7 @@ public class Trigger implements BooleanSupplier {
            if (command.isScheduled()) {
              command.cancel();
            } else {
-              command.schedule();
+              CommandScheduler.getInstance().schedule(command);
            }
          }
        });
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
@@ -197,7 +197,7 @@ void Command::InitSendable(wpi::SendableBuilder& builder) {
      [this](bool value) {
        bool isScheduled = IsScheduled();
        if (value && !isScheduled) {
-          Schedule();
+          CommandScheduler::GetInstance().Schedule(this);
        } else if (!value && isScheduled) {
          Cancel();
        }
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp
@@ -37,7 +37,7 @@ ProxyCommand::ProxyCommand(std::unique_ptr<Command> command) {

 void ProxyCommand::Initialize() {
  m_command = m_supplier();
-  m_command->Schedule();
+  frc2::CommandScheduler::GetInstance().Schedule(m_command);
 }

 void ProxyCommand::End(bool interrupted) {
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/ScheduleCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/ScheduleCommand.cpp
@@ -18,7 +18,7 @@ ScheduleCommand::ScheduleCommand(Command* toSchedule) {

 void ScheduleCommand::Initialize() {
  for (auto command : m_toSchedule) {
-    command->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(command);
  }
 }

--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
@@ -29,7 +29,7 @@ void Trigger::AddBinding(wpi::unique_function<void(bool, bool)>&& body) {
 Trigger Trigger::OnChange(Command* command) {
  AddBinding([command](bool previous, bool current) {
    if (previous != current) {
-      command->Schedule();
+      frc2::CommandScheduler::GetInstance().Schedule(command);
    }
  });
  return *this;
@@ -38,7 +38,7 @@ Trigger Trigger::OnChange(Command* command) {
 Trigger Trigger::OnChange(CommandPtr&& command) {
  AddBinding([command = std::move(command)](bool previous, bool current) {
    if (previous != current) {
-      command.Schedule();
+      frc2::CommandScheduler::GetInstance().Schedule(command);
    }
  });
  return *this;
@@ -47,7 +47,7 @@ Trigger Trigger::OnChange(CommandPtr&& command) {
 Trigger Trigger::OnTrue(Command* command) {
  AddBinding([command](bool previous, bool current) {
    if (!previous && current) {
-      command->Schedule();
+      frc2::CommandScheduler::GetInstance().Schedule(command);
    }
  });
  return *this;
@@ -56,7 +56,7 @@ Trigger Trigger::OnTrue(Command* command) {
 Trigger Trigger::OnTrue(CommandPtr&& command) {
  AddBinding([command = std::move(command)](bool previous, bool current) {
    if (!previous && current) {
-      command.Schedule();
+      frc2::CommandScheduler::GetInstance().Schedule(command);
    }
  });
  return *this;
@@ -65,7 +65,7 @@ Trigger Trigger::OnTrue(CommandPtr&& command) {
 Trigger Trigger::OnFalse(Command* command) {
  AddBinding([command](bool previous, bool current) {
    if (previous && !current) {
-      command->Schedule();
+      frc2::CommandScheduler::GetInstance().Schedule(command);
    }
  });
  return *this;
@@ -74,7 +74,7 @@ Trigger Trigger::OnFalse(Command* command) {
 Trigger Trigger::OnFalse(CommandPtr&& command) {
  AddBinding([command = std::move(command)](bool previous, bool current) {
    if (previous && !current) {
-      command.Schedule();
+      frc2::CommandScheduler::GetInstance().Schedule(command);
    }
  });
  return *this;
@@ -83,7 +83,7 @@ Trigger Trigger::OnFalse(CommandPtr&& command) {
 Trigger Trigger::WhileTrue(Command* command) {
  AddBinding([command](bool previous, bool current) {
    if (!previous && current) {
-      command->Schedule();
+      frc2::CommandScheduler::GetInstance().Schedule(command);
    } else if (previous && !current) {
      command->Cancel();
    }
@@ -94,7 +94,7 @@ Trigger Trigger::WhileTrue(Command* command) {
 Trigger Trigger::WhileTrue(CommandPtr&& command) {
  AddBinding([command = std::move(command)](bool previous, bool current) {
    if (!previous && current) {
-      command.Schedule();
+      frc2::CommandScheduler::GetInstance().Schedule(command);
    } else if (previous && !current) {
      command.Cancel();
    }
@@ -105,7 +105,7 @@ Trigger Trigger::WhileTrue(CommandPtr&& command) {
 Trigger Trigger::WhileFalse(Command* command) {
  AddBinding([command](bool previous, bool current) {
    if (previous && !current) {
-      command->Schedule();
+      frc2::CommandScheduler::GetInstance().Schedule(command);
    } else if (!previous && current) {
      command->Cancel();
    }
@@ -116,7 +116,7 @@ Trigger Trigger::WhileFalse(Command* command) {
 Trigger Trigger::WhileFalse(CommandPtr&& command) {
  AddBinding([command = std::move(command)](bool previous, bool current) {
    if (!previous && current) {
-      command.Schedule();
+      frc2::CommandScheduler::GetInstance().Schedule(command);
    } else if (previous && !current) {
      command.Cancel();
    }
@@ -130,7 +130,7 @@ Trigger Trigger::ToggleOnTrue(Command* command) {
      if (command->IsScheduled()) {
        command->Cancel();
      } else {
-        command->Schedule();
+        frc2::CommandScheduler::GetInstance().Schedule(command);
      }
    }
  });
@@ -143,7 +143,7 @@ Trigger Trigger::ToggleOnTrue(CommandPtr&& command) {
      if (command.IsScheduled()) {
        command.Cancel();
      } else {
-        command.Schedule();
+        frc2::CommandScheduler::GetInstance().Schedule(command);
      }
    }
  });
@@ -156,7 +156,7 @@ Trigger Trigger::ToggleOnFalse(Command* command) {
      if (command->IsScheduled()) {
        command->Cancel();
      } else {
-        command->Schedule();
+        frc2::CommandScheduler::GetInstance().Schedule(command);
      }
    }
  });
@@ -169,7 +169,7 @@ Trigger Trigger::ToggleOnFalse(CommandPtr&& command) {
      if (command.IsScheduled()) {
        command.Cancel();
      } else {
-        command.Schedule();
+        frc2::CommandScheduler::GetInstance().Schedule(command);
      }
    }
  });
--- a/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
@@ -398,7 +398,10 @@ class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {

  /**
   * Schedules this command.
+   *
+   * @deprecated Use CommandScheduler::GetInstance().Schedule() instead
   */
+  [[deprecated("Use CommandScheduler::GetInstance().Schedule() instead.")]]
  void Schedule();

  /**
--- a/wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h
@@ -277,7 +277,10 @@ CommandPtr final {

  /**
   * Schedules this command.
+   *
+   * @deprecated Use CommandScheduler::GetInstance().Schedule() instead
   */
+  [[deprecated("Use CommandScheduler::GetInstance().Schedule() instead.")]]
  void Schedule() const&;

  // Prevent calls on a temporary, as the returned pointer would be invalid
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandSendableButtonTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandSendableButtonTest.java
@@ -55,7 +55,7 @@ class CommandSendableButtonTest extends CommandTestBase {
  @Test
  void trueAndScheduledNoOp() {
    // Scheduled and true -> no-op
-    m_command.schedule();
+    CommandScheduler.getInstance().schedule(m_command);
    CommandScheduler.getInstance().run();
    SmartDashboard.updateValues();
    assertTrue(m_command.isScheduled());
@@ -90,7 +90,7 @@ class CommandSendableButtonTest extends CommandTestBase {
  @Test
  void falseAndScheduledCancel() {
    // Scheduled and false -> cancel
-    m_command.schedule();
+    CommandScheduler.getInstance().schedule(m_command);
    CommandScheduler.getInstance().run();
    SmartDashboard.updateValues();
    assertTrue(m_command.isScheduled());
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ProxyCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ProxyCommandTest.java
@@ -22,7 +22,7 @@ class ProxyCommandTest extends CommandTestBase {

      scheduler.schedule(scheduleCommand);

-      verify(command1).schedule();
+      verify(command1).initialize();
    }
  }

--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ScheduleCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ScheduleCommandTest.java
@@ -22,8 +22,8 @@ class ScheduleCommandTest extends CommandTestBase {

      scheduler.schedule(scheduleCommand);

-      verify(command1).schedule();
-      verify(command2).schedule();
+      verify(command1).initialize();
+      verify(command2).initialize();
    }
  }

--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/NetworkButtonTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/NetworkButtonTest.java
@@ -39,10 +39,10 @@ class NetworkButtonTest extends CommandTestBase {
    pub.set(false);
    button.onTrue(command);
    scheduler.run();
-    verify(command, never()).schedule();
+    verify(command, never()).initialize();
    pub.set(true);
    scheduler.run();
    scheduler.run();
-    verify(command).schedule();
+    verify(command).initialize();
  }
 }
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/TriggerTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/TriggerTest.java
@@ -207,7 +207,7 @@ class TriggerTest extends CommandTestBase {
            .until(button);

    button.setPressed(false);
-    command1.schedule();
+    scheduler.schedule(command1);
    scheduler.run();
    assertEquals(1, startCounter.get());
    assertEquals(0, endCounter.get());
@@ -258,13 +258,13 @@ class TriggerTest extends CommandTestBase {

    button.setPressed(true);
    scheduler.run();
-    verify(command, never()).schedule();
+    verify(command, never()).initialize();

    SimHooks.stepTiming(0.3);

    button.setPressed(true);
    scheduler.run();
-    verify(command).schedule();
+    verify(command).initialize();
  }

  @Test
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandSendableButtonTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandSendableButtonTest.cpp
@@ -49,7 +49,7 @@ TEST_F(CommandSendableButtonTest, trueAndNotScheduledSchedules) {

 TEST_F(CommandSendableButtonTest, trueAndScheduledNoOp) {
  // Scheduled and true -> no-op
-  m_command->Schedule();
+  frc2::CommandScheduler::GetInstance().Schedule(m_command.value());
  GetScheduler().Run();
  frc::SmartDashboard::UpdateValues();
  EXPECT_TRUE(m_command->IsScheduled());
@@ -82,7 +82,7 @@ TEST_F(CommandSendableButtonTest, falseAndNotScheduledNoOp) {

 TEST_F(CommandSendableButtonTest, falseAndScheduledCancel) {
  // Scheduled and false -> cancel
-  m_command->Schedule();
+  frc2::CommandScheduler::GetInstance().Schedule(m_command.value());
  GetScheduler().Run();
  frc::SmartDashboard::UpdateValues();
  EXPECT_TRUE(m_command->IsScheduled());
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp
@@ -38,7 +38,7 @@ void Robot::AutonomousInit() {
  m_autonomousCommand = m_container.GetAutonomousCommand();

  if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value());
  }
 }

--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp
@@ -47,7 +47,7 @@ void Robot::AutonomousInit() {
  m_autonomousCommand = m_container.GetAutonomousCommand();

  if (m_autonomousCommand != nullptr) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
  }
 }

--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp
@@ -47,7 +47,7 @@ void Robot::AutonomousInit() {
  m_autonomousCommand = m_container.GetAutonomousCommand();

  if (m_autonomousCommand != nullptr) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
  }
 }

--- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Robot.cpp
@@ -38,7 +38,7 @@ void Robot::AutonomousInit() {
  m_autonomousCommand = m_container.GetAutonomousCommand();

  if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value());
  }
 }

--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/Robot.cpp
@@ -26,7 +26,7 @@ void Robot::AutonomousInit() {
  m_autonomousCommand = m_robot.GetAutonomousCommand();

  if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value());
  }
 }

--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/Robot.cpp
@@ -37,7 +37,7 @@ void Robot::AutonomousInit() {
  m_autonomousCommand = m_container.GetAutonomousCommand();

  if (m_autonomousCommand != nullptr) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
  }
 }

--- a/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/Robot.cpp
@@ -38,7 +38,7 @@ void Robot::AutonomousInit() {
  m_autonomousCommand = m_container.GetAutonomousCommand();

  if (m_autonomousCommand != nullptr) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
  }
 }

--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/Robot.cpp
@@ -38,7 +38,7 @@ void Robot::AutonomousInit() {
  m_autonomousCommand = m_container.GetAutonomousCommand();

  if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value());
  }
 }

--- a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/Robot.cpp
@@ -22,7 +22,7 @@ void Robot::AutonomousInit() {
  m_autonomousCommand = m_container.GetAutonomousCommand();

  if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value());
  }
 }

--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/Robot.cpp
@@ -37,7 +37,7 @@ void Robot::AutonomousInit() {
  m_autonomousCommand = m_container.GetAutonomousCommand();

  if (m_autonomousCommand != nullptr) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
  }
 }

--- a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
@@ -37,7 +37,7 @@ void Robot::AutonomousInit() {
  m_autonomousCommand = m_container.GetAutonomousCommand();

  if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value());
  }
 }

--- a/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/Robot.cpp
@@ -22,7 +22,7 @@ void Robot::AutonomousInit() {
  m_autonomousCommand = m_container.GetAutonomousCommand();

  if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value());
  }
 }

--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Robot.java
@@ -65,7 +65,7 @@ public class Robot extends TimedRobot {

    // schedule the autonomous command (example)
    if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
    }
  }

--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Robot.java
@@ -67,7 +67,7 @@ public class Robot extends TimedRobot {

    // schedule the autonomous command (example)
    if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
    }
  }

--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java
@@ -74,7 +74,7 @@ public class Robot extends TimedRobot {

    // schedule the autonomous command (example)
    if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
    }
  }

--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Robot.java
@@ -65,7 +65,7 @@ public class Robot extends TimedRobot {

    // schedule the autonomous command (example)
    if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
    }
  }

--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Robot.java
@@ -63,7 +63,7 @@ public class Robot extends TimedRobot {
    m_autonomousCommand = m_robot.getAutonomousCommand();

    if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
    }
  }

--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Robot.java
@@ -58,7 +58,7 @@ public class Robot extends TimedRobot {

    // schedule the autonomous command (example)
    if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
    }
  }

--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Robot.java
@@ -65,7 +65,7 @@ public class Robot extends TimedRobot {

    // schedule the autonomous command (example)
    if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
    }
  }

--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Robot.java
@@ -65,7 +65,7 @@ public class Robot extends TimedRobot {

    // schedule the autonomous command (example)
    if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
    }
  }

--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/Robot.java
@@ -55,7 +55,7 @@ public class Robot extends TimedRobot {
    m_autonomousCommand = m_robot.getAutonomousCommand();

    if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
    }
  }

--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/Robot.java
@@ -58,7 +58,7 @@ public class Robot extends TimedRobot {

    // schedule the autonomous command (example)
    if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
    }
  }

--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
@@ -58,7 +58,7 @@ public class Robot extends TimedRobot {

    // schedule the autonomous command (example)
    if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
    }
  }

--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbasedskeleton/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbasedskeleton/Robot.java
@@ -36,7 +36,7 @@ public class Robot extends TimedRobot {
    m_autonomousCommand = m_robotContainer.getAutonomousCommand();

    if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
    }
  }

--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Robot.java
@@ -58,7 +58,7 @@ public class Robot extends TimedRobot {

    // schedule the autonomous command (example)
    if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
    }
  }

--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrpcommandbased/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrpcommandbased/Robot.java
@@ -58,7 +58,7 @@ public class Robot extends TimedRobot {

    // schedule the autonomous command (example)
    if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
    }
  }