diff --git a/wpilibc/src/main/native/include/frc/Controller.h b/wpilibc/src/main/native/include/frc/Controller.h
deleted file mode 100644
index d750a0e934..0000000000
--- a/wpilibc/src/main/native/include/frc/Controller.h
+++ /dev/null
@@ -1,41 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// 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.
-
-#pragma once
-
-#include <wpi/deprecated.h>
-
-namespace frc {
-
-/**
- * Interface for Controllers.
- *
- * Common interface for controllers. Controllers run control loops, the most
- * common are PID controllers and their variants, but this includes anything
- * that is controlling an actuator in a separate thread.
- *
- * @deprecated Only used by the deprecated PIDController
- */
-class Controller {
- public:
-  WPI_DEPRECATED("Only used by the deprecated PIDController")
-  Controller() = default;
-  virtual ~Controller() = default;
-
-  Controller(Controller&&) = default;
-  Controller& operator=(Controller&&) = default;
-
-  /**
-   * Allows the control loop to run
-   */
-  virtual void Enable() = 0;
-
-  /**
-   * Stops the control loop from running until explicitly re-enabled by calling
-   * enable()
-   */
-  virtual void Disable() = 0;
-};
-
-}  // namespace frc
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Controller.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Controller.java
deleted file mode 100644
index 886050b003..0000000000
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Controller.java
+++ /dev/null
@@ -1,23 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// 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.
-
-package edu.wpi.first.wpilibj;
-
-/**
- * An interface for controllers. Controllers run control loops, the most command are PID controllers
- * and there variants, but this includes anything that is controlling an actuator in a separate
- * thread.
- *
- * @deprecated None of the 2020 FRC controllers use this.
- */
-@Deprecated(since = "2020", forRemoval = true)
-public interface Controller {
-  /** Allows the control loop to run. */
-  void enable();
-
-  /**
-   * Stops the control loop from running until explicitly re-enabled by calling {@link #enable()}.
-   */
-  void disable();
-}