diff --git a/ntcore/src/main/native/include/networktables/NetworkTableEntry.h b/ntcore/src/main/native/include/networktables/NetworkTableEntry.h
index b9d509aed1..31fe9a68bd 100644
--- a/ntcore/src/main/native/include/networktables/NetworkTableEntry.h
+++ b/ntcore/src/main/native/include/networktables/NetworkTableEntry.h
@@ -13,8 +13,6 @@
 #include <string_view>
 #include <vector>
 
-#include <wpi/deprecated.h>
-
 #include "networktables/NetworkTableType.h"
 #include "networktables/NetworkTableValue.h"
 #include "ntcore_c.h"
@@ -101,7 +99,7 @@ class NetworkTableEntry final {
    * @return the flags (bitmask)
    * @deprecated Use IsPersistent() or topic properties instead
    */
-  WPI_DEPRECATED("Use IsPersistent() or topic properties instead")
+  [[deprecated("Use IsPersistent() or topic properties instead")]]
   unsigned int GetFlags() const;
 
   /**
@@ -468,7 +466,7 @@ class NetworkTableEntry final {
    * @param flags the flags to set (bitmask)
    * @deprecated Use SetPersistent() or topic properties instead
    */
-  WPI_DEPRECATED("Use SetPersistent() or topic properties instead")
+  [[deprecated("Use SetPersistent() or topic properties instead")]]
   void SetFlags(unsigned int flags);
 
   /**
@@ -477,7 +475,7 @@ class NetworkTableEntry final {
    * @param flags the flags to clear (bitmask)
    * @deprecated Use SetPersistent() or topic properties instead
    */
-  WPI_DEPRECATED("Use SetPersistent() or topic properties instead")
+  [[deprecated("Use SetPersistent() or topic properties instead")]]
   void ClearFlags(unsigned int flags);
 
   /**
@@ -506,7 +504,7 @@ class NetworkTableEntry final {
    * Deletes the entry.
    * @deprecated Use Unpublish() instead.
    */
-  WPI_DEPRECATED("Use Unpublish() instead")
+  [[deprecated("Use Unpublish() instead")]]
   void Delete();
 
   /**
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Button.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Button.cpp
index 787fc09cd0..fdb64599d4 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Button.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Button.cpp
@@ -4,6 +4,8 @@
 
 #include "frc2/command/button/Button.h"
 
+#include <wpi/deprecated.h>
+
 using namespace frc2;
 
 Button::Button(std::function<bool()> isPressed) : Trigger(isPressed) {}
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
index 3908daf13b..5b0b36efce 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
@@ -5,6 +5,7 @@
 #include "frc2/command/button/Trigger.h"
 
 #include <frc/filter/Debouncer.h>
+#include <wpi/deprecated.h>
 
 #include "frc2/command/InstantCommand.h"
 
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/Command.h b/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
index c064fa39b5..3cf0e5a28b 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
@@ -13,7 +13,6 @@
 #include <units/time.h>
 #include <wpi/Demangle.h>
 #include <wpi/SmallSet.h>
-#include <wpi/deprecated.h>
 
 #include "frc2/command/Subsystem.h"
 
@@ -161,8 +160,7 @@ class Command {
    * @return the command with the interrupt condition added
    * @deprecated Replace with Until()
    */
-  WPI_DEPRECATED("Replace with Until()")
-  [[nodiscard]]
+  [[deprecated("Replace with Until()")]] [[nodiscard]]
   CommandPtr WithInterrupt(std::function<bool()> condition) &&;
 
   /**
@@ -220,13 +218,13 @@ valid. This was unsafe/undefined behavior from the start, and RepeatCommand
 provides an easy way to achieve similar end results with slightly different (and
 safe) semantics.
    */
-  WPI_DEPRECATED(
+  [[deprecated(
       "PerpetualCommand violates the assumption that execute() doesn't get "
       "called after isFinished() returns true -- an assumption that should be "
       "valid."
       "This was unsafe/undefined behavior from the start, and RepeatCommand "
       "provides an easy way to achieve similar end results with slightly "
-      "different (and safe) semantics.")
+      "different (and safe) semantics.")]]
   PerpetualCommand Perpetually() &&;
 
   /**
@@ -373,7 +371,7 @@ safe) semantics.
    *
    * @deprecated Moved to IsComposed()
    */
-  WPI_DEPRECATED("Moved to IsComposed()")
+  [[deprecated("Moved to IsComposed()")]]
   bool IsGrouped() const;
 
   /**
@@ -383,7 +381,7 @@ safe) semantics.
    *
    * @deprecated Moved to SetComposed()
    */
-  WPI_DEPRECATED("Moved to SetComposed()")
+  [[deprecated("Moved to SetComposed()")]]
   void SetGrouped(bool grouped);
 
   /**
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/CommandGroupBase.h b/wpilibNewCommands/src/main/native/include/frc2/command/CommandGroupBase.h
index 9fe65fa37a..e607bf139a 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/CommandGroupBase.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/CommandGroupBase.h
@@ -7,8 +7,6 @@
 #include <memory>
 #include <vector>
 
-#include <wpi/deprecated.h>
-
 #include "frc2/command/CommandBase.h"
 
 namespace frc2 {
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h b/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
index 1ccc157429..fcf2852488 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
@@ -16,7 +16,6 @@
 #include <units/time.h>
 #include <wpi/FunctionExtras.h>
 #include <wpi/concepts.h>
-#include <wpi/deprecated.h>
 #include <wpi/sendable/SendableHelper.h>
 
 namespace frc2 {
@@ -81,7 +80,7 @@ class CommandScheduler final : public nt::NTSendable,
   /**
    * Removes all button bindings from the scheduler.
    */
-  WPI_DEPRECATED("Call Clear on the EventLoop instance directly!")
+  [[deprecated("Call Clear on the EventLoop instance directly!")]]
   void ClearButtons();
 
   /**
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/PerpetualCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/PerpetualCommand.h
index a0052d84be..107f08ddf2 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/PerpetualCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/PerpetualCommand.h
@@ -13,6 +13,7 @@
 #include <utility>
 
 #include <wpi/concepts.h>
+#include <wpi/deprecated.h>
 
 #include "frc2/command/CommandBase.h"
 #include "frc2/command/CommandHelper.h"
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h
index 286851479a..ab37fba9c3 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h
@@ -16,6 +16,7 @@
 #include <vector>
 
 #include <wpi/concepts.h>
+#include <wpi/deprecated.h>
 #include <wpi/sendable/SendableBuilder.h>
 
 #include "frc2/command/CommandBase.h"
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/button/Button.h b/wpilibNewCommands/src/main/native/include/frc2/command/button/Button.h
index d2a68de810..978251c7f7 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/button/Button.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/button/Button.h
@@ -41,8 +41,7 @@ class Button : public Trigger {
    *  can be further determined by subclass code.
    * @deprecated Replace with Trigger
    */
-  WPI_DEPRECATED("Replace with Trigger")
-  Button() = default;
+  [[deprecated("Replace with Trigger")]] Button() = default;
 
   /**
    * Binds a command to start when the button is pressed.  Takes a
@@ -53,7 +52,7 @@ class Button : public Trigger {
    * @return The trigger, for chained calls.
    * @deprecated Replace with Trigger::OnTrue()
    */
-  WPI_DEPRECATED("Replace with Trigger#OnTrue()")
+  [[deprecated("Replace with Trigger#OnTrue()")]]
   Button WhenPressed(Command* command);
 
   /**
@@ -67,7 +66,7 @@ class Button : public Trigger {
    * @deprecated Replace with Trigger::OnTrue()
    */
   template <std::derived_from<Command> T>
-  WPI_DEPRECATED("Replace with Trigger#OnTrue()")
+  [[deprecated("Replace with Trigger#OnTrue()")]]
   Button WhenPressed(T&& command) {
     WhenActive(std::forward<T>(command));
     return *this;
@@ -80,7 +79,7 @@ class Button : public Trigger {
    * @param requirements the required subsystems.
    * @deprecated Replace with Trigger::OnTrue(cmd::RunOnce())
    */
-  WPI_DEPRECATED("Replace with Trigger#OnTrue(cmd::RunOnce())")
+  [[deprecated("Replace with Trigger#OnTrue(cmd::RunOnce())")]]
   Button WhenPressed(std::function<void()> toRun,
                      std::initializer_list<Subsystem*> requirements);
 
@@ -91,7 +90,7 @@ class Button : public Trigger {
    * @param requirements the required subsystems.
    * @deprecated Replace with Trigger::OnTrue(cmd::RunOnce())
    */
-  WPI_DEPRECATED("Replace with Trigger#OnTrue(cmd::RunOnce())")
+  [[deprecated("Replace with Trigger#OnTrue(cmd::RunOnce())")]]
   Button WhenPressed(std::function<void()> toRun,
                      std::span<Subsystem* const> requirements = {});
 
@@ -104,7 +103,7 @@ class Button : public Trigger {
    * @return The button, for chained calls.
    * @deprecated Replace with Trigger::WhileTrue(command.Repeatedly())
    */
-  WPI_DEPRECATED("Replace with Trigger#WhileTrue(command.Repeatedly())")
+  [[deprecated("Replace with Trigger#WhileTrue(command.Repeatedly())")]]
   Button WhileHeld(Command* command);
 
   /**
@@ -118,7 +117,7 @@ class Button : public Trigger {
    * @deprecated Replace with Trigger::WhileTrue(command.Repeatedly())
    */
   template <std::derived_from<Command> T>
-  WPI_DEPRECATED("Replace with Trigger#WhileTrue(command.Repeatedly())")
+  [[deprecated("Replace with Trigger#WhileTrue(command.Repeatedly())")]]
   Button WhileHeld(T&& command) {
     WhileActiveContinous(std::forward<T>(command));
     return *this;
@@ -131,7 +130,7 @@ class Button : public Trigger {
    * @param requirements the required subsystems.
    * @deprecated Replace with Trigger::WhileTrue(cmd::Run())
    */
-  WPI_DEPRECATED("Replace with Trigger#WhileTrue(cmd::Run())")
+  [[deprecated("Replace with Trigger#WhileTrue(cmd::Run())")]]
   Button WhileHeld(std::function<void()> toRun,
                    std::initializer_list<Subsystem*> requirements);
 
@@ -142,7 +141,7 @@ class Button : public Trigger {
    * @param requirements the required subsystems.
    * @deprecated Replace with Trigger::WhileTrue(cmd::Run())
    */
-  WPI_DEPRECATED("Replace with Trigger#WhileTrue(cmd::Run())")
+  [[deprecated("Replace with Trigger#WhileTrue(cmd::Run())")]]
   Button WhileHeld(std::function<void()> toRun,
                    std::span<Subsystem* const> requirements = {});
 
@@ -155,7 +154,7 @@ class Button : public Trigger {
    * @return The button, for chained calls.
    * @deprecated Replace with Trigger::WhileTrue()
    */
-  WPI_DEPRECATED("Replace with Trigger#WhileTrue()")
+  [[deprecated("Replace with Trigger#WhileTrue()")]]
   Button WhenHeld(Command* command);
 
   /**
@@ -169,7 +168,7 @@ class Button : public Trigger {
    * @deprecated Replace with Trigger::WhileTrue()
    */
   template <std::derived_from<Command> T>
-  WPI_DEPRECATED("Replace with Trigger#WhileTrue()")
+  [[deprecated("Replace with Trigger#WhileTrue()")]]
   Button WhenHeld(T&& command) {
     WhileActiveOnce(std::forward<T>(command));
     return *this;
@@ -184,7 +183,7 @@ class Button : public Trigger {
    * @return The button, for chained calls.
    * @deprecated Replace with Trigger::OnFalse()
    */
-  WPI_DEPRECATED("Replace with Trigger#OnFalse()")
+  [[deprecated("Replace with Trigger#OnFalse()")]]
   Button WhenReleased(Command* command);
 
   /**
@@ -198,7 +197,7 @@ class Button : public Trigger {
    * @deprecated Replace with Trigger::OnFalse()
    */
   template <std::derived_from<Command> T>
-  WPI_DEPRECATED("Replace with Trigger#OnFalse()")
+  [[deprecated("Replace with Trigger#OnFalse()")]]
   Button WhenReleased(T&& command) {
     WhenInactive(std::forward<T>(command));
     return *this;
@@ -211,7 +210,7 @@ class Button : public Trigger {
    * @param requirements the required subsystems.
    * @deprecated Replace with Trigger::OnFalse(cmd::RunOnce())
    */
-  WPI_DEPRECATED("Replace with Trigger#OnFalse(cmd::RunOnce())")
+  [[deprecated("Replace with Trigger#OnFalse(cmd::RunOnce())")]]
   Button WhenReleased(std::function<void()> toRun,
                       std::initializer_list<Subsystem*> requirements);
 
@@ -222,7 +221,7 @@ class Button : public Trigger {
    * @param requirements the required subsystems.
    * @deprecated Replace with Trigger::OnFalse(cmd::RunOnce())
    */
-  WPI_DEPRECATED("Replace with Trigger#OnFalse(cmd::RunOnce())")
+  [[deprecated("Replace with Trigger#OnFalse(cmd::RunOnce())")]]
   Button WhenReleased(std::function<void()> toRun,
                       std::span<Subsystem* const> requirements = {});
 
@@ -235,7 +234,7 @@ class Button : public Trigger {
    * @return The button, for chained calls.
    * @deprecated Replace with Trigger::ToggleOnTrue()
    */
-  WPI_DEPRECATED("Replace with Trigger#ToggleOnTrue()")
+  [[deprecated("Replace with Trigger#ToggleOnTrue()")]]
   Button ToggleWhenPressed(Command* command);
 
   /**
@@ -249,7 +248,7 @@ class Button : public Trigger {
    * @deprecated Replace with Trigger::ToggleOnTrue()
    */
   template <std::derived_from<Command> T>
-  WPI_DEPRECATED("Replace with Trigger#ToggleOnTrue()")
+  [[deprecated("Replace with Trigger#ToggleOnTrue()")]]
   Button ToggleWhenPressed(T&& command) {
     ToggleWhenActive(std::forward<T>(command));
     return *this;
@@ -264,7 +263,7 @@ class Button : public Trigger {
    * @return The button, for chained calls.
    * @deprecated Pass this as a command end condition with Until() instead.
    */
-  WPI_DEPRECATED("Pass this as a command end condition with Until() instead.")
+  [[deprecated("Pass this as a command end condition with Until() instead.")]]
   Button CancelWhenPressed(Command* command);
 };
 }  // namespace frc2
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/button/POVButton.h b/wpilibNewCommands/src/main/native/include/frc2/command/button/POVButton.h
index 7ee1590794..544a3eebf5 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/button/POVButton.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/button/POVButton.h
@@ -3,6 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #pragma once
+
 #include <frc/GenericHID.h>
 #include <wpi/deprecated.h>
 
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/button/Trigger.h b/wpilibNewCommands/src/main/native/include/frc2/command/button/Trigger.h
index 9d6e37e895..e66256b927 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/button/Trigger.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/button/Trigger.h
@@ -15,7 +15,6 @@
 #include <frc/filter/Debouncer.h>
 #include <units/time.h>
 #include <wpi/concepts.h>
-#include <wpi/deprecated.h>
 
 #include "frc2/command/Command.h"
 #include "frc2/command/CommandScheduler.h"
@@ -214,7 +213,7 @@ class Trigger {
    * @return The trigger, for chained calls.
    * @deprecated Use OnTrue(Command) instead
    */
-  WPI_DEPRECATED("Use OnTrue(Command) instead")
+  [[deprecated("Use OnTrue(Command) instead")]]
   Trigger WhenActive(Command* command);
 
   /**
@@ -228,7 +227,7 @@ class Trigger {
    * @deprecated Use OnTrue(Command) instead
    */
   template <std::derived_from<Command> T>
-  WPI_DEPRECATED("Use OnTrue(Command) instead")
+  [[deprecated("Use OnTrue(Command) instead")]]
   Trigger WhenActive(T&& command) {
     m_loop->Bind([condition = m_condition, previous = m_condition(),
                   command = std::make_unique<std::decay_t<T>>(
@@ -252,8 +251,8 @@ class Trigger {
    * @deprecated Use OnTrue(Command) instead and construct the InstantCommand
    * manually
    */
-  WPI_DEPRECATED(
-      "Use OnTrue(Command) instead and construct the InstantCommand manually")
+  [[deprecated(
+      "Use OnTrue(Command) instead and construct the InstantCommand manually")]]
   Trigger WhenActive(std::function<void()> toRun,
                      std::initializer_list<Subsystem*> requirements);
 
@@ -265,8 +264,8 @@ class Trigger {
    * @deprecated Use OnTrue(Command) instead and construct the InstantCommand
    * manually
    */
-  WPI_DEPRECATED(
-      "Use OnTrue(Command) instead and construct the InstantCommand manually")
+  [[deprecated(
+      "Use OnTrue(Command) instead and construct the InstantCommand manually")]]
   Trigger WhenActive(std::function<void()> toRun,
                      std::span<Subsystem* const> requirements = {});
 
@@ -280,9 +279,9 @@ class Trigger {
    * @deprecated Use WhileTrue(Command) with RepeatCommand, or bind
    command::Schedule with IfHigh(std::function<void()>).
    */
-  WPI_DEPRECATED(
+  [[deprecated(
       "Use WhileTrue(Command) with RepeatCommand, or bind command::Schedule "
-      "with IfHigh(std::function<void()>).")
+      "with IfHigh(std::function<void()>).")]]
   Trigger WhileActiveContinous(Command* command);
 
   /**
@@ -297,9 +296,9 @@ class Trigger {
    command::Schedule with IfHigh(std::function<void()>).
    */
   template <std::derived_from<Command> T>
-  WPI_DEPRECATED(
+  [[deprecated(
       "Use WhileTrue(Command) with RepeatCommand, or bind command::Schedule "
-      "with IfHigh(std::function<void()>).")
+      "with IfHigh(std::function<void()>).")]]
   Trigger WhileActiveContinous(T&& command) {
     m_loop->Bind([condition = m_condition, previous = m_condition(),
                   command = std::make_unique<std::decay_t<T>>(
@@ -325,7 +324,7 @@ class Trigger {
    * @param requirements the required subsystems.
    * @deprecated Use WhileTrue(Command) and construct a RunCommand manually
    */
-  WPI_DEPRECATED("Use WhileTrue(Command) and construct a RunCommand manually")
+  [[deprecated("Use WhileTrue(Command) and construct a RunCommand manually")]]
   Trigger WhileActiveContinous(std::function<void()> toRun,
                                std::initializer_list<Subsystem*> requirements);
 
@@ -336,7 +335,7 @@ class Trigger {
    * @param requirements the required subsystems.
    * @deprecated Use WhileTrue(Command) and construct a RunCommand manually
    */
-  WPI_DEPRECATED("Use WhileTrue(Command) and construct a RunCommand manually")
+  [[deprecated("Use WhileTrue(Command) and construct a RunCommand manually")]]
   Trigger WhileActiveContinous(std::function<void()> toRun,
                                std::span<Subsystem* const> requirements = {});
 
@@ -349,7 +348,7 @@ class Trigger {
    * @return The trigger, for chained calls.
    * @deprecated Use WhileTrue(Command) instead.
    */
-  WPI_DEPRECATED("Use WhileTrue(Command) instead.")
+  [[deprecated("Use WhileTrue(Command) instead.")]]
   Trigger WhileActiveOnce(Command* command);
 
   /**
@@ -363,7 +362,7 @@ class Trigger {
    * @deprecated Use WhileTrue(Command) instead.
    */
   template <std::derived_from<Command> T>
-  WPI_DEPRECATED("Use WhileTrue(Command) instead.")
+  [[deprecated("Use WhileTrue(Command) instead.")]]
   Trigger WhileActiveOnce(T&& command) {
     m_loop->Bind([condition = m_condition, previous = m_condition(),
                   command = std::make_unique<std::decay_t<T>>(
@@ -390,7 +389,7 @@ class Trigger {
    * @return The trigger, for chained calls.
    * @deprecated Use OnFalse(Command) instead.
    */
-  WPI_DEPRECATED("Use OnFalse(Command) instead.")
+  [[deprecated("Use OnFalse(Command) instead.")]]
   Trigger WhenInactive(Command* command);
 
   /**
@@ -404,7 +403,7 @@ class Trigger {
    * @deprecated Use OnFalse(Command) instead.
    */
   template <std::derived_from<Command> T>
-  WPI_DEPRECATED("Use OnFalse(Command) instead.")
+  [[deprecated("Use OnFalse(Command) instead.")]]
   Trigger WhenInactive(T&& command) {
     m_loop->Bind([condition = m_condition, previous = m_condition(),
                   command = std::make_unique<std::decay_t<T>>(
@@ -428,8 +427,9 @@ class Trigger {
    * @deprecated Use OnFalse(Command) instead and construct the InstantCommand
    * manually
    */
-  WPI_DEPRECATED(
-      "Use OnFalse(Command) instead and construct the InstantCommand manually")
+  [[deprecated(
+      "Use OnFalse(Command) instead and construct the InstantCommand "
+      "manually")]]
   Trigger WhenInactive(std::function<void()> toRun,
                        std::initializer_list<Subsystem*> requirements);
 
@@ -441,8 +441,9 @@ class Trigger {
    * @deprecated Use OnFalse(Command) instead and construct the InstantCommand
    * manually
    */
-  WPI_DEPRECATED(
-      "Use OnFalse(Command) instead and construct the InstantCommand manually")
+  [[deprecated(
+      "Use OnFalse(Command) instead and construct the InstantCommand "
+      "manually")]]
   Trigger WhenInactive(std::function<void()> toRun,
                        std::span<Subsystem* const> requirements = {});
 
@@ -455,7 +456,7 @@ class Trigger {
    * @return The trigger, for chained calls.
    * @deprecated Use ToggleOnTrue(Command) instead.
    */
-  WPI_DEPRECATED("Use ToggleOnTrue(Command) instead.")
+  [[deprecated("Use ToggleOnTrue(Command) instead.")]]
   Trigger ToggleWhenActive(Command* command);
 
   /**
@@ -469,7 +470,7 @@ class Trigger {
    * @deprecated Use ToggleOnTrue(Command) instead.
    */
   template <std::derived_from<Command> T>
-  WPI_DEPRECATED("Use ToggleOnTrue(Command) instead.")
+  [[deprecated("Use ToggleOnTrue(Command) instead.")]]
   Trigger ToggleWhenActive(T&& command) {
     m_loop->Bind([condition = m_condition, previous = m_condition(),
                   command = std::make_unique<std::decay_t<T>>(
@@ -499,7 +500,7 @@ class Trigger {
    * @return The trigger, for chained calls.
    * @deprecated Pass this as a command end condition with Until() instead.
    */
-  WPI_DEPRECATED("Pass this as a command end condition with Until() instead.")
+  [[deprecated("Pass this as a command end condition with Until() instead.")]]
   Trigger CancelWhenActive(Command* command);
 
   /**
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/button/TriggerTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/button/TriggerTest.cpp
index 1a0af51c7c..f7312dde1c 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/button/TriggerTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/button/TriggerTest.cpp
@@ -3,6 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <frc/simulation/SimHooks.h>
+#include <wpi/deprecated.h>
 
 #include "../CommandTestBase.h"
 #include "frc2/command/CommandPtr.h"
diff --git a/wpilibc/src/main/native/cpp/Joystick.cpp b/wpilibc/src/main/native/cpp/Joystick.cpp
index 0b5d870e61..2f46b2fea4 100644
--- a/wpilibc/src/main/native/cpp/Joystick.cpp
+++ b/wpilibc/src/main/native/cpp/Joystick.cpp
@@ -10,6 +10,7 @@
 #include <hal/FRCUsageReporting.h>
 #include <units/dimensionless.h>
 #include <units/math.h>
+#include <wpi/deprecated.h>
 
 #include "frc/event/BooleanEvent.h"
 
diff --git a/wpilibc/src/main/native/include/frc/Compressor.h b/wpilibc/src/main/native/include/frc/Compressor.h
index 1329a3bfa6..2ccc3f3160 100644
--- a/wpilibc/src/main/native/include/frc/Compressor.h
+++ b/wpilibc/src/main/native/include/frc/Compressor.h
@@ -7,7 +7,6 @@
 #include <memory>
 
 #include <hal/Types.h>
-#include <wpi/deprecated.h>
 #include <wpi/sendable/Sendable.h>
 #include <wpi/sendable/SendableHelper.h>
 
@@ -66,9 +65,9 @@ class Compressor : public wpi::Sendable,
    * @deprecated To avoid confusion in thinking this (re)enables the compressor
    * use IsEnabled().
    */
-  WPI_DEPRECATED(
+  [[deprecated(
       "To avoid confusion in thinking this (re)enables the compressor use "
-      "IsEnabled()")
+      "IsEnabled()")]]
   bool Enabled() const;
 
   /**
diff --git a/wpilibc/src/main/native/include/frc/Encoder.h b/wpilibc/src/main/native/include/frc/Encoder.h
index deb36c0446..7315e1638a 100644
--- a/wpilibc/src/main/native/include/frc/Encoder.h
+++ b/wpilibc/src/main/native/include/frc/Encoder.h
@@ -7,7 +7,6 @@
 #include <memory>
 
 #include <hal/Types.h>
-#include <wpi/deprecated.h>
 #include <wpi/sendable/Sendable.h>
 #include <wpi/sendable/SendableHelper.h>
 
@@ -168,7 +167,7 @@ class Encoder : public CounterBase,
    * @return Period in seconds of the most recent pulse.
    * @deprecated Use getRate() in favor of this method.
    */
-  WPI_DEPRECATED("Use GetRate() in favor of this method")
+  [[deprecated("Use GetRate() in favor of this method")]]
   units::second_t GetPeriod() const override;
 
   /**
@@ -186,9 +185,9 @@ class Encoder : public CounterBase,
    *             periods and SetMinRate() scales using value from
    *             SetDistancePerPulse().
    */
-  WPI_DEPRECATED(
+  [[deprecated(
       "Use SetMinRate() in favor of this method.  This takes unscaled periods "
-      "and SetMinRate() scales using value from SetDistancePerPulse().")
+      "and SetMinRate() scales using value from SetDistancePerPulse().")]]
   void SetMaxPeriod(units::second_t maxPeriod) override;
 
   /**
diff --git a/wpilibc/src/main/native/include/frc/Joystick.h b/wpilibc/src/main/native/include/frc/Joystick.h
index 90f52ac996..a955718c3b 100644
--- a/wpilibc/src/main/native/include/frc/Joystick.h
+++ b/wpilibc/src/main/native/include/frc/Joystick.h
@@ -7,7 +7,6 @@
 #include <array>
 
 #include <units/angle.h>
-#include <wpi/deprecated.h>
 
 #include "frc/GenericHID.h"
 
@@ -231,7 +230,7 @@ class Joystick : public GenericHID {
    * @return The direction of the vector in radians
    * @deprecated Use GetDirection() instead.
    */
-  WPI_DEPRECATED("Use GetDirection() instead.")
+  [[deprecated("Use GetDirection() instead.")]]
   double GetDirectionRadians() const;
 
   /**
@@ -241,7 +240,7 @@ class Joystick : public GenericHID {
    * @return The direction of the vector in degrees
    * @deprecated Use GetDirection() instead.
    */
-  WPI_DEPRECATED("Use GetDirection() instead.")
+  [[deprecated("Use GetDirection() instead.")]]
   double GetDirectionDegrees() const;
 
   /**
diff --git a/wpilibc/src/test/native/cpp/simulation/EncoderSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/EncoderSimTest.cpp
index 3da140b033..d20acb3b0a 100644
--- a/wpilibc/src/test/native/cpp/simulation/EncoderSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/EncoderSimTest.cpp
@@ -5,6 +5,7 @@
 #include "frc/simulation/EncoderSim.h"  // NOLINT(build/include_order)
 
 #include <hal/HAL.h>
+#include <wpi/deprecated.h>
 
 #include "callback_helpers/TestCallbackHelpers.h"
 #include "frc/Encoder.h"