diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogAccelerometer.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogAccelerometer.java
index 5ae76b058b..0ee0fd0a57 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogAccelerometer.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogAccelerometer.java
@@ -9,7 +9,13 @@ import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.PIDSource;
 import edu.wpi.first.wpilibj.PIDSourceType;
 
-/** Wrapper so that PIDSource is implemented for AnalogAccelerometer for old PIDController. */
+/**
+ * Wrapper so that PIDSource is implemented for AnalogAccelerometer for old PIDController.
+ *
+ * @deprecated Use {@link edu.wpi.first.math.controller.PIDController} which doesn't require this
+ *     wrapper.
+ */
+@Deprecated(since = "2022", forRemoval = true)
 public class PIDAnalogAccelerometer extends AnalogAccelerometer implements PIDSource {
   protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
 
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogGyro.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogGyro.java
index 1d58edf86c..e96279b1eb 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogGyro.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogGyro.java
@@ -9,7 +9,13 @@ import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.PIDSource;
 import edu.wpi.first.wpilibj.PIDSourceType;
 
-/** Wrapper so that PIDSource is implemented for AnalogGyro for old PIDController. */
+/**
+ * Wrapper so that PIDSource is implemented for AnalogGyro for old PIDController.
+ *
+ * @deprecated Use {@link edu.wpi.first.math.controller.PIDController} which doesn't require this
+ *     wrapper.
+ */
+@Deprecated(since = "2022", forRemoval = true)
 public class PIDAnalogGyro extends AnalogGyro implements PIDSource {
   private PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
 
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogInput.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogInput.java
index fd1d9b216b..e64638470b 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogInput.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogInput.java
@@ -8,7 +8,13 @@ import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.PIDSource;
 import edu.wpi.first.wpilibj.PIDSourceType;
 
-/** Wrapper so that PIDSource is implemented for AnalogInput for old PIDController. */
+/**
+ * Wrapper so that PIDSource is implemented for AnalogInput for old PIDController.
+ *
+ * @deprecated Use {@link edu.wpi.first.math.controller.PIDController} which doesn't require this
+ *     wrapper.
+ */
+@Deprecated(since = "2022", forRemoval = true)
 public class PIDAnalogInput extends AnalogInput implements PIDSource {
   protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
 
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogPotentiometer.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogPotentiometer.java
index e6fc8adf77..b4a38abd73 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogPotentiometer.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogPotentiometer.java
@@ -9,7 +9,13 @@ import edu.wpi.first.wpilibj.AnalogPotentiometer;
 import edu.wpi.first.wpilibj.PIDSource;
 import edu.wpi.first.wpilibj.PIDSourceType;
 
-/** Wrapper so that PIDSource is implemented for AnalogPotentiometer for old PIDController. */
+/**
+ * Wrapper so that PIDSource is implemented for AnalogPotentiometer for old PIDController.
+ *
+ * @deprecated Use {@link edu.wpi.first.math.controller.PIDController} which doesn't require this
+ *     wrapper.
+ */
+@Deprecated(since = "2022", forRemoval = true)
 public class PIDAnalogPotentiometer extends AnalogPotentiometer implements PIDSource {
   protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
 
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDEncoder.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDEncoder.java
index 76ed04fe33..6c5f8dc26e 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDEncoder.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDEncoder.java
@@ -9,7 +9,13 @@ import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.PIDSource;
 import edu.wpi.first.wpilibj.PIDSourceType;
 
-/** Wrapper so that PIDSource is implemented for Encoder for old PIDController. */
+/**
+ * Wrapper so that PIDSource is implemented for Encoder for old PIDController.
+ *
+ * @deprecated Use {@link edu.wpi.first.math.controller.PIDController} which doesn't require this
+ *     wrapper.
+ */
+@Deprecated(since = "2022", forRemoval = true)
 public class PIDEncoder extends Encoder implements PIDSource {
   private PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
 
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDMotorController.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDMotorController.java
index 85df7cd850..45ed652a90 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDMotorController.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDMotorController.java
@@ -9,7 +9,13 @@ import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.wpilibj.PIDOutput;
 import edu.wpi.first.wpilibj.motorcontrol.MotorController;
 
-/** Wrapper so that PIDOutput is implemented for MotorController for old PIDController. */
+/**
+ * Wrapper so that PIDOutput is implemented for MotorController for old PIDController.
+ *
+ * @deprecated Use {@link edu.wpi.first.math.controller.PIDController} which doesn't require this
+ *     wrapper.
+ */
+@Deprecated(since = "2022", forRemoval = true)
 public class PIDMotorController implements PIDOutput, MotorController, Sendable {
   private final MotorController m_motorController;
 
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDUltrasonic.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDUltrasonic.java
index 48cb1e6f40..050912d570 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDUltrasonic.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDUltrasonic.java
@@ -10,7 +10,13 @@ import edu.wpi.first.wpilibj.PIDSource;
 import edu.wpi.first.wpilibj.PIDSourceType;
 import edu.wpi.first.wpilibj.Ultrasonic;
 
-/** Wrapper so that PIDSource is implemented for Ultrasonic for old PIDController. */
+/**
+ * Wrapper so that PIDSource is implemented for Ultrasonic for old PIDController.
+ *
+ * @deprecated Use {@link edu.wpi.first.math.controller.PIDController} which doesn't require this
+ *     wrapper.
+ */
+@Deprecated(since = "2022", forRemoval = true)
 public class PIDUltrasonic extends Ultrasonic implements PIDSource {
   protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
 
diff --git a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogAccelerometer.h b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogAccelerometer.h
index 67a3bedb36..45a5b44ade 100644
--- a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogAccelerometer.h
+++ b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogAccelerometer.h
@@ -12,8 +12,13 @@ namespace frc {
 /**
  * Wrapper so that PIDSource is implemented for AnalogAccelerometer for old
  * PIDController
+ *
+ * @deprecated Use frc2::PIDController class instead which doesn't require this
+ * wrapper.
  */
-class PIDAnalogAccelerometer : public PIDSource, public AnalogAccelerometer {
+class WPI_DEPRECATED("Use frc2::PIDController class instead.")
+    PIDAnalogAccelerometer : public PIDSource,
+                             public AnalogAccelerometer {
   using AnalogAccelerometer::AnalogAccelerometer;
 
  public:
diff --git a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogGyro.h b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogGyro.h
index 7c46156b38..43d32b5985 100644
--- a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogGyro.h
+++ b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogGyro.h
@@ -11,8 +11,13 @@ namespace frc {
 
 /**
  * Wrapper so that PIDSource is implemented for AnalogGyro for old PIDController
+ *
+ * @deprecated Use frc2::PIDController class instead which doesn't require this
+ * wrapper.
  */
-class PIDAnalogGyro : public PIDSource, public AnalogGyro {
+class WPI_DEPRECATED("Use frc2::PIDController class instead.") PIDAnalogGyro
+    : public PIDSource,
+      public AnalogGyro {
   using AnalogGyro::AnalogGyro;
 
  public:
diff --git a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogInput.h b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogInput.h
index b7a293fcc6..cca49ce7e4 100644
--- a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogInput.h
+++ b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogInput.h
@@ -12,8 +12,13 @@ namespace frc {
 /**
  * Wrapper so that PIDSource is implemented for AnalogInput for old
  * PIDController
+ *
+ * @deprecated Use frc2::PIDController class instead which doesn't require this
+ * wrapper.
  */
-class PIDAnalogInput : public PIDSource, public AnalogInput {
+class WPI_DEPRECATED("Use frc2::PIDController class instead.") PIDAnalogInput
+    : public PIDSource,
+      public AnalogInput {
   using AnalogInput::AnalogInput;
 
  public:
diff --git a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogPotentiometer.h b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogPotentiometer.h
index c857ccb8b9..f1b5016efd 100644
--- a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogPotentiometer.h
+++ b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogPotentiometer.h
@@ -12,8 +12,14 @@ namespace frc {
 /**
  * Wrapper so that PIDSource is implemented for AnalogPotentiometer for old
  * PIDController
+ *
+ *
+ * @deprecated Use frc2::PIDController class instead which doesn't require this
+ * wrapper.
  */
-class PIDAnalogPotentiometer : public PIDSource, public AnalogPotentiometer {
+class WPI_DEPRECATED("Use frc2::PIDController class instead.")
+    PIDAnalogPotentiometer : public PIDSource,
+                             public AnalogPotentiometer {
   using AnalogPotentiometer::AnalogPotentiometer;
 
  public:
diff --git a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDEncoder.h b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDEncoder.h
index 2c21118d89..42fd36df58 100644
--- a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDEncoder.h
+++ b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDEncoder.h
@@ -11,8 +11,13 @@ namespace frc {
 
 /**
  * Wrapper so that PIDSource is implemented for Encoder for old PIDController
+ *
+ * @deprecated Use frc2::PIDController class instead which doesn't require this
+ * wrapper.
  */
-class PIDEncoder : public PIDSource, public Encoder {
+class WPI_DEPRECATED("Use frc2::PIDController class instead.") PIDEncoder
+    : public PIDSource,
+      public Encoder {
   using Encoder::Encoder;
 
  public:
diff --git a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDMotorController.h b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDMotorController.h
index c764c7fa69..2bc4fef748 100644
--- a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDMotorController.h
+++ b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDMotorController.h
@@ -15,11 +15,15 @@ namespace frc {
 /**
  * Wrapper so that PIDOutput is implemented for MotorController for old
  * PIDController
+ *
+ * @deprecated Use frc2::PIDController class instead which doesn't require this
+ * wrapper.
  */
 class PIDMotorController : public PIDOutput,
                            public MotorController,
                            public wpi::Sendable {
  public:
+  WPI_DEPRECATED("Use frc2::PIDController class instead.")
   explicit PIDMotorController(MotorController& motorController);
 
   /**
diff --git a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDUltrasonic.h b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDUltrasonic.h
index a26491e748..e9f8c592ab 100644
--- a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDUltrasonic.h
+++ b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDUltrasonic.h
@@ -11,8 +11,13 @@ namespace frc {
 
 /**
  * Wrapper so that PIDSource is implemented for Ultrasonic for old PIDController
+ *
+ * @deprecated Use frc2::PIDController class instead which doesn't require this
+ * wrapper.
  */
-class PIDUltrasonic : public PIDSource, public Ultrasonic {
+class WPI_DEPRECATED("Use frc2::PIDController class instead.") PIDUltrasonic
+    : public PIDSource,
+      public Ultrasonic {
   using Ultrasonic::Ultrasonic;
 
  public: