[wpilib] Remove PIDController, PIDOutput, PIDSource

Move them to the old commands vendordep so that PIDCommand and PIDSubsystem
continue to work.

This also removes Filter and LinearDigitalFilter.

wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp

@@ -48,10 +48,6 @@ void AnalogAccelerometer::SetZero(double zero) {
   m_zeroGVoltage = zero;
 }
 
-double AnalogAccelerometer::PIDGet() {
-  return GetAcceleration();
-}
-
 void AnalogAccelerometer::InitSendable(SendableBuilder& builder) {
   builder.SetSmartDashboardType("Accelerometer");
   builder.AddDoubleProperty(

wpilibc/src/main/native/cpp/AnalogInput.cpp

@@ -254,13 +254,6 @@ double AnalogInput::GetSampleRate() {
   return sampleRate;
 }
 
-double AnalogInput::PIDGet() {
-  if (StatusIsFatal()) {
-    return 0.0;
-  }
-  return GetAverageVoltage();
-}
-
 void AnalogInput::SetSimDevice(HAL_SimDeviceHandle device) {
   HAL_SetAnalogInputSimDevice(m_port, device);
 }

wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp

@@ -42,10 +42,6 @@ double AnalogPotentiometer::Get() const {
          m_offset;
 }
 
-double AnalogPotentiometer::PIDGet() {
-  return Get();
-}
-
 void AnalogPotentiometer::InitSendable(SendableBuilder& builder) {
   builder.SetSmartDashboardType("Analog Input");
   builder.AddDoubleProperty(

wpilibc/src/main/native/cpp/Encoder.cpp

@@ -213,20 +213,6 @@ int Encoder::GetSamplesToAverage() const {
   return result;
 }
 
-double Encoder::PIDGet() {
-  if (StatusIsFatal()) {
-    return 0.0;
-  }
-  switch (GetPIDSourceType()) {
-    case PIDSourceType::kDisplacement:
-      return GetDistance();
-    case PIDSourceType::kRate:
-      return GetRate();
-    default:
-      return 0.0;
-  }
-}
-
 void Encoder::SetIndexSource(int channel, Encoder::IndexingType type) {
   // Force digital input if just given an index
   m_indexSource = std::make_shared<DigitalInput>(channel);

wpilibc/src/main/native/cpp/GyroBase.cpp

@@ -9,17 +9,6 @@
 
 using namespace frc;
 
-double GyroBase::PIDGet() {
-  switch (GetPIDSourceType()) {
-    case PIDSourceType::kRate:
-      return GetRate();
-    case PIDSourceType::kDisplacement:
-      return GetAngle();
-    default:
-      return 0;
-  }
-}
-
 void GyroBase::InitSendable(SendableBuilder& builder) {
   builder.SetSmartDashboardType("Gyro");
   builder.AddDoubleProperty(

wpilibc/src/main/native/cpp/NidecBrushless.cpp

@@ -59,10 +59,6 @@ void NidecBrushless::Enable() {
   m_disabled = false;
 }
 
-void NidecBrushless::PIDWrite(double output) {
-  Set(output);
-}
-
 void NidecBrushless::StopMotor() {
   m_dio.UpdateDutyCycle(0.5);
   m_pwm.SetDisabled();

wpilibc/src/main/native/cpp/PWMSpeedController.cpp

@@ -42,10 +42,6 @@ int PWMSpeedController::GetChannel() const {
   return m_pwm.GetChannel();
 }
 
-void PWMSpeedController::PIDWrite(double output) {
-  Set(output);
-}
-
 PWMSpeedController::PWMSpeedController(const wpi::Twine& name, int channel)
     : m_pwm(channel, false) {
   SendableRegistry::GetInstance().AddLW(this, name, channel);

wpilibc/src/main/native/cpp/SpeedControllerGroup.cpp

@@ -60,10 +60,6 @@ void SpeedControllerGroup::StopMotor() {
   }
 }
 
-void SpeedControllerGroup::PIDWrite(double output) {
-  Set(output);
-}
-
 void SpeedControllerGroup::InitSendable(SendableBuilder& builder) {
   builder.SetSmartDashboardType("Speed Controller");
   builder.SetActuator(true);

wpilibc/src/main/native/cpp/Ultrasonic.cpp

@@ -26,47 +26,39 @@ std::atomic<bool> Ultrasonic::m_automaticEnabled{false};
 std::vector<Ultrasonic*> Ultrasonic::m_sensors;
 std::thread Ultrasonic::m_thread;
 
-Ultrasonic::Ultrasonic(int pingChannel, int echoChannel, DistanceUnit units)
+Ultrasonic::Ultrasonic(int pingChannel, int echoChannel)
     : m_pingChannel(std::make_shared<DigitalOutput>(pingChannel)),
       m_echoChannel(std::make_shared<DigitalInput>(echoChannel)),
       m_counter(m_echoChannel) {
-  m_units = units;
   Initialize();
   auto& registry = SendableRegistry::GetInstance();
   registry.AddChild(this, m_pingChannel.get());
   registry.AddChild(this, m_echoChannel.get());
 }
 
-Ultrasonic::Ultrasonic(DigitalOutput* pingChannel, DigitalInput* echoChannel,
-                       DistanceUnit units)
+Ultrasonic::Ultrasonic(DigitalOutput* pingChannel, DigitalInput* echoChannel)
     : m_pingChannel(pingChannel, NullDeleter<DigitalOutput>()),
       m_echoChannel(echoChannel, NullDeleter<DigitalInput>()),
       m_counter(m_echoChannel) {
   if (pingChannel == nullptr || echoChannel == nullptr) {
     wpi_setWPIError(NullParameter);
-    m_units = units;
     return;
   }
-  m_units = units;
   Initialize();
 }
 
-Ultrasonic::Ultrasonic(DigitalOutput& pingChannel, DigitalInput& echoChannel,
-                       DistanceUnit units)
+Ultrasonic::Ultrasonic(DigitalOutput& pingChannel, DigitalInput& echoChannel)
     : m_pingChannel(&pingChannel, NullDeleter<DigitalOutput>()),
       m_echoChannel(&echoChannel, NullDeleter<DigitalInput>()),
       m_counter(m_echoChannel) {
-  m_units = units;
   Initialize();
 }
 
 Ultrasonic::Ultrasonic(std::shared_ptr<DigitalOutput> pingChannel,
-                       std::shared_ptr<DigitalInput> echoChannel,
-                       DistanceUnit units)
+                       std::shared_ptr<DigitalInput> echoChannel)
     : m_pingChannel(std::move(pingChannel)),
       m_echoChannel(std::move(echoChannel)),
       m_counter(m_echoChannel) {
-  m_units = units;
   Initialize();
 }
 
@@ -164,31 +156,6 @@ void Ultrasonic::SetEnabled(bool enable) {
   m_enabled = enable;
 }
 
-void Ultrasonic::SetDistanceUnits(DistanceUnit units) {
-  m_units = units;
-}
-
-Ultrasonic::DistanceUnit Ultrasonic::GetDistanceUnits() const {
-  return m_units;
-}
-
-double Ultrasonic::PIDGet() {
-  switch (m_units) {
-    case Ultrasonic::kInches:
-      return GetRangeInches();
-    case Ultrasonic::kMilliMeters:
-      return GetRangeMM();
-    default:
-      return 0.0;
-  }
-}
-
-void Ultrasonic::SetPIDSourceType(PIDSourceType pidSource) {
-  if (wpi_assert(pidSource == PIDSourceType::kDisplacement)) {
-    m_pidSource = pidSource;
-  }
-}
-
 void Ultrasonic::InitSendable(SendableBuilder& builder) {
   builder.SetSmartDashboardType("Ultrasonic");
   builder.AddDoubleProperty(

wpilibc/src/main/native/cpp/filters/Filter.cpp

@@ -1,27 +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.
-
-#include "frc/filters/Filter.h"
-
-#include "frc/Base.h"
-
-using namespace frc;
-
-Filter::Filter(PIDSource& source)
-    : m_source(std::shared_ptr<PIDSource>(&source, NullDeleter<PIDSource>())) {}
-
-Filter::Filter(std::shared_ptr<PIDSource> source)
-    : m_source(std::move(source)) {}
-
-void Filter::SetPIDSourceType(PIDSourceType pidSource) {
-  m_source->SetPIDSourceType(pidSource);
-}
-
-PIDSourceType Filter::GetPIDSourceType() const {
-  return m_source->GetPIDSourceType();
-}
-
-double Filter::PIDGetSource() {
-  return m_source->PIDGet();
-}

wpilibc/src/main/native/cpp/filters/LinearDigitalFilter.cpp

@@ -1,133 +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.
-
-#include "frc/filters/LinearDigitalFilter.h"
-
-#include <cassert>
-#include <cmath>
-
-#include <hal/FRCUsageReporting.h>
-
-using namespace frc;
-
-LinearDigitalFilter::LinearDigitalFilter(PIDSource& source,
-                                         wpi::ArrayRef<double> ffGains,
-                                         wpi::ArrayRef<double> fbGains)
-    : Filter(source),
-      m_inputs(ffGains.size()),
-      m_outputs(fbGains.size()),
-      m_inputGains(ffGains),
-      m_outputGains(fbGains) {
-  static int instances = 0;
-  instances++;
-  HAL_Report(HALUsageReporting::kResourceType_LinearFilter, instances);
-}
-
-LinearDigitalFilter::LinearDigitalFilter(PIDSource& source,
-                                         std::initializer_list<double> ffGains,
-                                         std::initializer_list<double> fbGains)
-    : LinearDigitalFilter(source,
-                          wpi::makeArrayRef(ffGains.begin(), ffGains.end()),
-                          wpi::makeArrayRef(fbGains.begin(), fbGains.end())) {}
-
-LinearDigitalFilter::LinearDigitalFilter(std::shared_ptr<PIDSource> source,
-                                         wpi::ArrayRef<double> ffGains,
-                                         wpi::ArrayRef<double> fbGains)
-    : Filter(source),
-      m_inputs(ffGains.size()),
-      m_outputs(fbGains.size()),
-      m_inputGains(ffGains),
-      m_outputGains(fbGains) {
-  static int instances = 0;
-  instances++;
-  HAL_Report(HALUsageReporting::kResourceType_LinearFilter, instances);
-}
-
-LinearDigitalFilter::LinearDigitalFilter(std::shared_ptr<PIDSource> source,
-                                         std::initializer_list<double> ffGains,
-                                         std::initializer_list<double> fbGains)
-    : LinearDigitalFilter(source,
-                          wpi::makeArrayRef(ffGains.begin(), ffGains.end()),
-                          wpi::makeArrayRef(fbGains.begin(), fbGains.end())) {}
-
-LinearDigitalFilter LinearDigitalFilter::SinglePoleIIR(PIDSource& source,
-                                                       double timeConstant,
-                                                       double period) {
-  double gain = std::exp(-period / timeConstant);
-  return LinearDigitalFilter(source, {1.0 - gain}, {-gain});
-}
-
-LinearDigitalFilter LinearDigitalFilter::HighPass(PIDSource& source,
-                                                  double timeConstant,
-                                                  double period) {
-  double gain = std::exp(-period / timeConstant);
-  return LinearDigitalFilter(source, {gain, -gain}, {-gain});
-}
-
-LinearDigitalFilter LinearDigitalFilter::MovingAverage(PIDSource& source,
-                                                       int taps) {
-  assert(taps > 0);
-
-  std::vector<double> gains(taps, 1.0 / taps);
-  return LinearDigitalFilter(source, gains, {});
-}
-
-LinearDigitalFilter LinearDigitalFilter::SinglePoleIIR(
-    std::shared_ptr<PIDSource> source, double timeConstant, double period) {
-  double gain = std::exp(-period / timeConstant);
-  return LinearDigitalFilter(std::move(source), {1.0 - gain}, {-gain});
-}
-
-LinearDigitalFilter LinearDigitalFilter::HighPass(
-    std::shared_ptr<PIDSource> source, double timeConstant, double period) {
-  double gain = std::exp(-period / timeConstant);
-  return LinearDigitalFilter(std::move(source), {gain, -gain}, {-gain});
-}
-
-LinearDigitalFilter LinearDigitalFilter::MovingAverage(
-    std::shared_ptr<PIDSource> source, int taps) {
-  assert(taps > 0);
-
-  std::vector<double> gains(taps, 1.0 / taps);
-  return LinearDigitalFilter(std::move(source), gains, {});
-}
-
-double LinearDigitalFilter::Get() const {
-  double retVal = 0.0;
-
-  // Calculate the new value
-  for (size_t i = 0; i < m_inputGains.size(); i++) {
-    retVal += m_inputs[i] * m_inputGains[i];
-  }
-  for (size_t i = 0; i < m_outputGains.size(); i++) {
-    retVal -= m_outputs[i] * m_outputGains[i];
-  }
-
-  return retVal;
-}
-
-void LinearDigitalFilter::Reset() {
-  m_inputs.reset();
-  m_outputs.reset();
-}
-
-double LinearDigitalFilter::PIDGet() {
-  double retVal = 0.0;
-
-  // Rotate the inputs
-  m_inputs.push_front(PIDGetSource());
-
-  // Calculate the new value
-  for (size_t i = 0; i < m_inputGains.size(); i++) {
-    retVal += m_inputs[i] * m_inputGains[i];
-  }
-  for (size_t i = 0; i < m_outputGains.size(); i++) {
-    retVal -= m_outputs[i] * m_outputGains[i];
-  }
-
-  // Rotate the outputs
-  m_outputs.push_front(retVal);
-
-  return retVal;
-}

wpilibc/src/main/native/cpp/interfaces/Potentiometer.cpp

@@ -1,15 +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.
-
-#include "frc/interfaces/Potentiometer.h"
-
-#include "frc/Utility.h"
-
-using namespace frc;
-
-void Potentiometer::SetPIDSourceType(PIDSourceType pidSource) {
-  if (wpi_assert(pidSource == PIDSourceType::kDisplacement)) {
-    m_pidSource = pidSource;
-  }
-}

wpilibc/src/main/native/include/frc/AnalogAccelerometer.h

@@ -8,7 +8,6 @@
 
 #include "frc/AnalogInput.h"
 #include "frc/ErrorBase.h"
-#include "frc/PIDSource.h"
 #include "frc/smartdashboard/Sendable.h"
 #include "frc/smartdashboard/SendableHelper.h"
 
@@ -24,7 +23,6 @@ class SendableBuilder;
  * calibrated by finding the center value over a period of time.
  */
 class AnalogAccelerometer : public ErrorBase,
-                            public PIDSource,
                             public Sendable,
                             public SendableHelper<AnalogAccelerometer> {
  public:
@@ -97,13 +95,6 @@ class AnalogAccelerometer : public ErrorBase,
    */
   void SetZero(double zero);
 
-  /**
-   * Get the Acceleration for the PID Source parent.
-   *
-   * @return The current acceleration in Gs.
-   */
-  double PIDGet() override;
-
   void InitSendable(SendableBuilder& builder) override;
 
  private:

wpilibc/src/main/native/include/frc/AnalogInput.h

@@ -9,7 +9,6 @@
 #include <hal/Types.h>
 
 #include "frc/ErrorBase.h"
-#include "frc/PIDSource.h"
 #include "frc/smartdashboard/Sendable.h"
 #include "frc/smartdashboard/SendableHelper.h"
 
@@ -32,7 +31,6 @@ class DMASample;
  * stable values.
  */
 class AnalogInput : public ErrorBase,
-                    public PIDSource,
                     public Sendable,
                     public SendableHelper<AnalogInput> {
   friend class AnalogTrigger;
@@ -280,13 +278,6 @@ class AnalogInput : public ErrorBase,
    */
   static double GetSampleRate();
 
-  /**
-   * Get the Average value for the PID Source base object.
-   *
-   * @return The average voltage.
-   */
-  double PIDGet() override;
-
   /**
    * Indicates this input is used by a simulated device.
    *

wpilibc/src/main/native/include/frc/AnalogPotentiometer.h

@@ -107,13 +107,6 @@ class AnalogPotentiometer : public ErrorBase,
    */
   double Get() const override;
 
-  /**
-   * Implement the PIDSource interface.
-   *
-   * @return The current reading.
-   */
-  double PIDGet() override;
-
   void InitSendable(SendableBuilder& builder) override;
 
  private:

wpilibc/src/main/native/include/frc/Encoder.h

@@ -11,7 +11,6 @@
 #include "frc/Counter.h"
 #include "frc/CounterBase.h"
 #include "frc/ErrorBase.h"
-#include "frc/PIDSource.h"
 #include "frc/smartdashboard/Sendable.h"
 #include "frc/smartdashboard/SendableHelper.h"
 
@@ -40,7 +39,6 @@ class DMASample;
  */
 class Encoder : public ErrorBase,
                 public CounterBase,
-                public PIDSource,
                 public Sendable,
                 public SendableHelper<Encoder> {
   friend class DMA;
@@ -314,8 +312,6 @@ class Encoder : public ErrorBase,
    */
   int GetSamplesToAverage() const;
 
-  double PIDGet() override;
-
   /**
    * Set the index source for the encoder.
    *

wpilibc/src/main/native/include/frc/GyroBase.h

@@ -5,7 +5,6 @@
 #pragma once
 
 #include "frc/ErrorBase.h"
-#include "frc/PIDSource.h"
 #include "frc/interfaces/Gyro.h"
 #include "frc/smartdashboard/Sendable.h"
 #include "frc/smartdashboard/SendableHelper.h"
@@ -18,7 +17,6 @@ namespace frc {
  */
 class GyroBase : public Gyro,
                  public ErrorBase,
-                 public PIDSource,
                  public Sendable,
                  public SendableHelper<GyroBase> {
  public:
@@ -26,15 +24,6 @@ class GyroBase : public Gyro,
   GyroBase(GyroBase&&) = default;
   GyroBase& operator=(GyroBase&&) = default;
 
-  // PIDSource interface
-  /**
-   * Get the PIDOutput for the PIDSource base object. Can be set to return
-   * angle or rate using SetPIDSourceType(). Defaults to angle.
-   *
-   * @return The PIDOutput (angle or rate, defaults to angle)
-   */
-  double PIDGet() override;
-
   void InitSendable(SendableBuilder& builder) override;
 };
 

wpilibc/src/main/native/include/frc/NidecBrushless.h

@@ -73,14 +73,6 @@ class NidecBrushless : public SpeedController,
    */
   void Enable();
 
-  // PIDOutput interface
-  /**
-   * Write out the PID value as seen in the PIDOutput base object.
-   *
-   * @param output Write out the PWM value as was found in the PIDController
-   */
-  void PIDWrite(double output) override;
-
   // MotorSafety interface
   void StopMotor() override;
   void GetDescription(wpi::raw_ostream& desc) const override;

wpilibc/src/main/native/include/frc/PWMSpeedController.h

@@ -60,13 +60,6 @@ class PWMSpeedController : public SpeedController,
 
   int GetChannel() const;
 
-  /**
-   * Write out the PID value as seen in the PIDOutput base object.
-   *
-   * @param output Write out the PWM value as was found in the PIDController
-   */
-  void PIDWrite(double output) override;
-
  protected:
   /**
    * Constructor for a PWM Speed Controller connected via PWM.

wpilibc/src/main/native/include/frc/SpeedController.h

@@ -6,14 +6,12 @@
 
 #include <units/voltage.h>
 
-#include "frc/PIDOutput.h"
-
 namespace frc {
 
 /**
  * Interface for speed controlling devices.
  */
-class SpeedController : public PIDOutput {
+class SpeedController {
  public:
   virtual ~SpeedController() = default;
 

wpilibc/src/main/native/include/frc/SpeedControllerGroup.h

@@ -32,7 +32,6 @@ class SpeedControllerGroup : public Sendable,
   bool GetInverted() const override;
   void Disable() override;
   void StopMotor() override;
-  void PIDWrite(double output) override;
 
   void InitSendable(SendableBuilder& builder) override;
 

wpilibc/src/main/native/include/frc/Ultrasonic.h

@@ -13,7 +13,6 @@
 
 #include "frc/Counter.h"
 #include "frc/ErrorBase.h"
-#include "frc/PIDSource.h"
 #include "frc/smartdashboard/Sendable.h"
 #include "frc/smartdashboard/SendableHelper.h"
 
@@ -36,11 +35,8 @@ class DigitalOutput;
  */
 class Ultrasonic : public ErrorBase,
                    public Sendable,
-                   public PIDSource,
                    public SendableHelper<Ultrasonic> {
  public:
-  enum DistanceUnit { kInches = 0, kMilliMeters = 1 };
-
   /**
    * Create an instance of the Ultrasonic Sensor.
    *
@@ -51,9 +47,8 @@ class Ultrasonic : public ErrorBase,
    * @param echoChannel The digital input channel that receives the echo. The
    *                    length of time that the echo is high represents the
    *                    round trip time of the ping, and the distance.
-   * @param units       The units returned in either kInches or kMilliMeters
    */
-  Ultrasonic(int pingChannel, int echoChannel, DistanceUnit units = kInches);
+  Ultrasonic(int pingChannel, int echoChannel);
 
   /**
    * Create an instance of an Ultrasonic Sensor from a DigitalInput for the echo
@@ -63,10 +58,8 @@ class Ultrasonic : public ErrorBase,
    *                    ping. Requires a 10uS pulse to start.
    * @param echoChannel The digital input object that times the return pulse to
    *                    determine the range.
-   * @param units       The units returned in either kInches or kMilliMeters
    */
-  Ultrasonic(DigitalOutput* pingChannel, DigitalInput* echoChannel,
-             DistanceUnit units = kInches);
+  Ultrasonic(DigitalOutput* pingChannel, DigitalInput* echoChannel);
 
   /**
    * Create an instance of an Ultrasonic Sensor from a DigitalInput for the echo
@@ -76,10 +69,8 @@ class Ultrasonic : public ErrorBase,
    *                    ping. Requires a 10uS pulse to start.
    * @param echoChannel The digital input object that times the return pulse to
    *                    determine the range.
-   * @param units       The units returned in either kInches or kMilliMeters
    */
-  Ultrasonic(DigitalOutput& pingChannel, DigitalInput& echoChannel,
-             DistanceUnit units = kInches);
+  Ultrasonic(DigitalOutput& pingChannel, DigitalInput& echoChannel);
 
   /**
    * Create an instance of an Ultrasonic Sensor from a DigitalInput for the echo
@@ -89,11 +80,9 @@ class Ultrasonic : public ErrorBase,
    *                    ping. Requires a 10uS pulse to start.
    * @param echoChannel The digital input object that times the return pulse to
    *                    determine the range.
-   * @param units       The units returned in either kInches or kMilliMeters
    */
   Ultrasonic(std::shared_ptr<DigitalOutput> pingChannel,
-             std::shared_ptr<DigitalInput> echoChannel,
-             DistanceUnit units = kInches);
+             std::shared_ptr<DigitalInput> echoChannel);
 
   ~Ultrasonic() override;
 
@@ -156,30 +145,6 @@ class Ultrasonic : public ErrorBase,
 
   void SetEnabled(bool enable);
 
-  /**
-   * Set the current DistanceUnit that should be used for the PIDSource base
-   * object.
-   *
-   * @param units The DistanceUnit that should be used.
-   */
-  void SetDistanceUnits(DistanceUnit units);
-
-  /**
-   * Get the current DistanceUnit that is used for the PIDSource base object.
-   *
-   * @return The type of DistanceUnit that is being used.
-   */
-  DistanceUnit GetDistanceUnits() const;
-
-  /**
-   * Get the range in the current DistanceUnit for the PIDSource base object.
-   *
-   * @return The range in DistanceUnit
-   */
-  double PIDGet() override;
-
-  void SetPIDSourceType(PIDSourceType pidSource) override;
-
   void InitSendable(SendableBuilder& builder) override;
 
  private:
@@ -228,7 +193,6 @@ class Ultrasonic : public ErrorBase,
   std::shared_ptr<DigitalInput> m_echoChannel;
   bool m_enabled = false;
   Counter m_counter;
-  DistanceUnit m_units;
 
   hal::SimDevice m_simDevice;
   hal::SimBoolean m_simRangeValid;

wpilibc/src/main/native/include/frc/controller/PIDController.h

@@ -239,3 +239,9 @@ class PIDController : public frc::Sendable,
 };
 
 }  // namespace frc2
+
+namespace frc {
+
+using frc2::PIDController;
+
+}  // namespace frc

wpilibc/src/main/native/include/frc/filters/Filter.h

@@ -1,61 +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 <memory>
-
-#include <wpi/deprecated.h>
-
-#include "frc/PIDSource.h"
-
-namespace frc {
-
-/**
- * Interface for filters
- *
- * @deprecated only used by the deprecated LinearDigitalFilter
- */
-class Filter : public PIDSource {
- public:
-  WPI_DEPRECATED("This class is no longer used.")
-  explicit Filter(PIDSource& source);
-  WPI_DEPRECATED("This class is no longer used.")
-  explicit Filter(std::shared_ptr<PIDSource> source);
-  ~Filter() override = default;
-
-  Filter(Filter&&) = default;
-  Filter& operator=(Filter&&) = default;
-
-  // PIDSource interface
-  void SetPIDSourceType(PIDSourceType pidSource) override;
-  PIDSourceType GetPIDSourceType() const override;
-  double PIDGet() override = 0;
-
-  /**
-   * Returns the current filter estimate without also inserting new data as
-   * PIDGet() would do.
-   *
-   * @return The current filter estimate
-   */
-  virtual double Get() const = 0;
-
-  /**
-   * Reset the filter state
-   */
-  virtual void Reset() = 0;
-
- protected:
-  /**
-   * Calls PIDGet() of source
-   *
-   * @return Current value of source
-   */
-  double PIDGetSource();
-
- private:
-  std::shared_ptr<PIDSource> m_source;
-};
-
-}  // namespace frc

wpilibc/src/main/native/include/frc/filters/LinearDigitalFilter.h

@@ -1,223 +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 <initializer_list>
-#include <memory>
-#include <vector>
-
-#include <wpi/ArrayRef.h>
-#include <wpi/circular_buffer.h>
-#include <wpi/deprecated.h>
-
-#include "frc/filters/Filter.h"
-
-namespace frc {
-
-/**
- * This class implements a linear, digital filter. All types of FIR and IIR
- * filters are supported. Static factory methods are provided to create commonly
- * used types of filters.
- *
- * Filters are of the form:<br>
- *  y[n] = (b0 * x[n] + b1 * x[n-1] + ... + bP * x[n-P]) -
- *         (a0 * y[n-1] + a2 * y[n-2] + ... + aQ * y[n-Q])
- *
- * Where:<br>
- *  y[n] is the output at time "n"<br>
- *  x[n] is the input at time "n"<br>
- *  y[n-1] is the output from the LAST time step ("n-1")<br>
- *  x[n-1] is the input from the LAST time step ("n-1")<br>
- *  b0...bP are the "feedforward" (FIR) gains<br>
- *  a0...aQ are the "feedback" (IIR) gains<br>
- * IMPORTANT! Note the "-" sign in front of the feedback term! This is a common
- *            convention in signal processing.
- *
- * What can linear filters do? Basically, they can filter, or diminish, the
- * effects of undesirable input frequencies. High frequencies, or rapid changes,
- * can be indicative of sensor noise or be otherwise undesirable. A "low pass"
- * filter smooths out the signal, reducing the impact of these high frequency
- * components.  Likewise, a "high pass" filter gets rid of slow-moving signal
- * components, letting you detect large changes more easily.
- *
- * Example FRC applications of filters:
- *  - Getting rid of noise from an analog sensor input (note: the roboRIO's FPGA
- *    can do this faster in hardware)
- *  - Smoothing out joystick input to prevent the wheels from slipping or the
- *    robot from tipping
- *  - Smoothing motor commands so that unnecessary strain isn't put on
- *    electrical or mechanical components
- *  - If you use clever gains, you can make a PID controller out of this class!
- *
- * For more on filters, I highly recommend the following articles:<br>
- *  http://en.wikipedia.org/wiki/Linear_filter<br>
- *  http://en.wikipedia.org/wiki/Iir_filter<br>
- *  http://en.wikipedia.org/wiki/Fir_filter<br>
- *
- * Note 1: PIDGet() should be called by the user on a known, regular period.
- * You can set up a Notifier to do this (look at the WPILib PIDController
- * class), or do it "inline" with code in a periodic function.
- *
- * Note 2: For ALL filters, gains are necessarily a function of frequency. If
- * you make a filter that works well for you at, say, 100Hz, you will most
- * definitely need to adjust the gains if you then want to run it at 200Hz!
- * Combining this with Note 1 - the impetus is on YOU as a developer to make
- * sure PIDGet() gets called at the desired, constant frequency!
- *
- * @deprecated Use LinearFilter class instead
- */
-class LinearDigitalFilter : public Filter {
- public:
-  /**
-   * Create a linear FIR or IIR filter.
-   *
-   * @param source  The PIDSource object that is used to get values
-   * @param ffGains The "feed forward" or FIR gains
-   * @param fbGains The "feed back" or IIR gains
-   */
-  WPI_DEPRECATED("Use LinearFilter class instead.")
-  LinearDigitalFilter(PIDSource& source, wpi::ArrayRef<double> ffGains,
-                      wpi::ArrayRef<double> fbGains);
-
-  /**
-   * Create a linear FIR or IIR filter.
-   *
-   * @param source  The PIDSource object that is used to get values
-   * @param ffGains The "feed forward" or FIR gains
-   * @param fbGains The "feed back" or IIR gains
-   */
-  WPI_DEPRECATED("Use LinearFilter class instead.")
-  LinearDigitalFilter(PIDSource& source, std::initializer_list<double> ffGains,
-                      std::initializer_list<double> fbGains);
-
-  /**
-   * Create a linear FIR or IIR filter.
-   *
-   * @param source  The PIDSource object that is used to get values
-   * @param ffGains The "feed forward" or FIR gains
-   * @param fbGains The "feed back" or IIR gains
-   */
-  WPI_DEPRECATED("Use LinearFilter class instead.")
-  LinearDigitalFilter(std::shared_ptr<PIDSource> source,
-                      wpi::ArrayRef<double> ffGains,
-                      wpi::ArrayRef<double> fbGains);
-
-  /**
-   * Create a linear FIR or IIR filter.
-   *
-   * @param source  The PIDSource object that is used to get values
-   * @param ffGains The "feed forward" or FIR gains
-   * @param fbGains The "feed back" or IIR gains
-   */
-  WPI_DEPRECATED("Use LinearFilter class instead.")
-  LinearDigitalFilter(std::shared_ptr<PIDSource> source,
-                      std::initializer_list<double> ffGains,
-                      std::initializer_list<double> fbGains);
-
-  LinearDigitalFilter(LinearDigitalFilter&&) = default;
-  LinearDigitalFilter& operator=(LinearDigitalFilter&&) = default;
-
-  // Static methods to create commonly used filters
-  /**
-   * Creates a one-pole IIR low-pass filter of the form:<br>
-   *   y[n] = (1 - gain) * x[n] + gain * y[n-1]<br>
-   * where gain = e<sup>-dt / T</sup>, T is the time constant in seconds
-   *
-   * This filter is stable for time constants greater than zero.
-   *
-   * @param source       The PIDSource object that is used to get values
-   * @param timeConstant The discrete-time time constant in seconds
-   * @param period       The period in seconds between samples taken by the user
-   */
-  static LinearDigitalFilter SinglePoleIIR(PIDSource& source,
-                                           double timeConstant, double period);
-
-  /**
-   * Creates a first-order high-pass filter of the form:<br>
-   *   y[n] = gain * x[n] + (-gain) * x[n-1] + gain * y[n-1]<br>
-   * where gain = e<sup>-dt / T</sup>, T is the time constant in seconds
-   *
-   * This filter is stable for time constants greater than zero.
-   *
-   * @param source       The PIDSource object that is used to get values
-   * @param timeConstant The discrete-time time constant in seconds
-   * @param period       The period in seconds between samples taken by the user
-   */
-  static LinearDigitalFilter HighPass(PIDSource& source, double timeConstant,
-                                      double period);
-
-  /**
-   * Creates a K-tap FIR moving average filter of the form:<br>
-   *   y[n] = 1/k * (x[k] + x[k-1] + … + x[0])
-   *
-   * This filter is always stable.
-   *
-   * @param source The PIDSource object that is used to get values
-   * @param taps   The number of samples to average over. Higher = smoother but
-   *               slower
-   */
-  static LinearDigitalFilter MovingAverage(PIDSource& source, int taps);
-
-  /**
-   * Creates a one-pole IIR low-pass filter of the form:<br>
-   *   y[n] = (1 - gain) * x[n] + gain * y[n-1]<br>
-   * where gain = e<sup>-dt / T</sup>, T is the time constant in seconds
-   *
-   * This filter is stable for time constants greater than zero.
-   *
-   * @param source       The PIDSource object that is used to get values
-   * @param timeConstant The discrete-time time constant in seconds
-   * @param period       The period in seconds between samples taken by the user
-   */
-  static LinearDigitalFilter SinglePoleIIR(std::shared_ptr<PIDSource> source,
-                                           double timeConstant, double period);
-
-  /**
-   * Creates a first-order high-pass filter of the form:<br>
-   *   y[n] = gain * x[n] + (-gain) * x[n-1] + gain * y[n-1]<br>
-   * where gain = e<sup>-dt / T</sup>, T is the time constant in seconds
-   *
-   * This filter is stable for time constants greater than zero.
-   *
-   * @param source       The PIDSource object that is used to get values
-   * @param timeConstant The discrete-time time constant in seconds
-   * @param period       The period in seconds between samples taken by the user
-   */
-  static LinearDigitalFilter HighPass(std::shared_ptr<PIDSource> source,
-                                      double timeConstant, double period);
-
-  /**
-   * Creates a K-tap FIR moving average filter of the form:<br>
-   *   y[n] = 1/k * (x[k] + x[k-1] + … + x[0])
-   *
-   * This filter is always stable.
-   *
-   * @param source The PIDSource object that is used to get values
-   * @param taps   The number of samples to average over. Higher = smoother but
-   *               slower
-   */
-  static LinearDigitalFilter MovingAverage(std::shared_ptr<PIDSource> source,
-                                           int taps);
-
-  // Filter interface
-  double Get() const override;
-  void Reset() override;
-
-  // PIDSource interface
-  /**
-   * Calculates the next value of the filter
-   *
-   * @return The filtered value at this step
-   */
-  double PIDGet() override;
-
- private:
-  wpi::circular_buffer<double> m_inputs;
-  wpi::circular_buffer<double> m_outputs;
-  std::vector<double> m_inputGains;
-  std::vector<double> m_outputGains;
-};
-
-}  // namespace frc

wpilibc/src/main/native/include/frc/interfaces/Potentiometer.h

@@ -4,17 +4,15 @@
 
 #pragma once
 
-#include "frc/PIDSource.h"
-
 namespace frc {
 
 /**
  * Interface for potentiometers.
  */
-class Potentiometer : public PIDSource {
+class Potentiometer {
  public:
   Potentiometer() = default;
-  ~Potentiometer() override = default;
+  virtual ~Potentiometer() = default;
 
   Potentiometer(Potentiometer&&) = default;
   Potentiometer& operator=(Potentiometer&&) = default;
@@ -25,8 +23,6 @@ class Potentiometer : public PIDSource {
    * @return The current set speed. Value is between -1.0 and 1.0.
    */
   virtual double Get() const = 0;
-
-  void SetPIDSourceType(PIDSourceType pidSource) override;
 };
 
 }  // namespace frc

wpilibc/src/test/native/cpp/MockSpeedController.cpp

@@ -29,7 +29,3 @@ void MockSpeedController::Disable() {
 void MockSpeedController::StopMotor() {
   Disable();
 }
-
-void MockSpeedController::PIDWrite(double output) {
-  Set(output);
-}

wpilibc/src/test/native/cpp/SpeedControllerGroupTest.cpp

@@ -121,13 +121,5 @@ TEST_P(SpeedControllerGroupTest, StopMotor) {
   }
 }
 
-TEST_P(SpeedControllerGroupTest, PIDWrite) {
-  m_group->PIDWrite(1.0);
-
-  for (auto& speedController : m_speedControllers) {
-    EXPECT_FLOAT_EQ(speedController.Get(), 1.0);
-  }
-}
-
 INSTANTIATE_TEST_SUITE_P(Test, SpeedControllerGroupTest,
                          testing::Values(TEST_ONE, TEST_TWO, TEST_THREE));

wpilibc/src/test/native/include/MockSpeedController.h

@@ -17,8 +17,6 @@ class MockSpeedController : public SpeedController {
   void Disable() override;
   void StopMotor() override;
 
-  void PIDWrite(double output) override;
-
  private:
   double m_speed = 0.0;
   bool m_isInverted = false;

wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/ExampleSmartMotorController.h

@@ -79,6 +79,4 @@ class ExampleSmartMotorController : public frc::SpeedController {
   void Disable() override {}
 
   void StopMotor() override {}
-
-  void PIDWrite(double output) override {}
 };

wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/ExampleSmartMotorController.h

@@ -80,8 +80,6 @@ class ExampleSmartMotorController : public frc::SpeedController {
 
   void StopMotor() override {}
 
-  void PIDWrite(double output) override {}
-
  private:
   double m_value = 0.0;
 };

wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/include/ExampleSmartMotorController.h

@@ -79,6 +79,4 @@ class ExampleSmartMotorController : public frc::SpeedController {
   void Disable() override {}
 
   void StopMotor() override {}
-
-  void PIDWrite(double output) override {}
 };

wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/subsystems/DriveTrain.cpp

@@ -24,10 +24,6 @@ DriveTrain::DriveTrain() : frc::Subsystem("DriveTrain") {
   m_leftCIMs.SetInverted(true);
   m_rightCIMs.SetInverted(true);
 
-  // Configure encoders
-  m_rightEncoder.SetPIDSourceType(frc::PIDSourceType::kDisplacement);
-  m_leftEncoder.SetPIDSourceType(frc::PIDSourceType::kDisplacement);
-
 #ifndef SIMULATION
   // Converts to feet
   m_rightEncoder.SetDistancePerPulse(0.0785398);

wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/subsystems/Pivot.cpp

@@ -27,7 +27,7 @@ double Pivot::ReturnPIDInput() {
 }
 
 void Pivot::UsePIDOutput(double output) {
-  m_motor.PIDWrite(output);
+  m_motor.Set(output);
 }
 
 bool Pivot::IsAtUpperLimit() {

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java

@@ -16,12 +16,11 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
  * through the sensor. Many sensors have multiple axis and can be treated as multiple devices. Each
  * is calibrated by finding the center value over a period of time.
  */
-public class AnalogAccelerometer implements PIDSource, Sendable, AutoCloseable {
+public class AnalogAccelerometer implements Sendable, AutoCloseable {
   private AnalogInput m_analogChannel;
   private double m_voltsPerG = 1.0;
   private double m_zeroGVoltage = 2.5;
   private final boolean m_allocatedChannel;
-  protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
 
   /** Common initialization. */
   private void initAccelerometer() {
@@ -108,26 +107,6 @@ public class AnalogAccelerometer implements PIDSource, Sendable, AutoCloseable {
     m_zeroGVoltage = zero;
   }
 
-  @Override
-  public void setPIDSourceType(PIDSourceType pidSource) {
-    m_pidSource = pidSource;
-  }
-
-  @Override
-  public PIDSourceType getPIDSourceType() {
-    return m_pidSource;
-  }
-
-  /**
-   * Get the Acceleration for the PID Source parent.
-   *
-   * @return The current acceleration in Gs.
-   */
-  @Override
-  public double pidGet() {
-    return getAcceleration();
-  }
-
   @Override
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("Accelerometer");

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java

@@ -25,13 +25,12 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
  * accumulated effectively increasing the resolution, while the averaged samples are divided by the
  * number of samples to retain the resolution, but get more stable values.
  */
-public class AnalogInput implements PIDSource, Sendable, AutoCloseable {
+public class AnalogInput implements Sendable, AutoCloseable {
   private static final int kAccumulatorSlot = 1;
   int m_port; // explicit no modifier, private and package accessible.
   private int m_channel;
   private static final int[] kAccumulatorChannels = {0, 1};
   private long m_accumulatorOffset;
-  protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
 
   /**
    * Construct an analog channel.
@@ -322,26 +321,6 @@ public class AnalogInput implements PIDSource, Sendable, AutoCloseable {
     return AnalogJNI.getAnalogSampleRate();
   }
 
-  @Override
-  public void setPIDSourceType(PIDSourceType pidSource) {
-    m_pidSource = pidSource;
-  }
-
-  @Override
-  public PIDSourceType getPIDSourceType() {
-    return m_pidSource;
-  }
-
-  /**
-   * Get the average voltage for use with PIDController.
-   *
-   * @return the average voltage
-   */
-  @Override
-  public double pidGet() {
-    return getAverageVoltage();
-  }
-
   /**
    * Indicates this input is used by a simulated device.
    *

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java

@@ -18,7 +18,6 @@ public class AnalogPotentiometer implements Potentiometer, Sendable, AutoCloseab
   private boolean m_initAnalogInput;
   private double m_fullRange;
   private double m_offset;
-  protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
 
   /**
    * AnalogPotentiometer constructor.
@@ -129,29 +128,6 @@ public class AnalogPotentiometer implements Potentiometer, Sendable, AutoCloseab
         + m_offset;
   }
 
-  @Override
-  public void setPIDSourceType(PIDSourceType pidSource) {
-    if (!pidSource.equals(PIDSourceType.kDisplacement)) {
-      throw new IllegalArgumentException("Only displacement PID is allowed for potentiometers.");
-    }
-    m_pidSource = pidSource;
-  }
-
-  @Override
-  public PIDSourceType getPIDSourceType() {
-    return m_pidSource;
-  }
-
-  /**
-   * Implement the PIDSource interface.
-   *
-   * @return The current reading.
-   */
-  @Override
-  public double pidGet() {
-    return get();
-  }
-
   @Override
   public void initSendable(SendableBuilder builder) {
     if (m_analogInput != null) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java

@@ -26,7 +26,7 @@ import java.nio.ByteOrder;
  * <p>All counters will immediately start counting - reset() them if you need them to be zeroed
  * before use.
  */
-public class Counter implements CounterBase, PIDSource, Sendable, AutoCloseable {
+public class Counter implements CounterBase, Sendable, AutoCloseable {
   /** Mode determines how and what the counter counts. */
   public enum Mode {
     /** mode: two pulse. */
@@ -51,7 +51,6 @@ public class Counter implements CounterBase, PIDSource, Sendable, AutoCloseable
   private boolean m_allocatedDownSource;
   private int m_counter; // /< The FPGA counter object.
   private int m_index; // /< The index of this counter.
-  private PIDSourceType m_pidSource;
   private double m_distancePerPulse; // distance of travel for each tick
 
   /** Create an instance of a counter with the given mode. */
@@ -507,39 +506,6 @@ public class Counter implements CounterBase, PIDSource, Sendable, AutoCloseable
     m_distancePerPulse = distancePerPulse;
   }
 
-  /**
-   * Set which parameter of the encoder you are using as a process control variable. The counter
-   * class supports the rate and distance parameters.
-   *
-   * @param pidSource An enum to select the parameter.
-   */
-  @Override
-  public void setPIDSourceType(PIDSourceType pidSource) {
-    requireNonNullParam(pidSource, "pidSource", "setPIDSourceType");
-    if (pidSource != PIDSourceType.kDisplacement && pidSource != PIDSourceType.kRate) {
-      throw new IllegalArgumentException("PID Source parameter was not valid type: " + pidSource);
-    }
-
-    m_pidSource = pidSource;
-  }
-
-  @Override
-  public PIDSourceType getPIDSourceType() {
-    return m_pidSource;
-  }
-
-  @Override
-  public double pidGet() {
-    switch (m_pidSource) {
-      case kDisplacement:
-        return getDistance();
-      case kRate:
-        return getRate();
-      default:
-        return 0.0;
-    }
-  }
-
   @Override
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("Counter");

wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java

@@ -27,7 +27,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
  * <p>All encoders will immediately start counting - reset() them if you need them to be zeroed
  * before use.
  */
-public class Encoder implements CounterBase, PIDSource, Sendable, AutoCloseable {
+public class Encoder implements CounterBase, Sendable, AutoCloseable {
   public enum IndexingType {
     kResetWhileHigh(0),
     kResetWhileLow(1),
@@ -51,7 +51,6 @@ public class Encoder implements CounterBase, PIDSource, Sendable, AutoCloseable
   private boolean m_allocatedA;
   private boolean m_allocatedB;
   private boolean m_allocatedI;
-  private PIDSourceType m_pidSource;
 
   private int m_encoder; // the HAL encoder object
 
@@ -73,8 +72,6 @@ public class Encoder implements CounterBase, PIDSource, Sendable, AutoCloseable
             reverseDirection,
             type.value);
 
-    m_pidSource = PIDSourceType.kDisplacement;
-
     int fpgaIndex = getFPGAIndex();
     HAL.report(tResourceType.kResourceType_Encoder, fpgaIndex + 1, type.value + 1);
     SendableRegistry.addLW(this, "Encoder", fpgaIndex);
@@ -481,39 +478,6 @@ public class Encoder implements CounterBase, PIDSource, Sendable, AutoCloseable
     return EncoderJNI.getEncoderSamplesToAverage(m_encoder);
   }
 
-  /**
-   * Set which parameter of the encoder you are using as a process control variable. The encoder
-   * class supports the rate and distance parameters.
-   *
-   * @param pidSource An enum to select the parameter.
-   */
-  @Override
-  public void setPIDSourceType(PIDSourceType pidSource) {
-    m_pidSource = pidSource;
-  }
-
-  @Override
-  public PIDSourceType getPIDSourceType() {
-    return m_pidSource;
-  }
-
-  /**
-   * Implement the PIDSource interface.
-   *
-   * @return The current value of the selected source parameter.
-   */
-  @Override
-  public double pidGet() {
-    switch (m_pidSource) {
-      case kDisplacement:
-        return getDistance();
-      case kRate:
-        return getRate();
-      default:
-        return 0.0;
-    }
-  }
-
   /**
    * Set the index source for the encoder. When this source is activated, the encoder count
    * automatically resets.

wpilibj/src/main/java/edu/wpi/first/wpilibj/GyroBase.java

@@ -8,43 +8,7 @@ import edu.wpi.first.wpilibj.interfaces.Gyro;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 
 /** GyroBase is the common base class for Gyro implementations such as AnalogGyro. */
-public abstract class GyroBase implements Gyro, PIDSource, Sendable {
-  private PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
-
-  /**
-   * Set which parameter of the gyro you are using as a process control variable. The Gyro class
-   * supports the rate and displacement parameters
-   *
-   * @param pidSource An enum to select the parameter.
-   */
-  @Override
-  public void setPIDSourceType(PIDSourceType pidSource) {
-    m_pidSource = pidSource;
-  }
-
-  @Override
-  public PIDSourceType getPIDSourceType() {
-    return m_pidSource;
-  }
-
-  /**
-   * Get the output of the gyro for use with PIDControllers. May be the angle or rate depending on
-   * the set PIDSourceType
-   *
-   * @return the output according to the gyro
-   */
-  @Override
-  public double pidGet() {
-    switch (m_pidSource) {
-      case kRate:
-        return getRate();
-      case kDisplacement:
-        return getAngle();
-      default:
-        return 0.0;
-    }
-  }
-
+public abstract class GyroBase implements Gyro, Sendable {
   @Override
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("Gyro");

wpilibj/src/main/java/edu/wpi/first/wpilibj/NidecBrushless.java

@@ -89,16 +89,6 @@ public class NidecBrushless extends MotorSafety
     return m_isInverted;
   }
 
-  /**
-   * Write out the PID value as seen in the PIDOutput base object.
-   *
-   * @param output Write out the PWM value as was found in the PIDController
-   */
-  @Override
-  public void pidWrite(double output) {
-    set(output);
-  }
-
   /**
    * Stop the motor. This is called by the MotorSafety object when it has a timeout for this PWM and
    * needs to stop it from running. Calling set() will re-enable the motor.

wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSpeedController.java

@@ -92,16 +92,6 @@ public abstract class PWMSpeedController extends MotorSafety
     return m_pwm.getChannel();
   }
 
-  /**
-   * Write out the PID value as seen in the PIDOutput base object.
-   *
-   * @param output Write out the PWM value as was found in the PIDController
-   */
-  @Override
-  public void pidWrite(double output) {
-    set(output);
-  }
-
   @Override
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("Speed Controller");

wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedController.java

@@ -5,8 +5,7 @@
 package edu.wpi.first.wpilibj;
 
 /** Interface for speed controlling devices. */
-@SuppressWarnings("removal")
-public interface SpeedController extends PIDOutput {
+public interface SpeedController {
   /**
    * Common interface for setting the speed of a speed controller.
    *

wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedControllerGroup.java

@@ -87,11 +87,6 @@ public class SpeedControllerGroup implements SpeedController, Sendable, AutoClos
     }
   }
 
-  @Override
-  public void pidWrite(double output) {
-    set(output);
-  }
-
   @Override
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("Speed Controller");

wpilibj/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java

@@ -26,15 +26,7 @@ import java.util.List;
  * echo is received. The time that the line is high determines the round trip distance (time of
  * flight).
  */
-public class Ultrasonic implements PIDSource, Sendable, AutoCloseable {
-  /** The units to return when PIDGet is called. */
-  public enum Unit {
-    /** Use inches for PIDGet. */
-    kInches,
-    /** Use millimeters for PIDGet. */
-    kMillimeters
-  }
-
+public class Ultrasonic implements Sendable, AutoCloseable {
   // Time (sec) for the ping trigger pulse.
   private static final double kPingTime = 10 * 1e-6;
   private static final double kSpeedOfSoundInchesPerSec = 1130.0 * 12.0;
@@ -44,14 +36,12 @@ public class Ultrasonic implements PIDSource, Sendable, AutoCloseable {
   private static volatile boolean m_automaticEnabled;
   private DigitalInput m_echoChannel;
   private DigitalOutput m_pingChannel;
-  private boolean m_allocatedChannels;
+  private final boolean m_allocatedChannels;
   private boolean m_enabled;
   private Counter m_counter;
   // task doing the round-robin automatic sensing
   private static Thread m_task;
-  private Unit m_units;
   private static int m_instances;
-  protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
 
   private SimDevice m_simDevice;
   private SimBoolean m_simRangeValid;
@@ -128,31 +118,16 @@ public class Ultrasonic implements PIDSource, Sendable, AutoCloseable {
    *     sending the ping.
    * @param echoChannel The digital input channel that receives the echo. The length of time that
    *     the echo is high represents the round trip time of the ping, and the distance.
-   * @param units The units returned in either kInches or kMilliMeters
    */
-  public Ultrasonic(final int pingChannel, final int echoChannel, Unit units) {
+  public Ultrasonic(final int pingChannel, final int echoChannel) {
     m_pingChannel = new DigitalOutput(pingChannel);
     m_echoChannel = new DigitalInput(echoChannel);
     SendableRegistry.addChild(this, m_pingChannel);
     SendableRegistry.addChild(this, m_echoChannel);
     m_allocatedChannels = true;
-    m_units = units;
     initialize();
   }
 
-  /**
-   * Create an instance of the Ultrasonic Sensor. This is designed to supchannel the Daventech SRF04
-   * and Vex ultrasonic sensors. Default unit is inches.
-   *
-   * @param pingChannel The digital output channel that sends the pulse to initiate the sensor
-   *     sending the ping.
-   * @param echoChannel The digital input channel that receives the echo. The length of time that
-   *     the echo is high represents the round trip time of the ping, and the distance.
-   */
-  public Ultrasonic(final int pingChannel, final int echoChannel) {
-    this(pingChannel, echoChannel, Unit.kInches);
-  }
-
   /**
    * Create an instance of an Ultrasonic Sensor from a DigitalInput for the echo channel and a
    * DigitalOutput for the ping channel.
@@ -160,31 +135,17 @@ public class Ultrasonic implements PIDSource, Sendable, AutoCloseable {
    * @param pingChannel The digital output object that starts the sensor doing a ping. Requires a
    *     10uS pulse to start.
    * @param echoChannel The digital input object that times the return pulse to determine the range.
-   * @param units The units returned in either kInches or kMilliMeters
    */
-  public Ultrasonic(DigitalOutput pingChannel, DigitalInput echoChannel, Unit units) {
+  public Ultrasonic(DigitalOutput pingChannel, DigitalInput echoChannel) {
     requireNonNull(pingChannel, "Provided ping channel was null");
     requireNonNull(echoChannel, "Provided echo channel was null");
 
     m_allocatedChannels = false;
     m_pingChannel = pingChannel;
     m_echoChannel = echoChannel;
-    m_units = units;
     initialize();
   }
 
-  /**
-   * Create an instance of an Ultrasonic Sensor from a DigitalInput for the echo channel and a
-   * DigitalOutput for the ping channel. Default unit is inches.
-   *
-   * @param pingChannel The digital output object that starts the sensor doing a ping. Requires a
-   *     10uS pulse to start.
-   * @param echoChannel The digital input object that times the return pulse to determine the range.
-   */
-  public Ultrasonic(DigitalOutput pingChannel, DigitalInput echoChannel) {
-    this(pingChannel, echoChannel, Unit.kInches);
-  }
-
   /**
    * Destructor for the ultrasonic sensor. Delete the instance of the ultrasonic sensor by freeing
    * the allocated digital channels. If the system was in automatic mode (round robin), then it is
@@ -326,54 +287,6 @@ public class Ultrasonic implements PIDSource, Sendable, AutoCloseable {
     return getRangeInches() * 25.4;
   }
 
-  @Override
-  public void setPIDSourceType(PIDSourceType pidSource) {
-    if (!pidSource.equals(PIDSourceType.kDisplacement)) {
-      throw new IllegalArgumentException("Only displacement PID is allowed for ultrasonics.");
-    }
-    m_pidSource = pidSource;
-  }
-
-  @Override
-  public PIDSourceType getPIDSourceType() {
-    return m_pidSource;
-  }
-
-  /**
-   * Get the range in the current DistanceUnit for the PIDSource base object.
-   *
-   * @return The range in DistanceUnit
-   */
-  @Override
-  public double pidGet() {
-    switch (m_units) {
-      case kInches:
-        return getRangeInches();
-      case kMillimeters:
-        return getRangeMM();
-      default:
-        return 0.0;
-    }
-  }
-
-  /**
-   * Set the current DistanceUnit that should be used for the PIDSource base object.
-   *
-   * @param units The DistanceUnit that should be used.
-   */
-  public void setDistanceUnits(Unit units) {
-    m_units = units;
-  }
-
-  /**
-   * Get the current DistanceUnit that is used for the PIDSource base object.
-   *
-   * @return The type of DistanceUnit that is being used.
-   */
-  public Unit getDistanceUnits() {
-    return m_units;
-  }
-
   /**
    * Is the ultrasonic enabled.
    *

wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/Filter.java

@@ -1,54 +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.filters;
-
-import edu.wpi.first.wpilibj.PIDSource;
-import edu.wpi.first.wpilibj.PIDSourceType;
-
-/**
- * Superclass for filters.
- *
- * @deprecated This class is no longer used.
- */
-@Deprecated(since = "2020", forRemoval = true)
-public abstract class Filter implements PIDSource {
-  private final PIDSource m_source;
-
-  public Filter(PIDSource source) {
-    m_source = source;
-  }
-
-  @Override
-  public void setPIDSourceType(PIDSourceType pidSource) {
-    m_source.setPIDSourceType(pidSource);
-  }
-
-  @Override
-  public PIDSourceType getPIDSourceType() {
-    return m_source.getPIDSourceType();
-  }
-
-  @Override
-  public abstract double pidGet();
-
-  /**
-   * Returns the current filter estimate without also inserting new data as pidGet() would do.
-   *
-   * @return The current filter estimate
-   */
-  public abstract double get();
-
-  /** Reset the filter state. */
-  public abstract void reset();
-
-  /**
-   * Calls PIDGet() of source.
-   *
-   * @return Current value of source
-   */
-  protected double pidGetSource() {
-    return m_source.pidGet();
-  }
-}

wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/LinearDigitalFilter.java

@@ -1,187 +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.filters;
-
-import edu.wpi.first.hal.FRCNetComm.tResourceType;
-import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.PIDSource;
-import edu.wpi.first.wpiutil.CircularBuffer;
-import java.util.Arrays;
-
-/**
- * This class implements a linear, digital filter. All types of FIR and IIR filters are supported.
- * Static factory methods are provided to create commonly used types of filters.
- *
- * <p>Filters are of the form: y[n] = (b0*x[n] + b1*x[n-1] + ... + bP*x[n-P]) - (a0*y[n-1] +
- * a2*y[n-2] + ... + aQ*y[n-Q])
- *
- * <p>Where: y[n] is the output at time "n" x[n] is the input at time "n" y[n-1] is the output from
- * the LAST time step ("n-1") x[n-1] is the input from the LAST time step ("n-1") b0...bP are the
- * "feedforward" (FIR) gains a0...aQ are the "feedback" (IIR) gains IMPORTANT! Note the "-" sign in
- * front of the feedback term! This is a common convention in signal processing.
- *
- * <p>What can linear filters do? Basically, they can filter, or diminish, the effects of
- * undesirable input frequencies. High frequencies, or rapid changes, can be indicative of sensor
- * noise or be otherwise undesirable. A "low pass" filter smooths out the signal, reducing the
- * impact of these high frequency components. Likewise, a "high pass" filter gets rid of slow-moving
- * signal components, letting you detect large changes more easily.
- *
- * <p>Example FRC applications of filters: - Getting rid of noise from an analog sensor input (note:
- * the roboRIO's FPGA can do this faster in hardware) - Smoothing out joystick input to prevent the
- * wheels from slipping or the robot from tipping - Smoothing motor commands so that unnecessary
- * strain isn't put on electrical or mechanical components - If you use clever gains, you can make a
- * PID controller out of this class!
- *
- * <p>For more on filters, I highly recommend the following articles: http://en.wikipedia
- * .org/wiki/Linear_filter http://en.wikipedia.org/wiki/Iir_filter http://en.wikipedia
- * .org/wiki/Fir_filter
- *
- * <p>Note 1: PIDGet() should be called by the user on a known, regular period. You can set up a
- * Notifier to do this (look at the WPILib PIDController class), or do it "inline" with code in a
- * periodic function.
- *
- * <p>Note 2: For ALL filters, gains are necessarily a function of frequency. If you make a filter
- * that works well for you at, say, 100Hz, you will most definitely need to adjust the gains if you
- * then want to run it at 200Hz! Combining this with Note 1 - the impetus is on YOU as a developer
- * to make sure PIDGet() gets called at the desired, constant frequency!
- *
- * @deprecated Use LinearFilter class instead.
- */
-@Deprecated
-public class LinearDigitalFilter extends Filter {
-  private static int instances;
-
-  private final CircularBuffer m_inputs;
-  private final CircularBuffer m_outputs;
-  private final double[] m_inputGains;
-  private final double[] m_outputGains;
-
-  /**
-   * Create a linear FIR or IIR filter.
-   *
-   * @param source The PIDSource object that is used to get values
-   * @param ffGains The "feed forward" or FIR gains
-   * @param fbGains The "feed back" or IIR gains
-   */
-  public LinearDigitalFilter(PIDSource source, double[] ffGains, double[] fbGains) {
-    super(source);
-    m_inputs = new CircularBuffer(ffGains.length);
-    m_outputs = new CircularBuffer(fbGains.length);
-    m_inputGains = Arrays.copyOf(ffGains, ffGains.length);
-    m_outputGains = Arrays.copyOf(fbGains, fbGains.length);
-
-    instances++;
-    HAL.report(tResourceType.kResourceType_LinearFilter, instances);
-  }
-
-  /**
-   * Creates a one-pole IIR low-pass filter of the form: y[n] = (1-gain)*x[n] + gain*y[n-1] where
-   * gain = e^(-dt / T), T is the time constant in seconds.
-   *
-   * <p>This filter is stable for time constants greater than zero.
-   *
-   * @param source The PIDSource object that is used to get values
-   * @param timeConstant The discrete-time time constant in seconds
-   * @param period The period in seconds between samples taken by the user
-   */
-  public static LinearDigitalFilter singlePoleIIR(
-      PIDSource source, double timeConstant, double period) {
-    double gain = Math.exp(-period / timeConstant);
-    double[] ffGains = {1.0 - gain};
-    double[] fbGains = {-gain};
-
-    return new LinearDigitalFilter(source, ffGains, fbGains);
-  }
-
-  /**
-   * Creates a first-order high-pass filter of the form: y[n] = gain*x[n] + (-gain)*x[n-1] +
-   * gain*y[n-1] where gain = e^(-dt / T), T is the time constant in seconds.
-   *
-   * <p>This filter is stable for time constants greater than zero.
-   *
-   * @param source The PIDSource object that is used to get values
-   * @param timeConstant The discrete-time time constant in seconds
-   * @param period The period in seconds between samples taken by the user
-   */
-  public static LinearDigitalFilter highPass(PIDSource source, double timeConstant, double period) {
-    double gain = Math.exp(-period / timeConstant);
-    double[] ffGains = {gain, -gain};
-    double[] fbGains = {-gain};
-
-    return new LinearDigitalFilter(source, ffGains, fbGains);
-  }
-
-  /**
-   * Creates a K-tap FIR moving average filter of the form: y[n] = 1/k * (x[k] + x[k-1] + ... +
-   * x[0]).
-   *
-   * <p>This filter is always stable.
-   *
-   * @param source The PIDSource object that is used to get values
-   * @param taps The number of samples to average over. Higher = smoother but slower
-   * @throws IllegalArgumentException if number of taps is less than 1
-   */
-  public static LinearDigitalFilter movingAverage(PIDSource source, int taps) {
-    if (taps <= 0) {
-      throw new IllegalArgumentException("Number of taps was not at least 1");
-    }
-
-    double[] ffGains = new double[taps];
-    for (int i = 0; i < ffGains.length; i++) {
-      ffGains[i] = 1.0 / taps;
-    }
-
-    double[] fbGains = new double[0];
-
-    return new LinearDigitalFilter(source, ffGains, fbGains);
-  }
-
-  @Override
-  public double get() {
-    double retVal = 0.0;
-
-    // Calculate the new value
-    for (int i = 0; i < m_inputGains.length; i++) {
-      retVal += m_inputs.get(i) * m_inputGains[i];
-    }
-    for (int i = 0; i < m_outputGains.length; i++) {
-      retVal -= m_outputs.get(i) * m_outputGains[i];
-    }
-
-    return retVal;
-  }
-
-  @Override
-  public void reset() {
-    m_inputs.clear();
-    m_outputs.clear();
-  }
-
-  /**
-   * Calculates the next value of the filter.
-   *
-   * @return The filtered value at this step
-   */
-  @Override
-  public double pidGet() {
-    double retVal = 0.0;
-
-    // Rotate the inputs
-    m_inputs.addFirst(pidGetSource());
-
-    // Calculate the new value
-    for (int i = 0; i < m_inputGains.length; i++) {
-      retVal += m_inputs.get(i) * m_inputGains[i];
-    }
-    for (int i = 0; i < m_outputGains.length; i++) {
-      retVal -= m_outputs.get(i) * m_outputGains[i];
-    }
-
-    // Rotate the outputs
-    m_outputs.addFirst(retVal);
-
-    return retVal;
-  }
-}

wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Potentiometer.java

@@ -4,9 +4,7 @@
 
 package edu.wpi.first.wpilibj.interfaces;
 
-import edu.wpi.first.wpilibj.PIDSource;
-
 /** Interface for a Potentiometer. */
-public interface Potentiometer extends PIDSource {
+public interface Potentiometer {
   double get();
 }

wpilibj/src/test/java/edu/wpi/first/wpilibj/MockSpeedController.java

@@ -37,9 +37,4 @@ public class MockSpeedController implements SpeedController {
   public void stopMotor() {
     disable();
   }
-
-  @Override
-  public void pidWrite(double output) {
-    set(output);
-  }
 }

wpilibj/src/test/java/edu/wpi/first/wpilibj/SpeedControllerGroupTest.java

@@ -98,15 +98,4 @@ class SpeedControllerGroupTest {
         Arrays.stream(speedControllers).mapToDouble(SpeedController::get).toArray(),
         0.00005);
   }
-
-  @ParameterizedTest
-  @MethodSource("speedControllerArguments")
-  void pidWriteTest(final SpeedControllerGroup group, final SpeedController[] speedControllers) {
-    group.pidWrite(1.0);
-
-    assertArrayEquals(
-        DoubleStream.generate(() -> 1.0).limit(speedControllers.length).toArray(),
-        Arrays.stream(speedControllers).mapToDouble(SpeedController::get).toArray(),
-        0.00005);
-  }
 }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/ExampleSmartMotorController.java

@@ -93,7 +93,4 @@ public class ExampleSmartMotorController implements SpeedController {
 
   @Override
   public void stopMotor() {}
-
-  @Override
-  public void pidWrite(double output) {}
 }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/ExampleSmartMotorController.java

@@ -97,7 +97,4 @@ public class ExampleSmartMotorController implements SpeedController {
 
   @Override
   public void stopMotor() {}
-
-  @Override
-  public void pidWrite(double output) {}
 }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/ExampleSmartMotorController.java

@@ -93,7 +93,4 @@ public class ExampleSmartMotorController implements SpeedController {
 
   @Override
   public void stopMotor() {}
-
-  @Override
-  public void pidWrite(double output) {}
 }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Pivot.java

@@ -65,7 +65,7 @@ public class Pivot extends PIDSubsystem {
   /** Set the motor speed based off of the PID output. */
   @Override
   protected void usePIDOutput(double output) {
-    m_motor.pidWrite(output);
+    m_motor.set(output);
   }
 
   /** If the pivot is at its upper limit. */

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MockSpeedController.java

@@ -37,9 +37,4 @@ public class MockSpeedController implements SpeedController {
   public void stopMotor() {
     disable();
   }
-
-  @Override
-  public void pidWrite(double output) {
-    set(output);
-  }
 }