[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.

wpilibOldCommands/src/main/native/include/frc/PIDController.h

@@ -0,0 +1,136 @@
+// 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 <string>
+
+#include <wpi/deprecated.h>
+#include <wpi/mutex.h>
+
+#include "frc/Base.h"
+#include "frc/Controller.h"
+#include "frc/Notifier.h"
+#include "frc/PIDBase.h"
+#include "frc/PIDSource.h"
+#include "frc/Timer.h"
+
+namespace frc {
+
+class PIDOutput;
+
+/**
+ * Class implements a PID Control Loop.
+ *
+ * Creates a separate thread which reads the given PIDSource and takes care of
+ * the integral calculations, as well as writing the given PIDOutput.
+ *
+ * This feedback controller runs in discrete time, so time deltas are not used
+ * in the integral and derivative calculations. Therefore, the sample rate
+ * affects the controller's behavior for a given set of PID constants.
+ *
+ * @deprecated Use frc2::PIDController class instead.
+ */
+class PIDController : public PIDBase, public Controller {
+ public:
+  /**
+   * Allocate a PID object with the given constants for P, I, D.
+   *
+   * @param Kp     the proportional coefficient
+   * @param Ki     the integral coefficient
+   * @param Kd     the derivative coefficient
+   * @param source The PIDSource object that is used to get values
+   * @param output The PIDOutput object that is set to the output value
+   * @param period the loop time for doing calculations in seconds. This
+   *               particularly affects calculations of the integral and
+   *               differential terms. The default is 0.05 (50ms).
+   */
+  WPI_DEPRECATED("Use frc2::PIDController class instead.")
+  PIDController(double p, double i, double d, PIDSource* source,
+                PIDOutput* output, double period = 0.05);
+
+  /**
+   * Allocate a PID object with the given constants for P, I, D.
+   *
+   * @param Kp     the proportional coefficient
+   * @param Ki     the integral coefficient
+   * @param Kd     the derivative coefficient
+   * @param source The PIDSource object that is used to get values
+   * @param output The PIDOutput object that is set to the output value
+   * @param period the loop time for doing calculations in seconds. This
+   *               particularly affects calculations of the integral and
+   *               differential terms. The default is 0.05 (50ms).
+   */
+  WPI_DEPRECATED("Use frc2::PIDController class instead.")
+  PIDController(double p, double i, double d, double f, PIDSource* source,
+                PIDOutput* output, double period = 0.05);
+
+  /**
+   * Allocate a PID object with the given constants for P, I, D.
+   *
+   * @param Kp     the proportional coefficient
+   * @param Ki     the integral coefficient
+   * @param Kd     the derivative coefficient
+   * @param source The PIDSource object that is used to get values
+   * @param output The PIDOutput object that is set to the output value
+   * @param period the loop time for doing calculations in seconds. This
+   *               particularly affects calculations of the integral and
+   *               differential terms. The default is 0.05 (50ms).
+   */
+  WPI_DEPRECATED("Use frc2::PIDController class instead.")
+  PIDController(double p, double i, double d, PIDSource& source,
+                PIDOutput& output, double period = 0.05);
+
+  /**
+   * Allocate a PID object with the given constants for P, I, D.
+   *
+   * @param Kp     the proportional coefficient
+   * @param Ki     the integral coefficient
+   * @param Kd     the derivative coefficient
+   * @param source The PIDSource object that is used to get values
+   * @param output The PIDOutput object that is set to the output value
+   * @param period the loop time for doing calculations in seconds. This
+   *               particularly affects calculations of the integral and
+   *               differential terms. The default is 0.05 (50ms).
+   */
+  WPI_DEPRECATED("Use frc2::PIDController class instead.")
+  PIDController(double p, double i, double d, double f, PIDSource& source,
+                PIDOutput& output, double period = 0.05);
+
+  ~PIDController() override;
+
+  /**
+   * Begin running the PIDController.
+   */
+  void Enable() override;
+
+  /**
+   * Stop running the PIDController, this sets the output to zero before
+   * stopping.
+   */
+  void Disable() override;
+
+  /**
+   * Set the enabled state of the PIDController.
+   */
+  void SetEnabled(bool enable);
+
+  /**
+   * Return true if PIDController is enabled.
+   */
+  bool IsEnabled() const;
+
+  /**
+   * Reset the previous error, the integral term, and disable the controller.
+   */
+  void Reset() override;
+
+  void InitSendable(SendableBuilder& builder) override;
+
+ private:
+  std::unique_ptr<Notifier> m_controlLoop;
+};
+
+}  // namespace frc