[commands] Remove deprecated classes and functions (#5409)

Removes:
- PerpetualCommand
- Command.perpetually()
- CommandGroupBase
- Command.IsGrouped() (C++ only)
- Command.SetGrouped() (C++ only)
- Command.withInterrupt()
- ProxyScheduleCommand
- Button
- InternalButton, JoystickButton, NetworkButton and POVButton now subclass Trigger
- Old style Trigger functions:
    - Trigger.whenActive
    - Trigger.whileActiveOnce
    - Trigger.whileActiveContinuous
    - Trigger.whenInactive
    - Trigger.toggleWhenActive
    - Trigger.cancelWhenActive
- CommandScheduler.clearButtons()
- CommandScheduler.addButtons() (Java only)
- Command supplier constructor of SelectCommand

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java

@@ -115,25 +115,6 @@ public interface Command {
     return until(() -> !condition.getAsBoolean());
   }
 
-  /**
-   * Decorates this command with an interrupt condition. If the specified condition becomes true
-   * before the command finishes normally, the command will be interrupted and un-scheduled.
-   *
-   * <p>Note: This decorator works by adding this command to a composition. The command the
-   * decorator was called on cannot be scheduled independently or be added to a different
-   * composition (namely, decorators), unless it is manually cleared from the list of composed
-   * commands with {@link CommandScheduler#removeComposedCommand(Command)}. The command composition
-   * returned from this method can be further decorated without issue.
-   *
-   * @param condition the interrupt condition
-   * @return the command with the interrupt condition added
-   * @deprecated Replace with {@link #until(BooleanSupplier)}
-   */
-  @Deprecated(since = "2023")
-  default ParallelRaceGroup withInterrupt(BooleanSupplier condition) {
-    return until(condition);
-  }
-
   /**
    * Decorates this command with a runnable to run before this command starts.
    *
@@ -261,28 +242,6 @@ public interface Command {
     return group;
   }
 
-  /**
-   * Decorates this command to run perpetually, ignoring its ordinary end conditions. The decorated
-   * command can still be interrupted or canceled.
-   *
-   * <p>Note: This decorator works by adding this command to a composition. The command the
-   * decorator was called on cannot be scheduled independently or be added to a different
-   * composition (namely, decorators), unless it is manually cleared from the list of composed
-   * commands with {@link CommandScheduler#removeComposedCommand(Command)}. The command composition
-   * returned from this method can be further decorated without issue.
-   *
-   * @return the decorated command
-   * @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.
-   */
-  @SuppressWarnings("removal") // PerpetualCommand
-  @Deprecated(forRemoval = true, since = "2023")
-  default PerpetualCommand perpetually() {
-    return new PerpetualCommand(this);
-  }
-
   /**
    * Decorates this command to run repeatedly, restarting it when it ends, until this command is
    * interrupted. The decorated command can still be canceled.

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandGroupBase.java

@@ -1,71 +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.wpilibj2.command;
-
-/**
- * A base for CommandGroups.
- *
- * <p>This class is provided by the NewCommands VendorDep
- *
- * @deprecated This class is an empty abstraction. Inherit directly from CommandBase/Command.
- */
-@Deprecated(forRemoval = true)
-public abstract class CommandGroupBase extends CommandBase {
-  /**
-   * Adds the given commands to the command group.
-   *
-   * @param commands The commands to add.
-   */
-  public abstract void addCommands(Command... commands);
-
-  /**
-   * Factory method for {@link SequentialCommandGroup}, included for brevity/convenience.
-   *
-   * @param commands the commands to include
-   * @return the command group
-   * @deprecated Replace with {@link Commands#sequence(Command...)}
-   */
-  @Deprecated
-  public static SequentialCommandGroup sequence(Command... commands) {
-    return new SequentialCommandGroup(commands);
-  }
-
-  /**
-   * Factory method for {@link ParallelCommandGroup}, included for brevity/convenience.
-   *
-   * @param commands the commands to include
-   * @return the command group
-   * @deprecated Replace with {@link Commands#parallel(Command...)}
-   */
-  @Deprecated
-  public static ParallelCommandGroup parallel(Command... commands) {
-    return new ParallelCommandGroup(commands);
-  }
-
-  /**
-   * Factory method for {@link ParallelRaceGroup}, included for brevity/convenience.
-   *
-   * @param commands the commands to include
-   * @return the command group
-   * @deprecated Replace with {@link Commands#race(Command...)}
-   */
-  @Deprecated
-  public static ParallelRaceGroup race(Command... commands) {
-    return new ParallelRaceGroup(commands);
-  }
-
-  /**
-   * Factory method for {@link ParallelDeadlineGroup}, included for brevity/convenience.
-   *
-   * @param deadline the deadline command
-   * @param commands the commands to include
-   * @return the command group
-   * @deprecated Replace with {@link Commands#deadline(Command, Command...)}
-   */
-  @Deprecated
-  public static ParallelDeadlineGroup deadline(Command deadline, Command... commands) {
-    return new ParallelDeadlineGroup(deadline, commands);
-  }
-}

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java

@@ -151,27 +151,6 @@ public final class CommandScheduler implements NTSendable, AutoCloseable {
         requireNonNullParam(loop, "loop", "CommandScheduler" + ".replaceButtonEventLoop");
   }
 
-  /**
-   * Adds a button binding to the scheduler, which will be polled to schedule commands.
-   *
-   * @param button The button to add
-   * @deprecated Use {@link edu.wpi.first.wpilibj2.command.button.Trigger}
-   */
-  @Deprecated(since = "2023")
-  public void addButton(Runnable button) {
-    m_activeButtonLoop.bind(requireNonNullParam(button, "button", "addButton"));
-  }
-
-  /**
-   * Removes all button bindings from the scheduler.
-   *
-   * @deprecated call {@link EventLoop#clear()} on {@link #getActiveButtonLoop()} directly instead.
-   */
-  @Deprecated(since = "2023")
-  public void clearButtons() {
-    m_activeButtonLoop.clear();
-  }
-
   /**
    * Initializes a given command, adds its requirements to the list, and performs the init actions.
    *

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.java

@@ -17,8 +17,7 @@ import java.util.Map;
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-@SuppressWarnings("removal")
-public class ParallelCommandGroup extends CommandGroupBase {
+public class ParallelCommandGroup extends CommandBase {
   // maps commands in this composition to whether they are still running
   private final Map<Command, Boolean> m_commands = new HashMap<>();
   private boolean m_runWhenDisabled = true;
@@ -35,7 +34,11 @@ public class ParallelCommandGroup extends CommandGroupBase {
     addCommands(commands);
   }
 
-  @Override
+  /**
+   * Adds the given commands to the group.
+   *
+   * @param commands Commands to add to the group.
+   */
   public final void addCommands(Command... commands) {
     if (m_commands.containsValue(true)) {
       throw new IllegalStateException(

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java

@@ -20,8 +20,7 @@ import java.util.Map;
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-@SuppressWarnings("removal")
-public class ParallelDeadlineGroup extends CommandGroupBase {
+public class ParallelDeadlineGroup extends CommandBase {
   // maps commands in this composition to whether they are still running
   private final Map<Command, Boolean> m_commands = new HashMap<>();
   private boolean m_runWhenDisabled = true;
@@ -59,7 +58,11 @@ public class ParallelDeadlineGroup extends CommandGroupBase {
     m_deadline = deadline;
   }
 
-  @Override
+  /**
+   * Adds the given commands to the group.
+   *
+   * @param commands Commands to add to the group.
+   */
   public final void addCommands(Command... commands) {
     if (!m_finished) {
       throw new IllegalStateException(

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java

@@ -18,8 +18,7 @@ import java.util.Set;
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-@SuppressWarnings("removal")
-public class ParallelRaceGroup extends CommandGroupBase {
+public class ParallelRaceGroup extends CommandBase {
   private final Set<Command> m_commands = new HashSet<>();
   private boolean m_runWhenDisabled = true;
   private boolean m_finished = true;
@@ -36,7 +35,11 @@ public class ParallelRaceGroup extends CommandGroupBase {
     addCommands(commands);
   }
 
-  @Override
+  /**
+   * Adds the given commands to the group.
+   *
+   * @param commands Commands to add to the group.
+   */
   public final void addCommands(Command... commands) {
     if (!m_finished) {
       throw new IllegalStateException(

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PerpetualCommand.java

@@ -1,57 +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.wpilibj2.command;
-
-/**
- * A command that runs another command in perpetuity, ignoring that command's end conditions. While
- * this class does not extend {@link CommandGroupBase}, it is still considered a composition, as it
- * allows one to compose another command within it; the command instances that are passed to it
- * cannot be added to any other groups, or scheduled individually.
- *
- * <p>As a rule, CommandGroups require the union of the requirements of their component commands.
- *
- * <p>This class is provided by the NewCommands VendorDep
- *
- * @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.
- */
-@Deprecated(forRemoval = true, since = "2023")
-public class PerpetualCommand extends CommandBase {
-  protected final Command m_command;
-
-  /**
-   * Creates a new PerpetualCommand. Will run another command in perpetuity, ignoring that command's
-   * end conditions, unless this command itself is interrupted.
-   *
-   * @param command the command to run perpetually
-   */
-  public PerpetualCommand(Command command) {
-    CommandScheduler.getInstance().registerComposedCommands(command);
-    m_command = command;
-    m_requirements.addAll(command.getRequirements());
-  }
-
-  @Override
-  public void initialize() {
-    m_command.initialize();
-  }
-
-  @Override
-  public void execute() {
-    m_command.execute();
-  }
-
-  @Override
-  public void end(boolean interrupted) {
-    m_command.end(interrupted);
-  }
-
-  @Override
-  public boolean runsWhenDisabled() {
-    return m_command.runsWhenDisabled();
-  }
-}

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommand.java

@@ -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.
-
-package edu.wpi.first.wpilibj2.command;
-
-import java.util.Set;
-
-/**
- * Schedules the given commands when this command is initialized, and ends when all the commands are
- * no longer scheduled. Useful for forking off from CommandGroups. If this command is interrupted,
- * it will cancel all the commands.
- *
- * <p>This class is provided by the NewCommands VendorDep
- */
-public class ProxyScheduleCommand extends CommandBase {
-  private final Set<Command> m_toSchedule;
-  private boolean m_finished;
-
-  /**
-   * Creates a new ProxyScheduleCommand that schedules the given commands when initialized, and ends
-   * when they are all no longer scheduled.
-   *
-   * @param toSchedule the commands to schedule
-   * @deprecated Replace with {@link ProxyCommand}, composing multiple of them in a {@link
-   *     ParallelRaceGroup} if needed.
-   */
-  @Deprecated
-  public ProxyScheduleCommand(Command... toSchedule) {
-    m_toSchedule = Set.of(toSchedule);
-  }
-
-  @Override
-  public void initialize() {
-    for (Command command : m_toSchedule) {
-      command.schedule();
-    }
-  }
-
-  @Override
-  public void end(boolean interrupted) {
-    if (interrupted) {
-      for (Command command : m_toSchedule) {
-        command.cancel();
-      }
-    }
-  }
-
-  @Override
-  public void execute() {
-    m_finished = true;
-    for (Command command : m_toSchedule) {
-      m_finished &= !command.isScheduled();
-    }
-  }
-
-  @Override
-  public boolean isFinished() {
-    return m_finished;
-  }
-}

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java

@@ -23,7 +23,6 @@ import java.util.function.Supplier;
 public class SelectCommand extends CommandBase {
   private final Map<Object, Command> m_commands;
   private final Supplier<Object> m_selector;
-  private final Supplier<Command> m_toRun;
   private Command m_selectedCommand;
   private boolean m_runsWhenDisabled = true;
   private InterruptionBehavior m_interruptBehavior = InterruptionBehavior.kCancelIncoming;
@@ -41,8 +40,6 @@ public class SelectCommand extends CommandBase {
     CommandScheduler.getInstance()
         .registerComposedCommands(commands.values().toArray(new Command[] {}));
 
-    m_toRun = null;
-
     for (Command command : m_commands.values()) {
       m_requirements.addAll(command.getRequirements());
       m_runsWhenDisabled &= command.runsWhenDisabled();
@@ -52,35 +49,13 @@ public class SelectCommand extends CommandBase {
     }
   }
 
-  /**
-   * Creates a new SelectCommand.
-   *
-   * @param toRun a supplier providing the command to run
-   * @deprecated Replace with {@link ProxyCommand}
-   */
-  @Deprecated
-  public SelectCommand(Supplier<Command> toRun) {
-    m_commands = null;
-    m_selector = null;
-    m_toRun = requireNonNullParam(toRun, "toRun", "SelectCommand");
-
-    // we have no way of checking the underlying command, so default.
-    m_runsWhenDisabled = false;
-    m_interruptBehavior = InterruptionBehavior.kCancelSelf;
-  }
-
   @Override
   public void initialize() {
-    if (m_selector != null) {
-      if (!m_commands.containsKey(m_selector.get())) {
-        m_selectedCommand =
-            new PrintCommand(
-                "SelectCommand selector value does not correspond to" + " any command!");
-        return;
-      }
-      m_selectedCommand = m_commands.get(m_selector.get());
+    if (!m_commands.containsKey(m_selector.get())) {
+      m_selectedCommand =
+          new PrintCommand("SelectCommand selector value does not correspond to any command!");
     } else {
-      m_selectedCommand = m_toRun.get();
+      m_selectedCommand = m_commands.get(m_selector.get());
     }
     m_selectedCommand.initialize();
   }

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java

@@ -17,8 +17,7 @@ import java.util.List;
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-@SuppressWarnings("removal")
-public class SequentialCommandGroup extends CommandGroupBase {
+public class SequentialCommandGroup extends CommandBase {
   private final List<Command> m_commands = new ArrayList<>();
   private int m_currentCommandIndex = -1;
   private boolean m_runWhenDisabled = true;
@@ -34,7 +33,11 @@ public class SequentialCommandGroup extends CommandGroupBase {
     addCommands(commands);
   }
 
-  @Override
+  /**
+   * Adds the given commands to the group.
+   *
+   * @param commands Commands to add, in order of execution.
+   */
   public final void addCommands(Command... commands) {
     if (m_currentCommandIndex != -1) {
       throw new IllegalStateException(

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Button.java

@@ -1,169 +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.wpilibj2.command.button;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Subsystem;
-import java.util.function.BooleanSupplier;
-
-/**
- * This class provides an easy way to link commands to OI inputs.
- *
- * <p>It is very easy to link a button to a command. For instance, you could link the trigger button
- * of a joystick to a "score" command.
- *
- * <p>This class represents a subclass of Trigger that is specifically aimed at buttons on an
- * operator interface as a common use case of the more generalized Trigger objects. This is a simple
- * wrapper around Trigger with the method names renamed to fit the Button object use.
- *
- * @deprecated Replace with {@link Trigger}.
- */
-@Deprecated
-public class Button extends Trigger {
-  /**
-   * Default constructor; creates a button that is never pressed.
-   *
-   * @deprecated Replace with {@code new Button(() -> false) }.
-   */
-  @Deprecated(since = "2023")
-  public Button() {}
-
-  /**
-   * Creates a new button with the given condition determining whether it is pressed.
-   *
-   * @param isPressed returns whether the trigger should be active
-   * @deprecated Replace with Trigger.
-   */
-  @Deprecated
-  public Button(BooleanSupplier isPressed) {
-    super(isPressed);
-  }
-
-  /**
-   * Starts the given command whenever the button is newly pressed.
-   *
-   * @param command the command to start
-   * @return this button, so calls can be chained
-   * @deprecated Replace with {@link Trigger#onTrue(Command)}
-   */
-  @Deprecated
-  public Button whenPressed(final Command command) {
-    whenActive(command);
-    return this;
-  }
-
-  /**
-   * Runs the given runnable whenever the button is newly pressed.
-   *
-   * @param toRun the runnable to run
-   * @param requirements the required subsystems
-   * @return this button, so calls can be chained
-   * @deprecated Replace with {@link #onTrue(Command)}, creating the InstantCommand manually
-   */
-  @Deprecated
-  public Button whenPressed(final Runnable toRun, Subsystem... requirements) {
-    whenActive(toRun, requirements);
-    return this;
-  }
-
-  /**
-   * Constantly starts the given command while the button is held.
-   *
-   * <p>{@link Command#schedule()} will be called repeatedly while the button is held, and will be
-   * canceled when the button is released.
-   *
-   * @param command the command to start
-   * @return this button, so calls can be chained
-   * @deprecated Use {@link #whileTrue(Command)} with {@link
-   *     edu.wpi.first.wpilibj2.command.RepeatCommand RepeatCommand}.
-   */
-  @Deprecated
-  public Button whileHeld(final Command command) {
-    whileActiveContinuous(command);
-    return this;
-  }
-
-  /**
-   * Constantly runs the given runnable while the button is held.
-   *
-   * @param toRun the runnable to run
-   * @param requirements the required subsystems
-   * @return this button, so calls can be chained
-   * @deprecated Use {@link #whileTrue(Command)} and construct a RunCommand manually
-   */
-  @Deprecated
-  public Button whileHeld(final Runnable toRun, Subsystem... requirements) {
-    whileActiveContinuous(toRun, requirements);
-    return this;
-  }
-
-  /**
-   * Starts the given command when the button is first pressed, and cancels it when it is released,
-   * but does not start it again if it ends or is otherwise interrupted.
-   *
-   * @param command the command to start
-   * @return this button, so calls can be chained
-   * @deprecated Replace with {@link Trigger#whileTrue(Command)}
-   */
-  @Deprecated
-  public Button whenHeld(final Command command) {
-    whileActiveOnce(command);
-    return this;
-  }
-
-  /**
-   * Starts the command when the button is released. The command is set to be interruptible.
-   *
-   * @param command the command to start
-   * @return this button, so calls can be chained
-   * @deprecated Replace with {@link Trigger#onFalse(Command)}
-   */
-  @Deprecated
-  public Button whenReleased(final Command command) {
-    whenInactive(command);
-    return this;
-  }
-
-  /**
-   * Runs the given runnable when the button is released.
-   *
-   * @param toRun the runnable to run
-   * @param requirements the required subsystems
-   * @return this button, so calls can be chained
-   * @deprecated Replace with {@link Trigger#onFalse(Command)}, creating the InstantCommand manually
-   */
-  @Deprecated
-  public Button whenReleased(final Runnable toRun, Subsystem... requirements) {
-    whenInactive(toRun, requirements);
-    return this;
-  }
-
-  /**
-   * Toggles the command whenever the button is pressed (on, then off, then on). The command is set
-   * to be interruptible.
-   *
-   * @param command the command to start
-   * @return this button, so calls can be chained
-   * @deprecated Replace with {@link Trigger#toggleOnTrue(Command)}
-   */
-  @Deprecated
-  public Button toggleWhenPressed(final Command command) {
-    toggleWhenActive(command);
-    return this;
-  }
-
-  /**
-   * Cancels the command when the button is pressed.
-   *
-   * @param command the command to start
-   * @return this button, so calls can be chained
-   * @deprecated Instead, pass this as an end condition to {@link Command#until(BooleanSupplier)}.
-   */
-  @Deprecated
-  public Button cancelWhenPressed(final Command command) {
-    cancelWhenActive(command);
-    return this;
-  }
-}

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/InternalButton.java

@@ -12,8 +12,7 @@ import java.util.concurrent.atomic.AtomicBoolean;
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-@SuppressWarnings("deprecation")
-public class InternalButton extends Button {
+public class InternalButton extends Trigger {
   // need to be references, so they can be mutated after being captured in the constructor.
   private final AtomicBoolean m_pressed;
   private final AtomicBoolean m_inverted;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/JoystickButton.java

@@ -9,12 +9,11 @@ import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 import edu.wpi.first.wpilibj.GenericHID;
 
 /**
- * A {@link Button} that gets its state from a {@link GenericHID}.
+ * A {@link Trigger} that gets its state from a {@link GenericHID}.
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-@SuppressWarnings("deprecation")
-public class JoystickButton extends Button {
+public class JoystickButton extends Trigger {
   /**
    * Creates a joystick button for triggering commands.
    *

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/NetworkButton.java

@@ -12,12 +12,11 @@ import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
 
 /**
- * A {@link Button} that uses a {@link NetworkTable} boolean field.
+ * A {@link Trigger} that uses a {@link NetworkTable} boolean field.
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-@SuppressWarnings("deprecation")
-public class NetworkButton extends Button {
+public class NetworkButton extends Trigger {
   /**
    * Creates a NetworkButton that commands can be bound to.
    *

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/POVButton.java

@@ -9,12 +9,11 @@ import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 import edu.wpi.first.wpilibj.GenericHID;
 
 /**
- * A {@link Button} that gets its state from a POV on a {@link GenericHID}.
+ * A {@link Trigger} that gets its state from a POV on a {@link GenericHID}.
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-@SuppressWarnings("deprecation")
-public class POVButton extends Button {
+public class POVButton extends Trigger {
   /**
    * Creates a POV button for triggering commands.
    *

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java

@@ -7,12 +7,9 @@ package edu.wpi.first.wpilibj2.command.button;
 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.math.filter.Debouncer;
-import edu.wpi.first.wpilibj.event.BooleanEvent;
 import edu.wpi.first.wpilibj.event.EventLoop;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.Subsystem;
 import java.util.function.BooleanSupplier;
 
 /**
@@ -52,12 +49,6 @@ public class Trigger implements BooleanSupplier {
     this(CommandScheduler.getInstance().getDefaultButtonLoop(), condition);
   }
 
-  /** Creates a new trigger that is always `false`. */
-  @Deprecated
-  public Trigger() {
-    this(() -> false);
-  }
-
   /**
    * Starts the given command whenever the condition changes from `false` to `true`.
    *
@@ -234,238 +225,6 @@ public class Trigger implements BooleanSupplier {
     return this;
   }
 
-  /**
-   * Starts the given command whenever the trigger just becomes active.
-   *
-   * @param command the command to start
-   * @return this trigger, so calls can be chained
-   * @deprecated Use {@link #onTrue(Command)} instead.
-   */
-  @Deprecated
-  public Trigger whenActive(final Command command) {
-    requireNonNullParam(command, "command", "whenActive");
-
-    m_loop.bind(
-        new Runnable() {
-          private boolean m_pressedLast = m_condition.getAsBoolean();
-
-          @Override
-          public void run() {
-            boolean pressed = m_condition.getAsBoolean();
-
-            if (!m_pressedLast && pressed) {
-              command.schedule();
-            }
-
-            m_pressedLast = pressed;
-          }
-        });
-    return this;
-  }
-
-  /**
-   * Runs the given runnable whenever the trigger just becomes active.
-   *
-   * @param toRun the runnable to run
-   * @param requirements the required subsystems
-   * @return this trigger, so calls can be chained
-   * @deprecated Replace with {@link #onTrue(Command)}, creating the InstantCommand manually
-   */
-  @Deprecated
-  public Trigger whenActive(final Runnable toRun, Subsystem... requirements) {
-    return whenActive(new InstantCommand(toRun, requirements));
-  }
-
-  /**
-   * Constantly starts the given command while the button is held.
-   *
-   * <p>{@link Command#schedule()} will be called repeatedly while the trigger is active, and will
-   * be canceled when the trigger becomes inactive.
-   *
-   * @param command the command to start
-   * @return this trigger, so calls can be chained
-   * @deprecated Use {@link #whileTrue(Command)} with {@link
-   *     edu.wpi.first.wpilibj2.command.RepeatCommand RepeatCommand}, or bind {@link
-   *     Command#schedule() command::schedule} to {@link BooleanEvent#ifHigh(Runnable)} (passing no
-   *     requirements).
-   */
-  @Deprecated
-  public Trigger whileActiveContinuous(final Command command) {
-    requireNonNullParam(command, "command", "whileActiveContinuous");
-
-    m_loop.bind(
-        new Runnable() {
-          private boolean m_pressedLast = m_condition.getAsBoolean();
-
-          @Override
-          public void run() {
-            boolean pressed = m_condition.getAsBoolean();
-
-            if (pressed) {
-              command.schedule();
-            } else if (m_pressedLast) {
-              command.cancel();
-            }
-
-            m_pressedLast = pressed;
-          }
-        });
-
-    return this;
-  }
-
-  /**
-   * Constantly runs the given runnable while the button is held.
-   *
-   * @param toRun the runnable to run
-   * @param requirements the required subsystems
-   * @return this trigger, so calls can be chained
-   * @deprecated Use {@link #whileTrue(Command)} and construct a RunCommand manually
-   */
-  @Deprecated
-  public Trigger whileActiveContinuous(final Runnable toRun, Subsystem... requirements) {
-    return whileActiveContinuous(new InstantCommand(toRun, requirements));
-  }
-
-  /**
-   * Starts the given command when the trigger initially becomes active, and ends it when it becomes
-   * inactive, but does not re-start it in-between.
-   *
-   * @param command the command to start
-   * @return this trigger, so calls can be chained
-   * @deprecated Use {@link #whileTrue(Command)} instead.
-   */
-  @Deprecated
-  public Trigger whileActiveOnce(final Command command) {
-    requireNonNullParam(command, "command", "whileActiveOnce");
-
-    m_loop.bind(
-        new Runnable() {
-          private boolean m_pressedLast = m_condition.getAsBoolean();
-
-          @Override
-          public void run() {
-            boolean pressed = m_condition.getAsBoolean();
-
-            if (!m_pressedLast && pressed) {
-              command.schedule();
-            } else if (m_pressedLast && !pressed) {
-              command.cancel();
-            }
-
-            m_pressedLast = pressed;
-          }
-        });
-    return this;
-  }
-
-  /**
-   * Starts the command when the trigger becomes inactive.
-   *
-   * @param command the command to start
-   * @return this trigger, so calls can be chained
-   * @deprecated Use {@link #onFalse(Command)} instead.
-   */
-  @Deprecated
-  public Trigger whenInactive(final Command command) {
-    requireNonNullParam(command, "command", "whenInactive");
-
-    m_loop.bind(
-        new Runnable() {
-          private boolean m_pressedLast = m_condition.getAsBoolean();
-
-          @Override
-          public void run() {
-            boolean pressed = m_condition.getAsBoolean();
-
-            if (m_pressedLast && !pressed) {
-              command.schedule();
-            }
-
-            m_pressedLast = pressed;
-          }
-        });
-
-    return this;
-  }
-
-  /**
-   * Runs the given runnable when the trigger becomes inactive.
-   *
-   * @param toRun the runnable to run
-   * @param requirements the required subsystems
-   * @return this trigger, so calls can be chained
-   * @deprecated Construct the InstantCommand manually and replace with {@link #onFalse(Command)}
-   */
-  @Deprecated
-  public Trigger whenInactive(final Runnable toRun, Subsystem... requirements) {
-    return whenInactive(new InstantCommand(toRun, requirements));
-  }
-
-  /**
-   * Toggles a command when the trigger becomes active.
-   *
-   * @param command the command to toggle
-   * @return this trigger, so calls can be chained
-   * @deprecated Use {@link #toggleOnTrue(Command)} instead.
-   */
-  @Deprecated
-  public Trigger toggleWhenActive(final Command command) {
-    requireNonNullParam(command, "command", "toggleWhenActive");
-
-    m_loop.bind(
-        new Runnable() {
-          private boolean m_pressedLast = m_condition.getAsBoolean();
-
-          @Override
-          public void run() {
-            boolean pressed = m_condition.getAsBoolean();
-
-            if (!m_pressedLast && pressed) {
-              if (command.isScheduled()) {
-                command.cancel();
-              } else {
-                command.schedule();
-              }
-            }
-
-            m_pressedLast = pressed;
-          }
-        });
-
-    return this;
-  }
-
-  /**
-   * Cancels a command when the trigger becomes active.
-   *
-   * @param command the command to cancel
-   * @return this trigger, so calls can be chained
-   * @deprecated Instead, pass this as an end condition to {@link Command#until(BooleanSupplier)}.
-   */
-  @Deprecated
-  public Trigger cancelWhenActive(final Command command) {
-    requireNonNullParam(command, "command", "cancelWhenActive");
-
-    m_loop.bind(
-        new Runnable() {
-          private boolean m_pressedLast = m_condition.getAsBoolean();
-
-          @Override
-          public void run() {
-            boolean pressed = m_condition.getAsBoolean();
-
-            if (!m_pressedLast && pressed) {
-              command.cancel();
-            }
-
-            m_pressedLast = pressed;
-          }
-        });
-
-    return this;
-  }
-
   @Override
   public boolean getAsBoolean() {
     return m_condition.getAsBoolean();