[commands] Fix and deprecate TrapezoidProfileCommand (#6722)

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/commands.json

@@ -119,16 +119,6 @@
     "replacename": "ReplaceMeSubsystem",
     "commandversion": 2
   },
-  {
-    "name": "TrapezoidProfileCommand",
-    "description": "A command that executes a trapezoidal motion profile.",
-    "tags": [
-      "trapezoidprofilecommand"
-    ],
-    "foldername": "trapezoidprofilecommand",
-    "replacename": "ReplaceMeTrapezoidProfileCommand",
-    "commandversion": 2
-  },
   {
     "name": "TrapezoidProfileSubsystem",
     "description": "A subsystem that executes a trapezoidal motion profile.",

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trapezoidprofilecommand/ReplaceMeTrapezoidProfileCommand.java

@@ -1,29 +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.commands.trapezoidprofilecommand;
-
-import edu.wpi.first.math.trajectory.TrapezoidProfile;
-import edu.wpi.first.wpilibj2.command.TrapezoidProfileCommand;
-
-// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
-// information, see:
-// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
-public class ReplaceMeTrapezoidProfileCommand extends TrapezoidProfileCommand {
-  /** Creates a new ReplaceMeTrapezoidProfileCommand. */
-  public ReplaceMeTrapezoidProfileCommand() {
-    super(
-        // The motion profile to be executed
-        new TrapezoidProfile(
-            // The motion profile constraints
-            new TrapezoidProfile.Constraints(0, 0)),
-        state -> {
-          // Use current trajectory state here
-        },
-        // Goal state
-        TrapezoidProfile.State::new,
-        // Current state
-        TrapezoidProfile.State::new);
-  }
-}