Merge branch 'main' into 2027

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

@@ -180,6 +180,9 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
    * using those requirements have been scheduled as interruptible. If this is the case, they will
    * be interrupted and the command will be scheduled.
    *
+   * <p>WARNING: using this function directly can often lead to unexpected behavior and should be
+   * avoided. Instead Triggers should be used to schedule Commands.
+   *
    * @param command the command to schedule. If null, no-op.
    */
   private void schedule(Command command) {
@@ -230,6 +233,9 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
   /**
    * Schedules multiple commands for execution. Does nothing for commands already scheduled.
    *
+   * <p>WARNING: using this function directly can often lead to unexpected behavior and should be
+   * avoided. Instead Triggers should be used to schedule Commands.
+   *
    * @param commands the commands to schedule. No-op on null.
    */
   public void schedule(Command... commands) {

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

@@ -198,15 +198,11 @@ public final class Commands {
    *
    * @param supplier the command supplier
    * @return the command
-   * @deprecated The ProxyCommand supplier constructor has been deprecated in favor of directly
-   *     proxying a {@link DeferredCommand}, see ProxyCommand documentation for more details. As a
-   *     replacement, consider using `defer(supplier).asProxy()`.
    * @see ProxyCommand
+   * @see DeferredCommand
    */
-  @Deprecated(since = "2025", forRemoval = true)
-  @SuppressWarnings("removal")
   public static Command deferredProxy(Supplier<Command> supplier) {
-    return new ProxyCommand(supplier);
+    return defer(() -> supplier.get().asProxy(), Set.of());
   }
 
   // Command Groups