Remove most 2022 deprecations (#4205)

Excludes "old" commands and SimDevice functions.

wpilibc/src/main/native/cpp/Compressor.cpp

@@ -34,14 +34,6 @@ Compressor::~Compressor() {
   }
 }
 
-void Compressor::Start() {
-  EnableDigital();
-}
-
-void Compressor::Stop() {
-  Disable();
-}
-
 bool Compressor::Enabled() const {
   return IsEnabled();
 }

wpilibc/src/main/native/cpp/DriverStation.cpp

@@ -233,12 +233,6 @@ Instance::~Instance() {
   }
 }
 
-DriverStation& DriverStation::GetInstance() {
-  ::GetInstance();
-  static DriverStation instance;
-  return instance;
-}
-
 bool DriverStation::GetStickButton(int stick, int button) {
   if (stick < 0 || stick >= kJoystickPorts) {
     FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
@@ -504,20 +498,12 @@ bool DriverStation::IsAutonomousEnabled() {
   return controlWord.autonomous && controlWord.enabled;
 }
 
-bool DriverStation::IsOperatorControl() {
-  return IsTeleop();
-}
-
 bool DriverStation::IsTeleop() {
   HAL_ControlWord controlWord;
   HAL_GetControlWord(&controlWord);
   return !(controlWord.autonomous || controlWord.test);
 }
 
-bool DriverStation::IsOperatorControlEnabled() {
-  return IsTeleopEnabled();
-}
-
 bool DriverStation::IsTeleopEnabled() {
   HAL_ControlWord controlWord;
   HAL_GetControlWord(&controlWord);
@@ -671,10 +657,6 @@ void DriverStation::InAutonomous(bool entering) {
   ::GetInstance().userInAutonomous = entering;
 }
 
-void DriverStation::InOperatorControl(bool entering) {
-  InTeleop(entering);
-}
-
 void DriverStation::InTeleop(bool entering) {
   ::GetInstance().userInTeleop = entering;
 }

wpilibc/src/main/native/cpp/IterativeRobotBase.cpp

@@ -16,9 +16,6 @@
 
 using namespace frc;
 
-IterativeRobotBase::IterativeRobotBase(double period)
-    : IterativeRobotBase(units::second_t(period)) {}
-
 IterativeRobotBase::IterativeRobotBase(units::second_t period)
     : m_period(period),
       m_watchdog(period, [this] { PrintLoopOverrunMessage(); }) {}

wpilibc/src/main/native/cpp/Preferences.cpp

@@ -38,12 +38,6 @@ void ResetPreferencesInstance() {
 }  // namespace frc::impl
 #endif
 
-Preferences* Preferences::GetInstance() {
-  ::GetInstance();
-  static Preferences instance;
-  return &instance;
-}
-
 std::vector<std::string> Preferences::GetKeys() {
   return ::GetInstance().table->GetKeys();
 }
@@ -80,10 +74,6 @@ void Preferences::SetString(std::string_view key, std::string_view value) {
   entry.SetPersistent();
 }
 
-void Preferences::PutString(std::string_view key, std::string_view value) {
-  SetString(key, value);
-}
-
 void Preferences::InitString(std::string_view key, std::string_view value) {
   auto entry = ::GetInstance().table->GetEntry(key);
   entry.SetDefaultString(value);
@@ -96,10 +86,6 @@ void Preferences::SetInt(std::string_view key, int value) {
   entry.SetPersistent();
 }
 
-void Preferences::PutInt(std::string_view key, int value) {
-  SetInt(key, value);
-}
-
 void Preferences::InitInt(std::string_view key, int value) {
   auto entry = ::GetInstance().table->GetEntry(key);
   entry.SetDefaultDouble(value);
@@ -112,10 +98,6 @@ void Preferences::SetDouble(std::string_view key, double value) {
   entry.SetPersistent();
 }
 
-void Preferences::PutDouble(std::string_view key, double value) {
-  SetDouble(key, value);
-}
-
 void Preferences::InitDouble(std::string_view key, double value) {
   auto entry = ::GetInstance().table->GetEntry(key);
   entry.SetDefaultDouble(value);
@@ -128,10 +110,6 @@ void Preferences::SetFloat(std::string_view key, float value) {
   entry.SetPersistent();
 }
 
-void Preferences::PutFloat(std::string_view key, float value) {
-  SetFloat(key, value);
-}
-
 void Preferences::InitFloat(std::string_view key, float value) {
   auto entry = ::GetInstance().table->GetEntry(key);
   entry.SetDefaultDouble(value);
@@ -144,10 +122,6 @@ void Preferences::SetBoolean(std::string_view key, bool value) {
   entry.SetPersistent();
 }
 
-void Preferences::PutBoolean(std::string_view key, bool value) {
-  SetBoolean(key, value);
-}
-
 void Preferences::InitBoolean(std::string_view key, bool value) {
   auto entry = ::GetInstance().table->GetEntry(key);
   entry.SetDefaultBoolean(value);
@@ -160,10 +134,6 @@ void Preferences::SetLong(std::string_view key, int64_t value) {
   entry.SetPersistent();
 }
 
-void Preferences::PutLong(std::string_view key, int64_t value) {
-  SetLong(key, value);
-}
-
 void Preferences::InitLong(std::string_view key, int64_t value) {
   auto entry = ::GetInstance().table->GetEntry(key);
   entry.SetDefaultDouble(value);

wpilibc/src/main/native/cpp/RobotState.cpp

@@ -20,10 +20,6 @@ bool RobotState::IsEStopped() {
   return DriverStation::IsEStopped();
 }
 
-bool RobotState::IsOperatorControl() {
-  return IsTeleop();
-}
-
 bool RobotState::IsTeleop() {
   return DriverStation::IsTeleop();
 }

wpilibc/src/main/native/cpp/SPI.cpp

@@ -196,16 +196,6 @@ void SPI::SetSampleDataOnTrailingEdge() {
   HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
 }
 
-void SPI::SetSampleDataOnFalling() {
-  m_sampleOnTrailing = true;
-  HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
-}
-
-void SPI::SetSampleDataOnRising() {
-  m_sampleOnTrailing = false;
-  HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
-}
-
 void SPI::SetClockActiveLow() {
   m_clockIdleHigh = true;
   HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
@@ -278,10 +268,6 @@ void SPI::StartAutoRate(units::second_t period) {
   FRC_CheckErrorStatus(status, "Port {}", m_port);
 }
 
-void SPI::StartAutoRate(double period) {
-  StartAutoRate(units::second_t(period));
-}
-
 void SPI::StartAutoTrigger(DigitalSource& source, bool rising, bool falling) {
   int32_t status = 0;
   HAL_StartSPIAutoTrigger(m_port, source.GetPortHandleForRouting(),
@@ -355,13 +341,6 @@ void SPI::InitAccumulator(units::second_t period, int cmd, int xferSize,
   m_accum->m_notifier.StartPeriodic(period * kAccumulateDepth / 2);
 }
 
-void SPI::InitAccumulator(double period, int cmd, int xferSize, int validMask,
-                          int validValue, int dataShift, int dataSize,
-                          bool isSigned, bool bigEndian) {
-  InitAccumulator(units::second_t(period), cmd, xferSize, validMask, validValue,
-                  dataShift, dataSize, isSigned, bigEndian);
-}
-
 void SPI::FreeAccumulator() {
   m_accum.reset(nullptr);
   FreeAuto();

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

@@ -1,69 +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/SpeedControllerGroup.h"
-
-#include <wpi/sendable/SendableBuilder.h>
-#include <wpi/sendable/SendableRegistry.h>
-
-using namespace frc;
-
-// Can't use a delegated constructor here because of an MSVC bug.
-// https://developercommunity.visualstudio.com/content/problem/583/compiler-bug-with-delegating-a-constructor.html
-
-SpeedControllerGroup::SpeedControllerGroup(
-    std::vector<std::reference_wrapper<SpeedController>>&& speedControllers)
-    : m_speedControllers(std::move(speedControllers)) {
-  Initialize();
-}
-
-void SpeedControllerGroup::Initialize() {
-  for (auto& speedController : m_speedControllers) {
-    wpi::SendableRegistry::AddChild(this, &speedController.get());
-  }
-  static int instances = 0;
-  ++instances;
-  wpi::SendableRegistry::Add(this, "SpeedControllerGroup", instances);
-}
-
-void SpeedControllerGroup::Set(double speed) {
-  for (auto speedController : m_speedControllers) {
-    speedController.get().Set(m_isInverted ? -speed : speed);
-  }
-}
-
-double SpeedControllerGroup::Get() const {
-  if (!m_speedControllers.empty()) {
-    return m_speedControllers.front().get().Get() * (m_isInverted ? -1 : 1);
-  }
-  return 0.0;
-}
-
-void SpeedControllerGroup::SetInverted(bool isInverted) {
-  m_isInverted = isInverted;
-}
-
-bool SpeedControllerGroup::GetInverted() const {
-  return m_isInverted;
-}
-
-void SpeedControllerGroup::Disable() {
-  for (auto speedController : m_speedControllers) {
-    speedController.get().Disable();
-  }
-}
-
-void SpeedControllerGroup::StopMotor() {
-  for (auto speedController : m_speedControllers) {
-    speedController.get().StopMotor();
-  }
-}
-
-void SpeedControllerGroup::InitSendable(wpi::SendableBuilder& builder) {
-  builder.SetSmartDashboardType("Speed Controller");
-  builder.SetActuator(true);
-  builder.SetSafeState([=] { StopMotor(); });
-  builder.AddDoubleProperty(
-      "Value", [=] { return Get(); }, [=](double value) { Set(value); });
-}

wpilibc/src/main/native/cpp/TimedRobot.cpp

@@ -70,8 +70,6 @@ void TimedRobot::EndCompetition() {
   HAL_StopNotifier(m_notifier, &status);
 }
 
-TimedRobot::TimedRobot(double period) : TimedRobot(units::second_t(period)) {}
-
 TimedRobot::TimedRobot(units::second_t period) : IterativeRobotBase(period) {
   m_startTime = Timer::GetFPGATimestamp();
   AddPeriodic([=] { LoopFunc(); }, period);

wpilibc/src/main/native/cpp/Timer.cpp

@@ -65,10 +65,6 @@ bool Timer::HasElapsed(units::second_t period) const {
   return Get() >= period;
 }
 
-bool Timer::HasPeriodPassed(units::second_t period) {
-  return AdvanceIfElapsed(period);
-}
-
 bool Timer::AdvanceIfElapsed(units::second_t period) {
   if (Get() >= period) {
     // Advance the start time by the period.

wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp

@@ -12,20 +12,12 @@
 #include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/MathUtil.h"
-#include "frc/SpeedController.h"
+#include "frc/motorcontrol/MotorController.h"
 
 using namespace frc;
 
-#if defined(_MSC_VER)
-#pragma warning(disable : 4996)  // was declared deprecated
-#elif defined(__clang__)
-#pragma clang diagnostic ignored "-Wdeprecated-declarations"
-#elif defined(__GNUC__)
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#endif
-
-DifferentialDrive::DifferentialDrive(SpeedController& leftMotor,
-                                     SpeedController& rightMotor)
+DifferentialDrive::DifferentialDrive(MotorController& leftMotor,
+                                     MotorController& rightMotor)
     : m_leftMotor(&leftMotor), m_rightMotor(&rightMotor) {
   wpi::SendableRegistry::AddChild(this, m_leftMotor);
   wpi::SendableRegistry::AddChild(this, m_rightMotor);

wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp

@@ -13,27 +13,19 @@
 #include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/MathUtil.h"
-#include "frc/SpeedController.h"
+#include "frc/motorcontrol/MotorController.h"
 
 using namespace frc;
 
-#if defined(_MSC_VER)
-#pragma warning(disable : 4996)  // was declared deprecated
-#elif defined(__clang__)
-#pragma clang diagnostic ignored "-Wdeprecated-declarations"
-#elif defined(__GNUC__)
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#endif
-
-KilloughDrive::KilloughDrive(SpeedController& leftMotor,
-                             SpeedController& rightMotor,
-                             SpeedController& backMotor)
+KilloughDrive::KilloughDrive(MotorController& leftMotor,
+                             MotorController& rightMotor,
+                             MotorController& backMotor)
     : KilloughDrive(leftMotor, rightMotor, backMotor, kDefaultLeftMotorAngle,
                     kDefaultRightMotorAngle, kDefaultBackMotorAngle) {}
 
-KilloughDrive::KilloughDrive(SpeedController& leftMotor,
-                             SpeedController& rightMotor,
-                             SpeedController& backMotor, double leftMotorAngle,
+KilloughDrive::KilloughDrive(MotorController& leftMotor,
+                             MotorController& rightMotor,
+                             MotorController& backMotor, double leftMotorAngle,
                              double rightMotorAngle, double backMotorAngle)
     : m_leftMotor(&leftMotor),
       m_rightMotor(&rightMotor),

wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp

@@ -13,23 +13,15 @@
 #include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/MathUtil.h"
-#include "frc/SpeedController.h"
 #include "frc/drive/Vector2d.h"
+#include "frc/motorcontrol/MotorController.h"
 
 using namespace frc;
 
-#if defined(_MSC_VER)
-#pragma warning(disable : 4996)  // was declared deprecated
-#elif defined(__clang__)
-#pragma clang diagnostic ignored "-Wdeprecated-declarations"
-#elif defined(__GNUC__)
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#endif
-
-MecanumDrive::MecanumDrive(SpeedController& frontLeftMotor,
-                           SpeedController& rearLeftMotor,
-                           SpeedController& frontRightMotor,
-                           SpeedController& rearRightMotor)
+MecanumDrive::MecanumDrive(MotorController& frontLeftMotor,
+                           MotorController& rearLeftMotor,
+                           MotorController& frontRightMotor,
+                           MotorController& rearRightMotor)
     : m_frontLeftMotor(&frontLeftMotor),
       m_rearLeftMotor(&rearLeftMotor),
       m_frontRightMotor(&frontRightMotor),

wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp

@@ -10,7 +10,6 @@
 
 #include <hal/FRCUsageReporting.h>
 
-#include "frc/MathUtil.h"
 #include "frc/motorcontrol/MotorController.h"
 
 using namespace frc;
@@ -31,10 +30,6 @@ void RobotDriveBase::FeedWatchdog() {
   Feed();
 }
 
-double RobotDriveBase::ApplyDeadband(double value, double deadband) {
-  return frc::ApplyDeadband(value, deadband);
-}
-
 void RobotDriveBase::Desaturate(wpi::span<double> wheelSpeeds) {
   double maxMagnitude = std::abs(wheelSpeeds[0]);
   for (size_t i = 1; i < wheelSpeeds.size(); i++) {

wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp

@@ -75,12 +75,6 @@ std::shared_ptr<Component> Instance::GetOrAdd(wpi::Sendable* sendable) {
   return data;
 }
 
-LiveWindow* LiveWindow::GetInstance() {
-  ::GetInstance();
-  static LiveWindow instance;
-  return &instance;
-}
-
 void LiveWindow::SetEnabledCallback(std::function<void()> func) {
   ::GetInstance().enabled = func;
 }

wpilibc/src/main/native/cpp/motorcontrol/MotorController.cpp

@@ -2,12 +2,12 @@
 // 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/SpeedController.h"
+#include "frc/motorcontrol/MotorController.h"
 
 #include <frc/RobotController.h>
 
 using namespace frc;
 
-void SpeedController::SetVoltage(units::volt_t output) {
+void MotorController::SetVoltage(units::volt_t output) {
   Set(output / units::volt_t(RobotController::GetInputVoltage()));
 }

wpilibc/src/main/native/cppcs/RobotBase.cpp

@@ -192,18 +192,10 @@ bool RobotBase::IsAutonomousEnabled() const {
   return DriverStation::IsAutonomousEnabled();
 }
 
-bool RobotBase::IsOperatorControl() const {
-  return DriverStation::IsTeleop();
-}
-
 bool RobotBase::IsTeleop() const {
   return DriverStation::IsTeleop();
 }
 
-bool RobotBase::IsOperatorControlEnabled() const {
-  return DriverStation::IsTeleopEnabled();
-}
-
 bool RobotBase::IsTeleopEnabled() const {
   return DriverStation::IsTeleopEnabled();
 }

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

@@ -58,24 +58,6 @@ class Compressor : public wpi::Sendable,
   Compressor(Compressor&&) = default;
   Compressor& operator=(Compressor&&) = default;
 
-  /**
-   * Starts closed-loop control. Note that closed loop control is enabled by
-   * default.
-   *
-   * @deprecated Use EnableDigital() instead.
-   */
-  WPI_DEPRECATED("Use EnableDigital() instead")
-  void Start();
-
-  /**
-   * Stops closed-loop control. Note that closed loop control is enabled by
-   * default.
-   *
-   * @deprecated Use Disable() instead.
-   */
-  WPI_DEPRECATED("Use Disable() instead")
-  void Stop();
-
   /**
    * Check if compressor output is active.
    * To (re)enable the compressor use EnableDigital() or EnableAnalog(...).

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

@@ -7,7 +7,6 @@
 #include <string>
 
 #include <units/time.h>
-#include <wpi/deprecated.h>
 
 namespace wpi::log {
 class DataLog;
@@ -24,15 +23,6 @@ class DriverStation final {
   enum Alliance { kRed, kBlue, kInvalid };
   enum MatchType { kNone, kPractice, kQualification, kElimination };
 
-  /**
-   * Return a reference to the singleton DriverStation.
-   *
-   * @return Reference to the DS instance
-   * @deprecated Use the static methods
-   */
-  WPI_DEPRECATED("Use static methods")
-  static DriverStation& GetInstance();
-
   static constexpr int kJoystickPorts = 6;
 
   /**
@@ -196,15 +186,6 @@ class DriverStation final {
    */
   static bool IsAutonomousEnabled();
 
-  /**
-   * Check if the DS is commanding teleop mode.
-   *
-   * @return True if the robot is being commanded to be in teleop mode
-   * @deprecated Use IsTeleop() instead.
-   */
-  WPI_DEPRECATED("Use IsTeleop() instead")
-  static bool IsOperatorControl();
-
   /**
    * Check if the DS is commanding teleop mode.
    *
@@ -212,16 +193,6 @@ class DriverStation final {
    */
   static bool IsTeleop();
 
-  /**
-   * Check if the DS is commanding teleop mode and if it has enabled the robot.
-   *
-   * @return True if the robot is being commanded to be in teleop mode and
-   * enabled.
-   * @deprecated Use IsTeleopEnabled() instead.
-   */
-  WPI_DEPRECATED("Use IsTeleopEnabled() instead")
-  static bool IsOperatorControlEnabled();
-
   /**
    * Check if the DS is commanding teleop mode and if it has enabled the robot.
    *
@@ -395,17 +366,6 @@ class DriverStation final {
    */
   static void InAutonomous(bool entering);
 
-  /**
-   * Only to be used to tell the Driver Station what code you claim to be
-   * executing for diagnostic purposes only.
-   *
-   * @param entering If true, starting teleop code; if false, leaving teleop
-   *                 code.
-   * @deprecated Use InTeleop() instead.
-   */
-  WPI_DEPRECATED("Use InTeleop() instead")
-  static void InOperatorControl(bool entering);
-
   /**
    * Only to be used to tell the Driver Station what code you claim to be
    * executing for diagnostic purposes only.

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

@@ -166,7 +166,9 @@ class Encoder : public CounterBase,
    * scaled using the value from SetDistancePerPulse().
    *
    * @return Period in seconds of the most recent pulse.
+   * @deprecated Use getRate() in favor of this method.
    */
+  WPI_DEPRECATED("Use GetRate() in favor of this method")
   units::second_t GetPeriod() const override;
 
   /**
@@ -177,13 +179,12 @@ class Encoder : public CounterBase,
    * to determine if the wheels or other shaft has stopped rotating.
    * This method compensates for the decoding type.
    *
-   * @deprecated Use SetMinRate() in favor of this method.  This takes unscaled
-   *             periods and SetMinRate() scales using value from
-   *             SetDistancePerPulse().
-   *
    * @param maxPeriod The maximum time between rising and falling edges before
    *                  the FPGA will report the device stopped. This is expressed
    *                  in seconds.
+   * @deprecated Use SetMinRate() in favor of this method.  This takes unscaled
+   *             periods and SetMinRate() scales using value from
+   *             SetDistancePerPulse().
    */
   WPI_DEPRECATED(
       "Use SetMinRate() in favor of this method.  This takes unscaled periods "

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

@@ -5,7 +5,6 @@
 #pragma once
 
 #include <units/time.h>
-#include <wpi/deprecated.h>
 
 #include "frc/RobotBase.h"
 #include "frc/Watchdog.h"
@@ -207,17 +206,6 @@ class IterativeRobotBase : public RobotBase {
    */
   units::second_t GetPeriod() const;
 
-  /**
-   * Constructor for IterativeRobotBase.
-   *
-   * @param period Period in seconds.
-   *
-   * @deprecated Use IterativeRobotBase(units::second_t period) with unit-safety
-   * instead
-   */
-  WPI_DEPRECATED("Use constructor with unit-safety instead.")
-  explicit IterativeRobotBase(double period);
-
   /**
    * Constructor for IterativeRobotBase.
    *

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

@@ -10,8 +10,6 @@
 #include <string_view>
 #include <vector>
 
-#include <wpi/deprecated.h>
-
 namespace frc {
 
 /**
@@ -30,15 +28,6 @@ namespace frc {
  */
 class Preferences {
  public:
-  /**
-   * Get the one and only {@link Preferences} object.
-   *
-   * @return pointer to the {@link Preferences}
-   * @deprecated Use the static methods
-   */
-  WPI_DEPRECATED("Use static methods")
-  static Preferences* GetInstance();
-
   /**
    * Returns a vector of all the keys.
    *
@@ -119,18 +108,6 @@ class Preferences {
    */
   static void SetString(std::string_view key, std::string_view value);
 
-  /**
-   * Puts the given string into the preferences table.
-   *
-   * The value may not have quotation marks, nor may the key have any whitespace
-   * nor an equals sign.
-   *
-   * @param key   the key
-   * @param value the value
-   */
-  WPI_DEPRECATED("Use SetString instead.")
-  static void PutString(std::string_view key, std::string_view value);
-
   /**
    * Puts the given string into the preferences table if it doesn't
    * already exist.
@@ -147,17 +124,6 @@ class Preferences {
    */
   static void SetInt(std::string_view key, int value);
 
-  /**
-   * Puts the given int into the preferences table.
-   *
-   * The key may not have any whitespace nor an equals sign.
-   *
-   * @param key   the key
-   * @param value the value
-   */
-  WPI_DEPRECATED("Use SetInt instead.")
-  static void PutInt(std::string_view key, int value);
-
   /**
    * Puts the given int into the preferences table if it doesn't
    * already exist.
@@ -174,17 +140,6 @@ class Preferences {
    */
   static void SetDouble(std::string_view key, double value);
 
-  /**
-   * Puts the given double into the preferences table.
-   *
-   * The key may not have any whitespace nor an equals sign.
-   *
-   * @param key   the key
-   * @param value the value
-   */
-  WPI_DEPRECATED("Use SetDouble instead.")
-  static void PutDouble(std::string_view key, double value);
-
   /**
    * Puts the given double into the preferences table if it doesn't
    * already exist.
@@ -201,17 +156,6 @@ class Preferences {
    */
   static void SetFloat(std::string_view key, float value);
 
-  /**
-   * Puts the given float into the preferences table.
-   *
-   * The key may not have any whitespace nor an equals sign.
-   *
-   * @param key   the key
-   * @param value the value
-   */
-  WPI_DEPRECATED("Use SetFloat instead.")
-  static void PutFloat(std::string_view key, float value);
-
   /**
    * Puts the given float into the preferences table if it doesn't
    * already exist.
@@ -228,17 +172,6 @@ class Preferences {
    */
   static void SetBoolean(std::string_view key, bool value);
 
-  /**
-   * Puts the given boolean into the preferences table.
-   *
-   * The key may not have any whitespace nor an equals sign.
-   *
-   * @param key   the key
-   * @param value the value
-   */
-  WPI_DEPRECATED("Use SetBoolean instead.")
-  static void PutBoolean(std::string_view key, bool value);
-
   /**
    * Puts the given boolean into the preferences table if it doesn't
    * already exist.
@@ -255,17 +188,6 @@ class Preferences {
    */
   static void SetLong(std::string_view key, int64_t value);
 
-  /**
-   * Puts the given long (int64_t) into the preferences table.
-   *
-   * The key may not have any whitespace nor an equals sign.
-   *
-   * @param key   the key
-   * @param value the value
-   */
-  WPI_DEPRECATED("Use SetLong instead.")
-  static void PutLong(std::string_view key, int64_t value);
-
   /**
    * Puts the given long into the preferences table if it doesn't
    * already exist.

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

@@ -11,7 +11,6 @@
 #include <hal/HALBase.h>
 #include <hal/Main.h>
 #include <wpi/condition_variable.h>
-#include <wpi/deprecated.h>
 #include <wpi/mutex.h>
 
 #include "frc/Errors.h"
@@ -151,16 +150,6 @@ class RobotBase {
    */
   bool IsAutonomousEnabled() const;
 
-  /**
-   * Determine if the robot is currently in Operator Control mode.
-   *
-   * @return True if the robot is currently operating in Tele-Op mode as
-   *         determined by the field controls.
-   * @deprecated Use IsTeleop() instead.
-   */
-  WPI_DEPRECATED("Use IsTeleop() instead")
-  bool IsOperatorControl() const;
-
   /**
    * Determine if the robot is currently in Operator Control mode.
    *
@@ -169,16 +158,6 @@ class RobotBase {
    */
   bool IsTeleop() const;
 
-  /**
-   * Determine if the robot is current in Operator Control mode and enabled.
-   *
-   * @return True if the robot is currently operating in Tele-Op mode while
-   *         enabled as determined by the field-controls.
-   * @deprecated Use IsTeleopEnabled() instead.
-   */
-  WPI_DEPRECATED("Use IsTeleopEnabled() instead")
-  bool IsOperatorControlEnabled() const;
-
   /**
    * Determine if the robot is current in Operator Control mode and enabled.
    *

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

@@ -4,8 +4,6 @@
 
 #pragma once
 
-#include <wpi/deprecated.h>
-
 namespace frc {
 
 class RobotState {
@@ -15,8 +13,6 @@ class RobotState {
   static bool IsDisabled();
   static bool IsEnabled();
   static bool IsEStopped();
-  WPI_DEPRECATED("Use IsTeleop() instead")
-  static bool IsOperatorControl();
   static bool IsTeleop();
   static bool IsAutonomous();
   static bool IsTest();

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

@@ -10,7 +10,6 @@
 
 #include <hal/SPITypes.h>
 #include <units/time.h>
-#include <wpi/deprecated.h>
 #include <wpi/span.h>
 
 namespace frc {
@@ -76,26 +75,6 @@ class SPI {
    */
   void SetSampleDataOnTrailingEdge();
 
-  /**
-   * Configure that the data is stable on the falling edge and the data
-   * changes on the rising edge.
-   *
-   * @deprecated Use SetSampleDataOnTrailingEdge() instead.
-   *
-   */
-  WPI_DEPRECATED("Use SetSampleDataOnTrailingEdge instead.")
-  void SetSampleDataOnFalling();
-
-  /**
-   * Configure that the data is stable on the rising edge and the data
-   * changes on the falling edge.
-   *
-   * @deprecated Use SetSampleDataOnLeadingEdge() instead.
-   *
-   */
-  WPI_DEPRECATED("Use SetSampleDataOnLeadingEdge instead")
-  void SetSampleDataOnRising();
-
   /**
    * Configure the clock output line to be active low.
    * This is sometimes called clock polarity high or clock idle high.
@@ -189,19 +168,6 @@ class SPI {
    */
   void StartAutoRate(units::second_t period);
 
-  /**
-   * Start running the automatic SPI transfer engine at a periodic rate.
-   *
-   * InitAuto() and SetAutoTransmitData() must be called before calling this
-   * function.
-   *
-   * @deprecated use unit-safe StartAutoRate(units::second_t period) instead.
-   *
-   * @param period period between transfers, in seconds (us resolution)
-   */
-  WPI_DEPRECATED("Use StartAutoRate with unit-safety instead")
-  void StartAutoRate(double period);
-
   /**
    * Start running the automatic SPI transfer engine when a trigger occurs.
    *
@@ -286,31 +252,6 @@ class SPI {
                        int validMask, int validValue, int dataShift,
                        int dataSize, bool isSigned, bool bigEndian);
 
-  /**
-   * Initialize the accumulator.
-   *
-   * @deprecated Use unit-safe version instead.
-   *             InitAccumulator(units::second_t period, int cmd, int <!--
-   * -->         xferSize, int validMask, int validValue, int dataShift, <!--
-   * -->         int dataSize, bool isSigned, bool bigEndian)
-   *
-   * @param period     Time between reads
-   * @param cmd        SPI command to send to request data
-   * @param xferSize   SPI transfer size, in bytes
-   * @param validMask  Mask to apply to received data for validity checking
-   * @param validValue After valid_mask is applied, required matching value for
-   *                   validity checking
-   * @param dataShift  Bit shift to apply to received data to get actual data
-   *                   value
-   * @param dataSize   Size (in bits) of data field
-   * @param isSigned   Is data field signed?
-   * @param bigEndian  Is device big endian?
-   */
-  WPI_DEPRECATED("Use InitAccumulator with unit-safety instead")
-  void InitAccumulator(double period, int cmd, int xferSize, int validMask,
-                       int validValue, int dataShift, int dataSize,
-                       bool isSigned, bool bigEndian);
-
   /**
    * Frees the accumulator.
    */

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

@@ -1,74 +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 <units/voltage.h>
-#include <wpi/deprecated.h>
-
-namespace frc {
-
-/**
- * Interface for speed controlling devices.
- *
- * @deprecated Use MotorController.
- */
-class WPI_DEPRECATED("use MotorController") SpeedController {
- public:
-  virtual ~SpeedController() = default;
-
-  /**
-   * Common interface for setting the speed of a speed controller.
-   *
-   * @param speed The speed to set.  Value should be between -1.0 and 1.0.
-   */
-  virtual void Set(double speed) = 0;
-
-  /**
-   * Sets the voltage output of the SpeedController.  Compensates for
-   * the current bus voltage to ensure that the desired voltage is output even
-   * if the battery voltage is below 12V - highly useful when the voltage
-   * outputs are "meaningful" (e.g. they come from a feedforward calculation).
-   *
-   * <p>NOTE: This function *must* be called regularly in order for voltage
-   * compensation to work properly - unlike the ordinary set function, it is not
-   * "set it and forget it."
-   *
-   * @param output The voltage to output.
-   */
-  virtual void SetVoltage(units::volt_t output);
-
-  /**
-   * Common interface for getting the current set speed of a speed controller.
-   *
-   * @return The current set speed.  Value is between -1.0 and 1.0.
-   */
-  virtual double Get() const = 0;
-
-  /**
-   * Common interface for inverting direction of a speed controller.
-   *
-   * @param isInverted The state of inversion, true is inverted.
-   */
-  virtual void SetInverted(bool isInverted) = 0;
-
-  /**
-   * Common interface for returning the inversion state of a speed controller.
-   *
-   * @return isInverted The state of inversion, true is inverted.
-   */
-  virtual bool GetInverted() const = 0;
-
-  /**
-   * Common interface for disabling a motor.
-   */
-  virtual void Disable() = 0;
-
-  /**
-   * Common interface to stop the motor until Set is called again.
-   */
-  virtual void StopMotor() = 0;
-};
-
-}  // namespace frc

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

@@ -1,55 +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 <functional>
-#include <vector>
-
-#include <wpi/deprecated.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
-
-#include "frc/motorcontrol/MotorController.h"
-
-namespace frc {
-
-/**
- * Allows multiple SpeedController objects to be linked together.
- *
- * @deprecated Use MotorControllerGroup.
- */
-class WPI_DEPRECATED("use MotorControllerGroup") SpeedControllerGroup
-    : public wpi::Sendable,
-      public MotorController,
-      public wpi::SendableHelper<SpeedControllerGroup> {
- public:
-  template <class... SpeedControllers>
-  explicit SpeedControllerGroup(SpeedController& speedController,
-                                SpeedControllers&... speedControllers);
-  explicit SpeedControllerGroup(
-      std::vector<std::reference_wrapper<SpeedController>>&& speedControllers);
-
-  SpeedControllerGroup(SpeedControllerGroup&&) = default;
-  SpeedControllerGroup& operator=(SpeedControllerGroup&&) = default;
-
-  void Set(double speed) override;
-  double Get() const override;
-  void SetInverted(bool isInverted) override;
-  bool GetInverted() const override;
-  void Disable() override;
-  void StopMotor() override;
-
-  void InitSendable(wpi::SendableBuilder& builder) override;
-
- private:
-  bool m_isInverted = false;
-  std::vector<std::reference_wrapper<SpeedController>> m_speedControllers;
-
-  void Initialize();
-};
-
-}  // namespace frc
-
-#include "frc/SpeedControllerGroup.inc"

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

@@ -1,22 +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 <functional>
-#include <vector>
-
-#include "frc/SpeedControllerGroup.h"
-
-namespace frc {
-
-template <class... SpeedControllers>
-SpeedControllerGroup::SpeedControllerGroup(
-    SpeedController& speedController, SpeedControllers&... speedControllers)
-    : m_speedControllers(std::vector<std::reference_wrapper<SpeedController>>{
-          speedController, speedControllers...}) {
-  Initialize();
-}
-
-}  // namespace frc

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

@@ -11,7 +11,6 @@
 #include <hal/Types.h>
 #include <units/math.h>
 #include <units/time.h>
-#include <wpi/deprecated.h>
 #include <wpi/priority_queue.h>
 
 #include "frc/IterativeRobotBase.h"
@@ -42,17 +41,6 @@ class TimedRobot : public IterativeRobotBase {
    */
   void EndCompetition() override;
 
-  /**
-   * Constructor for TimedRobot.
-   *
-   * @deprecated use unit safe constructor instead.
-   * TimedRobot(units::second_t period = kDefaultPeriod)
-   *
-   * @param period Period in seconds.
-   */
-  WPI_DEPRECATED("Use constructor with unit-safety instead.")
-  explicit TimedRobot(double period);
-
   /**
    * Constructor for TimedRobot.
    *

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

@@ -5,7 +5,6 @@
 #pragma once
 
 #include <units/time.h>
-#include <wpi/deprecated.h>
 
 namespace frc {
 
@@ -94,18 +93,6 @@ class Timer {
    */
   bool HasElapsed(units::second_t period) const;
 
-  /**
-   * Check if the period specified has passed and if it has, advance the start
-   * time by that period. This is useful to decide if it's time to do periodic
-   * work without drifting later by the time it took to get around to checking.
-   *
-   * @param period The period to check for.
-   * @return       True if the period has passed.
-   * @deprecated Use AdvanceIfElapsed() instead.
-   */
-  WPI_DEPRECATED("Use AdvanceIfElapsed() instead.")
-  bool HasPeriodPassed(units::second_t period);
-
   /**
    * Check if the period specified has passed and if it has, advance the start
    * time by that period. This is useful to decide if it's time to do periodic

wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h

@@ -13,18 +13,7 @@
 
 namespace frc {
 
-#if defined(_MSC_VER)
-#pragma warning(push)
-#pragma warning(disable : 4996)  // was declared deprecated
-#elif defined(__clang__)
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wdeprecated-declarations"
-#elif defined(__GNUC__)
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#endif
-
-class SpeedController;
+class MotorController;
 
 /**
  * A class for driving differential drive/skid-steer drive platforms such as
@@ -120,7 +109,7 @@ class DifferentialDrive : public RobotDriveBase,
    * To pass multiple motors per side, use a MotorControllerGroup. If a motor
    * needs to be inverted, do so before passing it in.
    */
-  DifferentialDrive(SpeedController& leftMotor, SpeedController& rightMotor);
+  DifferentialDrive(MotorController& leftMotor, MotorController& rightMotor);
 
   ~DifferentialDrive() override = default;
 
@@ -223,16 +212,8 @@ class DifferentialDrive : public RobotDriveBase,
   void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
-  SpeedController* m_leftMotor;
-  SpeedController* m_rightMotor;
+  MotorController* m_leftMotor;
+  MotorController* m_rightMotor;
 };
 
-#if defined(_MSC_VER)
-#pragma warning(pop)
-#elif defined(__clang__)
-#pragma clang diagnostic pop
-#elif defined(__GNUC__)
-#pragma GCC diagnostic pop
-#endif
-
 }  // namespace frc

wpilibc/src/main/native/include/frc/drive/KilloughDrive.h

@@ -15,18 +15,7 @@
 
 namespace frc {
 
-#if defined(_MSC_VER)
-#pragma warning(push)
-#pragma warning(disable : 4996)  // was declared deprecated
-#elif defined(__clang__)
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wdeprecated-declarations"
-#elif defined(__GNUC__)
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#endif
-
-class SpeedController;
+class MotorController;
 
 /**
  * A class for driving Killough drive platforms.
@@ -88,8 +77,8 @@ class KilloughDrive : public RobotDriveBase,
    * @param rightMotor The motor on the right corner.
    * @param backMotor  The motor on the back corner.
    */
-  KilloughDrive(SpeedController& leftMotor, SpeedController& rightMotor,
-                SpeedController& backMotor);
+  KilloughDrive(MotorController& leftMotor, MotorController& rightMotor,
+                MotorController& backMotor);
 
   /**
    * Construct a Killough drive with the given motors.
@@ -106,8 +95,8 @@ class KilloughDrive : public RobotDriveBase,
    * @param backMotorAngle  The angle of the back wheel's forward direction of
    *                        travel.
    */
-  KilloughDrive(SpeedController& leftMotor, SpeedController& rightMotor,
-                SpeedController& backMotor, double leftMotorAngle,
+  KilloughDrive(MotorController& leftMotor, MotorController& rightMotor,
+                MotorController& backMotor, double leftMotorAngle,
                 double rightMotorAngle, double backMotorAngle);
 
   ~KilloughDrive() override = default;
@@ -173,9 +162,9 @@ class KilloughDrive : public RobotDriveBase,
   void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
-  SpeedController* m_leftMotor;
-  SpeedController* m_rightMotor;
-  SpeedController* m_backMotor;
+  MotorController* m_leftMotor;
+  MotorController* m_rightMotor;
+  MotorController* m_backMotor;
 
   Vector2d m_leftVec;
   Vector2d m_rightVec;
@@ -184,12 +173,4 @@ class KilloughDrive : public RobotDriveBase,
   bool reported = false;
 };
 
-#if defined(_MSC_VER)
-#pragma warning(pop)
-#elif defined(__clang__)
-#pragma clang diagnostic pop
-#elif defined(__GNUC__)
-#pragma GCC diagnostic pop
-#endif
-
 }  // namespace frc

wpilibc/src/main/native/include/frc/drive/MecanumDrive.h

@@ -14,18 +14,7 @@
 
 namespace frc {
 
-#if defined(_MSC_VER)
-#pragma warning(push)
-#pragma warning(disable : 4996)  // was declared deprecated
-#elif defined(__clang__)
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wdeprecated-declarations"
-#elif defined(__GNUC__)
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#endif
-
-class SpeedController;
+class MotorController;
 
 /**
  * A class for driving Mecanum drive platforms.
@@ -81,9 +70,9 @@ class MecanumDrive : public RobotDriveBase,
    *
    * If a motor needs to be inverted, do so before passing it in.
    */
-  MecanumDrive(SpeedController& frontLeftMotor, SpeedController& rearLeftMotor,
-               SpeedController& frontRightMotor,
-               SpeedController& rearRightMotor);
+  MecanumDrive(MotorController& frontLeftMotor, MotorController& rearLeftMotor,
+               MotorController& frontRightMotor,
+               MotorController& rearRightMotor);
 
   ~MecanumDrive() override = default;
 
@@ -148,20 +137,12 @@ class MecanumDrive : public RobotDriveBase,
   void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
-  SpeedController* m_frontLeftMotor;
-  SpeedController* m_rearLeftMotor;
-  SpeedController* m_frontRightMotor;
-  SpeedController* m_rearRightMotor;
+  MotorController* m_frontLeftMotor;
+  MotorController* m_rearLeftMotor;
+  MotorController* m_frontRightMotor;
+  MotorController* m_rearRightMotor;
 
   bool reported = false;
 };
 
-#if defined(_MSC_VER)
-#pragma warning(pop)
-#elif defined(__clang__)
-#pragma clang diagnostic pop
-#elif defined(__GNUC__)
-#pragma GCC diagnostic pop
-#endif
-
 }  // namespace frc

wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h

@@ -7,7 +7,6 @@
 #include <memory>
 #include <string>
 
-#include <wpi/deprecated.h>
 #include <wpi/span.h>
 
 #include "frc/MotorSafety.h"
@@ -72,17 +71,6 @@ class RobotDriveBase : public MotorSafety {
   std::string GetDescription() const override = 0;
 
  protected:
-  /**
-   * Returns 0.0 if the given value is within the specified range around zero.
-   * The remaining range between the deadband and 1.0 is scaled from 0.0 to 1.0.
-   *
-   * @param value    value to clip
-   * @param deadband range around zero
-   * @deprecated Use ApplyDeadband() in frc/MathUtil.h.
-   */
-  WPI_DEPRECATED("Use ApplyDeadband() in frc/MathUtil.h")
-  static double ApplyDeadband(double value, double deadband);
-
   /**
    * Renormalize all wheel speeds if the magnitude of any wheel is greater than
    * 1.0.

wpilibc/src/main/native/include/frc/livewindow/LiveWindow.h

@@ -6,8 +6,6 @@
 
 #include <functional>
 
-#include <wpi/deprecated.h>
-
 namespace wpi {
 class Sendable;
 }  // namespace wpi
@@ -20,17 +18,6 @@ namespace frc {
  */
 class LiveWindow final {
  public:
-  /**
-   * Get an instance of the LiveWindow main class.
-   *
-   * This is a singleton to guarantee that there is only a single instance
-   * regardless of how many times GetInstance is called.
-   * @deprecated Use the static methods unless guaranteeing LiveWindow is
-   * instantiated
-   */
-  WPI_DEPRECATED("Use static methods")
-  static LiveWindow* GetInstance();
-
   /**
    * Set function to be called when LiveWindow is enabled.
    *

wpilibc/src/main/native/include/frc/motorcontrol/MotorController.h

@@ -6,32 +6,66 @@
 
 #include <units/voltage.h>
 
-#include "frc/SpeedController.h"
-
 namespace frc {
 
-#if defined(_MSC_VER)
-#pragma warning(push)
-#pragma warning(disable : 4996)  // was declared deprecated
-#elif defined(__clang__)
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wdeprecated-declarations"
-#elif defined(__GNUC__)
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#endif
-
 /**
  * Interface for motor controlling devices.
  */
-class MotorController : public SpeedController {};
+class MotorController {
+ public:
+  virtual ~MotorController() = default;
 
-#if defined(_MSC_VER)
-#pragma warning(pop)
-#elif defined(__clang__)
-#pragma clang diagnostic pop
-#elif defined(__GNUC__)
-#pragma GCC diagnostic pop
-#endif
+  /**
+   * Common interface for setting the speed of a motor controller.
+   *
+   * @param speed The speed to set.  Value should be between -1.0 and 1.0.
+   */
+  virtual void Set(double speed) = 0;
+
+  /**
+   * Sets the voltage output of the SpeedController.  Compensates for
+   * the current bus voltage to ensure that the desired voltage is output even
+   * if the battery voltage is below 12V - highly useful when the voltage
+   * outputs are "meaningful" (e.g. they come from a feedforward calculation).
+   *
+   * <p>NOTE: This function *must* be called regularly in order for voltage
+   * compensation to work properly - unlike the ordinary set function, it is not
+   * "set it and forget it."
+   *
+   * @param output The voltage to output.
+   */
+  virtual void SetVoltage(units::volt_t output);
+
+  /**
+   * Common interface for getting the current set speed of a motor controller.
+   *
+   * @return The current set speed.  Value is between -1.0 and 1.0.
+   */
+  virtual double Get() const = 0;
+
+  /**
+   * Common interface for inverting direction of a motor controller.
+   *
+   * @param isInverted The state of inversion, true is inverted.
+   */
+  virtual void SetInverted(bool isInverted) = 0;
+
+  /**
+   * Common interface for returning the inversion state of a motor controller.
+   *
+   * @return isInverted The state of inversion, true is inverted.
+   */
+  virtual bool GetInverted() const = 0;
+
+  /**
+   * Common interface for disabling a motor.
+   */
+  virtual void Disable() = 0;
+
+  /**
+   * Common interface to stop the motor until Set is called again.
+   */
+  virtual void StopMotor() = 0;
+};
 
 }  // namespace frc

wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h

@@ -8,7 +8,6 @@
 #include <string_view>
 
 #include <wpi/StringMap.h>
-#include <wpi/deprecated.h>
 
 #include "frc/smartdashboard/SendableChooserBase.h"
 
@@ -68,36 +67,6 @@ class SendableChooser : public SendableChooserBase {
    */
   void SetDefaultOption(std::string_view name, T object);
 
-  /**
-   * Adds the given object to the list of options.
-   *
-   * On the SmartDashboard on the desktop, the object will appear as the given
-   * name.
-   *
-   * @deprecated use AddOption(std::string_view name, T object) instead.
-   *
-   * @param name   the name of the option
-   * @param object the option
-   */
-  WPI_DEPRECATED("use AddOption() instead")
-  void AddObject(std::string_view name, T object) { AddOption(name, object); }
-
-  /**
-   * Add the given object to the list of options and marks it as the default.
-   *
-   * Functionally, this is very close to AddOption() except that it will use
-   * this as the default option if none other is explicitly selected.
-   *
-   * @deprecated use SetDefaultOption(std::string_view name, T object) instead.
-   *
-   * @param name   the name of the option
-   * @param object the option
-   */
-  WPI_DEPRECATED("use SetDefaultOption() instead")
-  void AddDefault(std::string_view name, T object) {
-    SetDefaultOption(name, object);
-  }
-
   /**
    * Returns a copy of the selected option (a raw pointer U* if T =
    * std::unique_ptr<U> or a std::weak_ptr<U> if T = std::shared_ptr<U>).