diff --git a/wpilibc/src/main/native/cpp/IterativeRobot.cpp b/wpilibc/src/main/native/cpp/IterativeRobot.cpp
deleted file mode 100644
index ffc4e8e175..0000000000
--- a/wpilibc/src/main/native/cpp/IterativeRobot.cpp
+++ /dev/null
@@ -1,46 +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/IterativeRobot.h"
-
-#include <hal/DriverStation.h>
-#include <hal/FRCUsageReporting.h>
-
-#include "frc/DriverStation.h"
-
-using namespace frc;
-
-static constexpr auto kPacketPeriod = 0.02_s;
-
-IterativeRobot::IterativeRobot() : IterativeRobotBase(kPacketPeriod) {
-  HAL_Report(HALUsageReporting::kResourceType_Framework,
-             HALUsageReporting::kFramework_Iterative);
-}
-
-void IterativeRobot::StartCompetition() {
-  RobotInit();
-
-  if constexpr (IsSimulation()) {
-    SimulationInit();
-  }
-
-  // Tell the DS that the robot is ready to be enabled
-  HAL_ObserveUserProgramStarting();
-
-  // Loop forever, calling the appropriate mode-dependent function
-  while (true) {
-    // Wait for driver station data so the loop doesn't hog the CPU
-    DriverStation::GetInstance().WaitForData();
-    if (m_exit) {
-      break;
-    }
-
-    LoopFunc();
-  }
-}
-
-void IterativeRobot::EndCompetition() {
-  m_exit = true;
-  DriverStation::GetInstance().WakeupWaitForData();
-}
diff --git a/wpilibc/src/main/native/include/frc/IterativeRobot.h b/wpilibc/src/main/native/include/frc/IterativeRobot.h
deleted file mode 100644
index f6c1532917..0000000000
--- a/wpilibc/src/main/native/include/frc/IterativeRobot.h
+++ /dev/null
@@ -1,50 +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 <atomic>
-
-#include "frc/IterativeRobotBase.h"
-
-namespace frc {
-
-/**
- * IterativeRobot implements the IterativeRobotBase robot program framework.
- *
- * The IterativeRobot class is intended to be subclassed by a user creating a
- * robot program.
- *
- * Periodic() functions from the base class are called each time a new packet is
- * received from the driver station.
- *
- * @deprecated Use TimedRobot instead. It's a drop-in replacement that provides
- * more regular execution periods.
- */
-class IterativeRobot : public IterativeRobotBase {
- public:
-  WPI_DEPRECATED(
-      "Use TimedRobot instead. It's a drop-in replacement that provides more "
-      "regular execution periods.")
-  IterativeRobot();
-  ~IterativeRobot() override = default;
-
-  /**
-   * Provide an alternate "main loop" via StartCompetition().
-   *
-   * This specific StartCompetition() implements "main loop" behavior synced
-   * with the DS packets.
-   */
-  void StartCompetition() override;
-
-  /**
-   * Ends the main loop in StartCompetition().
-   */
-  void EndCompetition() override;
-
- private:
-  std::atomic<bool> m_exit{false};
-};
-
-}  // namespace frc
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobot.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobot.java
deleted file mode 100644
index ba3cb2c40a..0000000000
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobot.java
+++ /dev/null
@@ -1,64 +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;
-
-import edu.wpi.first.hal.FRCNetComm.tInstances;
-import edu.wpi.first.hal.FRCNetComm.tResourceType;
-import edu.wpi.first.hal.HAL;
-
-/**
- * IterativeRobot implements the IterativeRobotBase robot program framework.
- *
- * <p>The IterativeRobot class is intended to be subclassed by a user creating a robot program.
- *
- * <p>periodic() functions from the base class are called each time a new packet is received from
- * the driver station.
- *
- * @deprecated Use TimedRobot instead. It's a drop-in replacement that provides more regular
- *     execution periods.
- */
-@Deprecated
-public class IterativeRobot extends IterativeRobotBase {
-  private static final double kPacketPeriod = 0.02;
-  private volatile boolean m_exit;
-
-  /** Create a new IterativeRobot. */
-  public IterativeRobot() {
-    super(kPacketPeriod);
-
-    HAL.report(tResourceType.kResourceType_Framework, tInstances.kFramework_Iterative);
-  }
-
-  /** Provide an alternate "main loop" via startCompetition(). */
-  @Override
-  public void startCompetition() {
-    robotInit();
-
-    if (isSimulation()) {
-      simulationInit();
-    }
-
-    // Tell the DS that the robot is ready to be enabled
-    HAL.observeUserProgramStarting();
-
-    // Loop forever, calling the appropriate mode-dependent function
-    while (!Thread.currentThread().isInterrupted()) {
-      // Wait for new data to arrive
-      m_ds.waitForData();
-      if (m_exit) {
-        break;
-      }
-
-      loopFunc();
-    }
-  }
-
-  /** Ends the main loop in startCompetition(). */
-  @Override
-  public void endCompetition() {
-    m_exit = true;
-    m_ds.wakeupWaitForData();
-  }
-}