diff --git a/styleguide/checkstyle.xml b/styleguide/checkstyle.xml
index 09e9f23dee..9ebe62c3c2 100644
--- a/styleguide/checkstyle.xml
+++ b/styleguide/checkstyle.xml
@@ -287,5 +287,6 @@ module PUBLIC "-//Puppy Crawl//DTD Check Configuration 1.3//EN"
     </module>
     <module name="CommentsIndentation" />
     <module name="PackageDeclaration" />
+    <module name="MissingDeprecated"/>
   </module>
 </module>
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
index ee52cfa9c3..900fea56f2 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
@@ -172,6 +172,8 @@ public class MecanumControllerCommand extends Command {
    * @param outputDriveVoltages A MecanumDriveMotorVoltages object containing the output motor
    *     voltages.
    * @param requirements The subsystems to require.
+   * @deprecated Use {@link MecanumVoltagesConsumer} instead of {@code
+   *     Consumer<MecanumDriveMotorVoltages}.
    */
   @Deprecated(since = "2025", forRemoval = true)
   public MecanumControllerCommand(
@@ -308,6 +310,8 @@ public class MecanumControllerCommand extends Command {
    * @param outputDriveVoltages A MecanumDriveMotorVoltages object containing the output motor
    *     voltages.
    * @param requirements The subsystems to require.
+   * @deprecated Use {@link MecanumVoltagesConsumer} instead of {@code
+   *     Consumer<MecanumDriveMotorVoltages>}.
    */
   @Deprecated(since = "2025", forRemoval = true)
   public MecanumControllerCommand(
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
index bf50a0c521..39360e62c4 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
@@ -176,6 +176,7 @@ public class ArmFeedforward implements ProtobufSerializable, StructSerializable
    * @param velocityRadPerSec The velocity setpoint.
    * @param accelRadPerSecSquared The acceleration setpoint.
    * @return The computed feedforward.
+   * @deprecated Use {@link #calculateWithVelocities(double, double, double)} instead
    */
   @Deprecated(forRemoval = true, since = "2025")
   public double calculate(
@@ -210,6 +211,7 @@ public class ArmFeedforward implements ProtobufSerializable, StructSerializable
    * @param nextVelocity The next velocity setpoint in radians per second.
    * @param dt Time between velocity setpoints in seconds.
    * @return The computed feedforward in volts.
+   * @deprecated Use {@link #calculateWithVelocities(double, double, double)} instead.
    */
   @SuppressWarnings("removal")
   @Deprecated(forRemoval = true, since = "2025")
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
index 245fcf8443..6fc4e610bd 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
@@ -173,6 +173,7 @@ public class ElevatorFeedforward implements ProtobufSerializable, StructSerializ
    * @param velocity The velocity setpoint.
    * @param acceleration The acceleration setpoint.
    * @return The computed feedforward.
+   * @deprecated Use {@link #calculateWithVelocities(double, double)}.
    */
   @SuppressWarnings("removal")
   @Deprecated(forRemoval = true, since = "2025")
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveMotorVoltages.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveMotorVoltages.java
index 51249d4fc3..1d47aac90b 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveMotorVoltages.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveMotorVoltages.java
@@ -4,7 +4,12 @@
 
 package edu.wpi.first.math.kinematics;
 
-/** Represents the motor voltages for a mecanum drive drivetrain. */
+/**
+ * Represents the motor voltages for a mecanum drive drivetrain.
+ *
+ * @deprecated Use {@link
+ *     edu.wpi.first.wpilibj2.command.MecanumControllerCommand.MecanumVoltagesConsumer}
+ */
 @Deprecated(since = "2025", forRemoval = true)
 public class MecanumDriveMotorVoltages {
   /** Voltage of the front left motor. */