Deprecated API

Contents

• Deprecated Interfaces
• Deprecated Classes
• Deprecated Fields
• Deprecated Methods

Deprecated Interfaces

Interface and Description
edu.wpi.first.wpilibj.tables.IRemote Use NetworkTableInstance.
edu.wpi.first.wpilibj.tables.IRemoteConnectionListener Use Consumer<ConnectionNotification>.
edu.wpi.first.wpilibj.tables.ITable Use NetworkTable.
edu.wpi.first.wpilibj.tables.ITableListener Use Consumer<EntryNotification>, TableEntryListener, or TableListener as appropriate.
edu.wpi.first.wpilibj.livewindow.LiveWindowSendable Use Sendable directly instead
edu.wpi.first.wpilibj.NamedSendable Use Sendable directly instead

Deprecated Classes

Class and Description
edu.wpi.first.wpilibj.ControllerPower Use RobotController class instead
edu.wpi.first.wpilibj.GamepadBase Inherit directly from GenericHID instead.
edu.wpi.first.wpilibj.JoystickBase Inherit directly from GenericHID instead.
edu.wpi.first.wpilibj.networktables.NetworkTable Use NetworkTable instead.
edu.wpi.first.wpilibj.RobotDrive Use DifferentialDrive or MecanumDrive classes instead.
edu.wpi.first.wpilibj.SampleRobot WARNING: While it may look like a good choice to use for your code if you're inexperienced, don't. Unless you know what you are doing, complex code will be much more difficult under this system. Use TimedRobot or Command-Based instead.
edu.wpi.first.wpilibj.Utility Use RobotController class instead

Deprecated Fields

Field and Description
edu.wpi.first.wpilibj.CameraServer.kSize160x120
edu.wpi.first.wpilibj.CameraServer.kSize320x240
edu.wpi.first.wpilibj.CameraServer.kSize640x480

Deprecated Methods

Method and Description
edu.wpi.first.wpilibj.livewindow.LiveWindow.addActuator(String, int, int, Sendable) Use SendableBase.setName(String, int, int) instead.
edu.wpi.first.wpilibj.livewindow.LiveWindow.addActuator(String, int, Sendable) Use SendableBase.setName(String, int) instead.
edu.wpi.first.wpilibj.livewindow.LiveWindow.addActuator(String, String, Sendable) Use Sendable.setName(String, String) instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.addConnectionListener(IRemoteConnectionListener, boolean) Use NetworkTableInstance.addConnectionListener(Consumer, boolean) instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.addGlobalConnectionListener(IRemoteConnectionListener, boolean) Use NetworkTableInstance.addConnectionListener(Consumer, boolean) instead.
edu.wpi.first.wpilibj.livewindow.LiveWindow.addSensor(String, int, Sendable) Use SendableBase.setName(String, int) instead.
edu.wpi.first.wpilibj.livewindow.LiveWindow.addSensor(String, String, Sendable) Use Sendable.setName(String, String) instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.addSubTableListener(ITableListener) Use NetworkTable.addSubTableListener(TableListener, boolean) instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.addSubTableListener(ITableListener, boolean) Use NetworkTable.addSubTableListener(TableListener, boolean) instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.addTableListener(ITableListener) Use NetworkTable.addEntryListener(TableEntryListener, int) instead (with flags value of NOTIFY_NEW | NOTIFY_UPDATE).
edu.wpi.first.wpilibj.networktables.NetworkTable.addTableListener(ITableListener, boolean) Use NetworkTable.addEntryListener(TableEntryListener, int) instead (with flags value of NOTIFY_NEW | NOTIFY_UPDATE | NOTIFY_IMMEDIATE).
edu.wpi.first.wpilibj.networktables.NetworkTable.addTableListener(String, ITableListener, boolean) Use NetworkTable.addEntryListener(String, TableEntryListener, int) or NetworkTableEntry.addListener(Consumer, int) instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.addTableListenerEx(ITableListener, int) Use NetworkTable.addEntryListener(TableEntryListener, int) instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.addTableListenerEx(String, ITableListener, int) Use NetworkTable.addEntryListener(String, TableEntryListener, int) or NetworkTableEntry.addListener(Consumer, int) instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.connections() Use NetworkTableInstance.getConnections() instead.
edu.wpi.first.wpilibj.SafePWM.Feed() Use SafePWM.feed() instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.flush() Use NetworkTableInstance.flush() instead.
edu.wpi.first.wpilibj.PIDController.getAvgError() Use getError(), which is now already filtered.
edu.wpi.first.wpilibj.Joystick.getAxis(Joystick.AxisType) Use the more specific axis getter functions.
edu.wpi.first.wpilibj.Joystick.getAxisChannel(Joystick.AxisType) Use the more specific axis channel getter functions.
edu.wpi.first.wpilibj.DriverStation.getBatteryVoltage() Use RobotController.getBatteryVoltage
edu.wpi.first.wpilibj.Joystick.getButton(Joystick.ButtonType) Use Button enum values instead of ButtonType.
edu.wpi.first.wpilibj.ControllerPower.getCurrent3V3()
edu.wpi.first.wpilibj.ControllerPower.getCurrent5V()
edu.wpi.first.wpilibj.ControllerPower.getCurrent6V()
edu.wpi.first.wpilibj.networktables.NetworkTable.getDouble(String, double) Use NetworkTable.getNumber(String, double) instead.
edu.wpi.first.wpilibj.tables.ITable.getDouble(String, double) Use ITable.getNumber(String, double) instead.
edu.wpi.first.wpilibj.ControllerPower.getEnabled3V3()
edu.wpi.first.wpilibj.ControllerPower.getEnabled5V()
edu.wpi.first.wpilibj.ControllerPower.getEnabled6V()
edu.wpi.first.wpilibj.ControllerPower.getFaultCount3V3()
edu.wpi.first.wpilibj.ControllerPower.getFaultCount5V()
edu.wpi.first.wpilibj.ControllerPower.getFaultCount6V()
edu.wpi.first.wpilibj.Utility.getFPGATime() Use RobotController.getFPGATime()
edu.wpi.first.wpilibj.ControllerPower.getInputCurrent()
edu.wpi.first.wpilibj.ControllerPower.getInputVoltage()
edu.wpi.first.wpilibj.Encoder.getPeriod() Use getRate() in favor of this method.
edu.wpi.first.wpilibj.networktables.NetworkTable.getTable(String) Use NetworkTableInstance.getTable(String) instead.
edu.wpi.first.wpilibj.Utility.getUserButton() Use RobotController.getUserButton()
edu.wpi.first.wpilibj.networktables.NetworkTable.getValue(String, Object) Use NetworkTableEntry.getValue() instead, e.g. `NetworkTable.getEntry(key).getValue();`
edu.wpi.first.wpilibj.ControllerPower.getVoltage3V3()
edu.wpi.first.wpilibj.ControllerPower.getVoltage5V()
edu.wpi.first.wpilibj.ControllerPower.getVoltage6V()
edu.wpi.first.wpilibj.networktables.NetworkTable.globalDeleteAll() Use NetworkTableInstance.deleteAllEntries() instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.initialize() Use NetworkTableInstance.startServer() or NetworkTableInstance.startClient() instead.
edu.wpi.first.wpilibj.DriverStation.isBrownedOut() Use RobotController.isBrownedOut()
edu.wpi.first.wpilibj.networktables.NetworkTable.isConnected() Use NetworkTableInstance.isConnected() instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.isServer() Use NetworkTableInstance.getNetworkMode() instead.
edu.wpi.first.wpilibj.DriverStation.isSysActive() Use RobotController.isSysActive()
edu.wpi.first.wpilibj.networktables.NetworkTable.loadPersistent(String) Use NetworkTableInstance.loadPersistent(String) instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.putDouble(String, double) Use NetworkTable.putNumber(String, double) instead.
edu.wpi.first.wpilibj.tables.ITable.putDouble(String, double) Use ITable.putNumber(String, double) instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.putValue(String, Object) Use NetworkTableEntry.setValue(Object) instead, e.g. `NetworkTable.getEntry(key).setValue(NetworkTableEntry.makeBoolean(false));` or `NetworkTable.getEntry(key).setValue(new Boolean(false));`
edu.wpi.first.wpilibj.networktables.NetworkTable.removeConnectionListener(IRemoteConnectionListener) Use NetworkTableInstance.removeConnectionListener(int) instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.removeGlobalConnectionListener(IRemoteConnectionListener) Use NetworkTableInstance.removeConnectionListener(int) instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.removeTableListener(ITableListener) Use NetworkTable.removeTableListener(int) instead.
edu.wpi.first.wpilibj.livewindow.LiveWindow.run() No longer required
edu.wpi.first.wpilibj.networktables.NetworkTable.savePersistent(String) Use NetworkTableInstance.savePersistent(String) instead.
edu.wpi.first.wpilibj.Joystick.setAxisChannel(Joystick.AxisType, int) Use the more specific axis channel setter functions.
edu.wpi.first.wpilibj.networktables.NetworkTable.setClientMode() Use NetworkTableInstance.startClient() instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.setDSClientEnabled(boolean) Use NetworkTableInstance.startDSClient() and NetworkTableInstance.stopDSClient() instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.setIPAddress(String) Use NetworkTableInstance.setServer(String) or NetworkTableInstance.startClient(String) instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.setIPAddress(String[]) Use NetworkTableInstance.setServer(String[]) or NetworkTableInstance.startClient(String[]) instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.setNetworkIdentity(String) Use NetworkTableInstance.setNetworkIdentity(String) instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.setPersistentFilename(String) Use the appropriate parameter to NetworkTableInstance.startServer() instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.setPort(int) Use the appropriate parameters to NetworkTableInstance.setServer(String, int), NetworkTableInstance.startClient(String, int), NetworkTableInstance.startServer(String, String, int), and NetworkTableInstance.startDSClient(int) instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.setServerMode() Use NetworkTableInstance.startServer() instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.setTeam(int) Use NetworkTableInstance.setServerTeam(int) or NetworkTableInstance.startClientTeam(int) instead.
edu.wpi.first.wpilibj.PIDController.setTolerance(PIDController.Tolerance) Use setPercentTolerance() instead.
edu.wpi.first.wpilibj.PIDController.setToleranceBuffer(int) Use a LinearDigitalFilter as the input.
edu.wpi.first.wpilibj.networktables.NetworkTable.setUpdateRate(double) Use NetworkTableInstance.setUpdateRate(double) instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.shutdown() Use NetworkTableInstance.stopServer() or NetworkTableInstance.stopClient() instead.