Deprecated API

Contents

• Terminally Deprecated
• Interfaces
• Enum Classes
• Methods
• Enum Constants

Terminally Deprecated Elements

Element	Description
com.revrobotics.AlternateEncoderType	Use SparkMaxAlternateEncoder.Type instead.
com.revrobotics.CANAnalog	use AnalogInput instead (or SparkMaxAnalogSensor if the analog sensor is connected directly to a SPARK MAX)
com.revrobotics.CANAnalog.AnalogMode	Use SparkMaxAnalogSensor.Mode instead
com.revrobotics.CANDigitalInput	Use SparkMaxLimitSwitch instead.
com.revrobotics.CANDigitalInput.LimitSwitchPolarity	Use SparkMaxLimitSwitch.Type instead.
com.revrobotics.CANEncoder	use RelativeEncoder instead.
com.revrobotics.CANPIDController	Use SparkMaxPIDController instead.
com.revrobotics.CANPIDController.AccelStrategy	Use SparkMaxPIDController.AccelStrategy instead.
com.revrobotics.CANPIDController.ArbFFUnits	Use SparkMaxPIDController.ArbFFUnits instead.
com.revrobotics.CANPIDController.setFeedbackDevice(CANSensor)	Use CANPIDController.setFeedbackDevice(MotorFeedbackSensor) instead
com.revrobotics.CANPIDController.setReference(double, ControlType)	Use CANPIDController.setReference(double, CANSparkMax.ControlType) instead.
com.revrobotics.CANPIDController.setReference(double, ControlType, int)	Use CANPIDController.setReference(double, CANSparkMax.ControlType, int) instead.
com.revrobotics.CANPIDController.setReference(double, ControlType, int, double)	Use CANPIDController.setReference(double, CANSparkMax.ControlType, int, double) instead.
com.revrobotics.CANPIDController.setReference(double, ControlType, int, double, CANPIDController.ArbFFUnits)	Use CANPIDController.setReference(double, CANSparkMax.ControlType, int, double, SparkMaxPIDController.ArbFFUnits) instead.
com.revrobotics.CANSensor	Use MotorFeedbackSensor instead
com.revrobotics.CANSparkMax.getAlternateEncoder(AlternateEncoderType, int)
com.revrobotics.CANSparkMax.getAnalog(CANAnalog.AnalogMode)	Use CANSparkMax.getAnalog(SparkMaxAnalogSensor.Mode) instead
com.revrobotics.CANSparkMax.getEncoder(EncoderType, int)	Use CANSparkMax.getEncoder(SparkMaxRelativeEncoder.Type, int) instead.
com.revrobotics.CANSparkMax.getForwardLimitSwitch(CANDigitalInput.LimitSwitchPolarity)	Use CANSparkMax.getForwardLimitSwitch(SparkMaxLimitSwitch.Type) instead.
com.revrobotics.CANSparkMax.getReverseLimitSwitch(CANDigitalInput.LimitSwitchPolarity)	Use CANSparkMax.getReverseLimitSwitch(SparkMaxLimitSwitch.Type) instead.
com.revrobotics.CANSparkMax.InputMode
com.revrobotics.CANSparkMaxLowLevel.getInitialMotorType()	Use CANSparkMaxLowLevel.getMotorType() instead
com.revrobotics.ControlType	Use CANSparkMax.ControlType instead.
com.revrobotics.EncoderType	Use SparkMaxRelativeEncoder.Type instead.
com.revrobotics.SparkMaxLimitSwitch.get()	Use SparkMaxLimitSwitch.isPressed() instead
com.revrobotics.SparkMaxPIDController.setFeedbackDevice(CANSensor)	Use SparkMaxPIDController.setFeedbackDevice(MotorFeedbackSensor) instead
com.revrobotics.SparkMaxPIDController.setReference(double, ControlType)	Use SparkMaxPIDController.setReference(double, CANSparkMax.ControlType) instead.
com.revrobotics.SparkMaxPIDController.setReference(double, ControlType, int)	Use SparkMaxPIDController.setReference(double, CANSparkMax.ControlType, int) instead.
com.revrobotics.SparkMaxPIDController.setReference(double, ControlType, int, double)	Use SparkMaxPIDController.setReference(double, CANSparkMax.ControlType, int, double) instead.
com.revrobotics.SparkMaxPIDController.setReference(double, ControlType, int, double, CANPIDController.ArbFFUnits)	Use SparkMaxPIDController.setReference(double, CANSparkMax.ControlType, int, double, SparkMaxPIDController.ArbFFUnits) instead.
com.revrobotics.SparkMaxPIDController.setSmartMotionAccelStrategy(CANPIDController.AccelStrategy, int)	Use SparkMaxPIDController.setSmartMotionAccelStrategy(AccelStrategy, int) instead.

Deprecated Interfaces

Interface	Description
com.revrobotics.CANAnalog	use AnalogInput instead (or SparkMaxAnalogSensor if the analog sensor is connected directly to a SPARK MAX)
com.revrobotics.CANDigitalInput	Use SparkMaxLimitSwitch instead.
com.revrobotics.CANEncoder	use RelativeEncoder instead.
com.revrobotics.CANPIDController	Use SparkMaxPIDController instead.
com.revrobotics.CANSensor	Use MotorFeedbackSensor instead

Deprecated Enum Classes

Enum Class	Description
com.ctre.phoenix.motorcontrol.VelocityMeasPeriod
com.ctre.phoenix.VelocityPeriod
com.revrobotics.AlternateEncoderType	Use SparkMaxAlternateEncoder.Type instead.
com.revrobotics.CANAnalog.AnalogMode	Use SparkMaxAnalogSensor.Mode instead
com.revrobotics.CANDigitalInput.LimitSwitchPolarity	Use SparkMaxLimitSwitch.Type instead.
com.revrobotics.CANPIDController.AccelStrategy	Use SparkMaxPIDController.AccelStrategy instead.
com.revrobotics.CANPIDController.ArbFFUnits	Use SparkMaxPIDController.ArbFFUnits instead.
com.revrobotics.CANSparkMax.InputMode
com.revrobotics.ControlType	Use CANSparkMax.ControlType instead.
com.revrobotics.EncoderType	Use SparkMaxRelativeEncoder.Type instead.

Deprecated Methods

Method	Description
com.ctre.phoenix.CANifier.configVelocityMeasurementPeriod(VelocityPeriod)	Use the overload with SensorVelocityMeasPeriod instead.
com.ctre.phoenix.CANifier.configVelocityMeasurementPeriod(VelocityPeriod, int)	Use the overload with SensorVelocityMeasPeriod instead.
com.ctre.phoenix.motorcontrol.can.BaseMotorController.configureFilter(FilterConfiguration)	Use configAll instead.
com.ctre.phoenix.motorcontrol.can.BaseMotorController.configureFilter(FilterConfiguration, int, int)	Use configAll instead.
com.ctre.phoenix.motorcontrol.can.BaseMotorController.configureFilter(FilterConfiguration, int, int, boolean)	Use the 3-parameter configureFilter. 4-param version is deprecated and will be removed.
com.ctre.phoenix.motorcontrol.can.BaseMotorController.configureSlot(SlotConfiguration)	Use configAll instead.
com.ctre.phoenix.motorcontrol.can.BaseMotorController.configureSlot(SlotConfiguration, int, int)	Use configAll instead.
com.ctre.phoenix.motorcontrol.can.BaseMotorController.configVelocityMeasurementPeriod(VelocityMeasPeriod)	Use the overload with SensorVelocityMeasPeriod instead.
com.ctre.phoenix.motorcontrol.can.BaseMotorController.configVelocityMeasurementPeriod(VelocityMeasPeriod, int)	Use the overload with SensorVelocityMeasPeriod instead.
com.ctre.phoenix.motorcontrol.can.BaseMotorController.getOutputCurrent()	Use getStatorCurrent/getSupplyCurrent instead.
com.ctre.phoenix.motorcontrol.can.BaseTalon.configVelocityMeasurementPeriod(VelocityMeasPeriod)	Use the overload with SensorVelocityMeasPeriod instead.
com.ctre.phoenix.motorcontrol.can.BaseTalon.configVelocityMeasurementPeriod(VelocityMeasPeriod, int)	Use the overload with SensorVelocityMeasPeriod instead.
com.ctre.phoenix.motorcontrol.can.BaseTalon.getOutputCurrent()	Use getStatorCurrent/getSupplyCurrent instead.
com.ctre.phoenix.motorcontrol.can.MotControllerJNI.GetOutputCurrent(long)	Use getStatorCurrent/getSupplyCurrent instead.
com.ctre.phoenix.motorcontrol.IMotorControllerEnhanced.configVelocityMeasurementPeriod(VelocityMeasPeriod, int)	Use the overload with SensorVelocityMeasPeriod instead.
com.ctre.phoenix.motorcontrol.IMotorControllerEnhanced.getOutputCurrent()	Use getStatorCurrent/getSupplyCurrent instead.
com.ctre.phoenix.platform.can.PlatformCAN.setCANInterface(char[])	pass the CAN interface to device constructors instead, or call registerCANbus
com.revrobotics.CANPIDController.setFeedbackDevice(CANSensor)	Use CANPIDController.setFeedbackDevice(MotorFeedbackSensor) instead
com.revrobotics.CANPIDController.setReference(double, ControlType)	Use CANPIDController.setReference(double, CANSparkMax.ControlType) instead.
com.revrobotics.CANPIDController.setReference(double, ControlType, int)	Use CANPIDController.setReference(double, CANSparkMax.ControlType, int) instead.
com.revrobotics.CANPIDController.setReference(double, ControlType, int, double)	Use CANPIDController.setReference(double, CANSparkMax.ControlType, int, double) instead.
com.revrobotics.CANPIDController.setReference(double, ControlType, int, double, CANPIDController.ArbFFUnits)	Use CANPIDController.setReference(double, CANSparkMax.ControlType, int, double, SparkMaxPIDController.ArbFFUnits) instead.
com.revrobotics.CANSparkMax.getAlternateEncoder(AlternateEncoderType, int)
com.revrobotics.CANSparkMax.getAnalog(CANAnalog.AnalogMode)	Use CANSparkMax.getAnalog(SparkMaxAnalogSensor.Mode) instead
com.revrobotics.CANSparkMax.getEncoder(EncoderType, int)	Use CANSparkMax.getEncoder(SparkMaxRelativeEncoder.Type, int) instead.
com.revrobotics.CANSparkMax.getForwardLimitSwitch(CANDigitalInput.LimitSwitchPolarity)	Use CANSparkMax.getForwardLimitSwitch(SparkMaxLimitSwitch.Type) instead.
com.revrobotics.CANSparkMax.getReverseLimitSwitch(CANDigitalInput.LimitSwitchPolarity)	Use CANSparkMax.getReverseLimitSwitch(SparkMaxLimitSwitch.Type) instead.
com.revrobotics.CANSparkMaxLowLevel.getInitialMotorType()	Use CANSparkMaxLowLevel.getMotorType() instead
com.revrobotics.SparkMaxLimitSwitch.get()	Use SparkMaxLimitSwitch.isPressed() instead
com.revrobotics.SparkMaxPIDController.setFeedbackDevice(CANSensor)	Use SparkMaxPIDController.setFeedbackDevice(MotorFeedbackSensor) instead
com.revrobotics.SparkMaxPIDController.setReference(double, ControlType)	Use SparkMaxPIDController.setReference(double, CANSparkMax.ControlType) instead.
com.revrobotics.SparkMaxPIDController.setReference(double, ControlType, int)	Use SparkMaxPIDController.setReference(double, CANSparkMax.ControlType, int) instead.
com.revrobotics.SparkMaxPIDController.setReference(double, ControlType, int, double)	Use SparkMaxPIDController.setReference(double, CANSparkMax.ControlType, int, double) instead.
com.revrobotics.SparkMaxPIDController.setReference(double, ControlType, int, double, CANPIDController.ArbFFUnits)	Use SparkMaxPIDController.setReference(double, CANSparkMax.ControlType, int, double, SparkMaxPIDController.ArbFFUnits) instead.
com.revrobotics.SparkMaxPIDController.setSmartMotionAccelStrategy(CANPIDController.AccelStrategy, int)	Use SparkMaxPIDController.setSmartMotionAccelStrategy(AccelStrategy, int) instead.

Deprecated Enum Constants

Enum Constant	Description
com.ctre.phoenix.motorcontrol.RemoteFeedbackDevice.FactoryDefaultOff	Use "None" instead.