Deprecated List (WPILib API 2020.3.2)

For Removal
Element	Description
edu.wpi.first.wpilibj.Controller	None of the 2020 FRC controllers use this.
edu.wpi.first.wpilibj.filters.Filter	This class is no longer used.
edu.wpi.first.wpilibj.GearTooth	The only sensor this works with is no longer available and no teams use it according to FMS usage reporting.
edu.wpi.first.wpilibj.PIDBase	All APIs which use this have been deprecated.
edu.wpi.first.wpilibj.PIDController	Use `PIDController` instead.
edu.wpi.first.wpilibj.PIDInterface
edu.wpi.first.wpilibj.PIDOutput	Use DoubleConsumer and new PIDController class.
edu.wpi.first.wpilibj.PIDSource	Use DoubleSupplier and new PIDController class.
edu.wpi.first.wpilibj.PIDSourceType
edu.wpi.first.wpilibj.Sendable.addChild(Object)	Use SendableRegistry.addChild()
edu.wpi.first.wpilibj.Sendable.getName()	Use SendableRegistry.getName()
edu.wpi.first.wpilibj.Sendable.getSubsystem()	Use SendableRegistry.getSubsystem()
edu.wpi.first.wpilibj.Sendable.setName(String)	Use SendableRegistry.setName()
edu.wpi.first.wpilibj.Sendable.setSubsystem(String)	Use SendableRegistry.setSubsystem()
edu.wpi.first.wpilibj.SendableBase	Use Sendable and SendableRegistry

Packages
Package Description

edu.wpi.first.wpilibj.vision

Packages
Package	Description
edu.wpi.first.wpilibj.vision

Interfaces
Interface	Description
edu.wpi.first.wpilibj.Controller	None of the 2020 FRC controllers use this.
edu.wpi.first.wpilibj.PIDInterface
edu.wpi.first.wpilibj.PIDOutput	Use DoubleConsumer and new PIDController class.
edu.wpi.first.wpilibj.PIDSource	Use DoubleSupplier and new PIDController class.
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.vision.VisionPipeline	Replaced with edu.wpi.first.vision.VisionPipeline

Classes
Class	Description
edu.wpi.first.wpilibj.CameraServer	Replaced with edu.wpi.first.cameraserver.CameraServer
edu.wpi.first.wpilibj.filters.Filter	This class is no longer used.
edu.wpi.first.wpilibj.filters.LinearDigitalFilter	Use LinearFilter class instead.
edu.wpi.first.wpilibj.GearTooth	The only sensor this works with is no longer available and no teams use it according to FMS usage reporting.
edu.wpi.first.wpilibj.IterativeRobot	Use TimedRobot instead. It's a drop-in replacement that provides more regular execution periods.
edu.wpi.first.wpilibj.networktables.NetworkTable	Use `NetworkTable` instead.
edu.wpi.first.wpilibj.PIDBase	All APIs which use this have been deprecated.
edu.wpi.first.wpilibj.PIDController	Use `PIDController` instead.
edu.wpi.first.wpilibj.RobotDrive	Use `DifferentialDrive` or `MecanumDrive` classes instead.
edu.wpi.first.wpilibj.SendableBase	Use Sendable and SendableRegistry
edu.wpi.first.wpilibj.vision.VisionRunner	Replaced with edu.wpi.first.vision.VisionRunner
edu.wpi.first.wpilibj.vision.VisionThread	Replaced with edu.wpi.first.vision.VisionThread
org.opencv.features2d.DescriptorExtractor
org.opencv.features2d.FeatureDetector	Please use direct instantiation of Feature2D classes

Enums
Enum Description

edu.wpi.first.wpilibj.PIDSourceType

Enums
Enum	Description
edu.wpi.first.wpilibj.PIDSourceType

Fields
Field	Description
edu.wpi.first.cameraserver.CameraServer.kSize160x120
edu.wpi.first.cameraserver.CameraServer.kSize320x240
edu.wpi.first.cameraserver.CameraServer.kSize640x480
edu.wpi.first.wpilibj.CameraServer.kSize160x120
edu.wpi.first.wpilibj.CameraServer.kSize320x240
edu.wpi.first.wpilibj.CameraServer.kSize640x480

Methods
Method	Description
edu.wpi.cscore.ImageSource.SetEnumPropertyChoices(VideoProperty, String[])	Use `setEnumPropertyChoices` instead.
edu.wpi.first.wpilibj.Encoder.getPeriod()	Use getRate() in favor of this method.
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.networktables.NetworkTable.addSubTableListener(ITableListener)	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.addTableListenerEx(ITableListener, int)	Use `NetworkTable.addEntryListener(TableEntryListener, int)` instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.connections()	Use `NetworkTableInstance.getConnections()` instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.flush()	Use `NetworkTableInstance.flush()` instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.getDouble(String, double)	Use `NetworkTable.getNumber(String, double)` instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.getTable(String)	Use `NetworkTableInstance.getTable(String)` instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.getValue(String, Object)	Use `NetworkTableEntry.getValue()` instead, e.g. `NetworkTable.getEntry(key).getValue();`
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.networktables.NetworkTable.isConnected()	Use `NetworkTableInstance.isConnected()` instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.isServer()	Use `NetworkTableInstance.getNetworkMode()` instead.
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.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.networktables.NetworkTable.savePersistent(String)	Use `NetworkTableInstance.savePersistent(String)` instead.
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.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.networktables.NetworkTable.setUpdateRate(double)	Use `NetworkTableInstance.setUpdateRate(double)` instead.
edu.wpi.first.wpilibj.networktables.NetworkTable.shutdown()	Use `NetworkTableInstance.stopServer()` or `NetworkTableInstance.stopClient()` instead.
edu.wpi.first.wpilibj.PIDBase.getAvgError()	Use getError(), which is now already filtered.
edu.wpi.first.wpilibj.PIDBase.setTolerance(PIDBase.Tolerance)	Use setPercentTolerance() instead.
edu.wpi.first.wpilibj.PIDBase.setToleranceBuffer(int)	Use a LinearFilter as the input.
edu.wpi.first.wpilibj.Sendable.addChild(Object)	Use SendableRegistry.addChild()
edu.wpi.first.wpilibj.Sendable.getName()	Use SendableRegistry.getName()
edu.wpi.first.wpilibj.Sendable.getSubsystem()	Use SendableRegistry.getSubsystem()
edu.wpi.first.wpilibj.Sendable.setName(String)	Use SendableRegistry.setName()
edu.wpi.first.wpilibj.Sendable.setSubsystem(String)	Use SendableRegistry.setSubsystem()
edu.wpi.first.wpilibj.smartdashboard.SendableChooser.addDefault(String, V)	Use `SendableChooser.setDefaultOption(String, Object)` instead.
edu.wpi.first.wpilibj.smartdashboard.SendableChooser.addObject(String, V)	Use `SendableChooser.addOption(String, Object)` instead.
edu.wpi.first.wpilibj.SPI.setSampleDataOnFalling()	use `SPI.setSampleDataOnTrailingEdge()` in most cases.
edu.wpi.first.wpilibj.SPI.setSampleDataOnRising()	use `SPI.setSampleDataOnLeadingEdge()` in most cases.
edu.wpi.first.wpilibj.tables.ITable.getDouble(String, double)	Use `ITable.getNumber(String, double)` instead.
edu.wpi.first.wpilibj.tables.ITable.putDouble(String, double)	Use `ITable.putNumber(String, double)` instead.
org.opencv.core.Core.getThreadNum()	Current implementation doesn't corresponding to this documentation. The exact meaning of the return value depends on the threading framework used by OpenCV library: `TBB` - Unsupported with current 4.1 TBB release. Maybe will be supported in future. `OpenMP` - The thread number, within the current team, of the calling thread. `Concurrency` - An ID for the virtual processor that the current context is executing on (0 for master thread and unique number for others, but not necessary 1,2,3,...). `GCD` - System calling thread's ID. Never returns 0 inside parallel region. `C=` - The index of the current parallel task. SEE: setNumThreads, getNumThreads
org.opencv.features2d.FeatureDetector.create(int)
org.opencv.imgproc.Imgproc.linearPolar(Mat, Mat, Point, double, int)	This function produces same result as cv::warpPolar(src, dst, src.size(), center, maxRadius, flags) Transform the source image using the following transformation (See REF: polar_remaps_reference_image "Polar remaps reference image c)"): \(\begin{array}{l} dst( \rho , \phi ) = src(x,y) \\ dst.size() \leftarrow src.size() \end{array}\) where \(\begin{array}{l} I = (dx,dy) = (x - center.x,y - center.y) \\ \rho = Kmag \cdot \texttt{magnitude} (I) ,\\ \phi = angle \cdot \texttt{angle} (I) \end{array}\) and \(\begin{array}{l} Kx = src.cols / maxRadius \\ Ky = src.rows / 2\Pi \end{array}\)
org.opencv.imgproc.Imgproc.logPolar(Mat, Mat, Point, double, int)	This function produces same result as cv::warpPolar(src, dst, src.size(), center, maxRadius, flags+WARP_POLAR_LOG); Transform the source image using the following transformation (See REF: polar_remaps_reference_image "Polar remaps reference image d)"): \(\begin{array}{l} dst( \rho , \phi ) = src(x,y) \\ dst.size() \leftarrow src.size() \end{array}\) where \(\begin{array}{l} I = (dx,dy) = (x - center.x,y - center.y) \\ \rho = M \cdot log_e(\texttt{magnitude} (I)) ,\\ \phi = Kangle \cdot \texttt{angle} (I) \\ \end{array}\) and \(\begin{array}{l} M = src.cols / log_e(maxRadius) \\ Kangle = src.rows / 2\Pi \\ \end{array}\) The function emulates the human "foveal" vision and can be used for fast scale and rotation-invariant template matching, for object tracking and so forth.

Constructors
Constructor Description

edu.wpi.first.wpilibj.SerialPort(int, String, SerialPort.Port, int, SerialPort.Parity, SerialPort.StopBits)
Will be removed for 2019

Deprecated API

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