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Add checkstyle check for deprecation #7738

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Add checkstyle check for deprecation #7738

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1 change: 1 addition & 0 deletions styleguide/checkstyle.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
4 changes: 4 additions & 0 deletions wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
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Expand Up @@ -172,6 +172,8 @@ public MecanumControllerCommand(
* @param outputDriveVoltages A MecanumDriveMotorVoltages object containing the output motor
* voltages.
* @param requirements The subsystems to require.
* @deprecated MecanumControllerCommand does not allow for much visibility for troubleshooting.
* Compose HolonomicDriveController within a subystem.
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Suggested change
* @deprecated MecanumControllerCommand does not allow for much visibility for troubleshooting.
* Compose HolonomicDriveController within a subystem.
* @deprecated Use {@link MecanumVoltagesConsumer} instead of {@code Consumer<MecanumDriveMotorVoltages}.

The deprecation was added in #6760, and the MecanumVoltagesConsumer overloads are not deprecated. We could deprecate those as well for the in the original codereason, but that would be a separate PR.

*/
@Deprecated(since = "2025", forRemoval = true)
public MecanumControllerCommand(
Expand Down Expand Up @@ -308,6 +310,8 @@ public MecanumControllerCommand(
* @param outputDriveVoltages A MecanumDriveMotorVoltages object containing the output motor
* voltages.
* @param requirements The subsystems to require.
* @deprecated MecanumControllerCommand does not allow for much visibility for troubleshooting.
* Compose HolonomicDriveController within a subystem.
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Suggested change
* @deprecated MecanumControllerCommand does not allow for much visibility for troubleshooting.
* Compose HolonomicDriveController within a subystem.
* @deprecated Use {@link MecanumVoltagesConsumer} instead of {@code Consumer<MecanumDriveMotorVoltages>}.

*/
@Deprecated(since = "2025", forRemoval = true)
public MecanumControllerCommand(
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2 changes: 2 additions & 0 deletions wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
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Expand Up @@ -140,6 +140,7 @@ public double getDt() {
* @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(
Expand Down Expand Up @@ -174,6 +175,7 @@ public double calculate(double positionRadians, double velocity) {
* @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")
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1 change: 1 addition & 0 deletions wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
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Expand Up @@ -137,6 +137,7 @@ public double getDt() {
* @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")
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6 changes: 5 additions & 1 deletion wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveMotorVoltages.java
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Expand Up @@ -4,7 +4,11 @@

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 a fuctional interface intead.
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Suggested change
* @deprecated use a fuctional interface intead.
* @deprecated Use {@link MecanumControllerCommand.MecanumVoltagesConsumer}

*/
@Deprecated(since = "2025", forRemoval = true)
public class MecanumDriveMotorVoltages {
/** Voltage of the front left motor. */
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