Member com.pathplanner.lib.auto.AutoBuilder.followPathWithEvents (PathPlannerPath path): Renamed to "followPath"
Member com.pathplanner.lib.commands.FollowPathWithEvents.FollowPathWithEvents (Command pathFollowingCommand, PathPlannerPath path, Supplier< Pose2d > poseSupplier): No longer needed, as the path following command will now handle events
Member edu.wpi.first.math.MatBuilder< R extends Num, C extends Num >.MatBuilder (Nat< R > rows, Nat< C > cols): Use MatBuilder#fill instead.
Member edu.wpi.first.math.Matrix< R extends Num, C extends Num >.mat (Nat< R > rows, Nat< C > cols): Use MatBuilder#fill instead.
Member edu.wpi.first.math.trajectory.TrapezoidProfile.calculate (double t): Pass the desired and current state into calculate instead of constructing a new TrapezoidProfile with the desired and current state
Member edu.wpi.first.math.trajectory.TrapezoidProfile.TrapezoidProfile (Constraints constraints, State goal, State initial): Pass the desired and current state into calculate instead of constructing a new TrapezoidProfile with the desired and current state
Member edu.wpi.first.math.trajectory.TrapezoidProfile.TrapezoidProfile (Constraints constraints, State goal): Pass the desired and current state into calculate instead of constructing a new TrapezoidProfile with the desired and current state
Class edu.wpi.first.wpilibj2.command.CommandBase: All functionality provided by CommandBase has been merged into Command. Use Command instead.
Class edu.wpi.first.wpilibj2.command.CommandGroupBase: This class is an empty abstraction. Inherit directly from CommandBase/Command.
Member edu.wpi.first.wpilibj2.command.CommandGroupBase.deadline (Command deadline, Command... commands): Replace with Commands#deadline(Command, Command...)
Member edu.wpi.first.wpilibj2.command.CommandGroupBase.parallel (Command... commands): Replace with Commands#parallel(Command...)
Member edu.wpi.first.wpilibj2.command.CommandGroupBase.race (Command... commands): Replace with Commands#race(Command...)
Member edu.wpi.first.wpilibj2.command.CommandGroupBase.sequence (Command... commands): Replace with Commands#sequence(Command...)
Class edu.wpi.first.wpilibj2.command.PerpetualCommand: PerpetualCommand violates the assumption that execute() doesn't get called after isFinished() returns true – an assumption that should be valid. This was unsafe/undefined behavior from the start, and RepeatCommand provides an easy way to achieve similar end results with slightly different (and safe) semantics.