Added @SuppressWarnings("removal") annotation to Robot.java, Drive.java, PIDHeadingCorrection.java, and PIDHeadingError.java in order to suppress warnings related to some of the WPILib PIDController classes being deprecated. Need to remember to fix these in Summer 2020, so also added a "TODO" to the code to fix these later.

Author: coach-streeter

src/main/java/frc/robot/Robot.java

@@ -33,6 +33,7 @@ public class Robot extends TimedRobot {
    * for any initialization code.
    */
   @Override
+  @SuppressWarnings("deprecation")
   public void robotInit() {
     // Instantiate our RobotContainer. This will perform all our button bindings,
     // and put our

src/main/java/org/mayheminc/robot2020/subsystems/Drive.java

@@ -18,6 +18,8 @@
 import org.mayheminc.util.MayhemTalonSRX;
 import org.mayheminc.util.Utils;
 
+// TODO:  Address all deprecated code masked by @SuppressWarnings("removal") annotations (not just in Drive.java) 
+@SuppressWarnings("removal")
 public class Drive extends SubsystemBase {
 
 	History headingHistory = new History();
@@ -27,7 +29,6 @@ public class Drive extends SubsystemBase {
 	public static final boolean COAST_MODE = false;
 
 	// PID loop variables
-	// TODO:  Suppress 'deprecated' warnings from the compiler 
 	private PIDController m_HeadingPid;
 	private PIDHeadingError m_HeadingError;
 	private PIDHeadingCorrection m_HeadingCorrection;
@@ -49,8 +50,7 @@ public class Drive extends SubsystemBase {
 	// NavX parameters
 	private double m_desiredHeading = 0.0;
 	private boolean m_useHeadingCorrection = true;
-	private static final double HEADING_PID_P_FOR_HIGH_GEAR = 0.007;  // was 0.030 in 2019
-	private static final double HEADING_PID_P_FOR_LOW_GEAR = HEADING_PID_P_FOR_HIGH_GEAR;
+	private static final double HEADING_PID_P = 0.007;  // was 0.030 in 2019 for HIGH_GEAR
 	private static final double kToleranceDegreesPIDControl = 0.2;
 
 	// Drive parameters
@@ -94,7 +94,7 @@ public Drive() {
 		m_HeadingError = new PIDHeadingError();
 		m_HeadingError.m_Error = 0.0;
 		m_HeadingCorrection = new PIDHeadingCorrection();
-		m_HeadingPid = new PIDController(HEADING_PID_P_FOR_HIGH_GEAR, 0.000, 0.04, m_HeadingError, m_HeadingCorrection,
+		m_HeadingPid = new PIDController(HEADING_PID_P, 0.000, 0.04, m_HeadingError, m_HeadingCorrection,
 				0.020 /* period in seconds */);
 		m_HeadingPid.setInputRange(-180.0f, 180.0f);
 		m_HeadingPid.setContinuous(true); // treats the input range as "continous" with wrap-around
@@ -263,7 +263,7 @@ public void setHeadingCorrectionMode(boolean useHeadingCorrection) {
 
 	private void resetAndEnableHeadingPID() {
 		// if (Robot.shifter.getGear() == Shifter.HIGH_GEAR) {
-		m_HeadingPid.setP(HEADING_PID_P_FOR_HIGH_GEAR);
+		m_HeadingPid.setP(HEADING_PID_P);
 		// } else
 		// {
 			// low gear

src/main/java/org/mayheminc/robot2020/subsystems/PIDHeadingCorrection.java

@@ -1,12 +1,12 @@
 package org.mayheminc.robot2020.subsystems;
-
 import edu.wpi.first.wpilibj.PIDOutput;
 
 /**
  * 
  * @author user This class holds the correction that is calculated by the PID
  *         Controller.
  */
+@SuppressWarnings("removal")
 public class PIDHeadingCorrection implements PIDOutput {
 
 	public double HeadingCorrection = 0.0;

src/main/java/org/mayheminc/robot2020/subsystems/PIDHeadingError.java

@@ -7,6 +7,7 @@
  * 
  * @author user This is a class to hold the Heading error of the drive.
  */
+@SuppressWarnings("removal")
 public class PIDHeadingError implements PIDSource {
 
 	@Override