Deprecated API

Contents

• Deprecated Classes
• Deprecated Enums
• Deprecated Methods
• Deprecated Enum Constants

Deprecated Classes

Class and Description
com.qualcomm.robotcore.eventloop.opmode.AnnotatedOpModeRegistrar The function formerly performed by this class is now automatically executed by the system

Deprecated Enums

Enum and Description
com.qualcomm.robotcore.hardware.DigitalChannelController.Mode use DigitalChannel.Mode instead

Deprecated Methods

Method and Description
org.firstinspires.ftc.robotcore.external.ClassFactory.createVuforiaLocalizer(VuforiaLocalizer.Parameters) Use ClassFactory.createVuforia(VuforiaLocalizer.Parameters) instead
com.qualcomm.robotcore.hardware.I2cDeviceImpl.enableI2cReadMode(I2cAddr, int, int)
com.qualcomm.robotcore.hardware.I2cDeviceImpl.enableI2cWriteMode(I2cAddr, int, int)
org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener.getCameraDirection() This is of little use if a non-builtin camera is in use.
com.qualcomm.robotcore.hardware.I2cDevice.getController() Use of I2cControllerPortDevice.getI2cController() is suggested instead
com.qualcomm.robotcore.hardware.I2cDeviceSynchImpl.getI2cAddr()
com.qualcomm.robotcore.hardware.I2cDeviceSynchSimple.getI2cAddr() Use I2cAddressableDevice.getI2cAddress() instead.
org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener.getLastTrackedRawPose() use VuforiaTrackableDefaultListener.getLastTrackedPoseVuforiaCamera() instead
org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener.getPhoneLocationOnRobot() Using VuforiaTrackableDefaultListener.getCameraLocationOnRobot(CameraName) is a better choice.
com.qualcomm.robotcore.hardware.DcMotorEx.getPIDCoefficients(DcMotor.RunMode) Use #getPIDFCoefficients(RunMode) instead
com.qualcomm.robotcore.hardware.DcMotorControllerEx.getPIDCoefficients(int, DcMotor.RunMode) Use DcMotorControllerEx.getPIDFCoefficients(int, DcMotor.RunMode) instead
org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener.getPoseCorrectionMatrix(VuforiaLocalizer.CameraDirection) These phone-based matrices are no longer of much relevance, as the correct values, when of interest, are fixed and known.
org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener.getRawPose() use VuforiaTrackableDefaultListener.getVuforiaCameraFromTarget() instead
org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener.getRawUpdatedPose() use VuforiaTrackableDefaultListener.getUpdatedVuforiaCameraFromTarget() instead
com.qualcomm.robotcore.hardware.I2cDevice.isI2cPortActionFlagSet() this method returns a value that is rarely that which is expected
com.qualcomm.robotcore.hardware.DcMotor.RunMode.migrate() Replace use of old constants with new
com.qualcomm.ftccommon.SoundPlayer.play(Context, int) use SoundPlayer.startPlaying(Context, int) instead
com.qualcomm.ftccommon.SoundPlayer.play(Context, int, boolean) use #startPlaying(Context, int, PlaySoundParams, Consumer, Runnable) instead
com.qualcomm.robotcore.hardware.I2cDevice.readI2cCacheFromModule() Use of I2cDevice.readI2cCacheFromController() is suggested instead
com.qualcomm.robotcore.hardware.I2cDeviceImpl.readI2cCacheFromModule()
com.qualcomm.robotcore.hardware.I2cController.readI2cCacheFromModule(int)
com.qualcomm.robotcore.eventloop.opmode.AnnotatedOpModeRegistrar.register(OpModeManager) functionality now automatically called by the system
com.qualcomm.robotcore.hardware.DigitalChannelController.setDigitalChannelMode(int, DigitalChannelController.Mode) use DigitalChannelController.setDigitalChannelMode(int, DigitalChannel.Mode) instead
com.qualcomm.robotcore.hardware.I2cDeviceSynchImpl.setI2cAddr(I2cAddr)
com.qualcomm.robotcore.hardware.I2cDeviceSynchSimple.setI2cAddr(I2cAddr) Use I2cAddrConfig.setI2cAddress(I2cAddr) instead.
com.qualcomm.robotcore.hardware.DigitalChannel.setMode(DigitalChannelController.Mode) use DigitalChannel.setMode(Mode) instead
com.qualcomm.robotcore.hardware.DigitalChannelImpl.setMode(DigitalChannelController.Mode)
com.qualcomm.robotcore.hardware.DcMotorEx.setPIDCoefficients(DcMotor.RunMode, PIDCoefficients) Use #setPIDFCoefficients(RunMode, PIDFCoefficients) instead
com.qualcomm.robotcore.hardware.DcMotorControllerEx.setPIDCoefficients(int, DcMotor.RunMode, PIDCoefficients) Use DcMotorControllerEx.setPIDFCoefficients(int, DcMotor.RunMode, PIDFCoefficients) instead
org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener.setPoseCorrectionMatrix(VuforiaLocalizer.CameraDirection, OpenGLMatrix)
com.qualcomm.robotcore.hardware.DcMotor.setPowerFloat() This method is deprecated in favor of direct use of setZeroPowerBehavior() and setPower().
com.qualcomm.robotcore.hardware.DcMotorImpl.setPowerFloat()
com.qualcomm.robotcore.eventloop.opmode.LinearOpMode.waitForNextHardwareCycle() The need for user code to synchronize with the loop() thread has been obviated by improvements in the modern motor and servo controller implementations. Remaining uses of this API are likely unncessarily wasting cycles. If a simple non-zero delay is required, the sleep() method is a better choice. If one simply wants to allow other threads to run, LinearOpMode.idle() is a good choice.
com.qualcomm.robotcore.eventloop.opmode.LinearOpMode.waitOneFullHardwareCycle() The need for user code to synchronize with the loop() thread has been obviated by improvements in the modern motor and servo controller implementations. Remaining uses of this API are likely unncessarily wasting cycles. If a simple non-zero delay is required, the sleep() method is a better choice. If one simply wants to allow other threads to run, LinearOpMode.idle() is a good choice.
com.qualcomm.robotcore.hardware.I2cDevice.writeI2cCacheToModule() Use of I2cDevice.writeI2cCacheToController() is suggested instead
com.qualcomm.robotcore.hardware.I2cDeviceImpl.writeI2cCacheToModule()
com.qualcomm.robotcore.hardware.I2cController.writeI2cCacheToModule(int)
com.qualcomm.robotcore.hardware.I2cDevice.writeI2cPortFlagOnlyToModule() Use of I2cDevice.writeI2cPortFlagOnlyToController() is suggested instead
com.qualcomm.robotcore.hardware.I2cDeviceImpl.writeI2cPortFlagOnlyToModule()
com.qualcomm.robotcore.hardware.I2cController.writeI2cPortFlagOnlyToModule(int)

Deprecated Enum Constants

Enum Constant and Description
com.qualcomm.robotcore.hardware.MotorControlAlgorithm.LegacyPID Switch to MotorControlAlgorithm.PIDF instead
com.qualcomm.robotcore.hardware.DcMotor.RunMode.RESET_ENCODERS Use DcMotor.RunMode.STOP_AND_RESET_ENCODER instead
com.qualcomm.robotcore.hardware.DcMotor.RunMode.RUN_USING_ENCODERS Use DcMotor.RunMode.RUN_USING_ENCODER instead
com.qualcomm.robotcore.hardware.DcMotor.RunMode.RUN_WITHOUT_ENCODERS Use DcMotor.RunMode.RUN_WITHOUT_ENCODER instead