Joseph Eng

~~With the addition of opmodes in 2027, a new use case has come up: Disabling subsystems in particular opmodes.~~ * ~~This would need to be done at runtime, since that's...

Great progress! I've updated the list of changes to make. > `ScheduleCommand` doesn't have a factory yet, and I'm not entirely sure how to `POVButtonTest`. For `ScheduleCommandTest`, you just need...

Ah, you're right, I missed that. Don't worry about them, then.

Ah, I missed that too. I think that leaves just `ParallelRaceGroupTest.ParallelRaceCopy`?

Whoops, looks like I missed these earlier: * `CompositionTestBase`: `cmd::WaitUntil([] { return false; })` -> `cmd::Idle()` * `ConditionalCommandTest.AllCancelSelf`: `cmd::WaitUntil([] { return false; })` Other than that, should be everything. (Though...

Looks pretty good! I'm just wondering, though, about whether we want to remove it without deprecating first since it is a user-facing API element. It could be safe to remove...

> So should I keep everything using the new functional interface but just not delete MecanumDriveMotorVoltages and instead deprecate it? The point of deprecating instead of completely removing is to...

@PeterJohnson Anything blocking this from being merged? I'd like for the deprecation (and undoing protobuf and struct support) to happen before this season. Locally, I was able to merge f377a9c573ea90f9d50cf85880a150f7036ae644...

To fix the pregenerated files, download the artifacts from [the pregenerated files CI run](https://github.com/wpilibsuite/allwpilib/actions/runs/12168953220/job/33940831404?pr=6760#step:10:27) at https://github.com/wpilibsuite/allwpilib/actions/runs/12168953220/artifacts/2276116716, extract the downloaded zip file, and then run `git apply ` from your clone...

Right, forgot about that. You should be able to add a comment to the PR that starts with /pregen, and locally you can also run `./.github/workflows/pregen_all.py`.