Deprecated API

Contents

• Terminally Deprecated
• Classes
• Methods

Terminally Deprecated Elements

Element	Description
com.ctre.phoenix6.CANBus.getStatus(String)	The CANBus static methods are deprecated for removal in 2026. Construct a new CANBus instance and call CANBus.getStatus() instead.
com.ctre.phoenix6.CANBus.isNetworkFD(String)	The CANBus static methods are deprecated for removal in 2026. Construct a new CANBus instance and call CANBus.isNetworkFD() instead.
com.ctre.phoenix6.hardware.ParentDevice.optimizeBusUtilization(double)	This overload is deprecated for removal in 2025. Use ParentDevice.optimizeBusUtilization(double optimizedFreqHz, double timeoutSeconds) with an optimizedFreqHz of 0 Hz instead.
com.ctre.phoenix6.hardware.Pigeon2.getAngle()	This API is deprecated for removal in the 2026 season. Users should use CorePigeon2.getYaw() instead. Note that Yaw is CCW+, whereas this API is CW+.
com.ctre.phoenix6.hardware.Pigeon2.getRate()	This API is deprecated for removal in the 2026 season. Users should use CorePigeon2.getAngularVelocityZWorld() instead. Note that AngularVelocityZWorld is CCW+, whereas this API is CW+.
com.ctre.phoenix6.hardware.TalonFX.getInverted()	This API is deprecated for removal in 2026. Since invert is a config, read the invert setting as part of a full TalonFXConfiguration object or using a MotorOutputConfigs object. Applied invert, which may not match the invert config for followers, can also be fetched using CoreTalonFX.getAppliedRotorPolarity().
com.ctre.phoenix6.hardware.TalonFX.setInverted(boolean)	This API is deprecated for removal in 2026. Since invert is a config, apply the invert setting as part of a full TalonFXConfiguration object. Invert can be found in the MotorOutput config group.
com.ctre.phoenix6.swerve.SwerveRequest.ApplyChassisSpeeds	Use SwerveRequest.ApplyRobotSpeeds instead

Deprecated Classes

Class	Description
com.ctre.phoenix6.swerve.SwerveRequest.ApplyChassisSpeeds	Use SwerveRequest.ApplyRobotSpeeds instead

Deprecated Methods

Method	Description
com.ctre.phoenix6.CANBus.getStatus(String)	The CANBus static methods are deprecated for removal in 2026. Construct a new CANBus instance and call CANBus.getStatus() instead.
com.ctre.phoenix6.CANBus.isNetworkFD(String)	The CANBus static methods are deprecated for removal in 2026. Construct a new CANBus instance and call CANBus.isNetworkFD() instead.
com.ctre.phoenix6.hardware.ParentDevice.optimizeBusUtilization(double)	This overload is deprecated for removal in 2025. Use ParentDevice.optimizeBusUtilization(double optimizedFreqHz, double timeoutSeconds) with an optimizedFreqHz of 0 Hz instead.
com.ctre.phoenix6.hardware.Pigeon2.getAngle()	This API is deprecated for removal in the 2026 season. Users should use CorePigeon2.getYaw() instead. Note that Yaw is CCW+, whereas this API is CW+.
com.ctre.phoenix6.hardware.Pigeon2.getRate()	This API is deprecated for removal in the 2026 season. Users should use CorePigeon2.getAngularVelocityZWorld() instead. Note that AngularVelocityZWorld is CCW+, whereas this API is CW+.
com.ctre.phoenix6.hardware.TalonFX.getInverted()	This API is deprecated for removal in 2026. Since invert is a config, read the invert setting as part of a full TalonFXConfiguration object or using a MotorOutputConfigs object. Applied invert, which may not match the invert config for followers, can also be fetched using CoreTalonFX.getAppliedRotorPolarity().
com.ctre.phoenix6.hardware.TalonFX.setInverted(boolean)	This API is deprecated for removal in 2026. Since invert is a config, apply the invert setting as part of a full TalonFXConfiguration object. Invert can be found in the MotorOutput config group.