Remove deprecated methods in Encoder

lib/src/main/java/com/team2813/lib2813/control/Encoder.java

@@ -15,22 +15,11 @@
 */
 package com.team2813.lib2813.control;
 
-import edu.wpi.first.units.Units;
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.AngularVelocity;
 
 /** Specifies a device that can perceive rotational positions. */
 public interface Encoder {
-  /**
-   * Gets the position of the encoder
-   *
-   * @return the position of the encoder
-   * @deprecated This method does not specify position in a specific measurement, so it is not safe
-   *     to use. Use {@link #getPositionMeasure()} instead
-   */
-  @Deprecated(forRemoval = true)
-  double position();
-
   /**
    * Gets the position of the encoder
    *
@@ -42,32 +31,13 @@ public interface Encoder {
    * Sets the position of the encoder
    *
    * @param position the position of the encoder
-   * @deprecated This method does not specify a unit, so it is not safe to use. Use {@link
-   *     #setPosition(Angle)} instead.
-   */
-  @Deprecated(forRemoval = true)
-  void setPosition(double position);
-
-  default void setPosition(Angle position) {
-    setPosition(position.in(Units.Radians));
-  }
-
-  /**
-   * Gets the velocity of the encoder
-   *
-   * @return the velocity that the encoder perceives
-   * @deprecated This method does not specify velocity in a specific measurement, so it is not safe
-   *     to use. Use {@link #getVelocityMeasure()} instead
    */
-  @Deprecated(forRemoval = true)
-  double getVelocity();
+  void setPosition(Angle position);
 
   /**
    * Gets the velocity of the encoder
    *
    * @return The velocity as a measure
    */
-  default AngularVelocity getVelocityMeasure() {
-    return Units.RadiansPerSecond.of(getVelocity());
-  }
+  AngularVelocity getVelocityMeasure();
 }

lib/src/main/java/com/team2813/lib2813/control/encoders/CancoderWrapper.java

@@ -37,23 +37,11 @@ public CancoderWrapper(int id) {
     info = new DeviceInformation(id);
   }
 
-  @Deprecated
-  @Override
-  public double position() {
-    return cancoder.getPosition().getValueAsDouble();
-  }
-
   @Override
   public Angle getPositionMeasure() {
     return Units.Rotations.of(cancoder.getPosition().getValueAsDouble());
   }
 
-  @Deprecated
-  @Override
-  public void setPosition(double position) {
-    ConfigUtils.phoenix6Config(() -> cancoder.setPosition(position));
-  }
-
   @Override
   public void setPosition(Angle position) {
     ConfigUtils.phoenix6Config(() -> cancoder.setPosition(position.in(Units.Rotations)));
@@ -63,12 +51,6 @@ public CANcoder encoder() {
     return cancoder;
   }
 
-  @Deprecated
-  @Override
-  public double getVelocity() {
-    return cancoder.getVelocity().getValueAsDouble();
-  }
-
   @Override
   public AngularVelocity getVelocityMeasure() {
     return cancoder.getVelocity().getValue();

lib/src/main/java/com/team2813/lib2813/control/motors/SparkMaxWrapper.java

@@ -81,11 +81,6 @@ public void set(ControlMode controlMode, double demand, double feedForward) {
     }
   }
 
-  @Override
-  public double position() {
-    return encoder.getPosition();
-  }
-
   @Override
   public Angle getPositionMeasure() {
     return Units.Rotations.of(encoder.getPosition());
@@ -101,21 +96,11 @@ public void stopMotor() {
     motor.stopMotor();
   }
 
-  @Override
-  public void setPosition(double position) {
-    encoder.setPosition(position);
-  }
-
   @Override
   public void setPosition(Angle position) {
     encoder.setPosition(position.in(Units.Rotations));
   }
 
-  @Override
-  public double getVelocity() {
-    return encoder.getVelocity();
-  }
-
   @Override
   public AngularVelocity getVelocityMeasure() {
     return Units.Rotations.per(Units.Minute).of(encoder.getVelocity());

lib/src/main/java/com/team2813/lib2813/control/motors/TalonFXWrapper.java

@@ -142,11 +142,6 @@ public void set(ControlMode controlMode, double demand, double feedForward) {
     }
   }
 
-  @Override
-  public double position() {
-    return getPositionMeasure().in(Units.Rotations);
-  }
-
   @Override
   public Angle getPositionMeasure() {
     return Units.Rotations.of(motor.getPosition().getValueAsDouble());
@@ -157,21 +152,11 @@ public Current getAppliedCurrent() {
     return motor.getStatorCurrent().getValue();
   }
 
-  @Override
-  public void setPosition(double position) {
-    motor.setPosition(position);
-  }
-
   @Override
   public void setPosition(Angle position) {
     motor.setPosition(position.in(Units.Rotations));
   }
 
-  @Override
-  public double getVelocity() {
-    return motor.getVelocity().getValueAsDouble();
-  }
-
   @Override
   public AngularVelocity getVelocityMeasure() {
     return Units.RotationsPerSecond.of(motor.getVelocity().getValueAsDouble());

lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java

@@ -247,34 +247,16 @@ protected final double getMeasurement() {
     return encoder.getPositionMeasure().in(rotationUnit);
   }
 
-  @Override
-  @Deprecated(forRemoval = true)
-  public double position() {
-    return encoder.position();
-  }
-
   @Override
   public Angle getPositionMeasure() {
     return encoder.getPositionMeasure();
   }
 
-  @Override
-  @Deprecated(forRemoval = true)
-  public void setPosition(double position) {
-    encoder.setPosition(position);
-  }
-
   @Override
   public void setPosition(Angle position) {
     encoder.setPosition(position);
   }
 
-  @Override
-  @Deprecated(forRemoval = true)
-  public double getVelocity() {
-    return encoder.getVelocity();
-  }
-
   @Override
   public AngularVelocity getVelocityMeasure() {
     return encoder.getVelocityMeasure();