From 9c65ddb138f59d0720b53154cc39c8521b63314b Mon Sep 17 00:00:00 2001
From: Jonah <47046556+jwbonner@users.noreply.github.com>
Date: Sun, 1 Oct 2023 15:24:53 -0400
Subject: [PATCH] Throw runtime error when inheriting from `TimedRobot`

Replaces compile-time error (which was not clear during failed builds), but does not affect deprecation warning
---
 .../src/edu/wpi/first/wpilibj/TimedRobot.java   | 14 +++++++++++---
 .../edu/wpi/first/wpilibj/TimesliceRobot.java   | 17 ++++++++++-------
 2 files changed, 21 insertions(+), 10 deletions(-)

diff --git a/junction/shims/wpilib/src/edu/wpi/first/wpilibj/TimedRobot.java b/junction/shims/wpilib/src/edu/wpi/first/wpilibj/TimedRobot.java
index cee8dac1..4e6193ed 100644
--- a/junction/shims/wpilib/src/edu/wpi/first/wpilibj/TimedRobot.java
+++ b/junction/shims/wpilib/src/edu/wpi/first/wpilibj/TimedRobot.java
@@ -5,11 +5,13 @@
 package edu.wpi.first.wpilibj;
 
 /**
- * @Deprecated The main robot class should inherit from LoggedRobot instead of
- *             TimedRobot when using AdvantageKit's WPILib shims.
+ * @Deprecated The main robot class must inherit from LoggedRobot instead of
+ *             TimedRobot when using AdvantageKit's WPILib shims. For more
+ *             details, check the AdvantageKit installation documentation:
+ *             https://github.com/Mechanical-Advantage/AdvantageKit/blob/main/docs/INSTALLATION.md
  */
 @Deprecated
-public final class TimedRobot {
+public class TimedRobot extends IterativeRobotBase {
   static class Callback implements Comparable<Callback> {
     public Runnable func;
     public double period;
@@ -37,9 +39,15 @@ public int compareTo(Callback rhs) {
   public static final double kDefaultPeriod = 0.02;
 
   protected TimedRobot() {
+    this(kDefaultPeriod);
   }
 
   protected TimedRobot(double period) {
+    super(period);
+    DriverStation.reportError(
+        "The main robot class must inherit from LoggedRobot when using AdvantageKit's WPILib shims. For more details, check the AdvantageKit installation documentation: https://github.com/Mechanical-Advantage/AdvantageKit/blob/main/docs/INSTALLATION.md\n\n*** EXITING DUE TO INVALID ADVANTAGEKIT INSTALLATION, SEE ABOVE. ***",
+        false);
+    System.exit(1);
   }
 
   public void close() {
diff --git a/junction/shims/wpilib/src/edu/wpi/first/wpilibj/TimesliceRobot.java b/junction/shims/wpilib/src/edu/wpi/first/wpilibj/TimesliceRobot.java
index 39a7b908..7c456fdc 100644
--- a/junction/shims/wpilib/src/edu/wpi/first/wpilibj/TimesliceRobot.java
+++ b/junction/shims/wpilib/src/edu/wpi/first/wpilibj/TimesliceRobot.java
@@ -5,14 +5,17 @@
 package edu.wpi.first.wpilibj;
 
 /**
- * @Deprecated The main robot class should inherit from LoggedRobot instead of
- *             TimesliceRobot when using AdvantageKit's WPILib shims.
+ * @Deprecated The main robot class must inherit from LoggedRobot instead of
+ *             TimesliceRobot when using AdvantageKit's WPILib shims. For more
+ *             details, check the AdvantageKit installation documentation:
+ *             https://github.com/Mechanical-Advantage/AdvantageKit/blob/main/docs/INSTALLATION.md
  */
 @Deprecated
-public final class TimesliceRobot {
-    public TimesliceRobot(double robotPeriodicAllocation, double controllerPeriod) {
-    }
+public class TimesliceRobot extends TimedRobot {
+  public TimesliceRobot(double robotPeriodicAllocation, double controllerPeriod) {
+    super();
+  }
 
-    public void schedule(Runnable func, double allocation) {
-    }
+  public void schedule(Runnable func, double allocation) {
+  }
 }
\ No newline at end of file