1. The PID controller class is no longer included in the library.
You can download it standalone from this GitHub Gist,
or you can use a different PID controller such as the guide from CTRL ALT FTC.
2. You can no longer use lineTo() to do a direct line to a point. Your direct line options are lineToY()
and lineToX(). They keep the tangent of your previous path and drive to that X or Y value, unless you set a tangent yourself.
You can get around this by using strafeTo() which drives directly to an arbitrary position,
or using splineTo() with the same start and end tangent (with setTangent()).
3. The marker system has been removed.
It has been replaced with the Actions system, which is a command-based system like Mercurial or FTCLib.
It makes it much easier to do operations in parallel;
further information is available at the official docs.