Update removed features list

source/docs/yearly-overview/removed-features.rst

@@ -1,7 +1,7 @@
 # Removed features
 
 ## LabVIEW
-LabVIEW is not currently supported on SystemCore. Old LabVIEW docs can be found [here](https://docs.wpilib.org/en/stable/docs/software/labview/index.html).
+LabVIEW is not currently supported on Systemcore. Old LabVIEW docs can be found [here](https://docs.wpilib.org/en/stable/docs/software/labview/index.html).
 
 ## NetworkTables 3
 Removed since NetworkTables 4 has been out for a few years and is a better protocol bandwidth-wise.
@@ -22,56 +22,74 @@ No replacement. There are many upcoming codegen projects however.
 Use :doc:`/docs/software/pathplanning/choreo/index` or [PathPlanner](https://pathplanner.dev) instead.
 
 ## roboRIO Team Number Setter
-Config for SystemCore will be handled via the web interface.
+Config for Systemcore will be handled via the web interface.
+
+## WPILib Standalone Utility
+Removed because of low use.
 
 ## Hardware
 
 ### Relay
-SystemCore doesn't support Relays.
+Systemcore doesn't support Relays.
 
 ### Analog Output
-SystemCore doesn't support Analog Outputs.
+Systemcore doesn't support Analog Outputs.
 
 ### Analog Gyro
-SystemCore doesn't support Analog Gyros.
+Systemcore doesn't support Analog Gyros.
 
 ### SPI
-SystemCore doesn't support SPI. Several IMUs that WPILib had built-in support for also used SPI, and therefore also aren't supported on SystemCore. IMUs that were removed:
+Systemcore doesn't support SPI. Several IMUs that WPILib had built-in support for also used SPI, and therefore also aren't supported on Systemcore. IMUs that were removed:
 
 * ADIS16448
 * ADIS16470
 * ADXL345
 * ADXRS450
 
 ### DigitalGlitchFilter
-SystemCore doesn't support DigitalGlitchFilter.
+Systemcore doesn't support DigitalGlitchFilter.
 
 ### Analog Trigger
-SystemCore doesn't support Analog Triggers.
+Systemcore doesn't support Analog Triggers.
 
 ### DMA
-SystemCore doesn't support DMA.
+Systemcore doesn't support DMA.
 
 ### Counter
-SystemCore doesn't support Counters.
+Systemcore doesn't support Counters.
+
+### Servo
+Systemcore doesn't have the ability to give servos the power they demand.
 
 ### Ultrasonic
-SystemCore doesn't support Ultrasonic because it doesn't support Counters.
+Systemcore doesn't support Ultrasonic because it doesn't support Counters.
 
 ### DigitalSource
-Digital IO works differently on SystemCore and DigitalSource was removed as part of the transition.
+Digital IO works differently on Systemcore and DigitalSource was removed as part of the transition.
 
 ### Interrupts
-SystemCore doesn't support Interrupts.
+Systemcore doesn't support Interrupts.
 
 ### Axis Camera
 Explicit support removed because it required special software support, and Usage Reporting indicated extremely few users. Usage is still possible with HttpCamera.
 
 ### Nidec Dynamo Brushless
-Support removed because per https://community.firstinspires.org/more-reefscape-by-the-numbers-new-legal-devices, zero teams used it, and it will be dropped from the legal list of parts.
+Support removed because per https://community.firstinspires.org/more-reefscape-by-the-numbers-new-legal-devices, zero teams used it, and because Systemcore doesn't support its control method.
 
 ## RamseteController/RamseteCommand
 Use LTV Unicycle Controller, which has more intuitive tuning.
 
 ## Control commands/subsytems
 PIDCommand, ProfiledPIDCommand, TrapezoidProfileCommand, and their subsystem counterparts have been removed for being poor abstractions. Instead, use PIDController/ProfiledPIDController/TrapezoidProfile themselves in commands/subsystems.
+
+## Mutable Java units
+Mutable Java units can cause many confusing issues if used incorrectly, and only exist because of the roboRIO's lack of RAM. Systemcore has enough RAM to handle immutable units.
+
+## ``robotInit()``
+Use a constructor instead.
+
+## ``MathUtil.clamp()``
+Use ``Math.clamp()`` instead.
+
+## ``Pose2/3d.exp(Twist2/3d)``
+Use ``Pose2/3d.plus(Twist2/3d.exp())`` instead.