Upgrade spotless and shadow (#385)

Fixes Log4J vulnerability

photonlib-java-examples/src/main/java/org/photonlib/examples/aimandrange/Main.java

@@ -19,18 +19,18 @@ package org.photonlib.examples.aimandrange;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
-* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
-* you are doing, do not modify this file except to change the parameter class to the startRobot
-* call.
-*/
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
 public final class Main {
     private Main() {}
 
     /**
-    * Main initialization function. Do not perform any initialization here.
-    *
-    * <p>If you change your main robot class, change the parameter type.
-    */
+     * Main initialization function. Do not perform any initialization here.
+     *
+     * <p>If you change your main robot class, change the parameter type.
+     */
     public static void main(String... args) {
         RobotBase.startRobot(Robot::new);
     }

photonlib-java-examples/src/main/java/org/photonlib/examples/aimandrange/Robot.java

@@ -26,11 +26,11 @@ import org.photonvision.PhotonCamera;
 import org.photonvision.PhotonUtils;
 
 /**
-* The VM is configured to automatically run this class, and to call the functions corresponding to
-* each mode, as described in the TimedRobot documentation. If you change the name of this class or
-* the package after creating this project, you must also update the build.gradle file in the
-* project.
-*/
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * the package after creating this project, you must also update the build.gradle file in the
+ * project.
+ */
 public class Robot extends TimedRobot {
     // Constants such as camera and target height stored. Change per robot and goal!
     final double CAMERA_HEIGHT_METERS = Units.inchesToMeters(24);

photonlib-java-examples/src/main/java/org/photonlib/examples/aimattarget/Main.java

@@ -19,18 +19,18 @@ package org.photonlib.examples.aimattarget;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
-* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
-* you are doing, do not modify this file except to change the parameter class to the startRobot
-* call.
-*/
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
 public final class Main {
     private Main() {}
 
     /**
-    * Main initialization function. Do not perform any initialization here.
-    *
-    * <p>If you change your main robot class, change the parameter type.
-    */
+     * Main initialization function. Do not perform any initialization here.
+     *
+     * <p>If you change your main robot class, change the parameter type.
+     */
     public static void main(String... args) {
         RobotBase.startRobot(Robot::new);
     }

photonlib-java-examples/src/main/java/org/photonlib/examples/aimattarget/Robot.java

@@ -25,11 +25,11 @@ import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
 import org.photonvision.PhotonCamera;
 
 /**
-* The VM is configured to automatically run this class, and to call the functions corresponding to
-* each mode, as described in the TimedRobot documentation. If you change the name of this class or
-* the package after creating this project, you must also update the build.gradle file in the
-* project.
-*/
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * the package after creating this project, you must also update the build.gradle file in the
+ * project.
+ */
 public class Robot extends TimedRobot {
     // Constants such as camera and target height stored. Change per robot and goal!
     final double CAMERA_HEIGHT_METERS = Units.inchesToMeters(24);

photonlib-java-examples/src/main/java/org/photonlib/examples/getinrange/Main.java

@@ -19,18 +19,18 @@ package org.photonlib.examples.getinrange;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
-* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
-* you are doing, do not modify this file except to change the parameter class to the startRobot
-* call.
-*/
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
 public final class Main {
     private Main() {}
 
     /**
-    * Main initialization function. Do not perform any initialization here.
-    *
-    * <p>If you change your main robot class, change the parameter type.
-    */
+     * Main initialization function. Do not perform any initialization here.
+     *
+     * <p>If you change your main robot class, change the parameter type.
+     */
     public static void main(String... args) {
         RobotBase.startRobot(Robot::new);
     }

photonlib-java-examples/src/main/java/org/photonlib/examples/getinrange/Robot.java

@@ -26,11 +26,11 @@ import org.photonvision.PhotonCamera;
 import org.photonvision.PhotonUtils;
 
 /**
-* The VM is configured to automatically run this class, and to call the functions corresponding to
-* each mode, as described in the TimedRobot documentation. If you change the name of this class or
-* the package after creating this project, you must also update the build.gradle file in the
-* project.
-*/
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * the package after creating this project, you must also update the build.gradle file in the
+ * project.
+ */
 public class Robot extends TimedRobot {
     // Constants such as camera and target height stored. Change per robot and goal!
     final double CAMERA_HEIGHT_METERS = Units.inchesToMeters(24);

photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/Main.java

@@ -19,18 +19,18 @@ package org.photonlib.examples.simaimandrange;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
-* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
-* you are doing, do not modify this file except to change the parameter class to the startRobot
-* call.
-*/
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
 public final class Main {
     private Main() {}
 
     /**
-    * Main initialization function. Do not perform any initialization here.
-    *
-    * <p>If you change your main robot class, change the parameter type.
-    */
+     * Main initialization function. Do not perform any initialization here.
+     *
+     * <p>If you change your main robot class, change the parameter type.
+     */
     public static void main(String... args) {
         RobotBase.startRobot(Robot::new);
     }

photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/Robot.java

@@ -27,11 +27,11 @@ import org.photonvision.PhotonCamera;
 import org.photonvision.PhotonUtils;
 
 /**
-* The VM is configured to automatically run this class, and to call the functions corresponding to
-* each mode, as described in the TimedRobot documentation. If you change the name of this class or
-* the package after creating this project, you must also update the build.gradle file in the
-* project.
-*/
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * the package after creating this project, you must also update the build.gradle file in the
+ * project.
+ */
 public class Robot extends TimedRobot {
     // 2020 High goal target height above ground
     public static final double TARGET_HEIGHT_METERS = Units.inchesToMeters(81.19);

photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/sim/DrivetrainSim.java

@@ -36,12 +36,12 @@ import org.photonvision.SimVisionSystem;
 import org.photonvision.SimVisionTarget;
 
 /**
-* Implementation of a simulation of robot physics, sensors, motor controllers Includes a Simulated
-* PhotonVision system and one vision target.
-*
-* <p>This class and its methods are only relevant during simulation. While on the real robot, the
-* real motors/sensors/physics are used instead.
-*/
+ * Implementation of a simulation of robot physics, sensors, motor controllers Includes a Simulated
+ * PhotonVision system and one vision target.
+ *
+ * <p>This class and its methods are only relevant during simulation. While on the real robot, the
+ * real motors/sensors/physics are used instead.
+ */
 public class DrivetrainSim {
     // Simulated Motor Controllers
     PWMSim leftLeader = new PWMSim(0);
@@ -108,9 +108,9 @@ public class DrivetrainSim {
     }
 
     /**
-    * Perform all periodic drivetrain simulation related tasks to advance our simulation of robot
-    * physics forward by a single 20ms step.
-    */
+     * Perform all periodic drivetrain simulation related tasks to advance our simulation of robot
+     * physics forward by a single 20ms step.
+     */
     public void update() {
         double leftMotorCmd = 0;
         double rightMotorCmd = 0;
@@ -132,11 +132,11 @@ public class DrivetrainSim {
     }
 
     /**
-    * Resets the simulation back to a pre-defined pose Useful to simulate the action of placing the
-    * robot onto a specific spot in the field (IE, at the start of each match).
-    *
-    * @param pose
-    */
+     * Resets the simulation back to a pre-defined pose Useful to simulate the action of placing the
+     * robot onto a specific spot in the field (IE, at the start of each match).
+     *
+     * @param pose
+     */
     public void resetPose(Pose2d pose) {
         drivetrainSimulator.setPose(pose);
     }

photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/Main.java

@@ -20,18 +20,18 @@ import edu.wpi.first.wpilibj.RobotBase;
 import org.photonlib.examples.simposeest.robot.Robot;
 
 /**
-* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
-* you are doing, do not modify this file except to change the parameter class to the startRobot
-* call.
-*/
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
 public final class Main {
     private Main() {}
 
     /**
-    * Main initialization function. Do not perform any initialization here.
-    *
-    * <p>If you change your main robot class, change the parameter type.
-    */
+     * Main initialization function. Do not perform any initialization here.
+     *
+     * <p>If you change your main robot class, change the parameter type.
+     */
     public static void main(String... args) {
         RobotBase.startRobot(Robot::new);
     }

photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/AutoController.java

@@ -27,11 +27,11 @@ import edu.wpi.first.wpilibj.Timer;
 import java.util.List;
 
 /**
-* Implements logic to convert a set of desired waypoints (ie, a trajectory) and the current
-* estimate of where the robot is at (ie, the estimated Pose) into motion commands for a drivetrain.
-* The Ramaste controller is used to smoothly move the robot from where it thinks it is to where it
-* thinks it ought to be.
-*/
+ * Implements logic to convert a set of desired waypoints (ie, a trajectory) and the current
+ * estimate of where the robot is at (ie, the estimated Pose) into motion commands for a drivetrain.
+ * The Ramaste controller is used to smoothly move the robot from where it thinks it is to where it
+ * thinks it ought to be.
+ */
 public class AutoController {
     private Trajectory trajectory;
 
@@ -72,13 +72,13 @@ public class AutoController {
     }
 
     /**
-    * Given the current estimate of the robot's position, calculate drivetrain speed commands which
-    * will best-execute the active trajectory. Be sure to call `startPath()` prior to calling this
-    * method.
-    *
-    * @param curEstPose Current estimate of drivetrain pose on the field
-    * @return The commanded drivetrain motion
-    */
+     * Given the current estimate of the robot's position, calculate drivetrain speed commands which
+     * will best-execute the active trajectory. Be sure to call `startPath()` prior to calling this
+     * method.
+     *
+     * @param curEstPose Current estimate of drivetrain pose on the field
+     * @return The commanded drivetrain motion
+     */
     public ChassisSpeeds getCurMotorCmds(Pose2d curEstPose) {
         if (isRunning) {
             double elapsed = timer.get();
@@ -91,9 +91,9 @@ public class AutoController {
     }
 
     /**
-    * @return The position which the auto controller is attempting to move the drivetrain to right
-    *     now.
-    */
+     * @return The position which the auto controller is attempting to move the drivetrain to right
+     *     now.
+     */
     public Pose2d getCurPose2d() {
         return desiredDtState.poseMeters;
     }

photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/Constants.java

@@ -24,11 +24,11 @@ import edu.wpi.first.math.util.Units;
 import org.photonvision.SimVisionTarget;
 
 /**
-* Holding class for all physical constants that must be used throughout the codebase. These values
-* should be set by one of a few methods: 1) Talk to your mechanical and electrical teams and
-* determine how the physical robot is being built and configured. 2) Read the game manual and look
-* at the field drawings 3) Match with how your vision coprocessor is configured.
-*/
+ * Holding class for all physical constants that must be used throughout the codebase. These values
+ * should be set by one of a few methods: 1) Talk to your mechanical and electrical teams and
+ * determine how the physical robot is being built and configured. 2) Read the game manual and look
+ * at the field drawings 3) Match with how your vision coprocessor is configured.
+ */
 public class Constants {
     //////////////////////////////////////////////////////////////////
     // Drivetrain Physical

photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/Drivetrain.java

@@ -27,10 +27,10 @@ import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
 import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
 
 /**
-* Implements a controller for the drivetrain. Converts a set of chassis motion commands into motor
-* controller PWM values which attempt to speed up or slow down the wheels to match the desired
-* speed.
-*/
+ * Implements a controller for the drivetrain. Converts a set of chassis motion commands into motor
+ * controller PWM values which attempt to speed up or slow down the wheels to match the desired
+ * speed.
+ */
 public class Drivetrain {
     // PWM motor controller output definitions
     PWMVictorSPX leftLeader = new PWMVictorSPX(Constants.kDtLeftLeaderPin);
@@ -77,12 +77,12 @@ public class Drivetrain {
     }
 
     /**
-    * Given a set of chassis (fwd/rev + rotate) speed commands, perform all periodic tasks to assign
-    * new outputs to the motor controllers.
-    *
-    * @param xSpeed Desired chassis Forward or Reverse speed (in meters/sec). Positive is forward.
-    * @param rot Desired chassis rotation speed in radians/sec. Positive is counter-clockwise.
-    */
+     * Given a set of chassis (fwd/rev + rotate) speed commands, perform all periodic tasks to assign
+     * new outputs to the motor controllers.
+     *
+     * @param xSpeed Desired chassis Forward or Reverse speed (in meters/sec). Positive is forward.
+     * @param rot Desired chassis rotation speed in radians/sec. Positive is counter-clockwise.
+     */
     public void drive(double xSpeed, double rot) {
         // Convert our fwd/rev and rotate commands to wheel speed commands
         DifferentialDriveWheelSpeeds speeds =
@@ -111,12 +111,12 @@ public class Drivetrain {
     }
 
     /**
-    * Force the pose estimator and all sensors to a particular pose. This is useful for indicating to
-    * the software when you have manually moved your robot in a particular position on the field (EX:
-    * when you place it on the field at the start of the match).
-    *
-    * @param pose
-    */
+     * Force the pose estimator and all sensors to a particular pose. This is useful for indicating to
+     * the software when you have manually moved your robot in a particular position on the field (EX:
+     * when you place it on the field at the start of the match).
+     *
+     * @param pose
+     */
     public void resetOdometry(Pose2d pose) {
         leftEncoder.reset();
         rightEncoder.reset();

photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/DrivetrainPoseEstimator.java

@@ -31,10 +31,10 @@ import edu.wpi.first.wpilibj.Timer;
 import org.photonvision.PhotonCamera;
 
 /**
-* Performs estimation of the drivetrain's current position on the field, using a vision system,
-* drivetrain encoders, and a gyroscope. These sensor readings are fused together using a Kalman
-* filter. This in turn creates a best-guess at a Pose2d of where our drivetrain is currently at.
-*/
+ * Performs estimation of the drivetrain's current position on the field, using a vision system,
+ * drivetrain encoders, and a gyroscope. These sensor readings are fused together using a Kalman
+ * filter. This in turn creates a best-guess at a Pose2d of where our drivetrain is currently at.
+ */
 public class DrivetrainPoseEstimator {
     // Sensors used as part of the Pose Estimation
     private final AnalogGyro gyro = new AnalogGyro(Constants.kGyroPin);
@@ -65,12 +65,12 @@ public class DrivetrainPoseEstimator {
     public DrivetrainPoseEstimator() {}
 
     /**
-    * Perform all periodic pose estimation tasks.
-    *
-    * @param actWheelSpeeds Current Speeds (in m/s) of the drivetrain wheels
-    * @param leftDist Distance (in m) the left wheel has traveled
-    * @param rightDist Distance (in m) the right wheel has traveled
-    */
+     * Perform all periodic pose estimation tasks.
+     *
+     * @param actWheelSpeeds Current Speeds (in m/s) of the drivetrain wheels
+     * @param leftDist Distance (in m) the left wheel has traveled
+     * @param rightDist Distance (in m) the right wheel has traveled
+     */
     public void update(
             DifferentialDriveWheelSpeeds actWheelSpeeds, double leftDist, double rightDist) {
         m_poseEstimator.update(gyro.getRotation2d(), actWheelSpeeds, leftDist, rightDist);
@@ -86,12 +86,12 @@ public class DrivetrainPoseEstimator {
     }
 
     /**
-    * Force the pose estimator to a particular pose. This is useful for indicating to the software
-    * when you have manually moved your robot in a particular position on the field (EX: when you
-    * place it on the field at the start of the match).
-    *
-    * @param pose
-    */
+     * Force the pose estimator to a particular pose. This is useful for indicating to the software
+     * when you have manually moved your robot in a particular position on the field (EX: when you
+     * place it on the field at the start of the match).
+     *
+     * @param pose
+     */
     public void resetToPose(Pose2d pose) {
         m_poseEstimator.resetPosition(pose, gyro.getRotation2d());
     }

photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/sim/DrivetrainSim.java

@@ -34,12 +34,12 @@ import org.photonlib.examples.simposeest.robot.Constants;
 import org.photonvision.SimVisionSystem;
 
 /**
-* Implementation of a simulation of robot physics, sensors, motor controllers Includes a Simulated
-* PhotonVision system and one vision target.
-*
-* <p>This class and its methods are only relevant during simulation. While on the real robot, the
-* real motors/sensors/physics are used instead.
-*/
+ * Implementation of a simulation of robot physics, sensors, motor controllers Includes a Simulated
+ * PhotonVision system and one vision target.
+ *
+ * <p>This class and its methods are only relevant during simulation. While on the real robot, the
+ * real motors/sensors/physics are used instead.
+ */
 public class DrivetrainSim {
     // Simulated Sensors
     AnalogGyroSim gyroSim = new AnalogGyroSim(Constants.kGyroPin);
@@ -94,9 +94,9 @@ public class DrivetrainSim {
     }
 
     /**
-    * Perform all periodic drivetrain simulation related tasks to advance our simulation of robot
-    * physics forward by a single 20ms step.
-    */
+     * Perform all periodic drivetrain simulation related tasks to advance our simulation of robot
+     * physics forward by a single 20ms step.
+     */
     public void update() {
         double leftMotorCmd = 0;
         double rightMotorCmd = 0;
@@ -135,11 +135,11 @@ public class DrivetrainSim {
     }
 
     /**
-    * Resets the simulation back to a pre-defined pose Useful to simulate the action of placing the
-    * robot onto a specific spot in the field (IE, at the start of each match).
-    *
-    * @param pose
-    */
+     * Resets the simulation back to a pre-defined pose Useful to simulate the action of placing the
+     * robot onto a specific spot in the field (IE, at the start of each match).
+     *
+     * @param pose
+     */
     public void resetPose(Pose2d pose) {
         drivetrainSimulator.setPose(pose);
     }
@@ -150,11 +150,11 @@ public class DrivetrainSim {
     }
 
     /**
-    * For testing purposes only! Applies an unmodeled, undetected offset to the pose Similar to if
-    * you magically kicked your robot to the side in a way the encoders and gyro didn't measure.
-    *
-    * <p>This distrubance should be corrected for once a vision target is in view.
-    */
+     * For testing purposes only! Applies an unmodeled, undetected offset to the pose Similar to if
+     * you magically kicked your robot to the side in a way the encoders and gyro didn't measure.
+     *
+     * <p>This distrubance should be corrected for once a vision target is in view.
+     */
     public void applyKick() {
         Pose2d newPose =
                 drivetrainSimulator