Fix JDK 21 warnings (#6028)

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java

@@ -143,7 +143,7 @@ public class AprilTagFieldLayout {
    * @param origin The predefined origin
    */
   @JsonIgnore
-  public void setOrigin(OriginPosition origin) {
+  public final void setOrigin(OriginPosition origin) {
     switch (origin) {
       case kBlueAllianceWallRightSide:
         setOrigin(new Pose3d());
@@ -168,7 +168,7 @@ public class AprilTagFieldLayout {
    * @param origin The new origin for tag transformations
    */
   @JsonIgnore
-  public void setOrigin(Pose3d origin) {
+  public final void setOrigin(Pose3d origin) {
     m_origin = origin;
   }
 

cameraserver/src/main/java/edu/wpi/first/vision/VisionThread.java

@@ -21,6 +21,7 @@ public class VisionThread extends Thread {
    *
    * @param visionRunner the runner for a vision pipeline
    */
+  @SuppressWarnings("this-escape")
   public VisionThread(VisionRunner<?> visionRunner) {
     super(visionRunner::runForever, "WPILib Vision Thread");
     setDaemon(true);

romiVendordep/src/main/java/edu/wpi/first/wpilibj/romi/RomiMotor.java

@@ -14,7 +14,7 @@ import edu.wpi.first.wpilibj.motorcontrol.PWMMotorController;
  */
 public class RomiMotor extends PWMMotorController {
   /** Common initialization code called by all constructors. */
-  protected void initRomiMotor() {
+  protected final void initRomiMotor() {
     m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
     m_pwm.setSpeed(0.0);
     m_pwm.setZeroLatch();

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java

@@ -27,6 +27,7 @@ import java.util.function.BooleanSupplier;
 public abstract class Command implements Sendable {
   protected Set<Subsystem> m_requirements = new HashSet<>();
 
+  @SuppressWarnings("this-escape")
   protected Command() {
     String name = getClass().getName();
     SendableRegistry.add(this, name.substring(name.lastIndexOf('.') + 1));

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/DeferredCommand.java

@@ -37,6 +37,7 @@ public class DeferredCommand extends Command {
    *     omission of command requirements. Use {@link Set#of()} to easily construct a requirement
    *     set.
    */
+  @SuppressWarnings("this-escape")
   public DeferredCommand(Supplier<Command> supplier, Set<Subsystem> requirements) {
     m_supplier = requireNonNullParam(supplier, "supplier", "DeferredCommand");
     addRequirements(requirements.toArray(new Subsystem[0]));

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/FunctionalCommand.java

@@ -32,6 +32,7 @@ public class FunctionalCommand extends Command {
    * @param isFinished the function that determines whether the command has finished
    * @param requirements the subsystems required by this command
    */
+  @SuppressWarnings("this-escape")
   public FunctionalCommand(
       Runnable onInit,
       Runnable onExecute,

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java

@@ -86,6 +86,7 @@ public class MecanumControllerCommand extends Command {
    *     voltages.
    * @param requirements The subsystems to require.
    */
+  @SuppressWarnings("this-escape")
   public MecanumControllerCommand(
       Trajectory trajectory,
       Supplier<Pose2d> pose,
@@ -229,6 +230,7 @@ public class MecanumControllerCommand extends Command {
    * @param outputWheelSpeeds A MecanumDriveWheelSpeeds object containing the output wheel speeds.
    * @param requirements The subsystems to require.
    */
+  @SuppressWarnings("this-escape")
   public MecanumControllerCommand(
       Trajectory trajectory,
       Supplier<Pose2d> pose,

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/NotifierCommand.java

@@ -28,6 +28,7 @@ public class NotifierCommand extends Command {
    * @param period the period at which the notifier should run, in seconds
    * @param requirements the subsystems required by this command
    */
+  @SuppressWarnings("this-escape")
   public NotifierCommand(Runnable toRun, double period, Subsystem... requirements) {
     m_notifier = new Notifier(toRun);
     m_period = period;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java

@@ -24,6 +24,7 @@ public abstract class PIDSubsystem extends SubsystemBase {
    * @param controller the PIDController to use
    * @param initialPosition the initial setpoint of the subsystem
    */
+  @SuppressWarnings("this-escape")
   public PIDSubsystem(PIDController controller, double initialPosition) {
     m_controller = requireNonNullParam(controller, "controller", "PIDSubsystem");
     setSetpoint(initialPosition);
@@ -55,7 +56,7 @@ public abstract class PIDSubsystem extends SubsystemBase {
    *
    * @param setpoint the setpoint for the subsystem
    */
-  public void setSetpoint(double setpoint) {
+  public final void setSetpoint(double setpoint) {
     m_controller.setSetpoint(setpoint);
   }
 

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java

@@ -56,7 +56,7 @@ public abstract class ProfiledPIDSubsystem extends SubsystemBase {
    *
    * @param goal The goal state for the subsystem's motion profile.
    */
-  public void setGoal(TrapezoidProfile.State goal) {
+  public final void setGoal(TrapezoidProfile.State goal) {
     m_controller.setGoal(goal);
   }
 
@@ -65,7 +65,7 @@ public abstract class ProfiledPIDSubsystem extends SubsystemBase {
    *
    * @param goal The goal position for the subsystem's motion profile.
    */
-  public void setGoal(double goal) {
+  public final void setGoal(double goal) {
     setGoal(new TrapezoidProfile.State(goal, 0));
   }
 

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyCommand.java

@@ -35,6 +35,7 @@ public class ProxyCommand extends Command {
    *
    * @param command the command to run by proxy
    */
+  @SuppressWarnings("this-escape")
   public ProxyCommand(Command command) {
     this(() -> command);
     setName("Proxy(" + command.getName() + ")");

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java

@@ -70,6 +70,7 @@ public class RamseteCommand extends Command {
    *     the robot drive.
    * @param requirements The subsystems to require.
    */
+  @SuppressWarnings("this-escape")
   public RamseteCommand(
       Trajectory trajectory,
       Supplier<Pose2d> pose,
@@ -109,6 +110,7 @@ public class RamseteCommand extends Command {
    * @param outputMetersPerSecond A function that consumes the computed left and right wheel speeds.
    * @param requirements The subsystems to require.
    */
+  @SuppressWarnings("this-escape")
   public RamseteCommand(
       Trajectory trajectory,
       Supplier<Pose2d> pose,

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RepeatCommand.java

@@ -29,6 +29,7 @@ public class RepeatCommand extends Command {
    *
    * @param command the command to run repeatedly
    */
+  @SuppressWarnings("this-escape")
   public RepeatCommand(Command command) {
     m_command = requireNonNullParam(command, "command", "RepeatCommand");
     CommandScheduler.getInstance().registerComposedCommands(command);

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java

@@ -16,6 +16,7 @@ import edu.wpi.first.util.sendable.SendableRegistry;
  */
 public abstract class SubsystemBase implements Subsystem, Sendable {
   /** Constructor. */
+  @SuppressWarnings("this-escape")
   public SubsystemBase() {
     String name = this.getClass().getSimpleName();
     name = name.substring(name.lastIndexOf('.') + 1);

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java

@@ -186,6 +186,7 @@ public class SwerveControllerCommand extends Command {
    * @param outputModuleStates The raw output module states from the position controllers.
    * @param requirements The subsystems to require.
    */
+  @SuppressWarnings("this-escape")
   public SwerveControllerCommand(
       Trajectory trajectory,
       Supplier<Pose2d> pose,

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java

@@ -35,6 +35,7 @@ public class TrapezoidProfileCommand extends Command {
    * @param currentState The current state
    * @param requirements The subsystems required by this command.
    */
+  @SuppressWarnings("this-escape")
   public TrapezoidProfileCommand(
       TrapezoidProfile profile,
       Consumer<State> output,
@@ -60,6 +61,7 @@ public class TrapezoidProfileCommand extends Command {
    *     This allows you to change goals at runtime.
    */
   @Deprecated(since = "2024", forRemoval = true)
+  @SuppressWarnings("this-escape")
   public TrapezoidProfileCommand(
       TrapezoidProfile profile, Consumer<State> output, Subsystem... requirements) {
     m_profile = requireNonNullParam(profile, "profile", "TrapezoidProfileCommand");

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java

@@ -74,7 +74,7 @@ public abstract class TrapezoidProfileSubsystem extends SubsystemBase {
    *
    * @param goal The goal state for the subsystem's motion profile.
    */
-  public void setGoal(TrapezoidProfile.State goal) {
+  public final void setGoal(TrapezoidProfile.State goal) {
     m_goal = goal;
   }
 
@@ -83,7 +83,7 @@ public abstract class TrapezoidProfileSubsystem extends SubsystemBase {
    *
    * @param goal The goal position for the subsystem's motion profile.
    */
-  public void setGoal(double goal) {
+  public final void setGoal(double goal) {
     setGoal(new TrapezoidProfile.State(goal, 0));
   }
 

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java

@@ -22,6 +22,7 @@ public class WaitCommand extends Command {
    *
    * @param seconds the time to wait, in seconds
    */
+  @SuppressWarnings("this-escape")
   public WaitCommand(double seconds) {
     m_duration = seconds;
     SendableRegistry.setName(this, getName() + ": " + seconds + " seconds");

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WrapperCommand.java

@@ -23,6 +23,7 @@ public abstract class WrapperCommand extends Command {
    * @param command the command being wrapped. Trying to directly schedule this command or add it to
    *     a composition will throw an exception.
    */
+  @SuppressWarnings("this-escape")
   protected WrapperCommand(Command command) {
     CommandScheduler.getInstance().registerComposedCommands(command);
     m_command = command;

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java

@@ -257,6 +257,7 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
    * @param port The SPI Port the gyro is plugged into
    * @param cal_time Calibration time
    */
+  @SuppressWarnings("this-escape")
   public ADIS16448_IMU(final IMUAxis yaw_axis, SPI.Port port, CalibrationTime cal_time) {
     m_yaw_axis = yaw_axis;
     m_spi_port = port;
@@ -527,7 +528,7 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
    * @param new_cal_time New calibration time
    * @return 1 if the new calibration time is the same as the current one else 0
    */
-  public int configCalTime(CalibrationTime new_cal_time) {
+  public final int configCalTime(CalibrationTime new_cal_time) {
     if (m_calibration_time == new_cal_time) {
       return 1;
     } else {

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java

@@ -287,6 +287,7 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
    * @param port The SPI Port the gyro is plugged into
    * @param cal_time Calibration time
    */
+  @SuppressWarnings("this-escape")
   public ADIS16470_IMU(IMUAxis yaw_axis, SPI.Port port, CalibrationTime cal_time) {
     m_yaw_axis = yaw_axis;
     m_calibration_time = cal_time.value;

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java

@@ -95,6 +95,7 @@ public class ADXL345_I2C implements NTSendable, AutoCloseable {
    * @param range The range (+ or -) that the accelerometer will measure.
    * @param deviceAddress I2C address of the accelerometer (0x1D or 0x53)
    */
+  @SuppressWarnings("this-escape")
   public ADXL345_I2C(I2C.Port port, Range range, int deviceAddress) {
     m_i2c = new I2C(port, deviceAddress);
 
@@ -149,7 +150,7 @@ public class ADXL345_I2C implements NTSendable, AutoCloseable {
    * @param range The maximum acceleration, positive or negative, that the accelerometer will
    *     measure.
    */
-  public void setRange(Range range) {
+  public final void setRange(Range range) {
     final byte value;
     switch (range) {
       case k2G:

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java

@@ -81,6 +81,7 @@ public class ADXL345_SPI implements NTSendable, AutoCloseable {
    * @param port The SPI port that the accelerometer is connected to
    * @param range The range (+ or -) that the accelerometer will measure.
    */
+  @SuppressWarnings("this-escape")
   public ADXL345_SPI(SPI.Port port, Range range) {
     m_spi = new SPI(port);
     // simulation

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL362.java

@@ -93,6 +93,7 @@ public class ADXL362 implements NTSendable, AutoCloseable {
    * @param port The SPI port that the accelerometer is connected to
    * @param range The range (+ or -) that the accelerometer will measure.
    */
+  @SuppressWarnings("this-escape")
   public ADXL362(SPI.Port port, Range range) {
     m_spi = new SPI(port);
 
@@ -164,7 +165,7 @@ public class ADXL362 implements NTSendable, AutoCloseable {
    * @param range The maximum acceleration, positive or negative, that the accelerometer will
    *     measure.
    */
-  public void setRange(Range range) {
+  public final void setRange(Range range) {
     if (m_spi == null) {
       return;
     }

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java

@@ -59,6 +59,7 @@ public class ADXRS450_Gyro implements Sendable, AutoCloseable {
    *
    * @param port The SPI port that the gyro is connected to
    */
+  @SuppressWarnings("this-escape")
   public ADXRS450_Gyro(SPI.Port port) {
     m_spi = new SPI(port);
 
@@ -113,7 +114,7 @@ public class ADXRS450_Gyro implements Sendable, AutoCloseable {
    * are in progress, this is typically done when the robot is first turned on while it's sitting at
    * rest before the competition starts.
    */
-  public void calibrate() {
+  public final void calibrate() {
     if (m_spi == null) {
       return;
     }

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java

@@ -36,6 +36,7 @@ public class AnalogAccelerometer implements Sendable, AutoCloseable {
    *
    * @param channel The channel number for the analog input the accelerometer is connected to
    */
+  @SuppressWarnings("this-escape")
   public AnalogAccelerometer(final int channel) {
     this(new AnalogInput(channel), true);
     SendableRegistry.addChild(this, m_analogChannel);
@@ -49,10 +50,12 @@ public class AnalogAccelerometer implements Sendable, AutoCloseable {
    * @param channel The existing AnalogInput object for the analog input the accelerometer is
    *     connected to
    */
+  @SuppressWarnings("this-escape")
   public AnalogAccelerometer(final AnalogInput channel) {
     this(channel, false);
   }
 
+  @SuppressWarnings("this-escape")
   private AnalogAccelerometer(final AnalogInput channel, final boolean allocatedChannel) {
     requireNonNullParam(channel, "channel", "AnalogAccelerometer");
     m_allocatedChannel = allocatedChannel;

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogEncoder.java

@@ -40,6 +40,7 @@ public class AnalogEncoder implements Sendable, AutoCloseable {
    *
    * @param analogInput the analog input to attach to
    */
+  @SuppressWarnings("this-escape")
   public AnalogEncoder(AnalogInput analogInput) {
     m_analogInput = analogInput;
     init();

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogGyro.java

@@ -31,7 +31,7 @@ public class AnalogGyro implements Sendable, AutoCloseable {
   private int m_gyroHandle;
 
   /** Initialize the gyro. Calibration is handled by calibrate(). */
-  public void initGyro() {
+  private void initGyro() {
     if (m_gyroHandle == 0) {
       m_gyroHandle = AnalogGyroJNI.initializeAnalogGyro(m_analog.m_port);
     }
@@ -78,6 +78,7 @@ public class AnalogGyro implements Sendable, AutoCloseable {
    * @param channel The analog channel the gyro is connected to. Gyros can only be used on on-board
    *     channels 0-1.
    */
+  @SuppressWarnings("this-escape")
   public AnalogGyro(int channel) {
     this(new AnalogInput(channel));
     m_channelAllocated = true;
@@ -91,6 +92,7 @@ public class AnalogGyro implements Sendable, AutoCloseable {
    * @param channel The AnalogInput object that the gyro is connected to. Gyros can only be used on
    *     on-board channels 0-1.
    */
+  @SuppressWarnings("this-escape")
   public AnalogGyro(AnalogInput channel) {
     requireNonNullParam(channel, "channel", "AnalogGyro");
 
@@ -108,6 +110,7 @@ public class AnalogGyro implements Sendable, AutoCloseable {
    * @param center Preset uncalibrated value to use as the accumulator center value.
    * @param offset Preset uncalibrated value to use as the gyro offset.
    */
+  @SuppressWarnings("this-escape")
   public AnalogGyro(int channel, int center, double offset) {
     this(new AnalogInput(channel), center, offset);
     m_channelAllocated = true;
@@ -123,6 +126,7 @@ public class AnalogGyro implements Sendable, AutoCloseable {
    * @param center Preset uncalibrated value to use as the accumulator center value.
    * @param offset Preset uncalibrated value to use as the gyro offset.
    */
+  @SuppressWarnings("this-escape")
   public AnalogGyro(AnalogInput channel, int center, double offset) {
     requireNonNullParam(channel, "channel", "AnalogGyro");
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java

@@ -38,6 +38,7 @@ public class AnalogInput implements Sendable, AutoCloseable {
    *
    * @param channel The channel number to represent. 0-3 are on-board 4-7 are on the MXP port.
    */
+  @SuppressWarnings("this-escape")
   public AnalogInput(final int channel) {
     AnalogJNI.checkAnalogInputChannel(channel);
     m_channel = channel;

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogOutput.java

@@ -21,6 +21,7 @@ public class AnalogOutput implements Sendable, AutoCloseable {
    *
    * @param channel The channel number to represent.
    */
+  @SuppressWarnings("this-escape")
   public AnalogOutput(final int channel) {
     SensorUtil.checkAnalogOutputChannel(channel);
     m_channel = channel;

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java

@@ -33,6 +33,7 @@ public class AnalogPotentiometer implements Sendable, AutoCloseable {
    * @param fullRange The scaling to multiply the fraction by to get a meaningful unit.
    * @param offset The offset to add to the scaled value for controlling the zero value
    */
+  @SuppressWarnings("this-escape")
   public AnalogPotentiometer(final int channel, double fullRange, double offset) {
     this(new AnalogInput(channel), fullRange, offset);
     m_initAnalogInput = true;
@@ -53,6 +54,7 @@ public class AnalogPotentiometer implements Sendable, AutoCloseable {
    *     input.
    * @param offset The angular value (in desired units) representing the angular output at 0V.
    */
+  @SuppressWarnings("this-escape")
   public AnalogPotentiometer(final AnalogInput input, double fullRange, double offset) {
     SendableRegistry.addLW(this, "AnalogPotentiometer", input.getChannel());
     m_analogInput = input;

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java

@@ -39,6 +39,7 @@ public class AnalogTrigger implements Sendable, AutoCloseable {
    *
    * @param channel the port to use for the analog trigger
    */
+  @SuppressWarnings("this-escape")
   public AnalogTrigger(final int channel) {
     this(new AnalogInput(channel));
     m_ownsAnalog = true;
@@ -51,6 +52,7 @@ public class AnalogTrigger implements Sendable, AutoCloseable {
    *
    * @param channel the AnalogInput to use for the analog trigger
    */
+  @SuppressWarnings("this-escape")
   public AnalogTrigger(AnalogInput channel) {
     m_analogInput = channel;
 
@@ -67,6 +69,7 @@ public class AnalogTrigger implements Sendable, AutoCloseable {
    *
    * @param input the DutyCycle to use for the analog trigger
    */
+  @SuppressWarnings("this-escape")
   public AnalogTrigger(DutyCycle input) {
     m_dutyCycle = input;
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java

@@ -28,6 +28,7 @@ public class BuiltInAccelerometer implements Sendable, AutoCloseable {
    *
    * @param range The range the accelerometer will measure
    */
+  @SuppressWarnings("this-escape")
   public BuiltInAccelerometer(Range range) {
     setRange(range);
     HAL.report(tResourceType.kResourceType_Accelerometer, 0, 0, "Built-in accelerometer");
@@ -50,7 +51,7 @@ public class BuiltInAccelerometer implements Sendable, AutoCloseable {
    * @param range The maximum acceleration, positive or negative, that the accelerometer will
    *     measure.
    */
-  public void setRange(Range range) {
+  public final void setRange(Range range) {
     AccelerometerJNI.setAccelerometerActive(false);
 
     switch (range) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java

@@ -31,6 +31,7 @@ public class Compressor implements Sendable, AutoCloseable {
    * @param module The module ID to use.
    * @param moduleType The module type to use.
    */
+  @SuppressWarnings("this-escape")
   public Compressor(int module, PneumaticsModuleType moduleType) {
     m_module = PneumaticsBase.getForType(module, moduleType);
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java

@@ -58,6 +58,7 @@ public class Counter implements CounterBase, Sendable, AutoCloseable {
    *
    * @param mode The counter mode.
    */
+  @SuppressWarnings("this-escape")
   public Counter(final Mode mode) {
     ByteBuffer index = ByteBuffer.allocateDirect(4);
     // set the byte order
@@ -95,6 +96,7 @@ public class Counter implements CounterBase, Sendable, AutoCloseable {
    *
    * @param source the digital source to count
    */
+  @SuppressWarnings("this-escape")
   public Counter(DigitalSource source) {
     this();
 
@@ -109,6 +111,7 @@ public class Counter implements CounterBase, Sendable, AutoCloseable {
    *
    * @param channel the DIO channel to use as the up source. 0-9 are on-board, 10-25 are on the MXP
    */
+  @SuppressWarnings("this-escape")
   public Counter(int channel) {
     this();
     setUpSource(channel);
@@ -125,6 +128,7 @@ public class Counter implements CounterBase, Sendable, AutoCloseable {
    * @param downSource second source for direction
    * @param inverted true to invert the count
    */
+  @SuppressWarnings("this-escape")
   public Counter(
       EncodingType encodingType,
       DigitalSource upSource,
@@ -162,6 +166,7 @@ public class Counter implements CounterBase, Sendable, AutoCloseable {
    *
    * @param trigger the analog trigger to count
    */
+  @SuppressWarnings("this-escape")
   public Counter(AnalogTrigger trigger) {
     this();
 
@@ -200,7 +205,7 @@ public class Counter implements CounterBase, Sendable, AutoCloseable {
    *
    * @param channel the DIO channel to count 0-9 are on-board, 10-25 are on the MXP
    */
-  public void setUpSource(int channel) {
+  public final void setUpSource(int channel) {
     setUpSource(new DigitalInput(channel));
     m_allocatedUpSource = true;
     SendableRegistry.addChild(this, m_upSource);
@@ -401,7 +406,7 @@ public class Counter implements CounterBase, Sendable, AutoCloseable {
    * @param maxPeriod The maximum period where the counted device is considered moving in seconds.
    */
   @Override
-  public void setMaxPeriod(double maxPeriod) {
+  public final void setMaxPeriod(double maxPeriod) {
     CounterJNI.setCounterMaxPeriod(m_counter, maxPeriod);
   }
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/DSControlWord.java

@@ -20,7 +20,7 @@ public class DSControlWord {
   }
 
   /** Update internal Driver Station control word. */
-  public void refresh() {
+  public final void refresh() {
     DriverStation.refreshControlWordFromCache(m_controlWord);
   }
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java

@@ -20,6 +20,7 @@ import java.util.concurrent.locks.ReentrantLock;
  */
 public class DigitalGlitchFilter implements Sendable, AutoCloseable {
   /** Configures the Digital Glitch Filter to its default settings. */
+  @SuppressWarnings("this-escape")
   public DigitalGlitchFilter() {
     m_mutex.lock();
     try {

wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalInput.java

@@ -27,6 +27,7 @@ public class DigitalInput extends DigitalSource implements Sendable {
    *
    * @param channel the DIO channel for the digital input 0-9 are on-board, 10-25 are on the MXP
    */
+  @SuppressWarnings("this-escape")
   public DigitalInput(int channel) {
     SensorUtil.checkDigitalChannel(channel);
     m_channel = channel;

wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java

@@ -29,6 +29,7 @@ public class DigitalOutput extends DigitalSource implements Sendable {
    * @param channel the DIO channel to use for the digital output. 0-9 are on-board, 10-25 are on
    *     the MXP
    */
+  @SuppressWarnings("this-escape")
   public DigitalOutput(int channel) {
     SensorUtil.checkDigitalChannel(channel);
     m_channel = channel;

wpilibj/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java

@@ -53,7 +53,7 @@ public class DoubleSolenoid implements Sendable, AutoCloseable {
    * @param forwardChannel The forward channel on the module to control.
    * @param reverseChannel The reverse channel on the module to control.
    */
-  @SuppressWarnings("PMD.UseTryWithResources")
+  @SuppressWarnings({"PMD.UseTryWithResources", "this-escape"})
   public DoubleSolenoid(
       final int module,
       final PneumaticsModuleType moduleType,

wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycle.java

@@ -33,6 +33,7 @@ public class DutyCycle implements Sendable, AutoCloseable {
    *
    * @param digitalSource The DigitalSource to use.
    */
+  @SuppressWarnings("this-escape")
   public DutyCycle(DigitalSource digitalSource) {
     m_handle =
         DutyCycleJNI.initialize(

wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java

@@ -41,6 +41,7 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
    *
    * @param channel the channel to attach to
    */
+  @SuppressWarnings("this-escape")
   public DutyCycleEncoder(int channel) {
     m_digitalInput = new DigitalInput(channel);
     m_ownsDutyCycle = true;
@@ -53,6 +54,7 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
    *
    * @param dutyCycle the duty cycle to attach to
    */
+  @SuppressWarnings("this-escape")
   public DutyCycleEncoder(DutyCycle dutyCycle) {
     m_dutyCycle = dutyCycle;
     init();
@@ -63,6 +65,7 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
    *
    * @param source the digital source to attach to
    */
+  @SuppressWarnings("this-escape")
   public DutyCycleEncoder(DigitalSource source) {
     m_ownsDutyCycle = true;
     m_dutyCycle = new DutyCycle(source);

wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java

@@ -122,6 +122,7 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
    *     selected, then a counter object will be used and the returned value will either exactly
    *     match the spec'd count or be double (2x) the spec'd count.
    */
+  @SuppressWarnings("this-escape")
   public Encoder(
       final int channelA,
       final int channelB,
@@ -152,6 +153,7 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
    * @param reverseDirection represents the orientation of the encoder and inverts the output values
    *     if necessary so forward represents positive values.
    */
+  @SuppressWarnings("this-escape")
   public Encoder(
       final int channelA, final int channelB, final int indexChannel, boolean reverseDirection) {
     this(channelA, channelB, reverseDirection);
@@ -222,6 +224,7 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
    *     selected then a counter object will be used and the returned value will either exactly
    *     match the spec'd count or be double (2x) the spec'd count.
    */
+  @SuppressWarnings("this-escape")
   public Encoder(
       DigitalSource sourceA,
       DigitalSource sourceB,
@@ -492,7 +495,7 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
    *
    * @param channel A DIO channel to set as the encoder index
    */
-  public void setIndexSource(int channel) {
+  public final void setIndexSource(int channel) {
     setIndexSource(channel, IndexingType.kResetOnRisingEdge);
   }
 
@@ -502,7 +505,7 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
    *
    * @param source A digital source to set as the encoder index
    */
-  public void setIndexSource(DigitalSource source) {
+  public final void setIndexSource(DigitalSource source) {
     setIndexSource(source, IndexingType.kResetOnRisingEdge);
   }
 
@@ -513,7 +516,7 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
    * @param channel A DIO channel to set as the encoder index
    * @param type The state that will cause the encoder to reset
    */
-  public void setIndexSource(int channel, IndexingType type) {
+  public final void setIndexSource(int channel, IndexingType type) {
     if (m_allocatedI) {
       throw new AllocationException("Digital Input for Indexing already allocated");
     }
@@ -530,7 +533,7 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
    * @param source A digital source to set as the encoder index
    * @param type The state that will cause the encoder to reset
    */
-  public void setIndexSource(DigitalSource source, IndexingType type) {
+  public final void setIndexSource(DigitalSource source, IndexingType type) {
     EncoderJNI.setEncoderIndexSource(
         m_encoder,
         source.getPortHandleForRouting(),

wpilibj/src/main/java/edu/wpi/first/wpilibj/MotorSafety.java

@@ -62,6 +62,7 @@ public abstract class MotorSafety {
   }
 
   /** MotorSafety constructor. */
+  @SuppressWarnings("this-escape")
   public MotorSafety() {
     synchronized (m_listMutex) {
       m_instanceList.add(this);

wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java

@@ -54,6 +54,7 @@ public class PWM implements Sendable, AutoCloseable {
    * @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the MXP port
    * @param registerSendable If true, adds this instance to SendableRegistry and LiveWindow
    */
+  @SuppressWarnings("this-escape")
   public PWM(final int channel, final boolean registerSendable) {
     SensorUtil.checkPWMChannel(channel);
     m_channel = channel;
@@ -200,7 +201,7 @@ public class PWM implements Sendable, AutoCloseable {
   }
 
   /** Temporarily disables the PWM output. The next set call will re-enable the output. */
-  public void setDisabled() {
+  public final void setDisabled() {
     PWMJNI.setPWMDisabled(m_handle);
   }
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistribution.java

@@ -41,6 +41,7 @@ public class PowerDistribution implements Sendable, AutoCloseable {
    * @param module The CAN ID of the PDP/PDH.
    * @param moduleType Module type (CTRE or REV).
    */
+  @SuppressWarnings("this-escape")
   public PowerDistribution(int module, ModuleType moduleType) {
     m_handle = PowerDistributionJNI.initialize(module, moduleType.value);
     m_module = PowerDistributionJNI.getModuleNumber(m_handle);
@@ -54,6 +55,7 @@ public class PowerDistribution implements Sendable, AutoCloseable {
    *
    * <p>Detects the connected PDP/PDH using the default CAN ID (0 for CTRE and 1 for REV).
    */
+  @SuppressWarnings("this-escape")
   public PowerDistribution() {
     m_handle = PowerDistributionJNI.initialize(kDefaultModule, PowerDistributionJNI.AUTOMATIC_TYPE);
     m_module = PowerDistributionJNI.getModuleNumber(m_handle);

wpilibj/src/main/java/edu/wpi/first/wpilibj/Relay.java

@@ -110,6 +110,7 @@ public class Relay extends MotorSafety implements Sendable, AutoCloseable {
    * @param channel The channel number for this relay (0 - 3).
    * @param direction The direction that the Relay object will control.
    */
+  @SuppressWarnings("this-escape")
   public Relay(final int channel, Direction direction) {
     m_channel = channel;
     m_direction = requireNonNullParam(direction, "direction", "Relay");
@@ -279,6 +280,7 @@ public class Relay extends MotorSafety implements Sendable, AutoCloseable {
    *
    * @param direction The direction for the relay to operate in
    */
+  @SuppressWarnings("this-escape")
   public void setDirection(Direction direction) {
     requireNonNullParam(direction, "direction", "setDirection");
     if (m_direction == direction) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java

@@ -186,7 +186,7 @@ public class SerialPort implements AutoCloseable {
   }
 
   /** Disable termination behavior. */
-  public void disableTermination() {
+  public final void disableTermination() {
     SerialPortJNI.serialDisableTermination(m_portHandle);
   }
 
@@ -268,7 +268,7 @@ public class SerialPort implements AutoCloseable {
    *
    * @param timeout The number of seconds to wait for I/O.
    */
-  public void setTimeout(double timeout) {
+  public final void setTimeout(double timeout) {
     SerialPortJNI.serialSetTimeout(m_portHandle, timeout);
   }
 
@@ -283,7 +283,7 @@ public class SerialPort implements AutoCloseable {
    *
    * @param size The read buffer size.
    */
-  public void setReadBufferSize(int size) {
+  public final void setReadBufferSize(int size) {
     SerialPortJNI.serialSetReadBufferSize(m_portHandle, size);
   }
 
@@ -309,7 +309,7 @@ public class SerialPort implements AutoCloseable {
    *
    * @param mode The write buffer mode.
    */
-  public void setWriteBufferMode(WriteBufferMode mode) {
+  public final void setWriteBufferMode(WriteBufferMode mode) {
     SerialPortJNI.serialSetWriteMode(m_portHandle, (byte) mode.value);
   }
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java

@@ -31,6 +31,7 @@ public class Servo extends PWM {
    * @param channel The PWM channel to which the servo is attached. 0-9 are on-board, 10-19 are on
    *     the MXP port
    */
+  @SuppressWarnings("this-escape")
   public Servo(final int channel) {
     super(channel);
     setBoundsMicroseconds(kDefaultMaxServoPWM, 0, 0, 0, kDefaultMinServoPWM);

wpilibj/src/main/java/edu/wpi/first/wpilibj/Solenoid.java

@@ -39,6 +39,7 @@ public class Solenoid implements Sendable, AutoCloseable {
    * @param moduleType The module type to use.
    * @param channel The channel the solenoid is on.
    */
+  @SuppressWarnings("this-escape")
   public Solenoid(final int module, final PneumaticsModuleType moduleType, final int channel) {
     m_module = PneumaticsBase.getForType(module, moduleType);
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java

@@ -159,7 +159,7 @@ public class TimedRobot extends IterativeRobotBase {
    * @param callback The callback to run.
    * @param periodSeconds The period at which to run the callback in seconds.
    */
-  public void addPeriodic(Runnable callback, double periodSeconds) {
+  public final void addPeriodic(Runnable callback, double periodSeconds) {
     m_callbacks.add(new Callback(callback, m_startTime, periodSeconds, 0.0));
   }
 
@@ -174,7 +174,7 @@ public class TimedRobot extends IterativeRobotBase {
    * @param offsetSeconds The offset from the common starting time in seconds. This is useful for
    *     scheduling a callback in a different timeslot relative to TimedRobot.
    */
-  public void addPeriodic(Runnable callback, double periodSeconds, double offsetSeconds) {
+  public final void addPeriodic(Runnable callback, double periodSeconds, double offsetSeconds) {
     m_callbacks.add(new Callback(callback, m_startTime, periodSeconds, offsetSeconds));
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java

@@ -83,7 +83,7 @@ public class Timer {
    *
    * <p>Make the timer startTime the current time so new requests will be relative now.
    */
-  public void reset() {
+  public final void reset() {
     m_accumulatedTime = 0;
     m_startTime = getMsClock();
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/Tracer.java

@@ -36,7 +36,7 @@ public class Tracer {
   }
 
   /** Restarts the epoch timer. */
-  public void resetTimer() {
+  public final void resetTimer() {
     m_startTime = RobotController.getFPGATime();
   }
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java

@@ -121,6 +121,7 @@ public class Ultrasonic implements Sendable, AutoCloseable {
    * @param echoChannel The digital input channel that receives the echo. The length of time that
    *     the echo is high represents the round trip time of the ping, and the distance.
    */
+  @SuppressWarnings("this-escape")
   public Ultrasonic(final int pingChannel, final int echoChannel) {
     m_pingChannel = new DigitalOutput(pingChannel);
     m_echoChannel = new DigitalInput(echoChannel);
@@ -138,6 +139,7 @@ public class Ultrasonic implements Sendable, AutoCloseable {
    *     10uS pulse to start.
    * @param echoChannel The digital input object that times the return pulse to determine the range.
    */
+  @SuppressWarnings("this-escape")
   public Ultrasonic(DigitalOutput pingChannel, DigitalInput echoChannel) {
     requireNonNullParam(pingChannel, "pingChannel", "Ultrasonic");
     requireNonNullParam(echoChannel, "echoChannel", "Ultrasonic");

wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/ExternalDirectionCounter.java

@@ -34,6 +34,7 @@ public class ExternalDirectionCounter implements Sendable, AutoCloseable {
    * @param countSource The source for counting.
    * @param directionSource The source for selecting count direction.
    */
+  @SuppressWarnings("this-escape")
   public ExternalDirectionCounter(DigitalSource countSource, DigitalSource directionSource) {
     m_countSource = requireNonNullParam(countSource, "countSource", "ExternalDirectionCounter");
     m_directionSource =

wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/Tachometer.java

@@ -34,6 +34,7 @@ public class Tachometer implements Sendable, AutoCloseable {
    *
    * @param source The DigitalSource (e.g. DigitalInput) of the Tachometer.
    */
+  @SuppressWarnings("this-escape")
   public Tachometer(DigitalSource source) {
     m_source = requireNonNullParam(source, "source", "Tachometer");
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/UpDownCounter.java

@@ -32,6 +32,7 @@ public class UpDownCounter implements Sendable, AutoCloseable {
    * @param upSource The up count source (can be null).
    * @param downSource The down count source (can be null).
    */
+  @SuppressWarnings("this-escape")
   public UpDownCounter(DigitalSource upSource, DigitalSource downSource) {
     ByteBuffer index = ByteBuffer.allocateDirect(4);
     // set the byte order
@@ -92,7 +93,7 @@ public class UpDownCounter implements Sendable, AutoCloseable {
   }
 
   /** Resets the current count. */
-  public void reset() {
+  public final void reset() {
     CounterJNI.resetCounter(m_handle);
   }
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java

@@ -128,6 +128,7 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
    * @param leftMotor Left motor.
    * @param rightMotor Right motor.
    */
+  @SuppressWarnings("this-escape")
   public DifferentialDrive(MotorController leftMotor, MotorController rightMotor) {
     requireNonNullParam(leftMotor, "leftMotor", "DifferentialDrive");
     requireNonNullParam(rightMotor, "rightMotor", "DifferentialDrive");

wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java

@@ -104,6 +104,7 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
    * @param frontRightMotor The motor on the front-right corner.
    * @param rearRightMotor The motor on the rear-right corner.
    */
+  @SuppressWarnings("this-escape")
   public MecanumDrive(
       MotorController frontLeftMotor,
       MotorController rearLeftMotor,

wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java

@@ -36,6 +36,7 @@ public abstract class RobotDriveBase extends MotorSafety {
   }
 
   /** RobotDriveBase constructor. */
+  @SuppressWarnings("this-escape")
   public RobotDriveBase() {
     setSafetyEnabled(true);
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/DMC60.java

@@ -32,6 +32,7 @@ public class DMC60 extends PWMMotorController {
    * @param channel The PWM channel that the DMC60 is attached to. 0-9 are on-board, 10-19 are on
    *     the MXP port
    */
+  @SuppressWarnings("this-escape")
   public DMC60(final int channel) {
     super("DMC60", channel);
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/Jaguar.java

@@ -31,6 +31,7 @@ public class Jaguar extends PWMMotorController {
    * @param channel The PWM channel that the Jaguar is attached to. 0-9 are on-board, 10-19 are on
    *     the MXP port
    */
+  @SuppressWarnings("this-escape")
   public Jaguar(final int channel) {
     super("Jaguar", channel);
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MotorControllerGroup.java

@@ -21,6 +21,7 @@ public class MotorControllerGroup implements MotorController, Sendable, AutoClos
    * @param motorController The first MotorController to add
    * @param motorControllers The MotorControllers to add
    */
+  @SuppressWarnings("this-escape")
   public MotorControllerGroup(
       MotorController motorController, MotorController... motorControllers) {
     m_motorControllers = new MotorController[motorControllers.length + 1];
@@ -29,6 +30,7 @@ public class MotorControllerGroup implements MotorController, Sendable, AutoClos
     init();
   }
 
+  @SuppressWarnings("this-escape")
   public MotorControllerGroup(MotorController[] motorControllers) {
     m_motorControllers = Arrays.copyOf(motorControllers, motorControllers.length);
     init();

wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/NidecBrushless.java

@@ -30,6 +30,7 @@ public class NidecBrushless extends MotorSafety
    * @param dioChannel The DIO channel that the Nidec Brushless controller is attached to. 0-9 are
    *     on-board, 10-25 are on the MXP port
    */
+  @SuppressWarnings("this-escape")
   public NidecBrushless(final int pwmChannel, final int dioChannel) {
     setSafetyEnabled(false);
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java

@@ -23,6 +23,7 @@ public abstract class PWMMotorController extends MotorSafety
    * @param channel The PWM channel that the controller is attached to. 0-9 are on-board, 10-19 are
    *     on the MXP port
    */
+  @SuppressWarnings("this-escape")
   protected PWMMotorController(final String name, final int channel) {
     m_pwm = new PWM(channel, false);
     SendableRegistry.addLW(this, name, channel);

wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMSparkMax.java

@@ -31,6 +31,7 @@ public class PWMSparkMax extends PWMMotorController {
    *
    * @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the MXP port
    */
+  @SuppressWarnings("this-escape")
   public PWMSparkMax(final int channel) {
     super("PWMSparkMax", channel);
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMTalonFX.java

@@ -32,6 +32,7 @@ public class PWMTalonFX extends PWMMotorController {
    * @param channel The PWM channel that the Talon FX is attached to. 0-9 are on-board, 10-19 are on
    *     the MXP port
    */
+  @SuppressWarnings("this-escape")
   public PWMTalonFX(final int channel) {
     super("PWMTalonFX", channel);
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMTalonSRX.java

@@ -32,6 +32,7 @@ public class PWMTalonSRX extends PWMMotorController {
    * @param channel The PWM channel that the Talon SRX is attached to. 0-9 are on-board, 10-19 are
    *     on the MXP port
    */
+  @SuppressWarnings("this-escape")
   public PWMTalonSRX(final int channel) {
     super("PWMTalonSRX", channel);
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMVenom.java

@@ -31,6 +31,7 @@ public class PWMVenom extends PWMMotorController {
    * @param channel The PWM channel that the Venom is attached to. 0-9 are on-board, 10-19 are on
    *     the MXP port
    */
+  @SuppressWarnings("this-escape")
   public PWMVenom(final int channel) {
     super("PWMVenom", channel);
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMVictorSPX.java

@@ -32,6 +32,7 @@ public class PWMVictorSPX extends PWMMotorController {
    * @param channel The PWM channel that the PWMVictorSPX is attached to. 0-9 are on-board, 10-19
    *     are on the MXP port
    */
+  @SuppressWarnings("this-escape")
   public PWMVictorSPX(final int channel) {
     super("PWMVictorSPX", channel);
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/SD540.java

@@ -32,6 +32,7 @@ public class SD540 extends PWMMotorController {
    * @param channel The PWM channel that the SD540 is attached to. 0-9 are on-board, 10-19 are on
    *     the MXP port
    */
+  @SuppressWarnings("this-escape")
   public SD540(final int channel) {
     super("SD540", channel);
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/Spark.java

@@ -32,6 +32,7 @@ public class Spark extends PWMMotorController {
    * @param channel The PWM channel that the SPARK is attached to. 0-9 are on-board, 10-19 are on
    *     the MXP port
    */
+  @SuppressWarnings("this-escape")
   public Spark(final int channel) {
     super("Spark", channel);
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/Talon.java

@@ -31,6 +31,7 @@ public class Talon extends PWMMotorController {
    * @param channel The PWM channel that the Talon is attached to. 0-9 are on-board, 10-19 are on
    *     the MXP port
    */
+  @SuppressWarnings("this-escape")
   public Talon(final int channel) {
     super("Talon", channel);
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/Victor.java

@@ -35,6 +35,7 @@ public class Victor extends PWMMotorController {
    * @param channel The PWM channel that the Victor is attached to. 0-9 are on-board, 10-19 are on
    *     the MXP port
    */
+  @SuppressWarnings("this-escape")
   public Victor(final int channel) {
     super("Victor", channel);
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/VictorSP.java

@@ -32,6 +32,7 @@ public class VictorSP extends PWMMotorController {
    * @param channel The PWM channel that the VictorSP is attached to. 0-9 are on-board, 10-19 are on
    *     the MXP port
    */
+  @SuppressWarnings("this-escape")
   public VictorSP(final int channel) {
     super("VictorSP", channel);
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java

@@ -41,6 +41,7 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N1> {
    * @param startingHeightMeters The starting height of the elevator.
    * @param measurementStdDevs The standard deviations of the measurements.
    */
+  @SuppressWarnings("this-escape")
   public ElevatorSim(
       LinearSystem<N2, N1, N1> plant,
       DCMotor gearbox,
@@ -221,7 +222,7 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N1> {
    * @param positionMeters The new position in meters.
    * @param velocityMetersPerSecond New velocity in meters per second.
    */
-  public void setState(double positionMeters, double velocityMetersPerSecond) {
+  public final void setState(double positionMeters, double velocityMetersPerSecond) {
     setState(
         VecBuilder.fill(
             MathUtil.clamp(positionMeters, m_minHeight, m_maxHeight), velocityMetersPerSecond));

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/JoystickSim.java

@@ -15,6 +15,7 @@ public class JoystickSim extends GenericHIDSim {
    *
    * @param joystick joystick to simulate
    */
+  @SuppressWarnings("this-escape")
   public JoystickSim(Joystick joystick) {
     super(joystick);
     m_joystick = joystick;
@@ -29,6 +30,7 @@ public class JoystickSim extends GenericHIDSim {
    *
    * @param port port number
    */
+  @SuppressWarnings("this-escape")
   public JoystickSim(int port) {
     super(port);
     // default to a reasonable joystick configuration

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PS4ControllerSim.java

@@ -13,6 +13,7 @@ public class PS4ControllerSim extends GenericHIDSim {
    *
    * @param joystick controller to simulate
    */
+  @SuppressWarnings("this-escape")
   public PS4ControllerSim(PS4Controller joystick) {
     super(joystick);
     setAxisCount(6);
@@ -25,6 +26,7 @@ public class PS4ControllerSim extends GenericHIDSim {
    *
    * @param port port number
    */
+  @SuppressWarnings("this-escape")
   public PS4ControllerSim(int port) {
     super(port);
     setAxisCount(6);

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PS5ControllerSim.java

@@ -13,6 +13,7 @@ public class PS5ControllerSim extends GenericHIDSim {
    *
    * @param joystick controller to simulate
    */
+  @SuppressWarnings("this-escape")
   public PS5ControllerSim(PS5Controller joystick) {
     super(joystick);
     setAxisCount(6);
@@ -25,6 +26,7 @@ public class PS5ControllerSim extends GenericHIDSim {
    *
    * @param port port number
    */
+  @SuppressWarnings("this-escape")
   public PS5ControllerSim(int port) {
     super(port);
     setAxisCount(6);

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java

@@ -49,6 +49,7 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
    * @param startingAngleRads The initial position of the Arm simulation in radians.
    * @param measurementStdDevs The standard deviations of the measurements.
    */
+  @SuppressWarnings("this-escape")
   public SingleJointedArmSim(
       LinearSystem<N2, N1, N1> plant,
       DCMotor gearbox,
@@ -180,7 +181,7 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
    * @param angleRadians The new angle in radians.
    * @param velocityRadPerSec The new angular velocity in radians per second.
    */
-  public void setState(double angleRadians, double velocityRadPerSec) {
+  public final void setState(double angleRadians, double velocityRadPerSec) {
     setState(
         VecBuilder.fill(MathUtil.clamp(angleRadians, m_minAngle, m_maxAngle), velocityRadPerSec));
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/XboxControllerSim.java

@@ -13,6 +13,7 @@ public class XboxControllerSim extends GenericHIDSim {
    *
    * @param joystick controller to simulate
    */
+  @SuppressWarnings("this-escape")
   public XboxControllerSim(XboxController joystick) {
     super(joystick);
     setAxisCount(6);
@@ -25,6 +26,7 @@ public class XboxControllerSim extends GenericHIDSim {
    *
    * @param port port number
    */
+  @SuppressWarnings("this-escape")
   public XboxControllerSim(int port) {
     super(port);
     setAxisCount(6);

wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/Field2d.java

@@ -31,6 +31,7 @@ import java.util.List;
  */
 public class Field2d implements NTSendable, AutoCloseable {
   /** Constructor. */
+  @SuppressWarnings("this-escape")
   public Field2d() {
     FieldObject2d obj = new FieldObject2d("Robot");
     obj.setPose(new Pose2d());

wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/MechanismLigament2d.java

@@ -82,7 +82,7 @@ public class MechanismLigament2d extends MechanismObject2d {
    *
    * @param degrees the angle in degrees
    */
-  public synchronized void setAngle(double degrees) {
+  public final synchronized void setAngle(double degrees) {
     m_angle = degrees;
     if (m_angleEntry != null) {
       m_angleEntry.set(degrees);
@@ -115,7 +115,7 @@ public class MechanismLigament2d extends MechanismObject2d {
    *
    * @param length the line length
    */
-  public synchronized void setLength(double length) {
+  public final synchronized void setLength(double length) {
     m_length = length;
     if (m_lengthEntry != null) {
       m_lengthEntry.set(length);
@@ -139,7 +139,7 @@ public class MechanismLigament2d extends MechanismObject2d {
    *
    * @param color the color of the line
    */
-  public synchronized void setColor(Color8Bit color) {
+  public final synchronized void setColor(Color8Bit color) {
     m_color = String.format("#%02X%02X%02X", color.red, color.green, color.blue);
     if (m_colorEntry != null) {
       m_colorEntry.set(m_color);
@@ -177,7 +177,7 @@ public class MechanismLigament2d extends MechanismObject2d {
    *
    * @param weight the line thickness
    */
-  public synchronized void setLineWeight(double weight) {
+  public final synchronized void setLineWeight(double weight) {
     m_weight = weight;
     if (m_weightEntry != null) {
       m_weightEntry.set(weight);

wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java

@@ -53,6 +53,7 @@ public class SendableChooser<V> implements Sendable, AutoCloseable {
   private static final AtomicInteger s_instances = new AtomicInteger();
 
   /** Instantiates a {@link SendableChooser}. */
+  @SuppressWarnings("this-escape")
   public SendableChooser() {
     m_instance = s_instances.getAndIncrement();
     SendableRegistry.add(this, "SendableChooser", m_instance);

wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/MockActuatorSendable.java

@@ -10,6 +10,7 @@ import edu.wpi.first.util.sendable.SendableRegistry;
 
 /** A mock sendable that marks itself as an actuator. */
 public class MockActuatorSendable implements Sendable {
+  @SuppressWarnings("this-escape")
   public MockActuatorSendable(String name) {
     SendableRegistry.add(this, name);
   }

wpimath/src/main/java/edu/wpi/first/math/controller/BangBangController.java

@@ -37,6 +37,7 @@ public class BangBangController implements Sendable {
    *
    * @param tolerance Tolerance for {@link #atSetpoint() atSetpoint}.
    */
+  @SuppressWarnings("this-escape")
   public BangBangController(double tolerance) {
     instances++;
 
@@ -89,7 +90,7 @@ public class BangBangController implements Sendable {
    *
    * @param tolerance Position error which is tolerable.
    */
-  public void setTolerance(double tolerance) {
+  public final void setTolerance(double tolerance) {
     m_tolerance = tolerance;
   }
 

wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java

@@ -144,13 +144,13 @@ public class ControlAffinePlantInversionFeedforward<States extends Num, Inputs e
    *
    * @param initialState The initial state vector.
    */
-  public void reset(Matrix<States, N1> initialState) {
+  public final void reset(Matrix<States, N1> initialState) {
     m_r = initialState;
     m_uff.fill(0.0);
   }
 
   /** Resets the feedforward with a zero initial state vector. */
-  public void reset() {
+  public final void reset() {
     m_r.fill(0.0);
     m_uff.fill(0.0);
   }

wpimath/src/main/java/edu/wpi/first/math/controller/ImplicitModelFollower.java

@@ -99,7 +99,7 @@ public class ImplicitModelFollower<States extends Num, Inputs extends Num, Outpu
   }
 
   /** Resets the controller. */
-  public void reset() {
+  public final void reset() {
     m_u.fill(0.0);
   }
 

wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java

@@ -105,13 +105,13 @@ public class LinearPlantInversionFeedforward<
    *
    * @param initialState The initial state vector.
    */
-  public void reset(Matrix<States, N1> initialState) {
+  public final void reset(Matrix<States, N1> initialState) {
     m_r = initialState;
     m_uff.fill(0.0);
   }
 
   /** Resets the feedforward with a zero initial state vector. */
-  public void reset() {
+  public final void reset() {
     m_r.fill(0.0);
     m_uff.fill(0.0);
   }

wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java

@@ -221,7 +221,7 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
   }
 
   /** Resets the controller. */
-  public void reset() {
+  public final void reset() {
     m_r.fill(0.0);
     m_u.fill(0.0);
   }

wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java

@@ -81,6 +81,7 @@ public class PIDController implements Sendable, AutoCloseable {
    * @param kd The derivative coefficient.
    * @param period The period between controller updates in seconds. Must be non-zero and positive.
    */
+  @SuppressWarnings("this-escape")
   public PIDController(double kp, double ki, double kd, double period) {
     m_kp = kp;
     m_ki = ki;

wpimath/src/main/java/edu/wpi/first/math/controller/ProfiledPIDController.java

@@ -50,6 +50,7 @@ public class ProfiledPIDController implements Sendable {
    * @param constraints Velocity and acceleration constraints for goal.
    * @param period The period between controller updates in seconds. The default is 0.02 seconds.
    */
+  @SuppressWarnings("this-escape")
   public ProfiledPIDController(
       double Kp, double Ki, double Kd, TrapezoidProfile.Constraints constraints, double period) {
     m_controller = new PIDController(Kp, Ki, Kd, period);

wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java

@@ -236,7 +236,7 @@ public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Output
   }
 
   @Override
-  public void reset() {
+  public final void reset() {
     m_xHat = new Matrix<>(m_states, Nat.N1());
     m_P = m_initP;
   }

wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java

@@ -172,7 +172,7 @@ public class KalmanFilter<States extends Num, Inputs extends Num, Outputs extend
   }
 
   @Override
-  public void reset() {
+  public final void reset() {
     m_xHat = new Matrix<>(m_states, Nat.N1());
     m_P = m_initP;
   }

wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java

@@ -80,7 +80,7 @@ public class PoseEstimator<T extends WheelPositions<T>> {
    *     numbers to trust global measurements from vision less. This matrix is in the form [x, y,
    *     theta]ᵀ, with units in meters and radians.
    */
-  public void setVisionMeasurementStdDevs(Matrix<N3, N1> visionMeasurementStdDevs) {
+  public final void setVisionMeasurementStdDevs(Matrix<N3, N1> visionMeasurementStdDevs) {
     var r = new double[3];
     for (int i = 0; i < 3; ++i) {
       r[i] = visionMeasurementStdDevs.get(i, 0) * visionMeasurementStdDevs.get(i, 0);

wpimath/src/main/java/edu/wpi/first/math/estimator/SteadyStateKalmanFilter.java

@@ -115,7 +115,7 @@ public class SteadyStateKalmanFilter<States extends Num, Inputs extends Num, Out
     reset();
   }
 
-  public void reset() {
+  public final void reset() {
     m_xHat = new Matrix<>(m_states, Nat.N1());
   }
 

wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java

@@ -323,7 +323,7 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outpu
 
   /** Resets the observer. */
   @Override
-  public void reset() {
+  public final void reset() {
     m_xHat = new Matrix<>(m_states, Nat.N1());
     m_S = new Matrix<>(m_states, m_states);
     m_sigmasF = new Matrix<>(new SimpleMatrix(m_states.getNum(), 2 * m_states.getNum() + 1));

wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java

@@ -265,7 +265,7 @@ public class LinearSystemLoop<States extends Num, Inputs extends Num, Outputs ex
    *
    * @param initialState The initial state.
    */
-  public void reset(Matrix<States, N1> initialState) {
+  public final void reset(Matrix<States, N1> initialState) {
     m_nextR.fill(0.0);
     m_controller.reset();
     m_feedforward.reset(initialState);

wpinet/src/main/java/edu/wpi/first/net/MulticastServiceAnnouncer.java

@@ -25,6 +25,7 @@ public class MulticastServiceAnnouncer implements AutoCloseable {
    * @param port port
    * @param txt txt
    */
+  @SuppressWarnings("this-escape")
   public MulticastServiceAnnouncer(
       String serviceName, String serviceType, int port, Map<String, String> txt) {
     String[] keys = txt.keySet().toArray(String[]::new);
@@ -41,6 +42,7 @@ public class MulticastServiceAnnouncer implements AutoCloseable {
    * @param serviceType service type
    * @param port port
    */
+  @SuppressWarnings("this-escape")
   public MulticastServiceAnnouncer(String serviceName, String serviceType, int port) {
     m_handle =
         WPINetJNI.createMulticastServiceAnnouncer(serviceName, serviceType, port, null, null);

wpinet/src/main/java/edu/wpi/first/net/MulticastServiceResolver.java

@@ -21,6 +21,7 @@ public class MulticastServiceResolver implements AutoCloseable {
    *
    * @param serviceType service type to look for
    */
+  @SuppressWarnings("this-escape")
   public MulticastServiceResolver(String serviceType) {
     m_handle = WPINetJNI.createMulticastServiceResolver(serviceType);
     m_cleanable = WPICleaner.register(this, cleanupAction(m_handle));