Clean up Java style (#5990)

Also make equivalent changes in C++ where applicable.

Co-authored-by: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>

apriltag/src/test/java/edu/wpi/first/apriltag/LoadConfigTest.java

@@ -12,7 +12,6 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.util.Units;
-import java.io.IOException;
 import java.util.Optional;
 import org.junit.jupiter.api.Assertions;
 import org.junit.jupiter.api.Test;
@@ -28,7 +27,7 @@ class LoadConfigTest {
   }
 
   @Test
-  void test2022RapidReact() throws IOException {
+  void test2022RapidReact() {
     AprilTagFieldLayout layout = AprilTagFields.k2022RapidReact.loadAprilTagLayoutField();
 
     // Blue Hangar Truss - Hub

cameraserver/multiCameraServer/src/main/java/edu/wpi/Main.java

@@ -98,7 +98,7 @@ public final class Main {
     // parse file
     JsonElement top;
     try {
-      top = new JsonParser().parse(Files.newBufferedReader(Paths.get(configFile)));
+      top = JsonParser.parseReader(Files.newBufferedReader(Paths.get(configFile)));
     } catch (IOException ex) {
       System.err.println("could not open '" + configFile + "': " + ex);
       return false;

cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java

@@ -114,7 +114,7 @@ public final class CameraServer {
     }
 
     @Override
-    public void close() throws Exception {
+    public void close() {
       if (m_booleanValueEntry != null) {
         m_booleanValueEntry.close();
       }

cscore/src/main/java/edu/wpi/first/cscore/VideoListener.java

@@ -102,7 +102,7 @@ public class VideoListener implements AutoCloseable {
                       listener.accept(event);
                     } catch (Throwable throwable) {
                       System.err.println(
-                          "Unhandled exception during listener callback: " + throwable.toString());
+                          "Unhandled exception during listener callback: " + throwable);
                       throwable.printStackTrace();
                     }
                   }

hal/src/main/java/edu/wpi/first/hal/DMAJNISample.java

@@ -131,8 +131,7 @@ public class DMAJNISample {
     }
 
     // + 2 Hack, but needed to not have to call into JNI
-    int value = readValue(data.m_valueType + 2, data.m_index);
-    return value;
+    return readValue(data.m_valueType + 2, data.m_index);
   }
 
   public void getAnalogAccumulator(int analogInputHandle, AccumulatorResult result) {

ntcore/src/main/java/edu/wpi/first/networktables/NetworkTable.java

@@ -574,7 +574,7 @@ public final class NetworkTable {
     return m_inst.addListener(
         new String[] {m_pathWithSep},
         EnumSet.of(NetworkTableEvent.Kind.kPublish, NetworkTableEvent.Kind.kImmediate),
-        new Consumer<NetworkTableEvent>() {
+        new Consumer<>() {
           final Set<String> m_notifiedTables = new HashSet<>();
 
           @Override

ntcore/src/main/java/edu/wpi/first/networktables/ProtobufEntryImpl.java

@@ -190,14 +190,14 @@ final class ProtobufEntryImpl<T> extends EntryBase implements ProtobufEntry<T> {
 
   private TimestampedObject<T> fromRaw(TimestampedRaw raw, T defaultValue) {
     if (raw.value.length == 0) {
-      return new TimestampedObject<T>(0, 0, defaultValue);
+      return new TimestampedObject<>(0, 0, defaultValue);
     }
     try {
       synchronized (m_buf) {
-        return new TimestampedObject<T>(raw.timestamp, raw.serverTime, m_buf.read(raw.value));
+        return new TimestampedObject<>(raw.timestamp, raw.serverTime, m_buf.read(raw.value));
       }
     } catch (IOException e) {
-      return new TimestampedObject<T>(0, 0, defaultValue);
+      return new TimestampedObject<>(0, 0, defaultValue);
     }
   }
 

ntcore/src/main/java/edu/wpi/first/networktables/ProtobufTopic.java

@@ -32,7 +32,7 @@ public final class ProtobufTopic<T> extends Topic {
    * @return ProtobufTopic for value class
    */
   public static <T> ProtobufTopic<T> wrap(Topic topic, Protobuf<T, ?> proto) {
-    return new ProtobufTopic<T>(topic, proto);
+    return new ProtobufTopic<>(topic, proto);
   }
 
   /**
@@ -47,7 +47,7 @@ public final class ProtobufTopic<T> extends Topic {
    */
   public static <T> ProtobufTopic<T> wrap(
       NetworkTableInstance inst, int handle, Protobuf<T, ?> proto) {
-    return new ProtobufTopic<T>(inst, handle, proto);
+    return new ProtobufTopic<>(inst, handle, proto);
   }
 
   /**
@@ -63,7 +63,7 @@ public final class ProtobufTopic<T> extends Topic {
    * @return subscriber
    */
   public ProtobufSubscriber<T> subscribe(T defaultValue, PubSubOption... options) {
-    return new ProtobufEntryImpl<T>(
+    return new ProtobufEntryImpl<>(
         this,
         ProtobufBuffer.create(m_proto),
         NetworkTablesJNI.subscribe(
@@ -87,7 +87,7 @@ public final class ProtobufTopic<T> extends Topic {
    */
   public ProtobufPublisher<T> publish(PubSubOption... options) {
     m_inst.addSchema(m_proto);
-    return new ProtobufEntryImpl<T>(
+    return new ProtobufEntryImpl<>(
         this,
         ProtobufBuffer.create(m_proto),
         NetworkTablesJNI.publish(
@@ -113,7 +113,7 @@ public final class ProtobufTopic<T> extends Topic {
    */
   public ProtobufPublisher<T> publishEx(String properties, PubSubOption... options) {
     m_inst.addSchema(m_proto);
-    return new ProtobufEntryImpl<T>(
+    return new ProtobufEntryImpl<>(
         this,
         ProtobufBuffer.create(m_proto),
         NetworkTablesJNI.publishEx(
@@ -144,7 +144,7 @@ public final class ProtobufTopic<T> extends Topic {
    * @return entry
    */
   public ProtobufEntry<T> getEntry(T defaultValue, PubSubOption... options) {
-    return new ProtobufEntryImpl<T>(
+    return new ProtobufEntryImpl<>(
         this,
         ProtobufBuffer.create(m_proto),
         NetworkTablesJNI.getEntry(

ntcore/src/main/java/edu/wpi/first/networktables/StructArrayEntryImpl.java

@@ -177,15 +177,14 @@ final class StructArrayEntryImpl<T> extends EntryBase implements StructArrayEntr
   @SuppressWarnings("PMD.AvoidCatchingGenericException")
   private TimestampedObject<T[]> fromRaw(TimestampedRaw raw, T[] defaultValue) {
     if (raw.value.length == 0) {
-      return new TimestampedObject<T[]>(0, 0, defaultValue);
+      return new TimestampedObject<>(0, 0, defaultValue);
     }
     try {
       synchronized (m_buf) {
-        return new TimestampedObject<T[]>(
-            raw.timestamp, raw.serverTime, m_buf.readArray(raw.value));
+        return new TimestampedObject<>(raw.timestamp, raw.serverTime, m_buf.readArray(raw.value));
       }
     } catch (RuntimeException e) {
-      return new TimestampedObject<T[]>(0, 0, defaultValue);
+      return new TimestampedObject<>(0, 0, defaultValue);
     }
   }
 

ntcore/src/main/java/edu/wpi/first/networktables/StructArrayTopic.java

@@ -32,7 +32,7 @@ public final class StructArrayTopic<T> extends Topic {
    * @return StructArrayTopic for value class
    */
   public static <T> StructArrayTopic<T> wrap(Topic topic, Struct<T> struct) {
-    return new StructArrayTopic<T>(topic, struct);
+    return new StructArrayTopic<>(topic, struct);
   }
 
   /**
@@ -47,7 +47,7 @@ public final class StructArrayTopic<T> extends Topic {
    */
   public static <T> StructArrayTopic<T> wrap(
       NetworkTableInstance inst, int handle, Struct<T> struct) {
-    return new StructArrayTopic<T>(inst, handle, struct);
+    return new StructArrayTopic<>(inst, handle, struct);
   }
 
   /**
@@ -63,7 +63,7 @@ public final class StructArrayTopic<T> extends Topic {
    * @return subscriber
    */
   public StructArraySubscriber<T> subscribe(T[] defaultValue, PubSubOption... options) {
-    return new StructArrayEntryImpl<T>(
+    return new StructArrayEntryImpl<>(
         this,
         StructBuffer.create(m_struct),
         NetworkTablesJNI.subscribe(
@@ -87,7 +87,7 @@ public final class StructArrayTopic<T> extends Topic {
    */
   public StructArrayPublisher<T> publish(PubSubOption... options) {
     m_inst.addSchema(m_struct);
-    return new StructArrayEntryImpl<T>(
+    return new StructArrayEntryImpl<>(
         this,
         StructBuffer.create(m_struct),
         NetworkTablesJNI.publish(
@@ -113,7 +113,7 @@ public final class StructArrayTopic<T> extends Topic {
    */
   public StructArrayPublisher<T> publishEx(String properties, PubSubOption... options) {
     m_inst.addSchema(m_struct);
-    return new StructArrayEntryImpl<T>(
+    return new StructArrayEntryImpl<>(
         this,
         StructBuffer.create(m_struct),
         NetworkTablesJNI.publishEx(
@@ -144,7 +144,7 @@ public final class StructArrayTopic<T> extends Topic {
    * @return entry
    */
   public StructArrayEntry<T> getEntry(T[] defaultValue, PubSubOption... options) {
-    return new StructArrayEntryImpl<T>(
+    return new StructArrayEntryImpl<>(
         this,
         StructBuffer.create(m_struct),
         NetworkTablesJNI.getEntry(

ntcore/src/main/java/edu/wpi/first/networktables/StructEntryImpl.java

@@ -188,14 +188,14 @@ final class StructEntryImpl<T> extends EntryBase implements StructEntry<T> {
   @SuppressWarnings("PMD.AvoidCatchingGenericException")
   private TimestampedObject<T> fromRaw(TimestampedRaw raw, T defaultValue) {
     if (raw.value.length == 0) {
-      return new TimestampedObject<T>(0, 0, defaultValue);
+      return new TimestampedObject<>(0, 0, defaultValue);
     }
     try {
       synchronized (m_buf) {
-        return new TimestampedObject<T>(raw.timestamp, raw.serverTime, m_buf.read(raw.value));
+        return new TimestampedObject<>(raw.timestamp, raw.serverTime, m_buf.read(raw.value));
       }
     } catch (RuntimeException e) {
-      return new TimestampedObject<T>(0, 0, defaultValue);
+      return new TimestampedObject<>(0, 0, defaultValue);
     }
   }
 

ntcore/src/main/java/edu/wpi/first/networktables/StructTopic.java

@@ -32,7 +32,7 @@ public final class StructTopic<T> extends Topic {
    * @return StructTopic for value class
    */
   public static <T> StructTopic<T> wrap(Topic topic, Struct<T> struct) {
-    return new StructTopic<T>(topic, struct);
+    return new StructTopic<>(topic, struct);
   }
 
   /**
@@ -46,7 +46,7 @@ public final class StructTopic<T> extends Topic {
    * @return StructTopic for value class
    */
   public static <T> StructTopic<T> wrap(NetworkTableInstance inst, int handle, Struct<T> struct) {
-    return new StructTopic<T>(inst, handle, struct);
+    return new StructTopic<>(inst, handle, struct);
   }
 
   /**
@@ -62,7 +62,7 @@ public final class StructTopic<T> extends Topic {
    * @return subscriber
    */
   public StructSubscriber<T> subscribe(T defaultValue, PubSubOption... options) {
-    return new StructEntryImpl<T>(
+    return new StructEntryImpl<>(
         this,
         StructBuffer.create(m_struct),
         NetworkTablesJNI.subscribe(
@@ -86,7 +86,7 @@ public final class StructTopic<T> extends Topic {
    */
   public StructPublisher<T> publish(PubSubOption... options) {
     m_inst.addSchema(m_struct);
-    return new StructEntryImpl<T>(
+    return new StructEntryImpl<>(
         this,
         StructBuffer.create(m_struct),
         NetworkTablesJNI.publish(
@@ -112,7 +112,7 @@ public final class StructTopic<T> extends Topic {
    */
   public StructPublisher<T> publishEx(String properties, PubSubOption... options) {
     m_inst.addSchema(m_struct);
-    return new StructEntryImpl<T>(
+    return new StructEntryImpl<>(
         this,
         StructBuffer.create(m_struct),
         NetworkTablesJNI.publishEx(
@@ -143,7 +143,7 @@ public final class StructTopic<T> extends Topic {
    * @return entry
    */
   public StructEntry<T> getEntry(T defaultValue, PubSubOption... options) {
-    return new StructEntryImpl<T>(
+    return new StructEntryImpl<>(
         this,
         StructBuffer.create(m_struct),
         NetworkTablesJNI.getEntry(

ntcore/src/test/java/edu/wpi/first/networktables/NetworkTableTest.java

@@ -6,7 +6,6 @@ package edu.wpi.first.networktables;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import java.util.Arrays;
 import java.util.Collections;
 import java.util.List;
 import java.util.stream.Stream;
@@ -61,8 +60,8 @@ class NetworkTableTest {
     return Stream.of(
         Arguments.of(Collections.singletonList("/"), ""),
         Arguments.of(Collections.singletonList("/"), "/"),
-        Arguments.of(Arrays.asList("/", "/foo", "/foo/bar", "/foo/bar/baz"), "/foo/bar/baz"),
-        Arguments.of(Arrays.asList("/", "/foo", "/foo/bar", "/foo/bar/"), "/foo/bar/"));
+        Arguments.of(List.of("/", "/foo", "/foo/bar", "/foo/bar/baz"), "/foo/bar/baz"),
+        Arguments.of(List.of("/", "/foo", "/foo/bar", "/foo/bar/"), "/foo/bar/"));
   }
 
   @ParameterizedTest

ntcore/src/test/java/edu/wpi/first/networktables/RawTest.java

@@ -4,11 +4,10 @@
 
 package edu.wpi.first.networktables;
 
+import static org.junit.jupiter.api.Assertions.assertArrayEquals;
 import static org.junit.jupiter.api.Assertions.assertThrows;
-import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import java.nio.ByteBuffer;
-import java.util.Arrays;
 import org.junit.jupiter.api.AfterEach;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
@@ -31,9 +30,9 @@ class RawTest {
   void testGenericByteArray() {
     GenericEntry entry = m_inst.getTopic("test").getGenericEntry("raw");
     entry.setRaw(new byte[] {5}, 10);
-    assertTrue(Arrays.equals(entry.getRaw(new byte[] {}), new byte[] {5}));
+    assertArrayEquals(entry.getRaw(new byte[] {}), new byte[] {5});
     entry.setRaw(new byte[] {5, 6, 7}, 1, 2, 15);
-    assertTrue(Arrays.equals(entry.getRaw(new byte[] {}), new byte[] {6, 7}));
+    assertArrayEquals(entry.getRaw(new byte[] {}), new byte[] {6, 7});
     assertThrows(IndexOutOfBoundsException.class, () -> entry.setRaw(new byte[] {5}, -1, 2, 20));
     assertThrows(IndexOutOfBoundsException.class, () -> entry.setRaw(new byte[] {5}, 1, -2, 20));
     assertThrows(IndexOutOfBoundsException.class, () -> entry.setRaw(new byte[] {5}, 1, 1, 20));
@@ -43,9 +42,9 @@ class RawTest {
   void testRawByteArray() {
     RawEntry entry = m_inst.getRawTopic("test").getEntry("raw", new byte[] {});
     entry.set(new byte[] {5}, 10);
-    assertTrue(Arrays.equals(entry.get(new byte[] {}), new byte[] {5}));
+    assertArrayEquals(entry.get(new byte[] {}), new byte[] {5});
     entry.set(new byte[] {5, 6, 7}, 1, 2, 15);
-    assertTrue(Arrays.equals(entry.get(new byte[] {}), new byte[] {6, 7}));
+    assertArrayEquals(entry.get(new byte[] {}), new byte[] {6, 7});
     assertThrows(IndexOutOfBoundsException.class, () -> entry.set(new byte[] {5}, -1, 1, 20));
     assertThrows(IndexOutOfBoundsException.class, () -> entry.set(new byte[] {5}, 1, -1, 20));
     assertThrows(IndexOutOfBoundsException.class, () -> entry.set(new byte[] {5}, 1, 1, 20));
@@ -55,15 +54,15 @@ class RawTest {
   void testGenericByteBuffer() {
     GenericEntry entry = m_inst.getTopic("test").getGenericEntry("raw");
     entry.setRaw(ByteBuffer.wrap(new byte[] {5}), 10);
-    assertTrue(Arrays.equals(entry.getRaw(new byte[] {}), new byte[] {5}));
+    assertArrayEquals(entry.getRaw(new byte[] {}), new byte[] {5});
     entry.setRaw(ByteBuffer.wrap(new byte[] {5, 6, 7}).position(1), 15);
-    assertTrue(Arrays.equals(entry.getRaw(new byte[] {}), new byte[] {6, 7}));
+    assertArrayEquals(entry.getRaw(new byte[] {}), new byte[] {6, 7});
     entry.setRaw(ByteBuffer.wrap(new byte[] {5, 6, 7}).position(1).limit(2), 16);
-    assertTrue(Arrays.equals(entry.getRaw(new byte[] {}), new byte[] {6}));
+    assertArrayEquals(entry.getRaw(new byte[] {}), new byte[] {6});
     entry.setRaw(ByteBuffer.wrap(new byte[] {8, 9, 0}), 1, 2, 20);
-    assertTrue(Arrays.equals(entry.getRaw(new byte[] {}), new byte[] {9, 0}));
+    assertArrayEquals(entry.getRaw(new byte[] {}), new byte[] {9, 0});
     entry.setRaw(ByteBuffer.wrap(new byte[] {1, 2, 3}).position(2), 0, 2, 25);
-    assertTrue(Arrays.equals(entry.getRaw(new byte[] {}), new byte[] {1, 2}));
+    assertArrayEquals(entry.getRaw(new byte[] {}), new byte[] {1, 2});
     assertThrows(
         IndexOutOfBoundsException.class,
         () -> entry.setRaw(ByteBuffer.wrap(new byte[] {5}), -1, 1, 30));
@@ -79,15 +78,15 @@ class RawTest {
   void testRawByteBuffer() {
     RawEntry entry = m_inst.getRawTopic("test").getEntry("raw", new byte[] {});
     entry.set(ByteBuffer.wrap(new byte[] {5}), 10);
-    assertTrue(Arrays.equals(entry.get(new byte[] {}), new byte[] {5}));
+    assertArrayEquals(entry.get(new byte[] {}), new byte[] {5});
     entry.set(ByteBuffer.wrap(new byte[] {5, 6, 7}).position(1), 15);
-    assertTrue(Arrays.equals(entry.get(new byte[] {}), new byte[] {6, 7}));
+    assertArrayEquals(entry.get(new byte[] {}), new byte[] {6, 7});
     entry.set(ByteBuffer.wrap(new byte[] {5, 6, 7}).position(1).limit(2), 16);
-    assertTrue(Arrays.equals(entry.get(new byte[] {}), new byte[] {6}));
+    assertArrayEquals(entry.get(new byte[] {}), new byte[] {6});
     entry.set(ByteBuffer.wrap(new byte[] {8, 9, 0}), 1, 2, 20);
-    assertTrue(Arrays.equals(entry.get(new byte[] {}), new byte[] {9, 0}));
+    assertArrayEquals(entry.get(new byte[] {}), new byte[] {9, 0});
     entry.set(ByteBuffer.wrap(new byte[] {1, 2, 3}).position(2), 0, 2, 25);
-    assertTrue(Arrays.equals(entry.get(new byte[] {}), new byte[] {1, 2}));
+    assertArrayEquals(entry.get(new byte[] {}), new byte[] {1, 2});
     assertThrows(
         IndexOutOfBoundsException.class,
         () -> entry.set(ByteBuffer.wrap(new byte[] {5}), -1, 1, 30));
@@ -105,13 +104,13 @@ class RawTest {
     ByteBuffer bb = ByteBuffer.allocateDirect(3);
     bb.put(new byte[] {5, 6, 7});
     entry.setRaw(bb.position(1), 15);
-    assertTrue(Arrays.equals(entry.getRaw(new byte[] {}), new byte[] {6, 7}));
+    assertArrayEquals(entry.getRaw(new byte[] {}), new byte[] {6, 7});
     entry.setRaw(bb.limit(2), 16);
-    assertTrue(Arrays.equals(entry.getRaw(new byte[] {}), new byte[] {6}));
+    assertArrayEquals(entry.getRaw(new byte[] {}), new byte[] {6});
     bb.clear();
     bb.put(new byte[] {8, 9, 0});
     entry.setRaw(bb, 1, 2, 20);
-    assertTrue(Arrays.equals(entry.getRaw(new byte[] {}), new byte[] {9, 0}));
+    assertArrayEquals(entry.getRaw(new byte[] {}), new byte[] {9, 0});
     assertThrows(IndexOutOfBoundsException.class, () -> entry.setRaw(bb, -1, 1, 25));
     assertThrows(IndexOutOfBoundsException.class, () -> entry.setRaw(bb, 1, -1, 25));
     assertThrows(IndexOutOfBoundsException.class, () -> entry.setRaw(bb, 2, 2, 25));
@@ -123,13 +122,13 @@ class RawTest {
     ByteBuffer bb = ByteBuffer.allocateDirect(3);
     bb.put(new byte[] {5, 6, 7});
     entry.set(bb.position(1), 15);
-    assertTrue(Arrays.equals(entry.get(new byte[] {}), new byte[] {6, 7}));
+    assertArrayEquals(entry.get(new byte[] {}), new byte[] {6, 7});
     entry.set(bb.limit(2), 16);
-    assertTrue(Arrays.equals(entry.get(new byte[] {}), new byte[] {6}));
+    assertArrayEquals(entry.get(new byte[] {}), new byte[] {6});
     bb.clear();
     bb.put(new byte[] {8, 9, 0});
     entry.set(bb, 1, 2, 20);
-    assertTrue(Arrays.equals(entry.get(new byte[] {}), new byte[] {9, 0}));
+    assertArrayEquals(entry.get(new byte[] {}), new byte[] {9, 0});
     assertThrows(IndexOutOfBoundsException.class, () -> entry.set(bb, -1, 1, 25));
     assertThrows(IndexOutOfBoundsException.class, () -> entry.set(bb, 1, -1, 25));
     assertThrows(IndexOutOfBoundsException.class, () -> entry.set(bb, 2, 2, 25));

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

@@ -683,9 +683,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
         null);
     builder.addIntegerArrayProperty(
         "Cancel",
-        () -> {
-          return new long[] {};
-        },
+        () -> new long[] {},
         toCancel -> {
           Map<Long, Command> ids = new LinkedHashMap<>();
           for (Command command : m_scheduledCommands) {

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroupTest.java

@@ -153,7 +153,7 @@ class ParallelRaceGroupTest extends CommandTestBase
       scheduler.run();
       command2Holder.setFinished(true);
       // at this point the sequential group should be done
-      assertDoesNotThrow(() -> scheduler.run());
+      assertDoesNotThrow(scheduler::run);
       assertFalse(scheduler.isScheduled(group2));
     }
   }

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SchedulingRecursionTest.java

@@ -288,7 +288,7 @@ class SchedulingRecursionTest extends CommandTestBase {
       scheduler.schedule(cCancelsD);
       scheduler.schedule(dCancelsAll);
 
-      assertDoesNotThrow(() -> scheduler.run());
+      assertDoesNotThrow(scheduler::run);
       assertEquals(4, counter.get());
       assertFalse(scheduler.isScheduled(aCancelsB));
       assertFalse(scheduler.isScheduled(bCancelsC));

wpilibc/src/main/native/cpp/I2C.cpp

@@ -4,6 +4,7 @@
 
 #include "frc/I2C.h"
 
+#include <algorithm>
 #include <utility>
 
 #include <hal/FRCUsageReporting.h>
@@ -96,7 +97,7 @@ bool I2C::VerifySensor(int registerAddress, int count,
   uint8_t deviceData[4];
   for (int i = 0, curRegisterAddress = registerAddress; i < count;
        i += 4, curRegisterAddress += 4) {
-    int toRead = count - i < 4 ? count - i : 4;
+    int toRead = std::min(count - i, 4);
     // Read the chunk of data.  Return false if the sensor does not respond.
     if (Read(curRegisterAddress, toRead, deviceData)) {
       return false;

wpilibc/src/main/native/cpp/PneumaticHub.cpp

@@ -23,15 +23,15 @@ using namespace frc;
 /** Converts volts to PSI per the REV Analog Pressure Sensor datasheet. */
 units::pounds_per_square_inch_t VoltsToPSI(units::volt_t sensorVoltage,
                                            units::volt_t supplyVoltage) {
-  auto pressure = 250 * (sensorVoltage.value() / supplyVoltage.value()) - 25;
-  return units::pounds_per_square_inch_t{pressure};
+  return units::pounds_per_square_inch_t{
+      250 * (sensorVoltage.value() / supplyVoltage.value()) - 25};
 }
 
 /** Converts PSI to volts per the REV Analog Pressure Sensor datasheet. */
 units::volt_t PSIToVolts(units::pounds_per_square_inch_t pressure,
                          units::volt_t supplyVoltage) {
-  auto voltage = supplyVoltage.value() * (0.004 * pressure.value() + 0.1);
-  return units::volt_t{voltage};
+  return units::volt_t{supplyVoltage.value() *
+                       (0.004 * pressure.value() + 0.1)};
 }
 
 wpi::mutex PneumaticHub::m_handleLock;

wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp

@@ -92,26 +92,22 @@ Pose2d DifferentialDrivetrainSim::GetPose() const {
 }
 
 units::ampere_t DifferentialDrivetrainSim::GetLeftCurrentDraw() const {
-  auto loadIleft =
-      m_motor.Current(
-          units::radians_per_second_t{m_x(State::kLeftVelocity) *
-                                      m_currentGearing / m_wheelRadius.value()},
-          units::volt_t{m_u(0)}) *
-      wpi::sgn(m_u(0));
-
-  return loadIleft;
+  return m_motor.Current(units::radians_per_second_t{m_x(State::kLeftVelocity) *
+                                                     m_currentGearing /
+                                                     m_wheelRadius.value()},
+                         units::volt_t{m_u(0)}) *
+         wpi::sgn(m_u(0));
 }
 
 units::ampere_t DifferentialDrivetrainSim::GetRightCurrentDraw() const {
-  auto loadIRight =
-      m_motor.Current(
-          units::radians_per_second_t{m_x(State::kRightVelocity) *
-                                      m_currentGearing / m_wheelRadius.value()},
-          units::volt_t{m_u(1)}) *
-      wpi::sgn(m_u(1));
-
-  return loadIRight;
+  return m_motor.Current(
+             units::radians_per_second_t{m_x(State::kRightVelocity) *
+                                         m_currentGearing /
+                                         m_wheelRadius.value()},
+             units::volt_t{m_u(1)}) *
+         wpi::sgn(m_u(1));
 }
+
 units::ampere_t DifferentialDrivetrainSim::GetCurrentDraw() const {
   return GetLeftCurrentDraw() + GetRightCurrentDraw();
 }

wpilibc/src/main/native/include/frc/PneumaticHub.h

@@ -7,6 +7,7 @@
 #include <memory>
 
 #include <hal/Types.h>
+#include <units/pressure.h>
 #include <wpi/DenseMap.h>
 #include <wpi/mutex.h>
 

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

@@ -108,9 +108,9 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
     _32s(10),
     _64s(11);
 
-    private int value;
+    private final int value;
 
-    private CalibrationTime(int value) {
+    CalibrationTime(int value) {
       this.value = value;
     }
   }
@@ -130,9 +130,9 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
   private IMUAxis m_yaw_axis;
 
   /* Offset data storage */
-  private double m_offset_data_gyro_rate_x[];
-  private double m_offset_data_gyro_rate_y[];
-  private double m_offset_data_gyro_rate_z[];
+  private double[] m_offset_data_gyro_rate_x;
+  private double[] m_offset_data_gyro_rate_y;
+  private double[] m_offset_data_gyro_rate_z;
 
   /* Instant raw output variables */
   private double m_gyro_rate_x = 0.0;
@@ -199,7 +199,7 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
   private SimDouble m_simAccelZ;
 
   /* CRC-16 Look-Up Table */
-  int adiscrc[] =
+  int[] adiscrc =
       new int[] {
         0x0000, 0x17CE, 0x0FDF, 0x1811, 0x1FBE, 0x0870, 0x1061, 0x07AF,
         0x1F3F, 0x08F1, 0x10E0, 0x072E, 0x0081, 0x174F, 0x0F5E, 0x1890,
@@ -358,7 +358,7 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
 
   /** */
   private static int toShort(int... buf) {
-    return (short) (((buf[0] & 0xFF) << 8) + ((buf[1] & 0xFF) << 0));
+    return (short) (((buf[0] & 0xFF) << 8) + ((buf[1] & 0xFF)));
   }
 
   /** */
@@ -481,7 +481,7 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
   }
 
   public int configDecRate(int m_decRate) {
-    int writeValue = m_decRate;
+    int writeValue;
     int readbackValue;
     if (!switchToStandardSPI()) {
       DriverStation.reportError("Failed to configure/reconfigure standard SPI.", false);

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

@@ -193,9 +193,9 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
     _32s(10),
     _64s(11);
 
-    private int value;
+    private final int value;
 
-    private CalibrationTime(int value) {
+    CalibrationTime(int value) {
       this.value = value;
     }
   }
@@ -396,7 +396,7 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
    * @return
    */
   private static int toShort(int... buf) {
-    return (short) (((buf[0] & 0xFF) << 8) + ((buf[1] & 0xFF) << 0));
+    return (short) (((buf[0] & 0xFF) << 8) + ((buf[1] & 0xFF)));
   }
 
   /**
@@ -593,7 +593,6 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
     if (!switchToAutoSPI()) {
       DriverStation.reportError("Failed to configure/reconfigure auto SPI.", false);
     }
-    ;
   }
 
   /**

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

@@ -239,6 +239,7 @@ public final class DriverStation {
         for (int i = 0; i < count; i++) {
           if (axes.m_axes[i] != m_prevAxes.m_axes[i]) {
             needToLog = true;
+            break;
           }
         }
       }
@@ -255,6 +256,7 @@ public final class DriverStation {
         for (int i = 0; i < count; i++) {
           if (povs.m_povs[i] != m_prevPOVs.m_povs[i]) {
             needToLog = true;
+            break;
           }
         }
       }

wpilibj/src/main/java/edu/wpi/first/wpilibj/I2C.java

@@ -369,7 +369,7 @@ public class I2C implements AutoCloseable {
 
     byte[] deviceData = new byte[4];
     for (int i = 0; i < count; i += 4) {
-      int toRead = count - i < 4 ? count - i : 4;
+      int toRead = Math.min(count - i, 4);
       // Read the chunk of data. Return false if the sensor does not
       // respond.
       dataToSend[0] = (byte) (registerAddress + i);

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

@@ -66,7 +66,7 @@ public abstract class MotorSafety {
     synchronized (m_listMutex) {
       m_instanceList.add(this);
       if (m_safetyThread == null) {
-        m_safetyThread = new Thread(() -> threadMain(), "MotorSafety Thread");
+        m_safetyThread = new Thread(MotorSafety::threadMain, "MotorSafety Thread");
         m_safetyThread.setDaemon(true);
         m_safetyThread.start();
       }

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

@@ -113,7 +113,7 @@ public class Notifier implements AutoCloseable {
                     updateAlarm();
                   } else {
                     // Need to update the alarm to cause it to wait again
-                    updateAlarm((long) -1);
+                    updateAlarm(-1);
                   }
                 } finally {
                   m_processLock.unlock();
@@ -134,7 +134,7 @@ public class Notifier implements AutoCloseable {
             error = cause;
           }
           DriverStation.reportError(
-              "Unhandled exception in Notifier thread: " + error.toString(), error.getStackTrace());
+              "Unhandled exception in Notifier thread: " + error, error.getStackTrace());
           DriverStation.reportError(
               "The Runnable for this Notifier (or methods called by it) should have handled "
                   + "the exception above.\n"

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

@@ -59,8 +59,7 @@ public class PneumaticHub implements PneumaticsBase {
             output.write(("currentVersion=" + fwVersion).getBytes(StandardCharsets.UTF_8));
           }
         } catch (IOException ex) {
-          DriverStation.reportError(
-              "Could not write " + fileName + ": " + ex.toString(), ex.getStackTrace());
+          DriverStation.reportError("Could not write " + fileName + ": " + ex, ex.getStackTrace());
         }
       }
 
@@ -115,14 +114,12 @@ public class PneumaticHub implements PneumaticsBase {
 
   /** Converts volts to PSI per the REV Analog Pressure Sensor datasheet. */
   private static double voltsToPsi(double sensorVoltage, double supplyVoltage) {
-    double pressure = 250 * (sensorVoltage / supplyVoltage) - 25;
-    return pressure;
+    return 250 * (sensorVoltage / supplyVoltage) - 25;
   }
 
   /** Converts PSI to volts per the REV Analog Pressure Sensor datasheet. */
   private static double psiToVolts(double pressure, double supplyVoltage) {
-    double voltage = supplyVoltage * (0.004 * pressure + 0.1);
-    return voltage;
+    return supplyVoltage * (0.004 * pressure + 0.1);
   }
 
   private final DataStore m_dataStore;

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

@@ -6,5 +6,5 @@ package edu.wpi.first.wpilibj;
 
 public enum PneumaticsModuleType {
   CTREPCM,
-  REVPH;
+  REVPH
 }

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

@@ -101,9 +101,7 @@ public class PowerDistribution implements Sendable, AutoCloseable {
    * @return The current of the channel in Amperes
    */
   public double getCurrent(int channel) {
-    double current = PowerDistributionJNI.getChannelCurrent(m_handle, channel);
-
-    return current;
+    return PowerDistributionJNI.getChannelCurrent(m_handle, channel);
   }
 
   /**

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

@@ -321,8 +321,7 @@ public abstract class RobotBase implements AutoCloseable {
         robotName = elements[0].getClassName();
       }
       DriverStation.reportError(
-          "Unhandled exception instantiating robot " + robotName + " " + throwable.toString(),
-          elements);
+          "Unhandled exception instantiating robot " + robotName + " " + throwable, elements);
       DriverStation.reportError(
           "The robot program quit unexpectedly."
               + " This is usually due to a code error.\n"
@@ -353,8 +352,7 @@ public abstract class RobotBase implements AutoCloseable {
           output.write(WPILibVersion.Version.getBytes(StandardCharsets.UTF_8));
         }
       } catch (IOException ex) {
-        DriverStation.reportError(
-            "Could not write FRC_Lib_Version.ini: " + ex.toString(), ex.getStackTrace());
+        DriverStation.reportError("Could not write FRC_Lib_Version.ini: " + ex, ex.getStackTrace());
       }
     }
 
@@ -366,8 +364,7 @@ public abstract class RobotBase implements AutoCloseable {
       if (cause != null) {
         throwable = cause;
       }
-      DriverStation.reportError(
-          "Unhandled exception: " + throwable.toString(), throwable.getStackTrace());
+      DriverStation.reportError("Unhandled exception: " + throwable, throwable.getStackTrace());
       errorOnExit = true;
     } finally {
       m_runMutex.lock();

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

@@ -33,7 +33,7 @@ public final class RobotController {
    * @return FPGA Revision number.
    */
   public static long getFPGARevision() {
-    return (long) HALUtil.getFPGARevision();
+    return HALUtil.getFPGARevision();
   }
 
   /**

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

@@ -59,12 +59,12 @@ public final class SensorUtil {
    */
   public static void checkDigitalChannel(final int channel) {
     if (!DIOJNI.checkDIOChannel(channel)) {
-      StringBuilder buf = new StringBuilder();
-      buf.append("Requested DIO channel is out of range. Minimum: 0, Maximum: ")
-          .append(kDigitalChannels)
-          .append(", Requested: ")
-          .append(channel);
-      throw new IllegalArgumentException(buf.toString());
+      String buf =
+          "Requested DIO channel is out of range. Minimum: 0, Maximum: "
+              + kDigitalChannels
+              + ", Requested: "
+              + channel;
+      throw new IllegalArgumentException(buf);
     }
   }
 
@@ -76,12 +76,12 @@ public final class SensorUtil {
    */
   public static void checkRelayChannel(final int channel) {
     if (!RelayJNI.checkRelayChannel(channel)) {
-      StringBuilder buf = new StringBuilder();
-      buf.append("Requested relay channel is out of range. Minimum: 0, Maximum: ")
-          .append(kRelayChannels)
-          .append(", Requested: ")
-          .append(channel);
-      throw new IllegalArgumentException(buf.toString());
+      String buf =
+          "Requested relay channel is out of range. Minimum: 0, Maximum: "
+              + kRelayChannels
+              + ", Requested: "
+              + channel;
+      throw new IllegalArgumentException(buf);
     }
   }
 
@@ -93,12 +93,12 @@ public final class SensorUtil {
    */
   public static void checkPWMChannel(final int channel) {
     if (!PWMJNI.checkPWMChannel(channel)) {
-      StringBuilder buf = new StringBuilder();
-      buf.append("Requested PWM channel is out of range. Minimum: 0, Maximum: ")
-          .append(kPwmChannels)
-          .append(", Requested: ")
-          .append(channel);
-      throw new IllegalArgumentException(buf.toString());
+      String buf =
+          "Requested PWM channel is out of range. Minimum: 0, Maximum: "
+              + kPwmChannels
+              + ", Requested: "
+              + channel;
+      throw new IllegalArgumentException(buf);
     }
   }
 
@@ -110,12 +110,12 @@ public final class SensorUtil {
    */
   public static void checkAnalogInputChannel(final int channel) {
     if (!AnalogJNI.checkAnalogInputChannel(channel)) {
-      StringBuilder buf = new StringBuilder();
-      buf.append("Requested analog input channel is out of range. Minimum: 0, Maximum: ")
-          .append(kAnalogInputChannels)
-          .append(", Requested: ")
-          .append(channel);
-      throw new IllegalArgumentException(buf.toString());
+      String buf =
+          "Requested analog input channel is out of range. Minimum: 0, Maximum: "
+              + kAnalogInputChannels
+              + ", Requested: "
+              + channel;
+      throw new IllegalArgumentException(buf);
     }
   }
 
@@ -127,12 +127,12 @@ public final class SensorUtil {
    */
   public static void checkAnalogOutputChannel(final int channel) {
     if (!AnalogJNI.checkAnalogOutputChannel(channel)) {
-      StringBuilder buf = new StringBuilder();
-      buf.append("Requested analog output channel is out of range. Minimum: 0, Maximum: ")
-          .append(kAnalogOutputChannels)
-          .append(", Requested: ")
-          .append(channel);
-      throw new IllegalArgumentException(buf.toString());
+      String buf =
+          "Requested analog output channel is out of range. Minimum: 0, Maximum: "
+              + kAnalogOutputChannels
+              + ", Requested: "
+              + channel;
+      throw new IllegalArgumentException(buf);
     }
   }
 

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

@@ -216,7 +216,7 @@ public class SerialPort implements AutoCloseable {
    */
   public String readString(int count) {
     byte[] out = read(count);
-    return new String(out, 0, out.length, StandardCharsets.US_ASCII);
+    return new String(out, StandardCharsets.US_ASCII);
   }
 
   /**

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

@@ -75,9 +75,7 @@ public class Tracer {
       StringBuilder sb = new StringBuilder();
       m_lastEpochsPrintTime = now;
       m_epochs.forEach(
-          (key, value) -> {
-            sb.append(String.format("\t%s: %.6fs\n", key, value / 1.0e6));
-          });
+          (key, value) -> sb.append(String.format("\t%s: %.6fs\n", key, value / 1.0e6)));
       if (sb.length() > 0) {
         output.accept(sb.toString());
       }

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

@@ -209,7 +209,7 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
   }
 
   private static void updateAlarm() {
-    if (m_watchdogs.size() == 0) {
+    if (m_watchdogs.isEmpty()) {
       NotifierJNI.cancelNotifierAlarm(m_notifier);
     } else {
       NotifierJNI.updateNotifierAlarm(
@@ -233,7 +233,7 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
 
       m_queueMutex.lock();
       try {
-        if (m_watchdogs.size() == 0) {
+        if (m_watchdogs.isEmpty()) {
           continue;
         }
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java

@@ -50,7 +50,7 @@ public final class LiveWindow {
   private static Runnable disabledListener;
 
   static {
-    SendableRegistry.setLiveWindowBuilderFactory(() -> new SendableBuilderImpl());
+    SendableRegistry.setLiveWindowBuilderFactory(SendableBuilderImpl::new);
     enabledPub.set(false);
   }
 
@@ -105,10 +105,7 @@ public final class LiveWindow {
       } else {
         System.out.println("stopping live window mode.");
         SendableRegistry.foreachLiveWindow(
-            dataHandle,
-            cbdata -> {
-              ((SendableBuilderImpl) cbdata.builder).stopLiveWindowMode();
-            });
+            dataHandle, cbdata -> ((SendableBuilderImpl) cbdata.builder).stopLiveWindowMode());
         if (disabledListener != null) {
           disabledListener.run();
         }

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

@@ -17,7 +17,8 @@ import edu.wpi.first.wpilibj.PWM;
  * 884 controllers also but if users experience issues such as asymmetric behavior around the
  * deadband or inability to saturate the controller in either direction, calibration is recommended.
  * The calibration procedure can be found in the Victor 884 User Manual available from VEX Robotics:
- * http://content.vexrobotics.com/docs/ifi-v884-users-manual-9-25-06.pdf
+ * <a
+ * href="http://content.vexrobotics.com/docs/ifi-v884-users-manual-9-25-06.pdf">http://content.vexrobotics.com/docs/ifi-v884-users-manual-9-25-06.pdf</a>
  *
  * <ul>
  *   <li>2.027ms = full "forward"

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

@@ -236,12 +236,9 @@ public class DifferentialDrivetrainSim {
    * @return the drivetrain's left side current draw, in amps
    */
   public double getLeftCurrentDrawAmps() {
-    var loadIleft =
-        m_motor.getCurrent(
-                getState(State.kLeftVelocity) * m_currentGearing / m_wheelRadiusMeters,
-                m_u.get(0, 0))
-            * Math.signum(m_u.get(0, 0));
-    return loadIleft;
+    return m_motor.getCurrent(
+            getState(State.kLeftVelocity) * m_currentGearing / m_wheelRadiusMeters, m_u.get(0, 0))
+        * Math.signum(m_u.get(0, 0));
   }
 
   /**
@@ -250,13 +247,9 @@ public class DifferentialDrivetrainSim {
    * @return the drivetrain's right side current draw, in amps
    */
   public double getRightCurrentDrawAmps() {
-    var loadIright =
-        m_motor.getCurrent(
-                getState(State.kRightVelocity) * m_currentGearing / m_wheelRadiusMeters,
-                m_u.get(1, 0))
-            * Math.signum(m_u.get(1, 0));
-
-    return loadIright;
+    return m_motor.getCurrent(
+            getState(State.kRightVelocity) * m_currentGearing / m_wheelRadiusMeters, m_u.get(1, 0))
+        * Math.signum(m_u.get(1, 0));
   }
 
   /**

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

@@ -135,7 +135,7 @@ public class GenericHIDSim {
    */
   public boolean getOutput(int outputNumber) {
     long outputs = getOutputs();
-    return (outputs & (1 << (outputNumber - 1))) != 0;
+    return (outputs & (1L << (outputNumber - 1))) != 0;
   }
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java

@@ -10,6 +10,7 @@ import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.trajectory.Trajectory;
 import edu.wpi.first.networktables.DoubleArrayEntry;
 import java.util.ArrayList;
+import java.util.Collections;
 import java.util.List;
 
 /** Game field object on a Field2d. */
@@ -70,9 +71,7 @@ public class FieldObject2d implements AutoCloseable {
    */
   public synchronized void setPoses(List<Pose2d> poses) {
     m_poses.clear();
-    for (Pose2d pose : poses) {
-      m_poses.add(pose);
-    }
+    m_poses.addAll(poses);
     updateEntry();
   }
 
@@ -83,9 +82,7 @@ public class FieldObject2d implements AutoCloseable {
    */
   public synchronized void setPoses(Pose2d... poses) {
     m_poses.clear();
-    for (Pose2d pose : poses) {
-      m_poses.add(pose);
-    }
+    Collections.addAll(m_poses, poses);
     updateEntry();
   }
 
@@ -109,7 +106,7 @@ public class FieldObject2d implements AutoCloseable {
    */
   public synchronized List<Pose2d> getPoses() {
     updateFromEntry();
-    return new ArrayList<Pose2d>(m_poses);
+    return new ArrayList<>(m_poses);
   }
 
   void updateEntry() {
@@ -143,7 +140,7 @@ public class FieldObject2d implements AutoCloseable {
       return;
     }
 
-    double[] arr = m_entry.get((double[]) null);
+    double[] arr = m_entry.get(null);
     if (arr != null) {
       if ((arr.length % 3) != 0) {
         return;

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

@@ -31,9 +31,9 @@ class ListenerExecutor implements Executor {
   /** Runs all posted tasks. Called periodically from main thread. */
   public void runListenerTasks() {
     // Locally copy tasks from internal list; minimizes blocking time
-    Collection<Runnable> tasks = new ArrayList<>();
+    Collection<Runnable> tasks;
     synchronized (m_lock) {
-      tasks.addAll(m_tasks);
+      tasks = new ArrayList<>(m_tasks);
       m_tasks.clear();
     }
 

wpilibj/src/test/java/edu/wpi/first/wpilibj/TimedRobotTest.java

@@ -144,11 +144,7 @@ class TimedRobotTest {
   void disabledModeTest() {
     MockRobot robot = new MockRobot();
 
-    Thread robotThread =
-        new Thread(
-            () -> {
-              robot.startCompetition();
-            });
+    Thread robotThread = new Thread(robot::startCompetition);
     robotThread.start();
 
     DriverStationSim.setEnabled(false);
@@ -231,11 +227,7 @@ class TimedRobotTest {
   void autonomousModeTest() {
     MockRobot robot = new MockRobot();
 
-    Thread robotThread =
-        new Thread(
-            () -> {
-              robot.startCompetition();
-            });
+    Thread robotThread = new Thread(robot::startCompetition);
     robotThread.start();
 
     DriverStationSim.setEnabled(true);
@@ -320,11 +312,7 @@ class TimedRobotTest {
   void teleopModeTest() {
     MockRobot robot = new MockRobot();
 
-    Thread robotThread =
-        new Thread(
-            () -> {
-              robot.startCompetition();
-            });
+    Thread robotThread = new Thread(robot::startCompetition);
     robotThread.start();
 
     DriverStationSim.setEnabled(true);
@@ -411,11 +399,7 @@ class TimedRobotTest {
     MockRobot robot = new MockRobot();
     robot.enableLiveWindowInTest(isLW);
 
-    Thread robotThread =
-        new Thread(
-            () -> {
-              robot.startCompetition();
-            });
+    Thread robotThread = new Thread(robot::startCompetition);
     robotThread.start();
 
     DriverStationSim.setEnabled(true);
@@ -531,11 +515,7 @@ class TimedRobotTest {
   void modeChangeTest() {
     MockRobot robot = new MockRobot();
 
-    Thread robotThread =
-        new Thread(
-            () -> {
-              robot.startCompetition();
-            });
+    Thread robotThread = new Thread(robot::startCompetition);
     robotThread.start();
 
     // Start in disabled
@@ -655,17 +635,9 @@ class TimedRobotTest {
     MockRobot robot = new MockRobot();
 
     final AtomicInteger callbackCount = new AtomicInteger(0);
-    robot.addPeriodic(
-        () -> {
-          callbackCount.addAndGet(1);
-        },
-        kPeriod / 2.0);
+    robot.addPeriodic(() -> callbackCount.addAndGet(1), kPeriod / 2.0);
 
-    Thread robotThread =
-        new Thread(
-            () -> {
-              robot.startCompetition();
-            });
+    Thread robotThread = new Thread(robot::startCompetition);
     robotThread.start();
 
     DriverStationSim.setEnabled(false);
@@ -704,12 +676,7 @@ class TimedRobotTest {
     MockRobot robot = new MockRobot();
 
     final AtomicInteger callbackCount = new AtomicInteger(0);
-    robot.addPeriodic(
-        () -> {
-          callbackCount.addAndGet(1);
-        },
-        kPeriod / 2.0,
-        kPeriod / 4.0);
+    robot.addPeriodic(() -> callbackCount.addAndGet(1), kPeriod / 2.0, kPeriod / 4.0);
 
     // Expirations in this test (ms)
     //
@@ -720,11 +687,7 @@ class TimedRobotTest {
     //     p |    0.75p
     //    2p |    1.25p
 
-    Thread robotThread =
-        new Thread(
-            () -> {
-              robot.startCompetition();
-            });
+    Thread robotThread = new Thread(robot::startCompetition);
     robotThread.start();
 
     DriverStationSim.setEnabled(false);

wpilibj/src/test/java/edu/wpi/first/wpilibj/TimesliceRobotTest.java

@@ -54,22 +54,10 @@ class TimesliceRobotTest {
     // | RobotPeriodic() |           0 |              2 |
     // | Callback 1      |           2 |            0.5 |
     // | Callback 2      |         2.5 |              1 |
-    robot.schedule(
-        () -> {
-          callbackCount1.addAndGet(1);
-        },
-        0.0005);
-    robot.schedule(
-        () -> {
-          callbackCount2.addAndGet(1);
-        },
-        0.001);
+    robot.schedule(() -> callbackCount1.addAndGet(1), 0.0005);
+    robot.schedule(() -> callbackCount2.addAndGet(1), 0.001);
 
-    Thread robotThread =
-        new Thread(
-            () -> {
-              robot.startCompetition();
-            });
+    Thread robotThread = new Thread(robot::startCompetition);
     robotThread.start();
 
     DriverStationSim.setEnabled(false);

wpilibj/src/test/java/edu/wpi/first/wpilibj/WatchdogTest.java

@@ -33,12 +33,7 @@ class WatchdogTest {
   void enableDisableTest() {
     final AtomicInteger watchdogCounter = new AtomicInteger(0);
 
-    try (Watchdog watchdog =
-        new Watchdog(
-            0.4,
-            () -> {
-              watchdogCounter.addAndGet(1);
-            })) {
+    try (Watchdog watchdog = new Watchdog(0.4, () -> watchdogCounter.addAndGet(1))) {
       // Run 1
       watchdog.enable();
       SimHooks.stepTiming(0.2);
@@ -71,12 +66,7 @@ class WatchdogTest {
   void resetTest() {
     final AtomicInteger watchdogCounter = new AtomicInteger(0);
 
-    try (Watchdog watchdog =
-        new Watchdog(
-            0.4,
-            () -> {
-              watchdogCounter.addAndGet(1);
-            })) {
+    try (Watchdog watchdog = new Watchdog(0.4, () -> watchdogCounter.addAndGet(1))) {
       watchdog.enable();
       SimHooks.stepTiming(0.2);
       watchdog.reset();
@@ -92,12 +82,7 @@ class WatchdogTest {
   void setTimeoutTest() {
     final AtomicInteger watchdogCounter = new AtomicInteger(0);
 
-    try (Watchdog watchdog =
-        new Watchdog(
-            1.0,
-            () -> {
-              watchdogCounter.addAndGet(1);
-            })) {
+    try (Watchdog watchdog = new Watchdog(1.0, () -> watchdogCounter.addAndGet(1))) {
       watchdog.enable();
       SimHooks.stepTiming(0.2);
       watchdog.setTimeout(0.2);
@@ -137,12 +122,7 @@ class WatchdogTest {
   void epochsTest() {
     final AtomicInteger watchdogCounter = new AtomicInteger(0);
 
-    try (Watchdog watchdog =
-        new Watchdog(
-            0.4,
-            () -> {
-              watchdogCounter.addAndGet(1);
-            })) {
+    try (Watchdog watchdog = new Watchdog(0.4, () -> watchdogCounter.addAndGet(1))) {
       // Run 1
       watchdog.enable();
       watchdog.addEpoch("Epoch 1");
@@ -173,18 +153,8 @@ class WatchdogTest {
     final AtomicInteger watchdogCounter1 = new AtomicInteger(0);
     final AtomicInteger watchdogCounter2 = new AtomicInteger(0);
 
-    try (Watchdog watchdog1 =
-            new Watchdog(
-                0.2,
-                () -> {
-                  watchdogCounter1.addAndGet(1);
-                });
-        Watchdog watchdog2 =
-            new Watchdog(
-                0.6,
-                () -> {
-                  watchdogCounter2.addAndGet(1);
-                })) {
+    try (Watchdog watchdog1 = new Watchdog(0.2, () -> watchdogCounter1.addAndGet(1));
+        Watchdog watchdog2 = new Watchdog(0.6, () -> watchdogCounter2.addAndGet(1))) {
       watchdog2.enable();
       SimHooks.stepTiming(0.25);
       assertEquals(0, watchdogCounter1.get(), "Watchdog triggered early");

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

@@ -136,7 +136,7 @@ class ShuffleboardInstanceTest {
     try (StringSubscriber subscriber =
         m_ntInstance
             .getStringTopic("/Shuffleboard/.metadata/Selected")
-            .subscribe("", PubSubOption.keepDuplicates(true)); ) {
+            .subscribe("", PubSubOption.keepDuplicates(true))) {
       listener =
           m_ntInstance.addListener(
               subscriber,

wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AddressableLEDSimTest.java

@@ -79,7 +79,7 @@ class AddressableLEDSimTest {
     BufferCallback callback = new BufferCallback();
 
     try (AddressableLED led = new AddressableLED(0);
-        CallbackStore cb = sim.registerDataCallback(callback); ) {
+        CallbackStore cb = sim.registerDataCallback(callback)) {
       assertFalse(sim.getRunning());
 
       assertEquals(1, sim.getLength()); // Defaults to 1 led

wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DCMotorSimTest.java

@@ -63,7 +63,7 @@ class DCMotorSimTest {
 
     try (var motor = new PWMVictorSPX(0);
         var encoder = new Encoder(0, 1);
-        var controller = new PIDController(0.04, 0.0, 0.001); ) {
+        var controller = new PIDController(0.04, 0.0, 0.001)) {
       var encoderSim = new EncoderSim(encoder);
       encoderSim.resetData();
 

wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DigitalPWMSimTest.java

@@ -25,7 +25,7 @@ class DigitalPWMSimTest {
       BooleanCallback initializeCallback = new BooleanCallback();
       DoubleCallback dutyCycleCallback = new DoubleCallback();
       try (CallbackStore initCb = sim.registerInitializedCallback(initializeCallback, false);
-          CallbackStore dutyCycleCb = sim.registerDutyCycleCallback(dutyCycleCallback, false); ) {
+          CallbackStore dutyCycleCb = sim.registerDutyCycleCallback(dutyCycleCallback, false)) {
         final double kTestDutyCycle = 0.191;
         output.enablePWM(kTestDutyCycle);
 

wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/RelaySimTest.java

@@ -58,7 +58,7 @@ class RelaySimTest {
 
     try (CallbackStore fwdCb = sim.registerInitializedForwardCallback(forwardCallback, false);
         CallbackStore revCb = sim.registerInitializedReverseCallback(reverseCallback, false);
-        Relay relay = new Relay(0, Relay.Direction.kForward); ) {
+        Relay relay = new Relay(0, Relay.Direction.kForward)) {
       assertTrue(sim.getInitializedForward());
       assertFalse(sim.getInitializedReverse());
 
@@ -84,7 +84,7 @@ class RelaySimTest {
 
     try (CallbackStore fwdCb = sim.registerInitializedForwardCallback(forwardCallback, false);
         CallbackStore revCb = sim.registerInitializedReverseCallback(reverseCallback, false);
-        Relay relay = new Relay(0, Relay.Direction.kReverse); ) {
+        Relay relay = new Relay(0, Relay.Direction.kReverse)) {
       assertFalse(sim.getInitializedForward());
       assertTrue(sim.getInitializedReverse());
 

wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SimDeviceSimTest.java

@@ -41,18 +41,10 @@ class SimDeviceSimTest {
         SimDevice dev1 = SimDevice.create("testDC1")) {
       try (CallbackStore callback1 =
               SimDeviceSim.registerDeviceCreatedCallback(
-                  "testDC",
-                  (name, handle) -> {
-                    callback1Counter.addAndGet(1);
-                  },
-                  false);
+                  "testDC", (name, handle) -> callback1Counter.addAndGet(1), false);
           CallbackStore callback2 =
               SimDeviceSim.registerDeviceCreatedCallback(
-                  "testDC",
-                  (name, handle) -> {
-                    callback2Counter.addAndGet(1);
-                  },
-                  true)) {
+                  "testDC", (name, handle) -> callback2Counter.addAndGet(1), true)) {
         assertEquals(0, callback1Counter.get(), "Callback 1 called early");
         assertEquals(
             1,
@@ -82,11 +74,7 @@ class SimDeviceSimTest {
     SimDevice dev1 = SimDevice.create("testDF1");
     try (CallbackStore callback =
         SimDeviceSim.registerDeviceFreedCallback(
-            "testDF",
-            (name, handle) -> {
-              counter.addAndGet(1);
-            },
-            false)) {
+            "testDF", (name, handle) -> counter.addAndGet(1), false)) {
       assertEquals(0, counter.get(), "Callback called early");
       dev1.close();
       assertEquals(1, counter.get(), "Callback called either more than once or not at all");
@@ -108,16 +96,10 @@ class SimDeviceSimTest {
       SimDeviceSim sim = new SimDeviceSim("testVM1");
       try (CallbackStore callback1 =
               sim.registerValueCreatedCallback(
-                  (name, handle, readonly, value) -> {
-                    callback1Counter.addAndGet(1);
-                  },
-                  false);
+                  (name, handle, readonly, value) -> callback1Counter.addAndGet(1), false);
           CallbackStore callback2 =
               sim.registerValueCreatedCallback(
-                  (name, handle, readonly, value) -> {
-                    callback2Counter.addAndGet(1);
-                  },
-                  true)) {
+                  (name, handle, readonly, value) -> callback2Counter.addAndGet(1), true)) {
         assertEquals(0, callback1Counter.get(), "Callback 1 called early");
         assertEquals(
             1,
@@ -148,18 +130,10 @@ class SimDeviceSimTest {
       SimValue simVal = sim.getValue("v1");
       try (CallbackStore callback1 =
               sim.registerValueChangedCallback(
-                  simVal,
-                  (name, handle, readonly, value) -> {
-                    callback1Counter.addAndGet(1);
-                  },
-                  false);
+                  simVal, (name, handle, readonly, value) -> callback1Counter.addAndGet(1), false);
           CallbackStore callback2 =
               sim.registerValueChangedCallback(
-                  simVal,
-                  (name, handle, readonly, value) -> {
-                    callback2Counter.addAndGet(1);
-                  },
-                  true)) {
+                  simVal, (name, handle, readonly, value) -> callback2Counter.addAndGet(1), true)) {
         assertEquals(0, callback1Counter.get(), "Callback 1 called early");
         assertEquals(
             1,

wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooserTest.java

@@ -75,7 +75,7 @@ class SendableChooserTest {
         chooser.addOption(String.valueOf(i), i);
       }
       AtomicInteger currentVal = new AtomicInteger();
-      chooser.onChange(val -> currentVal.set(val));
+      chooser.onChange(currentVal::set);
 
       SmartDashboard.putData("changeListenerChooser", chooser);
       SmartDashboard.updateValues();

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trapezoidprofilecommand/ReplaceMeTrapezoidProfileCommand.java

@@ -22,8 +22,8 @@ public class ReplaceMeTrapezoidProfileCommand extends TrapezoidProfileCommand {
           // Use current trajectory state here
         },
         // Goal state
-        () -> new TrapezoidProfile.State(),
+        TrapezoidProfile.State::new,
         // Current state
-        () -> new TrapezoidProfile.State());
+        TrapezoidProfile.State::new);
   }
 }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/apriltagsvision/Robot.java

@@ -32,7 +32,7 @@ import org.opencv.imgproc.Imgproc;
 public class Robot extends TimedRobot {
   @Override
   public void robotInit() {
-    var visionThread = new Thread(() -> apriltagVisionThreadProc());
+    var visionThread = new Thread(this::apriltagVisionThreadProc);
     visionThread.setDaemon(true);
     visionThread.start();
   }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java

@@ -78,7 +78,7 @@ public class RobotContainer {
                     // End at desired position in meters; implicitly starts at 0
                     () -> new TrapezoidProfile.State(3, 0),
                     // Current position
-                    () -> new TrapezoidProfile.State(),
+                    TrapezoidProfile.State::new,
                     // Require the drive
                     m_robotDrive)
                 .beforeStarting(m_robotDrive::resetEncoders)

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/commands/DriveDistanceProfiled.java

@@ -29,7 +29,7 @@ public class DriveDistanceProfiled extends TrapezoidProfileCommand {
         // End at desired position in meters; implicitly starts at 0
         () -> new TrapezoidProfile.State(meters, 0),
         // Current position
-        () -> new TrapezoidProfile.State(),
+        TrapezoidProfile.State::new,
         // Require the drive
         drive);
     // Reset drive encoders since we're starting at 0

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Pneumatics.java

@@ -50,16 +50,12 @@ public class Pneumatics extends SubsystemBase {
    */
   public Command disableCompressorCommand() {
     return startEnd(
-            () -> {
-              // Disable closed-loop mode on the compressor.
-              m_compressor.disable();
-            },
-            () -> {
-              // Enable closed-loop mode based on the digital pressure switch connected to the
-              // PCM/PH.
-              // The switch is open when the pressure is over ~120 PSI.
-              m_compressor.enableDigital();
-            })
+            // Disable closed-loop mode on the compressor.
+            m_compressor::disable,
+            // Enable closed-loop mode based on the digital pressure switch connected to the
+            // PCM/PH.
+            // The switch is open when the pressure is over ~120 PSI.
+            m_compressor::enableDigital)
         .withName("Compressor Disabled");
   }
 }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java

@@ -53,33 +53,17 @@ public class Robot extends TimedRobot {
     tab.add("Compressor", m_compressor);
 
     // Also publish some raw data
-    tab.addDouble(
-        "PH Pressure [PSI]",
-        () -> {
-          // Get the pressure (in PSI) from the analog sensor connected to the PH.
-          // This function is supported only on the PH!
-          // On a PCM, this function will return 0.
-          return m_compressor.getPressure();
-        });
-    tab.addDouble(
-        "Compressor Current",
-        () -> {
-          // Get compressor current draw.
-          return m_compressor.getCurrent();
-        });
-    tab.addBoolean(
-        "Compressor Active",
-        () -> {
-          // Get whether the compressor is active.
-          return m_compressor.isEnabled();
-        });
-    tab.addBoolean(
-        "Pressure Switch",
-        () -> {
-          // Get the digital pressure switch connected to the PCM/PH.
-          // The switch is open when the pressure is over ~120 PSI.
-          return m_compressor.getPressureSwitchValue();
-        });
+    // Get the pressure (in PSI) from the analog sensor connected to the PH.
+    // This function is supported only on the PH!
+    // On a PCM, this function will return 0.
+    tab.addDouble("PH Pressure [PSI]", m_compressor::getPressure);
+    // Get compressor current draw.
+    tab.addDouble("Compressor Current", m_compressor::getCurrent);
+    // Get whether the compressor is active.
+    tab.addBoolean("Compressor Active", m_compressor::isEnabled);
+    // Get the digital pressure switch connected to the PCM/PH.
+    // The switch is open when the pressure is over ~120 PSI.
+    tab.addBoolean("Pressure Switch", m_compressor::getPressureSwitchValue);
   }
 
   @SuppressWarnings("PMD.UnconditionalIfStatement")

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/unittest/subsystems/Intake.java

@@ -44,7 +44,7 @@ public class Intake implements AutoCloseable {
   }
 
   @Override
-  public void close() throws Exception {
+  public void close() {
     m_piston.close();
     m_motor.close();
   }

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AbstractInterruptTest.java

@@ -4,11 +4,11 @@
 
 package edu.wpi.first.wpilibj;
 
+import static org.hamcrest.MatcherAssert.assertThat;
 import static org.hamcrest.Matchers.both;
 import static org.hamcrest.Matchers.greaterThan;
 import static org.hamcrest.Matchers.lessThan;
 import static org.junit.Assert.assertEquals;
-import static org.junit.Assert.assertThat;
 
 import edu.wpi.first.wpilibj.test.AbstractComsSetup;
 import java.util.concurrent.atomic.AtomicBoolean;

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometerTest.java

@@ -7,8 +7,8 @@ package edu.wpi.first.wpilibj;
 import static org.junit.Assert.assertEquals;
 
 import edu.wpi.first.wpilibj.test.AbstractComsSetup;
-import java.util.Arrays;
 import java.util.Collection;
+import java.util.List;
 import java.util.logging.Logger;
 import org.junit.BeforeClass;
 import org.junit.Test;
@@ -38,7 +38,7 @@ public class BuiltInAccelerometerTest extends AbstractComsSetup {
   /** Test with all valid ranges to make sure unpacking is always done correctly. */
   @Parameters
   public static Collection<BuiltInAccelerometer.Range[]> generateData() {
-    return Arrays.asList(
+    return List.of(
         new BuiltInAccelerometer.Range[][] {
           {BuiltInAccelerometer.Range.k2G},
           {BuiltInAccelerometer.Range.k4G},

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java

@@ -14,8 +14,8 @@ import edu.wpi.first.math.filter.LinearFilter;
 import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
 import edu.wpi.first.wpilibj.test.AbstractComsSetup;
 import edu.wpi.first.wpilibj.test.TestBench;
-import java.util.Arrays;
 import java.util.Collection;
+import java.util.List;
 import java.util.logging.Logger;
 import org.junit.After;
 import org.junit.AfterClass;
@@ -56,7 +56,7 @@ public class MotorEncoderTest extends AbstractComsSetup {
   @Parameters(name = "{index}: {0}")
   public static Collection<MotorEncoderFixture<?>[]> generateData() {
     // logger.fine("Loading the MotorList");
-    return Arrays.asList(
+    return List.of(
         new MotorEncoderFixture<?>[][] {
           {TestBench.getTalonPair()}, {TestBench.getVictorPair()}, {TestBench.getJaguarPair()}
         });

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorInvertingTest.java

@@ -10,8 +10,8 @@ import static org.junit.Assert.assertTrue;
 import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
 import edu.wpi.first.wpilibj.test.AbstractComsSetup;
 import edu.wpi.first.wpilibj.test.TestBench;
-import java.util.Arrays;
 import java.util.Collection;
+import java.util.List;
 import java.util.logging.Logger;
 import org.junit.AfterClass;
 import org.junit.Before;
@@ -44,7 +44,7 @@ public class MotorInvertingTest extends AbstractComsSetup {
   @Parameters(name = "{index}: {0}")
   public static Collection<MotorEncoderFixture<?>[]> generateData() {
     // logger.fine("Loading the MotorList");
-    return Arrays.asList(
+    return List.of(
         new MotorEncoderFixture<?>[][] {
           {TestBench.getTalonPair()}, {TestBench.getVictorPair()}, {TestBench.getJaguarPair()}
         });

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java

@@ -4,17 +4,17 @@
 
 package edu.wpi.first.wpilibj;
 
+import static org.hamcrest.MatcherAssert.assertThat;
 import static org.hamcrest.Matchers.greaterThan;
 import static org.hamcrest.Matchers.is;
 import static org.junit.Assert.assertEquals;
-import static org.junit.Assert.assertThat;
 
 import edu.wpi.first.hal.can.CANMessageNotFoundException;
 import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
 import edu.wpi.first.wpilibj.test.AbstractComsSetup;
 import edu.wpi.first.wpilibj.test.TestBench;
-import java.util.Arrays;
 import java.util.Collection;
+import java.util.List;
 import java.util.logging.Logger;
 import org.junit.After;
 import org.junit.AfterClass;
@@ -65,7 +65,7 @@ public class PDPTest extends AbstractComsSetup {
   @Parameters(name = "{index}: {0}, Expected Stopped Current Draw: {1}")
   public static Collection<Object[]> generateData() {
     // logger.fine("Loading the MotorList");
-    return Arrays.asList(new Object[][] {{TestBench.getTalonPair(), 0.0}});
+    return List.of(new Object[][] {{TestBench.getTalonPair(), 0.0}});
   }
 
   @After

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java

@@ -16,8 +16,8 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl;
 import edu.wpi.first.wpilibj.test.AbstractComsSetup;
 import edu.wpi.first.wpilibj.test.TestBench;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.Collection;
+import java.util.List;
 import java.util.logging.Logger;
 import org.junit.After;
 import org.junit.AfterClass;
@@ -72,13 +72,13 @@ public class PIDTest extends AbstractComsSetup {
   @Parameters
   public static Collection<Object[]> generateData() {
     // logger.fine("Loading the MotorList");
-    Collection<Object[]> data = new ArrayList<Object[]>();
+    Collection<Object[]> data = new ArrayList<>();
     double kp = 0.001;
     double ki = 0.0005;
     double kd = 0.0;
     for (int i = 0; i < 1; i++) {
       data.addAll(
-          Arrays.asList(
+          List.of(
               new Object[][] {
                 {kp, ki, kd, TestBench.getTalonPair()},
                 {kp, ki, kd, TestBench.getVictorPair()},

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractComsSetup.java

@@ -31,7 +31,7 @@ public abstract class AbstractComsSetup {
   // We have no way to stop the MockDS, so its thread is daemon.
   private static MockDS ds;
 
-  /**
+  /*
    * This sets up the network communications library to enable the driver station. After starting
    * network coms, it will loop until the driver station returns that the robot is enabled, to
    * ensure that tests will be able to run on the hardware.

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractTestSuite.java

@@ -34,15 +34,11 @@ public abstract class AbstractTestSuite {
    */
   protected List<Class<?>> getAnnotatedTestClasses() {
     SuiteClasses annotation = getClass().getAnnotation(SuiteClasses.class);
-    List<Class<?>> classes = new ArrayList<>();
     if (annotation == null) {
       throw new RuntimeException(
           String.format("class '%s' must have a SuiteClasses annotation", getClass().getName()));
     }
-    for (Class<?> c : annotation.value()) {
-      classes.add(c);
-    }
-    return classes;
+    return List.of(annotation.value());
   }
 
   private boolean areAnySuperClassesOfTypeAbstractTestSuite(Class<?> check) {

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AntJunitLauncher.java

@@ -24,9 +24,8 @@ public class AntJunitLauncher {
    */
   public static void main(String... args) {
     if (args.length == 0) {
-      String path =
+      String pathToReports =
           String.format("%s/%s", System.getProperty("user.dir"), "/testResults/AntReports");
-      String pathToReports = path;
       Project project = new Project();
 
       try {

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java

@@ -20,7 +20,6 @@ import edu.wpi.first.wpilibj.motorcontrol.Talon;
 import edu.wpi.first.wpilibj.motorcontrol.Victor;
 import java.io.PrintStream;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.Collection;
 import java.util.List;
 
@@ -59,7 +58,7 @@ public final class TestBench {
    * The single constructor for the TestBench. This method is private in order to prevent multiple
    * TestBench objects from being allocated.
    */
-  protected TestBench() {}
+  private TestBench() {}
 
   /**
    * Constructs a new set of objects representing a connected set of Talon controlled Motors and an
@@ -68,7 +67,7 @@ public final class TestBench {
    * @return a freshly allocated Talon, Encoder pair
    */
   public static MotorEncoderFixture<Talon> getTalonPair() {
-    return new MotorEncoderFixture<Talon>() {
+    return new MotorEncoderFixture<>() {
       @Override
       protected Talon giveMotorController() {
         return new Talon(kTalonChannel);
@@ -98,7 +97,7 @@ public final class TestBench {
    * @return a freshly allocated Victor, Encoder pair
    */
   public static MotorEncoderFixture<Victor> getVictorPair() {
-    return new MotorEncoderFixture<Victor>() {
+    return new MotorEncoderFixture<>() {
       @Override
       protected Victor giveMotorController() {
         return new Victor(kVictorChannel);
@@ -128,7 +127,7 @@ public final class TestBench {
    * @return a freshly allocated Jaguar, Encoder pair
    */
   public static MotorEncoderFixture<Jaguar> getJaguarPair() {
-    return new MotorEncoderFixture<Jaguar>() {
+    return new MotorEncoderFixture<>() {
       @Override
       protected Jaguar giveMotorController() {
         return new Jaguar(kJaguarChannel);
@@ -190,9 +189,9 @@ public final class TestBench {
 
   /** Gets two lists of possible DIO pairs for the two pairs. */
   private static List<List<Integer[]>> getDIOCrossConnect() {
-    List<List<Integer[]>> pairs = new ArrayList<List<Integer[]>>();
+    List<List<Integer[]>> pairs = new ArrayList<>();
     List<Integer[]> setA =
-        Arrays.asList(
+        List.of(
             new Integer[][] {
               {DIOCrossConnectA1, DIOCrossConnectA2},
               {DIOCrossConnectA2, DIOCrossConnectA1}
@@ -200,7 +199,7 @@ public final class TestBench {
     pairs.add(setA);
 
     List<Integer[]> setB =
-        Arrays.asList(
+        List.of(
             new Integer[][] {
               {DIOCrossConnectB1, DIOCrossConnectB2},
               {DIOCrossConnectB2, DIOCrossConnectB1}
@@ -252,7 +251,7 @@ public final class TestBench {
    * @return pairs of DIOCrossConnectFixtures
    */
   public static Collection<Integer[]> getDIOCrossConnectCollection() {
-    Collection<Integer[]> pairs = new ArrayList<Integer[]>();
+    Collection<Integer[]> pairs = new ArrayList<>();
     for (Collection<Integer[]> collection : getDIOCrossConnect()) {
       pairs.addAll(collection);
     }
@@ -267,7 +266,7 @@ public final class TestBench {
    */
   private static Collection<Integer[]> getPairArray(
       List<Integer[]> listA, List<Integer[]> listB, boolean flip) {
-    Collection<Integer[]> encoderPortPairs = new ArrayList<Integer[]>();
+    Collection<Integer[]> encoderPortPairs = new ArrayList<>();
     for (Integer[] portPairsA : listA) {
       Integer[] inputs = new Integer[5];
       inputs[0] = portPairsA[0]; // InputA
@@ -279,7 +278,7 @@ public final class TestBench {
         inputs[4] = flip ? 0 : 1; // The flip bit
       }
 
-      ArrayList<Integer[]> construtorInput = new ArrayList<Integer[]>();
+      ArrayList<Integer[]> construtorInput = new ArrayList<>();
       construtorInput.add(inputs);
 
       inputs = inputs.clone();
@@ -300,7 +299,7 @@ public final class TestBench {
    * @return A collection of different input pairs to use for the encoder
    */
   public static Collection<Integer[]> getEncoderDIOCrossConnectCollection() {
-    Collection<Integer[]> encoderPortPairs = new ArrayList<Integer[]>();
+    Collection<Integer[]> encoderPortPairs = new ArrayList<>();
     assert getDIOCrossConnect().size() == 2;
     encoderPortPairs.addAll(
         getPairArray(getDIOCrossConnect().get(0), getDIOCrossConnect().get(1), false));

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestSuite.java

@@ -8,7 +8,6 @@ import edu.wpi.first.wpilibj.WpiLibJTestSuite;
 import java.io.IOException;
 import java.io.InputStream;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.List;
 import java.util.Objects;
 import java.util.logging.LogManager;
@@ -77,40 +76,36 @@ public class TestSuite extends AbstractTestSuite {
 
   /** Displays a help message for the user when they use the --help flag at runtime. */
   protected static void displayHelp() {
-    StringBuilder helpMessage = new StringBuilder("Test Parameters help: \n");
-    helpMessage.append(
-        "\t"
+    String helpMessage =
+        "Test Parameters help: \n"
+            + "\t"
             + QUICK_TEST_FLAG
             + " will cause the quick test to be run. Ignores other flags except for "
             + METHOD_REPEAT_FILTER
-            + "\n");
-    helpMessage.append(
-        "\t"
+            + "\n"
+            + "\t"
             + CLASS_NAME_FILTER
             + " will use the supplied regex text to search for suite/test class names "
-            + "matching the regex and run them.\n");
-    helpMessage.append(
-        "\t"
+            + "matching the regex and run them.\n"
+            + "\t"
             + METHOD_NAME_FILTER
             + " will use the supplied regex text to search for test methods (excluding methods "
             + "with the @Ignore annotation) and run only those methods. Can be paired with "
             + METHOD_REPEAT_FILTER
             + " to "
-            + "repeat the selected tests multiple times.\n");
-    helpMessage.append(
-        "\t"
+            + "repeat the selected tests multiple times.\n"
+            + "\t"
             + METHOD_REPEAT_FILTER
             + " will repeat the tests selected with either "
             + QUICK_TEST_FLAG
             + " or "
             + CLASS_NAME_FILTER
-            + " and run them the given number of times.\n");
-    helpMessage.append(
-        "[NOTE] All regex uses the syntax defined by java.util.regex.Pattern. This "
+            + " and run them the given number of times.\n"
+            + "[NOTE] All regex uses the syntax defined by java.util.regex.Pattern. This "
             + "documentation can be found at "
-            + "http://docs.oracle.com/javase/7/docs/api/java/util/regex/Pattern.html\n");
-    helpMessage.append("\n");
-    helpMessage.append("\n");
+            + "http://docs.oracle.com/javase/7/docs/api/java/util/regex/Pattern.html\n"
+            + "\n"
+            + "\n";
 
     TestBench.out().println(helpMessage);
   }
@@ -123,7 +118,7 @@ public class TestSuite extends AbstractTestSuite {
     StringBuilder invalidMessage = new StringBuilder("Invalid Usage: " + message + "\n");
     invalidMessage.append("Params received: ");
     for (String a : args) {
-      invalidMessage.append(a + " ");
+      invalidMessage.append(a).append(" ");
     }
     invalidMessage.append("\n");
     invalidMessage.append(
@@ -145,9 +140,9 @@ public class TestSuite extends AbstractTestSuite {
     for (Class<?> c : classes) {
       if (c.getPackage().equals(packagE)) {
         packagE = c.getPackage();
-        loadedTestsMessage.append(packagE.getName() + "\n");
+        loadedTestsMessage.append(packagE.getName()).append("\n");
       }
-      loadedTestsMessage.append("\t" + c.getSimpleName() + "\n");
+      loadedTestsMessage.append("\t").append(c.getSimpleName()).append("\n");
     }
     TestBench.out().println(loadedTestsMessage);
   }
@@ -193,7 +188,7 @@ public class TestSuite extends AbstractTestSuite {
       }
     }
 
-    ArrayList<String> argsParsed = new ArrayList<String>(Arrays.asList(args));
+    ArrayList<String> argsParsed = new ArrayList<>(List.of(args));
     if (argsParsed.contains(HELP_FLAG)) {
       // If the user inputs the help flag then return the help message and exit
       // without running any tests
@@ -257,7 +252,7 @@ public class TestSuite extends AbstractTestSuite {
     // If a specific method has been requested
     if (methodFilter) {
       List<ClassMethodPair> pairs = (new TestSuite()).getMethodMatching(methodRegex);
-      if (pairs.size() == 0) {
+      if (pairs.isEmpty()) {
         displayInvalidUsage(
             "None of the arguments passed to the method name filter matched.", args);
         return null;
@@ -292,7 +287,7 @@ public class TestSuite extends AbstractTestSuite {
     // If a specific class has been requested
     if (classFilter) {
       List<Class<?>> testClasses = (new TestSuite()).getSuiteOrTestMatchingRegex(classRegex);
-      if (testClasses.size() == 0) {
+      if (testClasses.isEmpty()) {
         displayInvalidUsage("None of the arguments passed to the filter matched.", args);
         return null;
       }

wpimath/src/main/java/edu/wpi/first/math/Matrix.java

@@ -288,7 +288,7 @@ public class Matrix<R extends Num, C extends Num> {
    * @return The resultant matrix.
    */
   public Matrix<R, C> div(int value) {
-    return new Matrix<>(this.m_storage.divide((double) value));
+    return new Matrix<>(this.m_storage.divide(value));
   }
 
   /**
@@ -488,7 +488,7 @@ public class Matrix<R extends Num, C extends Num> {
    * @return The element by element power of "this" and b.
    */
   public final Matrix<R, C> elementPower(int b) {
-    return new Matrix<>(this.m_storage.elementPower((double) b));
+    return new Matrix<>(this.m_storage.elementPower(b));
   }
 
   /**
@@ -545,7 +545,7 @@ public class Matrix<R extends Num, C extends Num> {
    */
   public final <R2 extends Num, C2 extends Num> Matrix<R2, C2> block(
       int height, int width, int startingRow, int startingCol) {
-    return new Matrix<R2, C2>(
+    return new Matrix<>(
         this.m_storage.extractMatrix(
             startingRow, startingRow + height, startingCol, startingCol + width));
   }
@@ -607,8 +607,7 @@ public class Matrix<R extends Num, C extends Num> {
         return new Matrix<>(new SimpleMatrix(temp.getNumRows(), temp.getNumCols()));
       }
 
-      throw new RuntimeException(
-          "Cholesky decomposition failed! Input matrix:\n" + m_storage.toString());
+      throw new RuntimeException("Cholesky decomposition failed! Input matrix:\n" + m_storage);
     }
 
     return new Matrix<>(SimpleMatrix.wrap(chol.getT(null)));

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

@@ -16,9 +16,8 @@ import java.util.function.Function;
  * Constructs a control-affine plant inversion model-based feedforward from given model dynamics.
  *
  * <p>If given the vector valued function as f(x, u) where x is the state vector and u is the input
- * vector, the B matrix(continuous input matrix) is calculated through a {@link
- * edu.wpi.first.math.system.NumericalJacobian}. In this case f has to be control-affine (of the
- * form f(x) + Bu).
+ * vector, the B matrix(continuous input matrix) is calculated through a {@link NumericalJacobian}.
+ * In this case f has to be control-affine (of the form f(x) + Bu).
  *
  * <p>The feedforward is calculated as <strong> u_ff = B<sup>+</sup> (rDot - f(x))</strong>, where
  * <strong> B<sup>+</sup> </strong> is the pseudoinverse of B.
@@ -26,8 +25,8 @@ import java.util.function.Function;
  * <p>This feedforward does not account for a dynamic B matrix, B is either determined or supplied
  * when the feedforward is created and remains constant.
  *
- * <p>For more on the underlying math, read
- * https://file.tavsys.net/control/controls-engineering-in-frc.pdf.
+ * <p>For more on the underlying math, read <a
+ * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>.
  */
 public class ControlAffinePlantInversionFeedforward<States extends Num, Inputs extends Num> {
   /** The current reference state. */

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

@@ -17,8 +17,8 @@ import org.ejml.simple.SimpleMatrix;
  * system and makes it behave like some other system. This can be used to make a drivetrain more
  * controllable during teleop driving by making it behave like a slower or more benign drivetrain.
  *
- * <p>For more on the underlying math, read appendix B.3 in
- * https://file.tavsys.net/control/controls-engineering-in-frc.pdf.
+ * <p>For more on the underlying math, read appendix B.3 in <a
+ * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>.
  */
 public class ImplicitModelFollower<States extends Num, Inputs extends Num, Outputs extends Num> {
   // Computed controller output

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

@@ -65,8 +65,8 @@ public class LTVDifferentialDriveController {
   /**
    * Constructs a linear time-varying differential drive controller.
    *
-   * <p>See
-   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
+   * <p>See <a
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning</a>
    * for how to select the tolerances.
    *
    * @param plant The differential drive velocity plant.

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

@@ -80,8 +80,8 @@ public class LTVUnicycleController {
   /**
    * Constructs a linear time-varying unicycle controller.
    *
-   * <p>See
-   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
+   * <p>See <a
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning</a>
    * for how to select the tolerances.
    *
    * @param qelems The maximum desired error tolerance for each state.
@@ -95,8 +95,8 @@ public class LTVUnicycleController {
   /**
    * Constructs a linear time-varying unicycle controller.
    *
-   * <p>See
-   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
+   * <p>See <a
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning</a>
    * for how to select the tolerances.
    *
    * @param qelems The maximum desired error tolerance for each state.

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

@@ -17,8 +17,8 @@ import org.ejml.simple.SimpleMatrix;
  * <p>The feedforward is calculated as <strong> u_ff = B<sup>+</sup> (r_k+1 - A r_k) </strong>,
  * where <strong> B<sup>+</sup> </strong> is the pseudoinverse of B.
  *
- * <p>For more on the underlying math, read
- * https://file.tavsys.net/control/controls-engineering-in-frc.pdf.
+ * <p>For more on the underlying math, read <a
+ * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>.
  */
 public class LinearPlantInversionFeedforward<
     States extends Num, Inputs extends Num, Outputs extends Num> {

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

@@ -19,8 +19,8 @@ import org.ejml.simple.SimpleMatrix;
  * Contains the controller coefficients and logic for a linear-quadratic regulator (LQR). LQRs use
  * the control law u = K(r - x).
  *
- * <p>For more on the underlying math, read
- * https://file.tavsys.net/control/controls-engineering-in-frc.pdf.
+ * <p>For more on the underlying math, read <a
+ * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>.
  */
 public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Outputs extends Num> {
   /** The current reference state. */
@@ -35,8 +35,8 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
   /**
    * Constructs a controller with the given coefficients and plant. Rho is defaulted to 1.
    *
-   * <p>See
-   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
+   * <p>See <a
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning</a>
    * for how to select the tolerances.
    *
    * @param plant The plant being controlled.
@@ -61,8 +61,8 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
   /**
    * Constructs a controller with the given coefficients and plant.
    *
-   * <p>See
-   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
+   * <p>See <a
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning</a>
    * for how to select the tolerances.
    *
    * @param A Continuous system matrix of the plant being controlled.
@@ -107,14 +107,12 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
     var discB = discABPair.getSecond();
 
     if (!StateSpaceUtil.isStabilizable(discA, discB)) {
-      var builder = new StringBuilder("The system passed to the LQR is uncontrollable!\n\nA =\n");
-      builder
-          .append(discA.getStorage().toString())
-          .append("\nB =\n")
-          .append(discB.getStorage().toString())
-          .append('\n');
-
-      var msg = builder.toString();
+      var msg =
+          "The system passed to the LQR is uncontrollable!\n\nA =\n"
+              + discA.getStorage().toString()
+              + "\nB =\n"
+              + discB.getStorage().toString()
+              + '\n';
       MathSharedStore.reportError(msg, Thread.currentThread().getStackTrace());
       throw new IllegalArgumentException(msg);
     }
@@ -258,8 +256,9 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
    * are time-delayed too long, the LQR may be unstable. However, if we know the amount of delay, we
    * can compute the control based on where the system will be after the time delay.
    *
-   * <p>See https://file.tavsys.net/control/controls-engineering-in-frc.pdf appendix C.4 for a
-   * derivation.
+   * <p>See <a
+   * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>
+   * appendix C.4 for a derivation.
    *
    * @param plant The plant being controlled.
    * @param dtSeconds Discretization timestep in seconds.

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

@@ -30,9 +30,9 @@ import java.util.function.BiFunction;
  * error covariance by linearizing the models around the state estimate, then applying the linear
  * Kalman filter equations.
  *
- * <p>For more on the underlying math, read
- * https://file.tavsys.net/control/controls-engineering-in-frc.pdf chapter 9 "Stochastic control
- * theory".
+ * <p>For more on the underlying math, read <a
+ * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>
+ * chapter 9 "Stochastic control theory".
  */
 public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Outputs extends Num>
     implements KalmanTypeFilter<States, Inputs, Outputs> {
@@ -59,8 +59,8 @@ public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Output
   /**
    * Constructs an extended Kalman filter.
    *
-   * <p>See
-   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices
+   * <p>See <a
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices</a>
    * for how to select the standard deviations.
    *
    * @param states a Nat representing the number of states.
@@ -97,8 +97,8 @@ public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Output
   /**
    * Constructs an extended Kalman filter.
    *
-   * <p>See
-   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices
+   * <p>See <a
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices</a>
    * for how to select the standard deviations.
    *
    * @param states a Nat representing the number of states.

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

@@ -25,9 +25,9 @@ import edu.wpi.first.math.system.LinearSystem;
  * amount of the difference between the actual measurements and the measurements predicted by the
  * model.
  *
- * <p>For more on the underlying math, read
- * https://file.tavsys.net/control/controls-engineering-in-frc.pdf chapter 9 "Stochastic control
- * theory".
+ * <p>For more on the underlying math, read <a
+ * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>
+ * chapter 9 "Stochastic control theory".
  */
 public class KalmanFilter<States extends Num, Inputs extends Num, Outputs extends Num>
     implements KalmanTypeFilter<States, Inputs, Outputs> {
@@ -45,8 +45,8 @@ public class KalmanFilter<States extends Num, Inputs extends Num, Outputs extend
   /**
    * Constructs a Kalman filter with the given plant.
    *
-   * <p>See
-   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices
+   * <p>See <a
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices</a>
    * for how to select the standard deviations.
    *
    * @param states A Nat representing the states of the system.
@@ -82,15 +82,12 @@ public class KalmanFilter<States extends Num, Inputs extends Num, Outputs extend
     var C = plant.getC();
 
     if (!StateSpaceUtil.isDetectable(discA, C)) {
-      var builder =
-          new StringBuilder("The system passed to the Kalman filter is unobservable!\n\nA =\n");
-      builder
-          .append(discA.getStorage().toString())
-          .append("\nC =\n")
-          .append(C.getStorage().toString())
-          .append('\n');
-
-      var msg = builder.toString();
+      var msg =
+          "The system passed to the Kalman filter is unobservable!\n\nA =\n"
+              + discA.getStorage().toString()
+              + "\nC =\n"
+              + C.getStorage().toString()
+              + '\n';
       MathSharedStore.reportError(msg, Thread.currentThread().getStackTrace());
       throw new IllegalArgumentException(msg);
     }

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

@@ -28,9 +28,9 @@ import edu.wpi.first.math.system.LinearSystem;
  * <p>This class assumes predict() and correct() are called in pairs, so the Kalman gain converges
  * to a steady-state value. If they aren't, use {@link KalmanFilter} instead.
  *
- * <p>For more on the underlying math, read
- * https://file.tavsys.net/control/controls-engineering-in-frc.pdf chapter 9 "Stochastic control
- * theory".
+ * <p>For more on the underlying math, read <a
+ * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>
+ * chapter 9 "Stochastic control theory".
  */
 public class SteadyStateKalmanFilter<States extends Num, Inputs extends Num, Outputs extends Num> {
   private final Nat<States> m_states;
@@ -46,8 +46,8 @@ public class SteadyStateKalmanFilter<States extends Num, Inputs extends Num, Out
   /**
    * Constructs a steady-state Kalman filter with the given plant.
    *
-   * <p>See
-   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices
+   * <p>See <a
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices</a>
    * for how to select the standard deviations.
    *
    * @param states A Nat representing the states of the system.
@@ -81,15 +81,12 @@ public class SteadyStateKalmanFilter<States extends Num, Inputs extends Num, Out
     var C = plant.getC();
 
     if (!StateSpaceUtil.isDetectable(discA, C)) {
-      var builder =
-          new StringBuilder("The system passed to the Kalman filter is unobservable!\n\nA =\n");
-      builder
-          .append(discA.getStorage().toString())
-          .append("\nC =\n")
-          .append(C.getStorage().toString())
-          .append('\n');
-
-      var msg = builder.toString();
+      var msg =
+          "The system passed to the Kalman filter is unobservable!\n\nA =\n"
+              + discA.getStorage().toString()
+              + "\nC =\n"
+              + C.getStorage().toString()
+              + '\n';
       MathSharedStore.reportError(msg, Thread.currentThread().getStackTrace());
       throw new IllegalArgumentException(msg);
     }

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

@@ -31,12 +31,13 @@ import org.ejml.simple.SimpleMatrix;
  * <p>An unscented Kalman filter uses nonlinear state and measurement models. It propagates the
  * error covariance using sigma points chosen to approximate the true probability distribution.
  *
- * <p>For more on the underlying math, read
- * https://file.tavsys.net/control/controls-engineering-in-frc.pdf chapter 9 "Stochastic control
- * theory".
+ * <p>For more on the underlying math, read <a
+ * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>
+ * chapter 9 "Stochastic control theory".
  *
  * <p>This class implements a square-root-form unscented Kalman filter (SR-UKF). For more
- * information about the SR-UKF, see https://www.researchgate.net/publication/3908304.
+ * information about the SR-UKF, see <a
+ * href="https://www.researchgate.net/publication/3908304">https://www.researchgate.net/publication/3908304</a>.
  */
 public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outputs extends Num>
     implements KalmanTypeFilter<States, Inputs, Outputs> {
@@ -64,8 +65,8 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outpu
   /**
    * Constructs an Unscented Kalman Filter.
    *
-   * <p>See
-   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices
+   * <p>See <a
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices</a>
    * for how to select the standard deviations.
    *
    * @param states A Nat representing the number of states.
@@ -104,8 +105,8 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outpu
    * custom functions for arithmetic can be useful if you have angles in the state or measurements,
    * because they allow you to correctly account for the modular nature of angle arithmetic.
    *
-   * <p>See
-   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices
+   * <p>See <a
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices</a>
    * for how to select the standard deviations.
    *
    * @param states A Nat representing the number of states.
@@ -206,7 +207,7 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outpu
     var qrStorage = Sbar.transpose().getStorage();
 
     if (!qr.decompose(qrStorage.getDDRM())) {
-      throw new RuntimeException("QR decomposition failed! Input matrix:\n" + qrStorage.toString());
+      throw new RuntimeException("QR decomposition failed! Input matrix:\n" + qrStorage);
     }
 
     Matrix<C, C> newS = new Matrix<>(new SimpleMatrix(qr.getR(null, true)));

wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java

@@ -35,9 +35,13 @@ import org.ejml.simple.SimpleMatrix;
  * PID controller out of this class!
  *
  * <p>For more on filters, we highly recommend the following articles:<br>
- * https://en.wikipedia.org/wiki/Linear_filter<br>
- * https://en.wikipedia.org/wiki/Iir_filter<br>
- * https://en.wikipedia.org/wiki/Fir_filter<br>
+ * <a
+ * href="https://en.wikipedia.org/wiki/Linear_filter">https://en.wikipedia.org/wiki/Linear_filter</a>
+ * <br>
+ * <a href="https://en.wikipedia.org/wiki/Iir_filter">https://en.wikipedia.org/wiki/Iir_filter</a>
+ * <br>
+ * <a href="https://en.wikipedia.org/wiki/Fir_filter">https://en.wikipedia.org/wiki/Fir_filter</a>
+ * <br>
  *
  * <p>Note 1: calculate() should be called by the user on a known, regular period. You can use a
  * Notifier for this or do it "inline" with code in a periodic function.

wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java

@@ -117,19 +117,15 @@ public class Rotation3d implements Interpolatable<Rotation3d> {
     // Require that the rotation matrix is special orthogonal. This is true if
     // the matrix is orthogonal (RRᵀ = I) and normalized (determinant is 1).
     if (R.times(R.transpose()).minus(Matrix.eye(Nat.N3())).normF() > 1e-9) {
-      var builder = new StringBuilder("Rotation matrix isn't orthogonal\n\nR =\n");
-      builder.append(R.getStorage().toString()).append('\n');
-
-      var msg = builder.toString();
+      var msg = "Rotation matrix isn't orthogonal\n\nR =\n" + R.getStorage().toString() + '\n';
       MathSharedStore.reportError(msg, Thread.currentThread().getStackTrace());
       throw new IllegalArgumentException(msg);
     }
     if (Math.abs(R.det() - 1.0) > 1e-9) {
-      var builder =
-          new StringBuilder("Rotation matrix is orthogonal but not special orthogonal\n\nR =\n");
-      builder.append(R.getStorage().toString()).append('\n');
-
-      var msg = builder.toString();
+      var msg =
+          "Rotation matrix is orthogonal but not special orthogonal\n\nR =\n"
+              + R.getStorage().toString()
+              + '\n';
       MathSharedStore.reportError(msg, Thread.currentThread().getStackTrace());
       throw new IllegalArgumentException(msg);
     }
@@ -191,7 +187,6 @@ public class Rotation3d implements Interpolatable<Rotation3d> {
       // If the dot product is 1, the two vectors point in the same direction so
       // there's no rotation. The default initialization of m_q will work.
       m_q = new Quaternion();
-      return;
     } else if (dotNorm < -1.0 + 1E-9) {
       // If the dot product is -1, the two vectors point in opposite directions
       // so a 180 degree rotation is required. Any orthogonal vector can be used

wpimath/src/main/java/edu/wpi/first/math/path/TravelingSalesman.java

@@ -87,7 +87,7 @@ public class TravelingSalesman {
    *     array.
    */
   private <Poses extends Num> Vector<Poses> neighbor(Vector<Poses> state) {
-    var proposedState = new Vector<Poses>(state);
+    var proposedState = new Vector<>(state);
 
     int rangeStart = (int) (Math.random() * (state.getNumRows() - 1));
     int rangeEnd = (int) (Math.random() * (state.getNumRows() - 1));

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

@@ -25,8 +25,8 @@ import org.ejml.simple.SimpleMatrix;
  * of the controller (U is an output because that's what goes to the motors and Y is an input
  * because that's what comes back from the sensors).
  *
- * <p>For more on the underlying math, read
- * https://file.tavsys.net/control/controls-engineering-in-frc.pdf.
+ * <p>For more on the underlying math, read <a
+ * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>.
  */
 public class LinearSystemLoop<States extends Num, Inputs extends Num, Outputs extends Num> {
   private final LinearQuadraticRegulator<States, Inputs, Outputs> m_controller;

wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/TrajectoryConstraint.java

@@ -38,7 +38,7 @@ public interface TrajectoryConstraint {
   /** Represents a minimum and maximum acceleration. */
   class MinMax {
     public double minAccelerationMetersPerSecondSq = -Double.MAX_VALUE;
-    public double maxAccelerationMetersPerSecondSq = +Double.MAX_VALUE;
+    public double maxAccelerationMetersPerSecondSq = Double.MAX_VALUE;
 
     /**
      * Constructs a MinMax.

wpimath/src/test/java/edu/wpi/first/math/DARETest.java

@@ -42,8 +42,7 @@ class DARETest extends UtilityClassTest<DARE> {
                     .times((B.transpose().times(X).times(B).plus(R)).inv())
                     .times(B.transpose().times(X).times(A)))
             .plus(Q);
-    assertMatrixEqual(
-        new Matrix<States, States>(new SimpleMatrix(Y.getNumRows(), Y.getNumCols())), Y);
+    assertMatrixEqual(new Matrix<>(new SimpleMatrix(Y.getNumRows(), Y.getNumCols())), Y);
   }
 
   <States extends Num, Inputs extends Num> void assertDARESolution(
@@ -63,8 +62,7 @@ class DARETest extends UtilityClassTest<DARE> {
                     .times((B.transpose().times(X).times(B).plus(R)).inv())
                     .times(B.transpose().times(X).times(A).plus(N.transpose())))
             .plus(Q);
-    assertMatrixEqual(
-        new Matrix<States, States>(new SimpleMatrix(Y.getNumRows(), Y.getNumCols())), Y);
+    assertMatrixEqual(new Matrix<>(new SimpleMatrix(Y.getNumRows(), Y.getNumCols())), Y);
   }
 
   @Test

wpimath/src/test/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforwardTest.java

@@ -18,8 +18,7 @@ class ControlAffinePlantInversionFeedforwardTest {
   @Test
   void testCalculate() {
     ControlAffinePlantInversionFeedforward<N2, N1> feedforward =
-        new ControlAffinePlantInversionFeedforward<N2, N1>(
-            Nat.N2(), Nat.N1(), this::getDynamics, 0.02);
+        new ControlAffinePlantInversionFeedforward<>(Nat.N2(), Nat.N1(), this::getDynamics, 0.02);
 
     assertEquals(
         48.0, feedforward.calculate(VecBuilder.fill(2, 2), VecBuilder.fill(3, 3)).get(0, 0), 1e-6);
@@ -28,8 +27,7 @@ class ControlAffinePlantInversionFeedforwardTest {
   @Test
   void testCalculateState() {
     ControlAffinePlantInversionFeedforward<N2, N1> feedforward =
-        new ControlAffinePlantInversionFeedforward<N2, N1>(
-            Nat.N2(), Nat.N1(), this::getDynamics, 0.02);
+        new ControlAffinePlantInversionFeedforward<>(Nat.N2(), Nat.N1(), this::getDynamics, 0.02);
 
     assertEquals(
         48.0, feedforward.calculate(VecBuilder.fill(2, 2), VecBuilder.fill(3, 3)).get(0, 0), 1e-6);

wpimath/src/test/java/edu/wpi/first/math/controller/ImplicitModelFollowerTest.java

@@ -21,7 +21,7 @@ class ImplicitModelFollowerTest {
 
     var plant = LinearSystemId.identifyDrivetrainSystem(1.0, 1.0, 1.0, 1.0);
 
-    var imf = new ImplicitModelFollower<N2, N2, N2>(plant, plant);
+    var imf = new ImplicitModelFollower<>(plant, plant);
 
     Matrix<N2, N1> x = VecBuilder.fill(0.0, 0.0);
     Matrix<N2, N1> xImf = VecBuilder.fill(0.0, 0.0);
@@ -66,7 +66,7 @@ class ImplicitModelFollowerTest {
     // Linear acceleration is slower, but angular acceleration is the same
     var plantRef = LinearSystemId.identifyDrivetrainSystem(1.0, 2.0, 1.0, 1.0);
 
-    var imf = new ImplicitModelFollower<N2, N2, N2>(plant, plantRef);
+    var imf = new ImplicitModelFollower<>(plant, plantRef);
 
     Matrix<N2, N1> x = VecBuilder.fill(0.0, 0.0);
     Matrix<N2, N1> xImf = VecBuilder.fill(0.0, 0.0);

wpimath/src/test/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforwardTest.java

@@ -21,7 +21,7 @@ class LinearPlantInversionFeedforwardTest {
     Matrix<N2, N1> B = VecBuilder.fill(0, 1);
 
     LinearPlantInversionFeedforward<N2, N1, N1> feedforward =
-        new LinearPlantInversionFeedforward<N2, N1, N1>(A, B, 0.02);
+        new LinearPlantInversionFeedforward<>(A, B, 0.02);
 
     assertEquals(
         47.502599,

wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java

@@ -5,6 +5,7 @@
 package edu.wpi.first.math.estimator;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -254,7 +255,7 @@ class DifferentialDrivePoseEstimatorTest {
           "Estimator converged to one vision measurement: "
               + estimator.getEstimatedPosition().toString()
               + " -> "
-              + measurement.toString();
+              + measurement;
 
       var dx = Math.abs(measurement.getX() - estimator.getEstimatedPosition().getX());
       var dy = Math.abs(measurement.getY() - estimator.getEstimatedPosition().getY());
@@ -263,7 +264,7 @@ class DifferentialDrivePoseEstimatorTest {
               measurement.getRotation().getDegrees()
                   - estimator.getEstimatedPosition().getRotation().getDegrees());
 
-      assertEquals(dx > 0.08 || dy > 0.08 || dtheta > 0.08, true, errorLog);
+      assertTrue(dx > 0.08 || dy > 0.08 || dtheta > 0.08, errorLog);
     }
   }
 

wpimath/src/test/java/edu/wpi/first/math/estimator/ExtendedKalmanFilterTest.java

@@ -22,7 +22,6 @@ import edu.wpi.first.math.system.NumericalJacobian;
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.trajectory.TrajectoryConfig;
 import edu.wpi.first.math.trajectory.TrajectoryGenerator;
-import java.util.Arrays;
 import java.util.List;
 import org.junit.jupiter.api.Test;
 
@@ -114,7 +113,7 @@ class ExtendedKalmanFilterTest {
             dtSeconds);
 
     List<Pose2d> waypoints =
-        Arrays.asList(
+        List.of(
             new Pose2d(2.75, 22.521, new Rotation2d()),
             new Pose2d(24.73, 19.68, Rotation2d.fromDegrees(5.846)));
     var trajectory =

wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java

@@ -5,6 +5,7 @@
 package edu.wpi.first.math.estimator;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -267,7 +268,7 @@ class MecanumDrivePoseEstimatorTest {
           "Estimator converged to one vision measurement: "
               + estimator.getEstimatedPosition().toString()
               + " -> "
-              + measurement.toString();
+              + measurement;
 
       var dx = Math.abs(measurement.getX() - estimator.getEstimatedPosition().getX());
       var dy = Math.abs(measurement.getY() - estimator.getEstimatedPosition().getY());
@@ -276,7 +277,7 @@ class MecanumDrivePoseEstimatorTest {
               measurement.getRotation().getDegrees()
                   - estimator.getEstimatedPosition().getRotation().getDegrees());
 
-      assertEquals(dx > 0.08 || dy > 0.08 || dtheta > 0.08, true, errorLog);
+      assertTrue(dx > 0.08 || dy > 0.08 || dtheta > 0.08, errorLog);
     }
   }
 

wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java

@@ -5,6 +5,7 @@
 package edu.wpi.first.math.estimator;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -288,7 +289,7 @@ class SwerveDrivePoseEstimatorTest {
           "Estimator converged to one vision measurement: "
               + estimator.getEstimatedPosition().toString()
               + " -> "
-              + measurement.toString();
+              + measurement;
 
       var dx = Math.abs(measurement.getX() - estimator.getEstimatedPosition().getX());
       var dy = Math.abs(measurement.getY() - estimator.getEstimatedPosition().getY());
@@ -297,7 +298,7 @@ class SwerveDrivePoseEstimatorTest {
               measurement.getRotation().getDegrees()
                   - estimator.getEstimatedPosition().getRotation().getDegrees());
 
-      assertEquals(dx > 0.08 || dy > 0.08 || dtheta > 0.08, true, errorLog);
+      assertTrue(dx > 0.08 || dy > 0.08 || dtheta > 0.08, errorLog);
     }
   }
 

wpimath/src/test/java/edu/wpi/first/math/estimator/UnscentedKalmanFilterTest.java

@@ -26,7 +26,6 @@ import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.system.plant.LinearSystemId;
 import edu.wpi.first.math.trajectory.TrajectoryConfig;
 import edu.wpi.first.math.trajectory.TrajectoryGenerator;
-import java.util.Arrays;
 import java.util.List;
 import org.junit.jupiter.api.Test;
 
@@ -137,7 +136,7 @@ class UnscentedKalmanFilterTest {
             dtSeconds);
 
     List<Pose2d> waypoints =
-        Arrays.asList(
+        List.of(
             new Pose2d(2.75, 22.521, new Rotation2d()),
             new Pose2d(24.73, 19.68, Rotation2d.fromDegrees(5.846)));
     var trajectory =

wpimath/src/test/java/edu/wpi/first/math/filter/LinearFilterTest.java

@@ -129,9 +129,9 @@ class LinearFilterTest {
         1,
         3,
         // f(x) = sin(x)
-        (double x) -> Math.sin(x),
+        Math::sin,
         // df/dx = cos(x)
-        (double x) -> Math.cos(x),
+        Math::cos,
         h,
         -20.0,
         20.0);
@@ -140,7 +140,7 @@ class LinearFilterTest {
         1,
         3,
         // f(x) = ln(x)
-        (double x) -> Math.log(x),
+        Math::log,
         // df/dx = 1/x
         (double x) -> 1.0 / x,
         h,
@@ -162,7 +162,7 @@ class LinearFilterTest {
         2,
         5,
         // f(x) = sin(x)
-        (double x) -> Math.sin(x),
+        Math::sin,
         // d²f/dx² = -sin(x)
         (double x) -> -Math.sin(x),
         h,
@@ -173,7 +173,7 @@ class LinearFilterTest {
         2,
         5,
         // f(x) = ln(x)
-        (double x) -> Math.log(x),
+        Math::log,
         // d²f/dx² = -1/x²
         (double x) -> -1.0 / (x * x),
         h,
@@ -201,9 +201,9 @@ class LinearFilterTest {
         1,
         2,
         // f(x) = sin(x)
-        (double x) -> Math.sin(x),
+        Math::sin,
         // df/dx = cos(x)
-        (double x) -> Math.cos(x),
+        Math::cos,
         h,
         -20.0,
         20.0);
@@ -212,7 +212,7 @@ class LinearFilterTest {
         1,
         2,
         // f(x) = ln(x)
-        (double x) -> Math.log(x),
+        Math::log,
         // df/dx = 1/x
         (double x) -> 1.0 / x,
         h,
@@ -234,7 +234,7 @@ class LinearFilterTest {
         2,
         4,
         // f(x) = sin(x)
-        (double x) -> Math.sin(x),
+        Math::sin,
         // d²f/dx² = -sin(x)
         (double x) -> -Math.sin(x),
         h,
@@ -245,7 +245,7 @@ class LinearFilterTest {
         2,
         4,
         // f(x) = ln(x)
-        (double x) -> Math.log(x),
+        Math::log,
         // d²f/dx² = -1/x²
         (double x) -> -1.0 / (x * x),
         h,

wpimath/src/test/java/edu/wpi/first/math/geometry/Pose3dTest.java

@@ -11,7 +11,7 @@ import static org.junit.jupiter.api.Assertions.assertNotEquals;
 
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.util.Units;
-import java.util.Arrays;
+import java.util.List;
 import org.junit.jupiter.api.Test;
 
 class Pose3dTest {
@@ -194,7 +194,7 @@ class Pose3dTest {
   @Test
   void testComplexTwists() {
     var initial_poses =
-        Arrays.asList(
+        List.of(
             new Pose3d(
                 new Translation3d(0.698303, -0.959096, 0.271076),
                 new Rotation3d(new Quaternion(0.86403, -0.076866, 0.147234, 0.475254))),
@@ -212,7 +212,7 @@ class Pose3dTest {
                 new Rotation3d(new Quaternion(0.807886, 0.029298, 0.257788, 0.529157))));
 
     var final_poses =
-        Arrays.asList(
+        List.of(
             new Pose3d(
                 new Translation3d(-0.230448, -0.511957, 0.198406),
                 new Rotation3d(new Quaternion(0.753984, 0.347016, 0.409105, 0.379106))),
@@ -267,7 +267,7 @@ class Pose3dTest {
   @Test
   void testTwistNaN() {
     var initial_poses =
-        Arrays.asList(
+        List.of(
             new Pose3d(
                 new Translation3d(6.32, 4.12, 0.00),
                 new Rotation3d(
@@ -277,7 +277,7 @@ class Pose3dTest {
                 new Rotation3d(
                     new Quaternion(0.9999999999999793, 0.0, 0.0, 2.0352360299846772E-7))));
     var final_poses =
-        Arrays.asList(
+        List.of(
             new Pose3d(
                 new Translation3d(6.33, 4.15, 0.00),
                 new Rotation3d(

wpimath/src/test/java/edu/wpi/first/math/optimization/SimulatedAnnealingTest.java

@@ -21,7 +21,7 @@ class SimulatedAnnealingTest {
         new SimulatedAnnealing<Double>(
             2.0,
             x -> MathUtil.clamp(x + (Math.random() - 0.5) * stepSize, -3, 3),
-            x -> function.applyAsDouble(x));
+            function::applyAsDouble);
 
     double solution = simulatedAnnealing.solve(-1.0, 5000);
 
@@ -38,7 +38,7 @@ class SimulatedAnnealingTest {
         new SimulatedAnnealing<Double>(
             2.0,
             x -> MathUtil.clamp(x + (Math.random() - 0.5) * stepSize, 0, 7),
-            x -> function.applyAsDouble(x));
+            function::applyAsDouble);
 
     double solution = simulatedAnnealing.solve(-1.0, 5000);
 

wpimath/src/test/java/edu/wpi/first/math/spline/CubicHermiteSplineTest.java

@@ -14,7 +14,6 @@ import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.spline.SplineParameterizer.MalformedSplineException;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.List;
 import org.junit.jupiter.api.Test;
 
@@ -151,7 +150,7 @@ class CubicHermiteSplineTest {
         () ->
             run(
                 new Pose2d(10, 10, Rotation2d.fromDegrees(90)),
-                Arrays.asList(new Translation2d(10, 10.5)),
+                List.of(new Translation2d(10, 10.5)),
                 new Pose2d(10, 11, Rotation2d.fromDegrees(-90))));
   }
 }

wpimath/src/test/java/edu/wpi/first/math/system/NumericalIntegrationTest.java

@@ -34,12 +34,7 @@ class NumericalIntegrationTest {
   void testZeroRKDP() {
     var y1 =
         NumericalIntegration.rkdp(
-            (x, u) -> {
-              return VecBuilder.fill(0);
-            },
-            VecBuilder.fill(0),
-            VecBuilder.fill(0),
-            0.1);
+            (x, u) -> VecBuilder.fill(0), VecBuilder.fill(0), VecBuilder.fill(0), 0.1);
 
     assertEquals(0.0, y1.get(0, 0), 1e-3);
   }