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Upgrade maven deps to latest versions and fix new linter errors (#3772)

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This also makes the Gradle build work with JDK 17.

The extra JVM args in gradle.properties works around a bug with spotless
and JDK 17: https://github.com/diffplug/spotless/issues/834

PMD.CloseResource was ignored because it's almost always a false
positive, and there are many of them.
This commit is contained in:
Tyler Veness
2021-12-09 12:20:08 -08:00
committed by GitHub
parent 441f2ed9b0
commit 7269a170fb
100 changed files with 306 additions and 338 deletions
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14
wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.inc
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@@ -104,8 +104,6 @@ units::second_t TrapezoidProfile<Distance>::TimeLeftUntil(
endAccel = units::math::max(endAccel, 0_s);
endFullSpeed = units::math::max(endFullSpeed, 0_s);
units::second_t endDeccel = m_endDeccel - endAccel - endFullSpeed;
endDeccel = units::math::max(endDeccel, 0_s);
const Acceleration_t acceleration = m_constraints.maxAcceleration;
const Acceleration_t decceleration = -m_constraints.maxAcceleration;
@@ -127,20 +125,16 @@ units::second_t TrapezoidProfile<Distance>::TimeLeftUntil(
deccelVelocity = velocity;
}
Distance_t deccelDist =
deccelVelocity * endDeccel + 0.5 * decceleration * endDeccel * endDeccel;
deccelDist = units::math::max(deccelDist, Distance_t(0));
Distance_t fullSpeedDist = m_constraints.maxVelocity * endFullSpeed;
Distance_t deccelDist;
if (accelDist > distToTarget) {
accelDist = distToTarget;
fullSpeedDist = Distance_t(0);
deccelDist = Distance_t(0);
fullSpeedDist = Distance_t{0};
deccelDist = Distance_t{0};
} else if (accelDist + fullSpeedDist > distToTarget) {
fullSpeedDist = distToTarget - accelDist;
deccelDist = Distance_t(0);
deccelDist = Distance_t{0};
} else {
deccelDist = distToTarget - fullSpeedDist - accelDist;
}