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

Browse Source 
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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2
wpimath/src/test/java/edu/wpi/first/math/controller/BangBangInputOutputTest.java
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@@ -9,7 +9,7 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
public class BangBangInputOutputTest {
class BangBangInputOutputTest {
private BangBangController m_controller;
@BeforeEach

2
wpimath/src/test/java/edu/wpi/first/math/controller/BangBangToleranceTest.java
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@@ -10,7 +10,7 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
public class BangBangToleranceTest {
class BangBangToleranceTest {
private BangBangController m_controller;
@BeforeEach

10
wpimath/src/test/java/edu/wpi/first/math/controller/LinearQuadraticRegulatorTest.java
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@@ -11,10 +11,10 @@ import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import org.junit.jupiter.api.Test;
public class LinearQuadraticRegulatorTest {
class LinearQuadraticRegulatorTest {
@Test
@SuppressWarnings("LocalVariableName")
public void testLQROnElevator() {
void testLQROnElevator() {
var motors = DCMotor.getVex775Pro(2);
var m = 5.0;
@@ -36,7 +36,7 @@ public class LinearQuadraticRegulatorTest {
}
@Test
public void testFourMotorElevator() {
void testFourMotorElevator() {
var dt = 0.020;
var plant =
@@ -52,7 +52,7 @@ public class LinearQuadraticRegulatorTest {
@Test
@SuppressWarnings("LocalVariableName")
public void testLQROnArm() {
void testLQROnArm() {
var motors = DCMotor.getVex775Pro(2);
var m = 4.0;
@@ -74,7 +74,7 @@ public class LinearQuadraticRegulatorTest {
}
@Test
public void testLatencyCompensate() {
void testLatencyCompensate() {
var dt = 0.02;
var plant =

8
wpimath/src/test/java/edu/wpi/first/math/controller/LinearSystemLoopTest.java
View File

@@ -21,8 +21,8 @@ import edu.wpi.first.math.trajectory.TrapezoidProfile;
import java.util.Random;
import org.junit.jupiter.api.Test;
public class LinearSystemLoopTest {
public static final double kDt = 0.00505;
class LinearSystemLoopTest {
private static final double kDt = 0.00505;
private static final double kPositionStddev = 0.0001;
private static final Random random = new Random();
@@ -51,7 +51,7 @@ public class LinearSystemLoopTest {
@Test
@SuppressWarnings("LocalVariableName")
public void testStateSpaceEnabled() {
void testStateSpaceEnabled() {
m_loop.reset(VecBuilder.fill(0, 0));
Matrix<N2, N1> references = VecBuilder.fill(2.0, 0.0);
var constraints = new TrapezoidProfile.Constraints(4, 3);
@@ -80,7 +80,7 @@ public class LinearSystemLoopTest {
@Test
@SuppressWarnings("LocalVariableName")
public void testFlywheelEnabled() {
void testFlywheelEnabled() {
LinearSystem<N1, N1, N1> plant =
LinearSystemId.createFlywheelSystem(DCMotor.getNEO(2), 0.00289, 1.0);
KalmanFilter<N1, N1, N1> observer =