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[build] Enable spotbugs (#3601)

Browse Source 
Benign spotbugs warnings were suppressed, and all others were fixed. Bug
descriptions are documented here:
https://spotbugs.readthedocs.io/en/stable/bugDescriptions.html

Co-authored-by: Austin Shalit <austinshalit@gmail.com>
This commit is contained in:
Tyler Veness
2021-09-24 16:04:02 -07:00
committed by GitHub
parent b65fce86bf
commit 95dd20a151
73 changed files with 356 additions and 558 deletions
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19
wpimath/src/test/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforwardTest.java
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@@ -38,23 +38,14 @@ class ControlAffinePlantInversionFeedforwardTest {
@SuppressWarnings("ParameterName")
protected Matrix<N2, N1> getDynamics(Matrix<N2, N1> x, Matrix<N1, N1> u) {
var result = new Matrix<>(Nat.N2(), Nat.N1());
result =
Matrix.mat(Nat.N2(), Nat.N2())
.fill(1.000, 0, 0, 1.000)
.times(x)
.plus(VecBuilder.fill(0, 1).times(u));
return result;
return Matrix.mat(Nat.N2(), Nat.N2())
.fill(1.000, 0, 0, 1.000)
.times(x)
.plus(VecBuilder.fill(0, 1).times(u));
}
@SuppressWarnings("ParameterName")
protected Matrix<N2, N1> getStateDynamics(Matrix<N2, N1> x) {
var result = new Matrix<>(Nat.N2(), Nat.N1());
result = Matrix.mat(Nat.N2(), Nat.N2()).fill(1.000, 0, 0, 1.000).times(x);
return result;
return Matrix.mat(Nat.N2(), Nat.N2()).fill(1.000, 0, 0, 1.000).times(x);
}
}

3
wpimath/src/test/java/edu/wpi/first/math/controller/HolonomicDriveControllerTest.java
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@@ -30,7 +30,8 @@ class HolonomicDriveControllerTest {
new HolonomicDriveController(
new PIDController(1.0, 0.0, 0.0),
new PIDController(1.0, 0.0, 0.0),
new ProfiledPIDController(1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(6.28, 3.14)));
new ProfiledPIDController(
1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(2.0 * Math.PI, Math.PI)));
Pose2d robotPose = new Pose2d(2.7, 23.0, Rotation2d.fromDegrees(0.0));
List<Pose2d> waypoints = new ArrayList<>();

35
wpimath/src/test/java/edu/wpi/first/math/controller/LinearQuadraticRegulatorTest.java
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@@ -7,52 +7,27 @@ package edu.wpi.first.math.controller;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N2;
import edu.wpi.first.math.system.LinearSystem;
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 {
public static LinearSystem<N2, N1, N1> elevatorPlant;
static LinearSystem<N2, N1, N1> armPlant;
static {
createArm();
createElevator();
}
@Test
@SuppressWarnings("LocalVariableName")
public static void createArm() {
var motors = DCMotor.getVex775Pro(2);
var m = 4.0;
var r = 0.4;
var J = 1d / 3d * m * r * r;
var G = 100.0;
armPlant = LinearSystemId.createSingleJointedArmSystem(motors, J, G);
}
@SuppressWarnings("LocalVariableName")
public static void createElevator() {
public void testLQROnElevator() {
var motors = DCMotor.getVex775Pro(2);
var m = 5.0;
var r = 0.0181864;
var G = 1.0;
elevatorPlant = LinearSystemId.createElevatorSystem(motors, m, r, G);
}
@Test
@SuppressWarnings("LocalVariableName")
public void testLQROnElevator() {
var plant = LinearSystemId.createElevatorSystem(motors, m, r, G);
var qElms = VecBuilder.fill(0.02, 0.4);
var rElms = VecBuilder.fill(12.0);
var dt = 0.00505;
var controller = new LinearQuadraticRegulator<>(elevatorPlant, qElms, rElms, dt);
var controller = new LinearQuadraticRegulator<>(plant, qElms, rElms, dt);
var k = controller.getK();

26
wpimath/src/test/java/edu/wpi/first/math/controller/LinearSystemLoopTest.java
View File

@@ -18,8 +18,6 @@ import edu.wpi.first.math.system.LinearSystemLoop;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import java.util.ArrayList;
import java.util.List;
import java.util.Random;
import org.junit.jupiter.api.Test;
@@ -103,12 +101,6 @@ public class LinearSystemLoopTest {
loop.setNextR(references);
List<Double> timeData = new ArrayList<>();
List<Double> xHat = new ArrayList<>();
List<Double> volt = new ArrayList<>();
List<Double> reference = new ArrayList<>();
List<Double> error = new ArrayList<>();
var time = 0.0;
while (time < 10) {
if (time > 10) {
@@ -128,27 +120,9 @@ public class LinearSystemLoopTest {
assertTrue(u >= -12.1 && u <= 12.1, "U out of bounds! Got " + u);
xHat.add(loop.getXHat(0) / 2d / Math.PI * 60);
volt.add(u);
timeData.add(time);
reference.add(references.get(0, 0) / 2d / Math.PI * 60);
error.add(loop.getError(0) / 2d / Math.PI * 60);
time += kDt;
}
// XYChart bigChart = new XYChartBuilder().build();
// bigChart.addSeries("Xhat, RPM", timeData, xHat);
// bigChart.addSeries("Reference, RPM", timeData, reference);
// bigChart.addSeries("Error, RPM", timeData, error);
// XYChart smolChart = new XYChartBuilder().build();
// smolChart.addSeries("Volts, V", timeData, volt);
// try {
// new SwingWrapper<>(List.of(bigChart, smolChart)).displayChartMatrix();
// Thread.sleep(10000000);
// } catch (InterruptedException e) { e.printStackTrace(); }
assertEquals(0.0, loop.getError(0), 0.1);
}
}