diff --git a/build.gradle b/build.gradle
index a5c0577dfd..cf83bc2fc2 100644
--- a/build.gradle
+++ b/build.gradle
@@ -11,6 +11,7 @@ plugins {
     id 'visual-studio'
     id 'net.ltgt.errorprone' version '1.1.1' apply false
     id 'com.github.johnrengelman.shadow' version '5.2.0' apply false
+    id 'com.diffplug.gradle.spotless' version '4.5.0'
 }
 
 if (project.hasProperty('buildServer')) {
@@ -131,6 +132,19 @@ ext.getCurrentArch = {
     return NativePlatforms.desktop
 }
 
+spotless {
+    java {
+        target fileTree('.') {
+            include '**/*.java'
+            exclude '**/manualTests/**', '**/build*/**'
+        }
+        googleJavaFormat()
+        removeUnusedImports()
+        trimTrailingWhitespace()
+        endWithNewline()
+    }
+}
+
 wrapper {
     gradleVersion = '6.0.1'
 }
diff --git a/cameraserver/multiCameraServer/src/main/java/edu/wpi/Main.java b/cameraserver/multiCameraServer/src/main/java/edu/wpi/Main.java
index be22b263a5..3366b39979 100644
--- a/cameraserver/multiCameraServer/src/main/java/edu/wpi/Main.java
+++ b/cameraserver/multiCameraServer/src/main/java/edu/wpi/Main.java
@@ -4,49 +4,47 @@
 
 package edu.wpi;
 
-import java.io.IOException;
-import java.nio.file.Files;
-import java.nio.file.Paths;
-import java.util.ArrayList;
-import java.util.List;
-
 import com.google.gson.Gson;
 import com.google.gson.GsonBuilder;
 import com.google.gson.JsonArray;
 import com.google.gson.JsonElement;
 import com.google.gson.JsonObject;
 import com.google.gson.JsonParser;
-
 import edu.wpi.cscore.VideoSource;
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import java.io.IOException;
+import java.nio.file.Files;
+import java.nio.file.Paths;
+import java.util.ArrayList;
+import java.util.List;
 
 /*
-   JSON format:
-   {
-       "team": <team number>,
-       "ntmode": <"client" or "server", "client" if unspecified>
-       "cameras": [
-           {
-               "name": <camera name>
-               "path": <path, e.g. "/dev/video0">
-               "pixel format": <"MJPEG", "YUYV", etc>   // optional
-               "width": <video mode width>              // optional
-               "height": <video mode height>            // optional
-               "fps": <video mode fps>                  // optional
-               "brightness": <percentage brightness>    // optional
-               "white balance": <"auto", "hold", value> // optional
-               "exposure": <"auto", "hold", value>      // optional
-               "properties": [                          // optional
-                   {
-                       "name": <property name>
-                       "value": <property value>
-                   }
-               ]
-           }
-       ]
-   }
- */
+  JSON format:
+  {
+      "team": <team number>,
+      "ntmode": <"client" or "server", "client" if unspecified>
+      "cameras": [
+          {
+              "name": <camera name>
+              "path": <path, e.g. "/dev/video0">
+              "pixel format": <"MJPEG", "YUYV", etc>   // optional
+              "width": <video mode width>              // optional
+              "height": <video mode height>            // optional
+              "fps": <video mode fps>                  // optional
+              "brightness": <percentage brightness>    // optional
+              "white balance": <"auto", "hold", value> // optional
+              "exposure": <"auto", "hold", value>      // optional
+              "properties": [                          // optional
+                  {
+                      "name": <property name>
+                      "value": <property value>
+                  }
+              ]
+          }
+      ]
+  }
+*/
 
 public final class Main {
   private static String configFile = "/boot/frc.json";
@@ -62,19 +60,14 @@ public final class Main {
   public static boolean server;
   public static List<CameraConfig> cameras = new ArrayList<>();
 
-  private Main() {
-  }
+  private Main() {}
 
-  /**
-   * Report parse error.
-   */
+  /** Report parse error. */
   public static void parseError(String str) {
     System.err.println("config error in '" + configFile + "': " + str);
   }
 
-  /**
-   * Read single camera configuration.
-   */
+  /** Read single camera configuration. */
   public static boolean readCameraConfig(JsonObject config) {
     CameraConfig cam = new CameraConfig();
 
@@ -100,9 +93,7 @@ public final class Main {
     return true;
   }
 
-  /**
-   * Read configuration file.
-   */
+  /** Read configuration file. */
   @SuppressWarnings("PMD.CyclomaticComplexity")
   public static boolean readConfig() {
     // parse file
@@ -157,22 +148,17 @@ public final class Main {
     return true;
   }
 
-  /**
-   * Start running the camera.
-   */
+  /** Start running the camera. */
   public static void startCamera(CameraConfig config) {
     System.out.println("Starting camera '" + config.name + "' on " + config.path);
-    VideoSource camera = CameraServer.getInstance().startAutomaticCapture(
-        config.name, config.path);
+    VideoSource camera = CameraServer.getInstance().startAutomaticCapture(config.name, config.path);
 
     Gson gson = new GsonBuilder().create();
 
     camera.setConfigJson(gson.toJson(config.config));
   }
 
-  /**
-   * Main.
-   */
+  /** Main. */
   public static void main(String... args) {
     if (args.length > 0) {
       configFile = args[0];
@@ -199,7 +185,7 @@ public final class Main {
     }
 
     // loop forever
-    for (;;) {
+    for (; ; ) {
       try {
         Thread.sleep(10000);
       } catch (InterruptedException ex) {
diff --git a/cameraserver/src/dev/java/edu/wpi/first/cameraserver/DevMain.java b/cameraserver/src/dev/java/edu/wpi/first/cameraserver/DevMain.java
index 3e62b8e6d2..df4affa9d9 100644
--- a/cameraserver/src/dev/java/edu/wpi/first/cameraserver/DevMain.java
+++ b/cameraserver/src/dev/java/edu/wpi/first/cameraserver/DevMain.java
@@ -5,10 +5,7 @@
 package edu.wpi.first.cameraserver;
 
 public final class DevMain {
-  public static void main(String[] args) {
+  public static void main(String[] args) {}
 
-  }
-
-  private DevMain() {
-  }
+  private DevMain() {}
 }
diff --git a/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java b/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java
index a613187c11..6867d5f9ec 100644
--- a/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java
+++ b/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java
@@ -4,13 +4,6 @@
 
 package edu.wpi.first.cameraserver;
 
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.HashMap;
-import java.util.Map;
-import java.util.Objects;
-import java.util.concurrent.atomic.AtomicInteger;
-
 import edu.wpi.cscore.AxisCamera;
 import edu.wpi.cscore.CameraServerJNI;
 import edu.wpi.cscore.CvSink;
@@ -29,27 +22,28 @@ import edu.wpi.first.networktables.EntryListenerFlags;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.HashMap;
+import java.util.Map;
+import java.util.Objects;
+import java.util.concurrent.atomic.AtomicInteger;
 
 /**
- * Singleton class for creating and keeping camera servers.
- * Also publishes camera information to NetworkTables.
+ * Singleton class for creating and keeping camera servers. Also publishes camera information to
+ * NetworkTables.
  */
 public final class CameraServer {
   public static final int kBasePort = 1181;
 
-  @Deprecated
-  public static final int kSize640x480 = 0;
-  @Deprecated
-  public static final int kSize320x240 = 1;
-  @Deprecated
-  public static final int kSize160x120 = 2;
+  @Deprecated public static final int kSize640x480 = 0;
+  @Deprecated public static final int kSize320x240 = 1;
+  @Deprecated public static final int kSize160x120 = 2;
 
   private static final String kPublishName = "/CameraPublisher";
   private static CameraServer server;
 
-  /**
-   * Get the CameraServer instance.
-   */
+  /** Get the CameraServer instance. */
   public static synchronized CameraServer getInstance() {
     if (server == null) {
       server = new CameraServer();
@@ -61,12 +55,12 @@ public final class CameraServer {
   private String m_primarySourceName;
   private final Map<String, VideoSource> m_sources;
   private final Map<String, VideoSink> m_sinks;
-  private final Map<Integer, NetworkTable> m_tables;  // indexed by source handle
+  private final Map<Integer, NetworkTable> m_tables; // indexed by source handle
   // source handle indexed by sink handle
   private final Map<Integer, Integer> m_fixedSources;
   private final NetworkTable m_publishTable;
-  private final VideoListener m_videoListener; //NOPMD
-  private final int m_tableListener; //NOPMD
+  private final VideoListener m_videoListener; // NOPMD
+  private final int m_tableListener; // NOPMD
   private int m_nextPort;
   private String[] m_addresses;
 
@@ -75,14 +69,15 @@ public final class CameraServer {
     switch (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))) {
       case kUsb:
         return "usb:" + CameraServerJNI.getUsbCameraPath(source);
-      case kHttp: {
-        String[] urls = CameraServerJNI.getHttpCameraUrls(source);
-        if (urls.length > 0) {
-          return "ip:" + urls[0];
-        } else {
-          return "ip:";
+      case kHttp:
+        {
+          String[] urls = CameraServerJNI.getHttpCameraUrls(source);
+          if (urls.length > 0) {
+            return "ip:" + urls[0];
+          } else {
+            return "ip:";
+          }
         }
-      }
       case kCv:
         return "cv:";
       default:
@@ -98,8 +93,7 @@ public final class CameraServer {
   @SuppressWarnings({"MissingJavadocMethod", "PMD.AvoidUsingHardCodedIP"})
   private synchronized String[] getSinkStreamValues(int sink) {
     // Ignore all but MjpegServer
-    if (VideoSink.getKindFromInt(CameraServerJNI.getSinkKind(sink))
-        != VideoSink.Kind.kMjpeg) {
+    if (VideoSink.getKindFromInt(CameraServerJNI.getSinkKind(sink)) != VideoSink.Kind.kMjpeg) {
       return new String[0];
     }
 
@@ -117,7 +111,7 @@ public final class CameraServer {
       values.add(makeStreamValue(CameraServerJNI.getHostname() + ".local", port));
       for (String addr : m_addresses) {
         if ("127.0.0.1".equals(addr)) {
-          continue;  // ignore localhost
+          continue; // ignore localhost
         }
         values.add(makeStreamValue(addr, port));
       }
@@ -130,7 +124,7 @@ public final class CameraServer {
   private synchronized String[] getSourceStreamValues(int source) {
     // Ignore all but HttpCamera
     if (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))
-            != VideoSource.Kind.kHttp) {
+        != VideoSource.Kind.kHttp) {
       return new String[0];
     }
 
@@ -148,7 +142,7 @@ public final class CameraServer {
         int sinkSource = CameraServerJNI.getSinkSource(sink);
         if (source == sinkSource
             && VideoSink.getKindFromInt(CameraServerJNI.getSinkKind(sink))
-            == VideoSink.Kind.kMjpeg) {
+                == VideoSink.Kind.kMjpeg) {
           // Add USB-only passthrough
           String[] finalValues = Arrays.copyOf(values, values.length + 1);
           int port = CameraServerJNI.getMjpegServerPort(sink);
@@ -161,17 +155,20 @@ public final class CameraServer {
     return values;
   }
 
-  @SuppressWarnings({"MissingJavadocMethod",
-      "PMD.AvoidUsingHardCodedIP",
-      "PMD.CyclomaticComplexity"})
+  @SuppressWarnings({
+    "MissingJavadocMethod",
+    "PMD.AvoidUsingHardCodedIP",
+    "PMD.CyclomaticComplexity"
+  })
   private synchronized void updateStreamValues() {
     // Over all the sinks...
     for (VideoSink i : m_sinks.values()) {
       int sink = i.getHandle();
 
       // Get the source's subtable (if none exists, we're done)
-      int source = Objects.requireNonNullElseGet(m_fixedSources.get(sink),
-          () -> CameraServerJNI.getSinkSource(sink));
+      int source =
+          Objects.requireNonNullElseGet(
+              m_fixedSources.get(sink), () -> CameraServerJNI.getSinkSource(sink));
 
       if (source == 0) {
         continue;
@@ -230,8 +227,14 @@ public final class CameraServer {
   /// The returned string is "{width}x{height} {format} {fps} fps".
   @SuppressWarnings("MissingJavadocMethod")
   private static String videoModeToString(VideoMode mode) {
-    return mode.width + "x" + mode.height + " " + pixelFormatToString(mode.pixelFormat)
-        + " " + mode.fps + " fps";
+    return mode.width
+        + "x"
+        + mode.height
+        + " "
+        + pixelFormatToString(mode.pixelFormat)
+        + " "
+        + mode.fps
+        + " fps";
   }
 
   @SuppressWarnings("MissingJavadocMethod")
@@ -270,14 +273,18 @@ public final class CameraServer {
         case kEnum:
           if (isNew) {
             entry.setDefaultDouble(event.value);
-            table.getEntry(infoName + "/min").setDouble(
-                CameraServerJNI.getPropertyMin(event.propertyHandle));
-            table.getEntry(infoName + "/max").setDouble(
-                CameraServerJNI.getPropertyMax(event.propertyHandle));
-            table.getEntry(infoName + "/step").setDouble(
-                CameraServerJNI.getPropertyStep(event.propertyHandle));
-            table.getEntry(infoName + "/default").setDouble(
-                CameraServerJNI.getPropertyDefault(event.propertyHandle));
+            table
+                .getEntry(infoName + "/min")
+                .setDouble(CameraServerJNI.getPropertyMin(event.propertyHandle));
+            table
+                .getEntry(infoName + "/max")
+                .setDouble(CameraServerJNI.getPropertyMax(event.propertyHandle));
+            table
+                .getEntry(infoName + "/step")
+                .setDouble(CameraServerJNI.getPropertyStep(event.propertyHandle));
+            table
+                .getEntry(infoName + "/default")
+                .setDouble(CameraServerJNI.getPropertyDefault(event.propertyHandle));
           } else {
             entry.setDouble(event.value);
           }
@@ -297,8 +304,12 @@ public final class CameraServer {
     }
   }
 
-  @SuppressWarnings({"MissingJavadocMethod", "PMD.UnusedLocalVariable", "PMD.ExcessiveMethodLength",
-      "PMD.NPathComplexity"})
+  @SuppressWarnings({
+    "MissingJavadocMethod",
+    "PMD.UnusedLocalVariable",
+    "PMD.ExcessiveMethodLength",
+    "PMD.NPathComplexity"
+  })
   private CameraServer() {
     m_defaultUsbDevice = new AtomicInteger();
     m_sources = new HashMap<>();
@@ -321,176 +332,204 @@ public final class CameraServer {
     // - "PropertyInfo/{Property}" - Property supporting information
 
     // Listener for video events
-    m_videoListener = new VideoListener(event -> {
-      switch (event.kind) {
-        case kSourceCreated: {
-          // Create subtable for the camera
-          NetworkTable table = m_publishTable.getSubTable(event.name);
-          m_tables.put(event.sourceHandle, table);
-          table.getEntry("source").setString(makeSourceValue(event.sourceHandle));
-          table.getEntry("description").setString(
-              CameraServerJNI.getSourceDescription(event.sourceHandle));
-          table.getEntry("connected").setBoolean(
-              CameraServerJNI.isSourceConnected(event.sourceHandle));
-          table.getEntry("streams").setStringArray(getSourceStreamValues(event.sourceHandle));
-          try {
-            VideoMode mode = CameraServerJNI.getSourceVideoMode(event.sourceHandle);
-            table.getEntry("mode").setDefaultString(videoModeToString(mode));
-            table.getEntry("modes").setStringArray(getSourceModeValues(event.sourceHandle));
-          } catch (VideoException ignored) {
-            // Do nothing. Let the other event handlers update this if there is an error.
-          }
-          break;
-        }
-        case kSourceDestroyed: {
-          NetworkTable table = m_tables.get(event.sourceHandle);
-          if (table != null) {
-            table.getEntry("source").setString("");
-            table.getEntry("streams").setStringArray(new String[0]);
-            table.getEntry("modes").setStringArray(new String[0]);
-          }
-          break;
-        }
-        case kSourceConnected: {
-          NetworkTable table = m_tables.get(event.sourceHandle);
-          if (table != null) {
-            // update the description too (as it may have changed)
-            table.getEntry("description").setString(
-                CameraServerJNI.getSourceDescription(event.sourceHandle));
-            table.getEntry("connected").setBoolean(true);
-          }
-          break;
-        }
-        case kSourceDisconnected: {
-          NetworkTable table = m_tables.get(event.sourceHandle);
-          if (table != null) {
-            table.getEntry("connected").setBoolean(false);
-          }
-          break;
-        }
-        case kSourceVideoModesUpdated: {
-          NetworkTable table = m_tables.get(event.sourceHandle);
-          if (table != null) {
-            table.getEntry("modes").setStringArray(getSourceModeValues(event.sourceHandle));
-          }
-          break;
-        }
-        case kSourceVideoModeChanged: {
-          NetworkTable table = m_tables.get(event.sourceHandle);
-          if (table != null) {
-            table.getEntry("mode").setString(videoModeToString(event.mode));
-          }
-          break;
-        }
-        case kSourcePropertyCreated: {
-          NetworkTable table = m_tables.get(event.sourceHandle);
-          if (table != null) {
-            putSourcePropertyValue(table, event, true);
-          }
-          break;
-        }
-        case kSourcePropertyValueUpdated: {
-          NetworkTable table = m_tables.get(event.sourceHandle);
-          if (table != null) {
-            putSourcePropertyValue(table, event, false);
-          }
-          break;
-        }
-        case kSourcePropertyChoicesUpdated: {
-          NetworkTable table = m_tables.get(event.sourceHandle);
-          if (table != null) {
-            try {
-              String[] choices = CameraServerJNI.getEnumPropertyChoices(event.propertyHandle);
-              table.getEntry("PropertyInfo/" + event.name + "/choices").setStringArray(choices);
-            } catch (VideoException ignored) {
-              // ignore
-            }
-          }
-          break;
-        }
-        case kSinkSourceChanged:
-        case kSinkCreated:
-        case kSinkDestroyed:
-        case kNetworkInterfacesChanged: {
-          m_addresses = CameraServerJNI.getNetworkInterfaces();
-          updateStreamValues();
-          break;
-        }
-        default:
-          break;
-      }
-    }, 0x4fff, true);
+    m_videoListener =
+        new VideoListener(
+            event -> {
+              switch (event.kind) {
+                case kSourceCreated:
+                  {
+                    // Create subtable for the camera
+                    NetworkTable table = m_publishTable.getSubTable(event.name);
+                    m_tables.put(event.sourceHandle, table);
+                    table.getEntry("source").setString(makeSourceValue(event.sourceHandle));
+                    table
+                        .getEntry("description")
+                        .setString(CameraServerJNI.getSourceDescription(event.sourceHandle));
+                    table
+                        .getEntry("connected")
+                        .setBoolean(CameraServerJNI.isSourceConnected(event.sourceHandle));
+                    table
+                        .getEntry("streams")
+                        .setStringArray(getSourceStreamValues(event.sourceHandle));
+                    try {
+                      VideoMode mode = CameraServerJNI.getSourceVideoMode(event.sourceHandle);
+                      table.getEntry("mode").setDefaultString(videoModeToString(mode));
+                      table
+                          .getEntry("modes")
+                          .setStringArray(getSourceModeValues(event.sourceHandle));
+                    } catch (VideoException ignored) {
+                      // Do nothing. Let the other event handlers update this if there is an error.
+                    }
+                    break;
+                  }
+                case kSourceDestroyed:
+                  {
+                    NetworkTable table = m_tables.get(event.sourceHandle);
+                    if (table != null) {
+                      table.getEntry("source").setString("");
+                      table.getEntry("streams").setStringArray(new String[0]);
+                      table.getEntry("modes").setStringArray(new String[0]);
+                    }
+                    break;
+                  }
+                case kSourceConnected:
+                  {
+                    NetworkTable table = m_tables.get(event.sourceHandle);
+                    if (table != null) {
+                      // update the description too (as it may have changed)
+                      table
+                          .getEntry("description")
+                          .setString(CameraServerJNI.getSourceDescription(event.sourceHandle));
+                      table.getEntry("connected").setBoolean(true);
+                    }
+                    break;
+                  }
+                case kSourceDisconnected:
+                  {
+                    NetworkTable table = m_tables.get(event.sourceHandle);
+                    if (table != null) {
+                      table.getEntry("connected").setBoolean(false);
+                    }
+                    break;
+                  }
+                case kSourceVideoModesUpdated:
+                  {
+                    NetworkTable table = m_tables.get(event.sourceHandle);
+                    if (table != null) {
+                      table
+                          .getEntry("modes")
+                          .setStringArray(getSourceModeValues(event.sourceHandle));
+                    }
+                    break;
+                  }
+                case kSourceVideoModeChanged:
+                  {
+                    NetworkTable table = m_tables.get(event.sourceHandle);
+                    if (table != null) {
+                      table.getEntry("mode").setString(videoModeToString(event.mode));
+                    }
+                    break;
+                  }
+                case kSourcePropertyCreated:
+                  {
+                    NetworkTable table = m_tables.get(event.sourceHandle);
+                    if (table != null) {
+                      putSourcePropertyValue(table, event, true);
+                    }
+                    break;
+                  }
+                case kSourcePropertyValueUpdated:
+                  {
+                    NetworkTable table = m_tables.get(event.sourceHandle);
+                    if (table != null) {
+                      putSourcePropertyValue(table, event, false);
+                    }
+                    break;
+                  }
+                case kSourcePropertyChoicesUpdated:
+                  {
+                    NetworkTable table = m_tables.get(event.sourceHandle);
+                    if (table != null) {
+                      try {
+                        String[] choices =
+                            CameraServerJNI.getEnumPropertyChoices(event.propertyHandle);
+                        table
+                            .getEntry("PropertyInfo/" + event.name + "/choices")
+                            .setStringArray(choices);
+                      } catch (VideoException ignored) {
+                        // ignore
+                      }
+                    }
+                    break;
+                  }
+                case kSinkSourceChanged:
+                case kSinkCreated:
+                case kSinkDestroyed:
+                case kNetworkInterfacesChanged:
+                  {
+                    m_addresses = CameraServerJNI.getNetworkInterfaces();
+                    updateStreamValues();
+                    break;
+                  }
+                default:
+                  break;
+              }
+            },
+            0x4fff,
+            true);
 
     // Listener for NetworkTable events
     // We don't currently support changing settings via NT due to
     // synchronization issues, so just update to current setting if someone
     // else tries to change it.
-    m_tableListener = NetworkTableInstance.getDefault().addEntryListener(kPublishName + "/",
-      event -> {
-        String relativeKey = event.name.substring(kPublishName.length() + 1);
+    m_tableListener =
+        NetworkTableInstance.getDefault()
+            .addEntryListener(
+                kPublishName + "/",
+                event -> {
+                  String relativeKey = event.name.substring(kPublishName.length() + 1);
 
-        // get source (sourceName/...)
-        int subKeyIndex = relativeKey.indexOf('/');
-        if (subKeyIndex == -1) {
-          return;
-        }
-        String sourceName = relativeKey.substring(0, subKeyIndex);
-        VideoSource source = m_sources.get(sourceName);
-        if (source == null) {
-          return;
-        }
+                  // get source (sourceName/...)
+                  int subKeyIndex = relativeKey.indexOf('/');
+                  if (subKeyIndex == -1) {
+                    return;
+                  }
+                  String sourceName = relativeKey.substring(0, subKeyIndex);
+                  VideoSource source = m_sources.get(sourceName);
+                  if (source == null) {
+                    return;
+                  }
 
-        // get subkey
-        relativeKey = relativeKey.substring(subKeyIndex + 1);
+                  // get subkey
+                  relativeKey = relativeKey.substring(subKeyIndex + 1);
 
-        // handle standard names
-        String propName;
-        if ("mode".equals(relativeKey)) {
-          // reset to current mode
-          event.getEntry().setString(videoModeToString(source.getVideoMode()));
-          return;
-        } else if (relativeKey.startsWith("Property/")) {
-          propName = relativeKey.substring(9);
-        } else if (relativeKey.startsWith("RawProperty/")) {
-          propName = relativeKey.substring(12);
-        } else {
-          return;  // ignore
-        }
+                  // handle standard names
+                  String propName;
+                  if ("mode".equals(relativeKey)) {
+                    // reset to current mode
+                    event.getEntry().setString(videoModeToString(source.getVideoMode()));
+                    return;
+                  } else if (relativeKey.startsWith("Property/")) {
+                    propName = relativeKey.substring(9);
+                  } else if (relativeKey.startsWith("RawProperty/")) {
+                    propName = relativeKey.substring(12);
+                  } else {
+                    return; // ignore
+                  }
 
-        // everything else is a property
-        VideoProperty property = source.getProperty(propName);
-        switch (property.getKind()) {
-          case kNone:
-            return;
-          case kBoolean:
-            // reset to current setting
-            event.getEntry().setBoolean(property.get() != 0);
-            return;
-          case kInteger:
-          case kEnum:
-            // reset to current setting
-            event.getEntry().setDouble(property.get());
-            return;
-          case kString:
-            // reset to current setting
-            event.getEntry().setString(property.getString());
-            return;
-          default:
-            return;
-        }
-      }, EntryListenerFlags.kImmediate | EntryListenerFlags.kUpdate);
+                  // everything else is a property
+                  VideoProperty property = source.getProperty(propName);
+                  switch (property.getKind()) {
+                    case kNone:
+                      return;
+                    case kBoolean:
+                      // reset to current setting
+                      event.getEntry().setBoolean(property.get() != 0);
+                      return;
+                    case kInteger:
+                    case kEnum:
+                      // reset to current setting
+                      event.getEntry().setDouble(property.get());
+                      return;
+                    case kString:
+                      // reset to current setting
+                      event.getEntry().setString(property.getString());
+                      return;
+                    default:
+                      return;
+                  }
+                },
+                EntryListenerFlags.kImmediate | EntryListenerFlags.kUpdate);
   }
 
   /**
    * Start automatically capturing images to send to the dashboard.
    *
-   * <p>You should call this method to see a camera feed on the dashboard.
-   * If you also want to perform vision processing on the roboRIO, use
-   * getVideo() to get access to the camera images.
+   * <p>You should call this method to see a camera feed on the dashboard. If you also want to
+   * perform vision processing on the roboRIO, use getVideo() to get access to the camera images.
    *
-   * <p>The first time this overload is called, it calls
-   * {@link #startAutomaticCapture(int)} with device 0, creating a camera
-   * named "USB Camera 0".  Subsequent calls increment the device number
+   * <p>The first time this overload is called, it calls {@link #startAutomaticCapture(int)} with
+   * device 0, creating a camera named "USB Camera 0". Subsequent calls increment the device number
    * (e.g. 1, 2, etc).
    */
   public UsbCamera startAutomaticCapture() {
@@ -502,8 +541,8 @@ public final class CameraServer {
   /**
    * Start automatically capturing images to send to the dashboard.
    *
-   * <p>This overload calls {@link #startAutomaticCapture(String, int)} with
-   * a name of "USB Camera {dev}".
+   * <p>This overload calls {@link #startAutomaticCapture(String, int)} with a name of "USB Camera
+   * {dev}".
    *
    * @param dev The device number of the camera interface
    */
@@ -541,8 +580,7 @@ public final class CameraServer {
   }
 
   /**
-   * Start automatically capturing images to send to the dashboard from
-   * an existing camera.
+   * Start automatically capturing images to send to the dashboard from an existing camera.
    *
    * @param camera Camera
    */
@@ -556,8 +594,7 @@ public final class CameraServer {
   /**
    * Adds an Axis IP camera.
    *
-   * <p>This overload calls {@link #addAxisCamera(String, String)} with
-   * name "Axis Camera".
+   * <p>This overload calls {@link #addAxisCamera(String, String)} with name "Axis Camera".
    *
    * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
    */
@@ -568,8 +605,7 @@ public final class CameraServer {
   /**
    * Adds an Axis IP camera.
    *
-   * <p>This overload calls {@link #addAxisCamera(String, String[])} with
-   * name "Axis Camera".
+   * <p>This overload calls {@link #addAxisCamera(String, String[])} with name "Axis Camera".
    *
    * @param hosts Array of Camera host IPs/DNS names
    */
@@ -606,10 +642,9 @@ public final class CameraServer {
   }
 
   /**
-   * Adds a virtual camera for switching between two streams.  Unlike the
-   * other addCamera methods, this returns a VideoSink rather than a
-   * VideoSource.  Calling setSource() on the returned object can be used
-   * to switch the actual source of the stream.
+   * Adds a virtual camera for switching between two streams. Unlike the other addCamera methods,
+   * this returns a VideoSink rather than a VideoSource. Calling setSource() on the returned object
+   * can be used to switch the actual source of the stream.
    */
   public MjpegServer addSwitchedCamera(String name) {
     // create a dummy CvSource
@@ -623,11 +658,11 @@ public final class CameraServer {
   }
 
   /**
-   * Get OpenCV access to the primary camera feed.  This allows you to
-   * get images from the camera for image processing on the roboRIO.
+   * Get OpenCV access to the primary camera feed. This allows you to get images from the camera for
+   * image processing on the roboRIO.
    *
-   * <p>This is only valid to call after a camera feed has been added
-   * with startAutomaticCapture() or addServer().
+   * <p>This is only valid to call after a camera feed has been added with startAutomaticCapture()
+   * or addServer().
    */
   public CvSink getVideo() {
     VideoSource source;
@@ -644,8 +679,8 @@ public final class CameraServer {
   }
 
   /**
-   * Get OpenCV access to the specified camera.  This allows you to get
-   * images from the camera for image processing on the roboRIO.
+   * Get OpenCV access to the specified camera. This allows you to get images from the camera for
+   * image processing on the roboRIO.
    *
    * @param camera Camera (e.g. as returned by startAutomaticCapture).
    */
@@ -670,8 +705,8 @@ public final class CameraServer {
   }
 
   /**
-   * Get OpenCV access to the specified camera.  This allows you to get
-   * images from the camera for image processing on the roboRIO.
+   * Get OpenCV access to the specified camera. This allows you to get images from the camera for
+   * image processing on the roboRIO.
    *
    * @param name Camera name
    */
@@ -687,8 +722,8 @@ public final class CameraServer {
   }
 
   /**
-   * Create a MJPEG stream with OpenCV input. This can be called to pass custom
-   * annotated images to the dashboard.
+   * Create a MJPEG stream with OpenCV input. This can be called to pass custom annotated images to
+   * the dashboard.
    *
    * @param name Name to give the stream
    * @param width Width of the image being sent
@@ -750,8 +785,8 @@ public final class CameraServer {
   /**
    * Get server for the primary camera feed.
    *
-   * <p>This is only valid to call after a camera feed has been added
-   * with startAutomaticCapture() or addServer().
+   * <p>This is only valid to call after a camera feed has been added with startAutomaticCapture()
+   * or addServer().
    */
   public VideoSink getServer() {
     synchronized (this) {
diff --git a/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerShared.java b/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerShared.java
index 6736536b67..4726de184f 100644
--- a/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerShared.java
+++ b/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerShared.java
@@ -4,7 +4,6 @@
 
 package edu.wpi.first.cameraserver;
 
-
 public interface CameraServerShared {
   /**
    * get the main thread id func.
diff --git a/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerSharedStore.java b/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerSharedStore.java
index be8978ce1a..654c371a52 100644
--- a/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerSharedStore.java
+++ b/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerSharedStore.java
@@ -7,48 +7,36 @@ package edu.wpi.first.cameraserver;
 public final class CameraServerSharedStore {
   private static CameraServerShared cameraServerShared;
 
-  private CameraServerSharedStore() {
-  }
+  private CameraServerSharedStore() {}
 
-  /**
-   * get the CameraServerShared object.
-   */
+  /** get the CameraServerShared object. */
   public static synchronized CameraServerShared getCameraServerShared() {
     if (cameraServerShared == null) {
-      cameraServerShared = new CameraServerShared() {
+      cameraServerShared =
+          new CameraServerShared() {
 
-        @Override
-        public void reportVideoServer(int id) {
+            @Override
+            public void reportVideoServer(int id) {}
 
-        }
+            @Override
+            public void reportUsbCamera(int id) {}
 
-        @Override
-        public void reportUsbCamera(int id) {
+            @Override
+            public void reportDriverStationError(String error) {}
 
-        }
+            @Override
+            public void reportAxisCamera(int id) {}
 
-        @Override
-        public void reportDriverStationError(String error) {
-
-        }
-
-        @Override
-        public void reportAxisCamera(int id) {
-
-        }
-
-        @Override
-        public Long getRobotMainThreadId() {
-          return null;
-        }
-      };
+            @Override
+            public Long getRobotMainThreadId() {
+              return null;
+            }
+          };
     }
     return cameraServerShared;
   }
 
-  /**
-   * set the CameraServerShared object.
-   */
+  /** set the CameraServerShared object. */
   public static synchronized void setCameraServerShared(CameraServerShared shared) {
     cameraServerShared = shared;
   }
diff --git a/cameraserver/src/main/java/edu/wpi/first/vision/VisionPipeline.java b/cameraserver/src/main/java/edu/wpi/first/vision/VisionPipeline.java
index bbbe40d021..8ecec68df3 100644
--- a/cameraserver/src/main/java/edu/wpi/first/vision/VisionPipeline.java
+++ b/cameraserver/src/main/java/edu/wpi/first/vision/VisionPipeline.java
@@ -7,17 +7,16 @@ package edu.wpi.first.vision;
 import org.opencv.core.Mat;
 
 /**
- * A vision pipeline is responsible for running a group of
- * OpenCV algorithms to extract data from an image.
+ * A vision pipeline is responsible for running a group of OpenCV algorithms to extract data from an
+ * image.
  *
  * @see VisionRunner
  * @see VisionThread
  */
 public interface VisionPipeline {
   /**
-   * Processes the image input and sets the result objects.
-   * Implementations should make these objects accessible.
+   * Processes the image input and sets the result objects. Implementations should make these
+   * objects accessible.
    */
   void process(Mat image);
-
 }
diff --git a/cameraserver/src/main/java/edu/wpi/first/vision/VisionRunner.java b/cameraserver/src/main/java/edu/wpi/first/vision/VisionRunner.java
index f1de10b804..2a1275791c 100644
--- a/cameraserver/src/main/java/edu/wpi/first/vision/VisionRunner.java
+++ b/cameraserver/src/main/java/edu/wpi/first/vision/VisionRunner.java
@@ -4,16 +4,15 @@
 
 package edu.wpi.first.vision;
 
-import org.opencv.core.Mat;
-
 import edu.wpi.cscore.CvSink;
 import edu.wpi.cscore.VideoSource;
 import edu.wpi.first.cameraserver.CameraServerSharedStore;
+import org.opencv.core.Mat;
 
 /**
- * A vision runner is a convenient wrapper object to make it easy to run vision pipelines
- * from robot code. The easiest  way to use this is to run it in a {@link VisionThread}
- * and use the listener to take snapshots of the pipeline's outputs.
+ * A vision runner is a convenient wrapper object to make it easy to run vision pipelines from robot
+ * code. The easiest way to use this is to run it in a {@link VisionThread} and use the listener to
+ * take snapshots of the pipeline's outputs.
  *
  * @see VisionPipeline
  * @see VisionThread
@@ -42,17 +41,16 @@ public class VisionRunner<P extends VisionPipeline> {
      * @param pipeline the vision pipeline that ran
      */
     void copyPipelineOutputs(P pipeline);
-
   }
 
   /**
-   * Creates a new vision runner. It will take images from the {@code videoSource}, send them to
-   * the {@code pipeline}, and call the {@code listener} when the pipeline has finished to alert
-   * user code when it is safe to access the pipeline's outputs.
+   * Creates a new vision runner. It will take images from the {@code videoSource}, send them to the
+   * {@code pipeline}, and call the {@code listener} when the pipeline has finished to alert user
+   * code when it is safe to access the pipeline's outputs.
    *
    * @param videoSource the video source to use to supply images for the pipeline
-   * @param pipeline    the vision pipeline to run
-   * @param listener    a function to call after the pipeline has finished running
+   * @param pipeline the vision pipeline to run
+   * @param listener a function to call after the pipeline has finished running
    */
   public VisionRunner(VideoSource videoSource, P pipeline, Listener<? super P> listener) {
     this.m_pipeline = pipeline;
@@ -61,15 +59,15 @@ public class VisionRunner<P extends VisionPipeline> {
   }
 
   /**
-   * Runs the pipeline one time, giving it the next image from the video source specified
-   * in the constructor. This will block until the source either has an image or throws an error.
-   * If the source successfully supplied a frame, the pipeline's image input will be set,
-   * the pipeline will run, and the listener specified in the constructor will be called to notify
-   * it that the pipeline ran.
+   * Runs the pipeline one time, giving it the next image from the video source specified in the
+   * constructor. This will block until the source either has an image or throws an error. If the
+   * source successfully supplied a frame, the pipeline's image input will be set, the pipeline will
+   * run, and the listener specified in the constructor will be called to notify it that the
+   * pipeline ran.
    *
-   * <p>This method is exposed to allow teams to add additional functionality or have their own
-   * ways to run the pipeline. Most teams, however, should just use {@link #runForever} in its own
-   * thread using a {@link VisionThread}.</p>
+   * <p>This method is exposed to allow teams to add additional functionality or have their own ways
+   * to run the pipeline. Most teams, however, should just use {@link #runForever} in its own thread
+   * using a {@link VisionThread}.
    */
   public void runOnce() {
     Long id = CameraServerSharedStore.getCameraServerShared().getRobotMainThreadId();
@@ -95,11 +93,11 @@ public class VisionRunner<P extends VisionPipeline> {
   }
 
   /**
-   * A convenience method that calls {@link #runOnce()} in an infinite loop. This must
-   * be run in a dedicated thread, and cannot be used in the main robot thread because
-   * it will freeze the robot program.
+   * A convenience method that calls {@link #runOnce()} in an infinite loop. This must be run in a
+   * dedicated thread, and cannot be used in the main robot thread because it will freeze the robot
+   * program.
    *
-   * <p><strong>Do not call this method directly from the main thread.</strong></p>
+   * <p><strong>Do not call this method directly from the main thread.</strong>
    *
    * @throws IllegalStateException if this is called from the main robot thread
    * @see VisionThread
@@ -116,9 +114,7 @@ public class VisionRunner<P extends VisionPipeline> {
     }
   }
 
-  /**
-   * Stop a RunForever() loop.
-   */
+  /** Stop a RunForever() loop. */
   public void stop() {
     m_enabled = false;
   }
diff --git a/cameraserver/src/main/java/edu/wpi/first/vision/VisionThread.java b/cameraserver/src/main/java/edu/wpi/first/vision/VisionThread.java
index 48e4392d6c..5ce896dbf9 100644
--- a/cameraserver/src/main/java/edu/wpi/first/vision/VisionThread.java
+++ b/cameraserver/src/main/java/edu/wpi/first/vision/VisionThread.java
@@ -7,9 +7,9 @@ package edu.wpi.first.vision;
 import edu.wpi.cscore.VideoSource;
 
 /**
- * A vision thread is a special thread that runs a vision pipeline. It is a <i>daemon</i> thread;
- * it does not prevent the program from exiting when all other non-daemon threads
- * have finished running.
+ * A vision thread is a special thread that runs a vision pipeline. It is a <i>daemon</i> thread; it
+ * does not prevent the program from exiting when all other non-daemon threads have finished
+ * running.
  *
  * @see VisionPipeline
  * @see VisionRunner
@@ -31,14 +31,12 @@ public class VisionThread extends Thread {
    * equivalent to {@code new VisionThread(new VisionRunner<>(videoSource, pipeline, listener))}.
    *
    * @param videoSource the source for images the pipeline should process
-   * @param pipeline    the pipeline to run
-   * @param listener    the listener to copy outputs from the pipeline after it runs
-   * @param <P>         the type of the pipeline
+   * @param pipeline the pipeline to run
+   * @param listener the listener to copy outputs from the pipeline after it runs
+   * @param <P> the type of the pipeline
    */
-  public <P extends VisionPipeline> VisionThread(VideoSource videoSource,
-                                                 P pipeline,
-                                                 VisionRunner.Listener<? super P> listener) {
+  public <P extends VisionPipeline> VisionThread(
+      VideoSource videoSource, P pipeline, VisionRunner.Listener<? super P> listener) {
     this(new VisionRunner<>(videoSource, pipeline, listener));
   }
-
 }
diff --git a/cameraserver/src/main/java/edu/wpi/first/vision/package-info.java b/cameraserver/src/main/java/edu/wpi/first/vision/package-info.java
index 435c6a0c96..758ea2889d 100644
--- a/cameraserver/src/main/java/edu/wpi/first/vision/package-info.java
+++ b/cameraserver/src/main/java/edu/wpi/first/vision/package-info.java
@@ -3,11 +3,11 @@
 // the WPILib BSD license file in the root directory of this project.
 
 /**
- * Classes in the {@code edu.wpi.first.vision} package are designed to
- * simplify using OpenCV vision processing code from a robot program.
+ * Classes in the {@code edu.wpi.first.vision} package are designed to simplify using OpenCV vision
+ * processing code from a robot program.
+ *
+ * <p>An example use case for grabbing a yellow tote from 2015 in autonomous: <br>
  *
- * <p>An example use case for grabbing a yellow tote from 2015 in autonomous:
- * <br>
  * <pre><code>
  * public class Robot extends IterativeRobot
  *     implements VisionRunner.Listener&lt;MyFindTotePipeline&gt; {
diff --git a/cscore/java-examples/RawCVMatSink.java b/cscore/java-examples/RawCVMatSink.java
index 9ca4960d4b..c0acc28451 100644
--- a/cscore/java-examples/RawCVMatSink.java
+++ b/cscore/java-examples/RawCVMatSink.java
@@ -4,13 +4,11 @@
 
 package edu.wpi.cscore;
 
-import java.nio.ByteBuffer;
-
-import org.opencv.core.CvType;
-import org.opencv.core.Mat;
-
 import edu.wpi.cscore.VideoMode.PixelFormat;
 import edu.wpi.cscore.raw.RawFrame;
+import java.nio.ByteBuffer;
+import org.opencv.core.CvType;
+import org.opencv.core.Mat;
 
 public class RawCVMatSink extends ImageSink {
   RawFrame frame = new RawFrame();
@@ -24,26 +22,25 @@ public class RawCVMatSink extends ImageSink {
   private int getCVFormat(PixelFormat pixelFormat) {
     int type = 0;
     switch (pixelFormat) {
-    case kYUYV:
-    case kRGB565:
-      type = CvType.CV_8UC2;
-      break;
-    case kBGR:
-      type = CvType.CV_8UC3;
-      break;
-    case kGray:
-    case kMJPEG:
-    default:
-      type = CvType.CV_8UC1;
-      break;
+      case kYUYV:
+      case kRGB565:
+        type = CvType.CV_8UC2;
+        break;
+      case kBGR:
+        type = CvType.CV_8UC3;
+        break;
+      case kGray:
+      case kMJPEG:
+      default:
+        type = CvType.CV_8UC1;
+        break;
     }
     return type;
   }
 
   /**
-   * Create a sink for accepting OpenCV images.
-   * WaitForFrame() must be called on the created sink to get each new
-   * image.
+   * Create a sink for accepting OpenCV images. WaitForFrame() must be called on the created sink to
+   * get each new image.
    *
    * @param name Source name (arbitrary unique identifier)
    */
@@ -52,24 +49,21 @@ public class RawCVMatSink extends ImageSink {
   }
 
   /**
-   * Wait for the next frame and get the image.
-   * Times out (returning 0) after 0.225 seconds.
-   * The provided image will have three 3-bit channels stored in BGR order.
+   * Wait for the next frame and get the image. Times out (returning 0) after 0.225 seconds. The
+   * provided image will have three 3-bit channels stored in BGR order.
    *
-   * @return Frame time, or 0 on error (call GetError() to obtain the error
-   *         message)
+   * @return Frame time, or 0 on error (call GetError() to obtain the error message)
    */
   public long grabFrame(Mat image) {
     return grabFrame(image, 0.225);
   }
 
   /**
-   * Wait for the next frame and get the image.
-   * Times out (returning 0) after timeout seconds.
-   * The provided image will have three 3-bit channels stored in BGR order.
+   * Wait for the next frame and get the image. Times out (returning 0) after timeout seconds. The
+   * provided image will have three 3-bit channels stored in BGR order.
    *
-   * @return Frame time, or 0 on error (call GetError() to obtain the error
-   *         message); the frame time is in 1 us increments.
+   * @return Frame time, or 0 on error (call GetError() to obtain the error message); the frame time
+   *     is in 1 us increments.
    */
   public long grabFrame(Mat image, double timeout) {
     frame.setWidth(0);
@@ -80,12 +74,20 @@ public class RawCVMatSink extends ImageSink {
       return rv;
     }
 
-    if (frame.getDataByteBuffer() != origByteBuffer || width != frame.getWidth() || height != frame.getHeight() || pixelFormat != frame.getPixelFormat()) {
+    if (frame.getDataByteBuffer() != origByteBuffer
+        || width != frame.getWidth()
+        || height != frame.getHeight()
+        || pixelFormat != frame.getPixelFormat()) {
       origByteBuffer = frame.getDataByteBuffer();
       height = frame.getHeight();
       width = frame.getWidth();
       pixelFormat = frame.getPixelFormat();
-      tmpMat = new Mat(frame.getHeight(), frame.getWidth(), getCVFormat(VideoMode.getPixelFormatFromInt(pixelFormat)), origByteBuffer);
+      tmpMat =
+          new Mat(
+              frame.getHeight(),
+              frame.getWidth(),
+              getCVFormat(VideoMode.getPixelFormatFromInt(pixelFormat)),
+              origByteBuffer);
     }
     tmpMat.copyTo(image);
     return rv;
diff --git a/cscore/java-examples/RawCVMatSource.java b/cscore/java-examples/RawCVMatSource.java
index 8127e6b82e..e000ae3dd1 100644
--- a/cscore/java-examples/RawCVMatSource.java
+++ b/cscore/java-examples/RawCVMatSource.java
@@ -4,9 +4,8 @@
 
 package edu.wpi.cscore;
 
-import org.opencv.core.Mat;
-
 import edu.wpi.cscore.VideoMode.PixelFormat;
+import org.opencv.core.Mat;
 
 public class RawCVMatSource extends ImageSource {
   /**
@@ -16,11 +15,9 @@ public class RawCVMatSource extends ImageSource {
    * @param mode Video mode being generated
    */
   public RawCVMatSource(String name, VideoMode mode) {
-    super(CameraServerJNI.createRawSource(name,
-        mode.pixelFormat.getValue(),
-        mode.width,
-        mode.height,
-        mode.fps));
+    super(
+        CameraServerJNI.createRawSource(
+            name, mode.pixelFormat.getValue(), mode.width, mode.height, mode.fps));
   }
 
   /**
@@ -32,16 +29,17 @@ public class RawCVMatSource extends ImageSource {
    * @param height height
    * @param fps fps
    */
-  public RawCVMatSource(String name, VideoMode.PixelFormat pixelFormat, int width, int height, int fps) {
+  public RawCVMatSource(
+      String name, VideoMode.PixelFormat pixelFormat, int width, int height, int fps) {
     super(CameraServerJNI.createRawSource(name, pixelFormat.getValue(), width, height, fps));
   }
 
   /**
    * Put an OpenCV image and notify sinks.
    *
-   * <p>Only 8-bit single-channel or 3-channel (with BGR channel order) images
-   * are supported. If the format, depth or channel order is different, use
-   * Mat.convertTo() and/or cvtColor() to convert it first.
+   * <p>Only 8-bit single-channel or 3-channel (with BGR channel order) images are supported. If the
+   * format, depth or channel order is different, use Mat.convertTo() and/or cvtColor() to convert
+   * it first.
    *
    * @param image OpenCV image
    */
@@ -51,6 +49,12 @@ public class RawCVMatSource extends ImageSource {
       throw new VideoException("Unsupported Image Type");
     }
     int imgType = channels == 1 ? PixelFormat.kGray.getValue() : PixelFormat.kBGR.getValue();
-    CameraServerJNI.putRawSourceFrame(m_handle, image.dataAddr(), image.width(), image.height(), imgType, (int)image.total() * channels);
+    CameraServerJNI.putRawSourceFrame(
+        m_handle,
+        image.dataAddr(),
+        image.width(),
+        image.height(),
+        imgType,
+        (int) image.total() * channels);
   }
 }
diff --git a/cscore/src/dev/java/edu/wpi/cscore/DevMain.java b/cscore/src/dev/java/edu/wpi/cscore/DevMain.java
index d9840ba87a..69198cb247 100644
--- a/cscore/src/dev/java/edu/wpi/cscore/DevMain.java
+++ b/cscore/src/dev/java/edu/wpi/cscore/DevMain.java
@@ -7,15 +7,12 @@ package edu.wpi.cscore;
 import edu.wpi.first.wpiutil.RuntimeDetector;
 
 public final class DevMain {
-  /**
-   * Main method.
-   */
+  /** Main method. */
   public static void main(String[] args) {
     System.out.println("Hello World!");
     System.out.println(RuntimeDetector.getPlatformPath());
     System.out.println(CameraServerJNI.getHostname());
   }
 
-  private DevMain() {
-  }
+  private DevMain() {}
 }
diff --git a/cscore/src/main/java/edu/wpi/cscore/AxisCamera.java b/cscore/src/main/java/edu/wpi/cscore/AxisCamera.java
index 58e15a9eab..c219517ee5 100644
--- a/cscore/src/main/java/edu/wpi/cscore/AxisCamera.java
+++ b/cscore/src/main/java/edu/wpi/cscore/AxisCamera.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.cscore;
 
-/**
- * A source that represents an Axis IP camera.
- */
+/** A source that represents an Axis IP camera. */
 public class AxisCamera extends HttpCamera {
   private static String hostToUrl(String host) {
     return "http://" + host + "/mjpg/video.mjpg";
diff --git a/cscore/src/main/java/edu/wpi/cscore/CameraServerCvJNI.java b/cscore/src/main/java/edu/wpi/cscore/CameraServerCvJNI.java
index 59684aee81..34fcfc22c5 100644
--- a/cscore/src/main/java/edu/wpi/cscore/CameraServerCvJNI.java
+++ b/cscore/src/main/java/edu/wpi/cscore/CameraServerCvJNI.java
@@ -4,13 +4,11 @@
 
 package edu.wpi.cscore;
 
+import edu.wpi.first.wpiutil.RuntimeLoader;
 import java.io.IOException;
 import java.util.concurrent.atomic.AtomicBoolean;
-
 import org.opencv.core.Core;
 
-import edu.wpi.first.wpiutil.RuntimeLoader;
-
 public class CameraServerCvJNI {
   static boolean libraryLoaded = false;
 
@@ -33,7 +31,8 @@ public class CameraServerCvJNI {
     if (Helper.getExtractOnStaticLoad()) {
       try {
         CameraServerJNI.forceLoad();
-        loader = new RuntimeLoader<>(opencvName, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
+        loader =
+            new RuntimeLoader<>(opencvName, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
         loader.loadLibraryHashed();
       } catch (IOException ex) {
         ex.printStackTrace();
@@ -43,27 +42,29 @@ public class CameraServerCvJNI {
     }
   }
 
-  /**
-   * Force load the library.
-   */
+  /** Force load the library. */
   public static synchronized void forceLoad() throws IOException {
     if (libraryLoaded) {
       return;
     }
     CameraServerJNI.forceLoad();
-    loader = new RuntimeLoader<>(Core.NATIVE_LIBRARY_NAME, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
+    loader =
+        new RuntimeLoader<>(
+            Core.NATIVE_LIBRARY_NAME, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
     loader.loadLibrary();
     libraryLoaded = true;
   }
 
-  public static native int createCvSource(String name, int pixelFormat, int width, int height, int fps);
+  public static native int createCvSource(
+      String name, int pixelFormat, int width, int height, int fps);
 
   public static native void putSourceFrame(int source, long imageNativeObj);
 
   public static native int createCvSink(String name);
-  //public static native int createCvSinkCallback(String name,
+  // public static native int createCvSinkCallback(String name,
   //                            void (*processFrame)(long time));
 
   public static native long grabSinkFrame(int sink, long imageNativeObj);
+
   public static native long grabSinkFrameTimeout(int sink, long imageNativeObj, double timeout);
 }
diff --git a/cscore/src/main/java/edu/wpi/cscore/CameraServerJNI.java b/cscore/src/main/java/edu/wpi/cscore/CameraServerJNI.java
index abb87bfb0b..3cd2a6689f 100644
--- a/cscore/src/main/java/edu/wpi/cscore/CameraServerJNI.java
+++ b/cscore/src/main/java/edu/wpi/cscore/CameraServerJNI.java
@@ -4,14 +4,13 @@
 
 package edu.wpi.cscore;
 
+import edu.wpi.cscore.raw.RawFrame;
+import edu.wpi.first.wpiutil.RuntimeLoader;
 import java.io.IOException;
 import java.nio.ByteBuffer;
 import java.util.concurrent.atomic.AtomicBoolean;
 import java.util.function.Consumer;
 
-import edu.wpi.cscore.raw.RawFrame;
-import edu.wpi.first.wpiutil.RuntimeLoader;
-
 public class CameraServerJNI {
   static boolean libraryLoaded = false;
 
@@ -32,7 +31,9 @@ public class CameraServerJNI {
   static {
     if (Helper.getExtractOnStaticLoad()) {
       try {
-        loader = new RuntimeLoader<>("cscorejni", RuntimeLoader.getDefaultExtractionRoot(), CameraServerJNI.class);
+        loader =
+            new RuntimeLoader<>(
+                "cscorejni", RuntimeLoader.getDefaultExtractionRoot(), CameraServerJNI.class);
         loader.loadLibrary();
       } catch (IOException ex) {
         ex.printStackTrace();
@@ -42,14 +43,14 @@ public class CameraServerJNI {
     }
   }
 
-  /**
-   * Force load the library.
-   */
+  /** Force load the library. */
   public static synchronized void forceLoad() throws IOException {
     if (libraryLoaded) {
       return;
     }
-    loader = new RuntimeLoader<>("cscorejni", RuntimeLoader.getDefaultExtractionRoot(), CameraServerJNI.class);
+    loader =
+        new RuntimeLoader<>(
+            "cscorejni", RuntimeLoader.getDefaultExtractionRoot(), CameraServerJNI.class);
     loader.loadLibrary();
     libraryLoaded = true;
   }
@@ -58,89 +59,159 @@ public class CameraServerJNI {
   // Property Functions
   //
   public static native int getPropertyKind(int property);
+
   public static native String getPropertyName(int property);
+
   public static native int getProperty(int property);
+
   public static native void setProperty(int property, int value);
+
   public static native int getPropertyMin(int property);
+
   public static native int getPropertyMax(int property);
+
   public static native int getPropertyStep(int property);
+
   public static native int getPropertyDefault(int property);
+
   public static native String getStringProperty(int property);
+
   public static native void setStringProperty(int property, String value);
+
   public static native String[] getEnumPropertyChoices(int property);
 
   //
   // Source Creation Functions
   //
   public static native int createUsbCameraDev(String name, int dev);
+
   public static native int createUsbCameraPath(String name, String path);
+
   public static native int createHttpCamera(String name, String url, int kind);
+
   public static native int createHttpCameraMulti(String name, String[] urls, int kind);
-  public static native int createRawSource(String name, int pixelFormat, int width, int height, int fps);
+
+  public static native int createRawSource(
+      String name, int pixelFormat, int width, int height, int fps);
 
   //
   // Source Functions
   //
   public static native int getSourceKind(int source);
+
   public static native String getSourceName(int source);
+
   public static native String getSourceDescription(int source);
+
   public static native long getSourceLastFrameTime(int source);
+
   public static native void setSourceConnectionStrategy(int source, int strategy);
+
   public static native boolean isSourceConnected(int source);
+
   public static native boolean isSourceEnabled(int source);
+
   public static native int getSourceProperty(int source, String name);
+
   public static native int[] enumerateSourceProperties(int source);
+
   public static native VideoMode getSourceVideoMode(int source);
-  public static native boolean setSourceVideoMode(int source, int pixelFormat, int width, int height, int fps);
+
+  public static native boolean setSourceVideoMode(
+      int source, int pixelFormat, int width, int height, int fps);
+
   public static native boolean setSourcePixelFormat(int source, int pixelFormat);
+
   public static native boolean setSourceResolution(int source, int width, int height);
+
   public static native boolean setSourceFPS(int source, int fps);
+
   public static native boolean setSourceConfigJson(int source, String config);
+
   public static native String getSourceConfigJson(int source);
+
   public static native VideoMode[] enumerateSourceVideoModes(int source);
+
   public static native int[] enumerateSourceSinks(int source);
+
   public static native int copySource(int source);
+
   public static native void releaseSource(int source);
 
   //
   // Camera Source Common Property Fuctions
   //
   public static native void setCameraBrightness(int source, int brightness);
+
   public static native int getCameraBrightness(int source);
+
   public static native void setCameraWhiteBalanceAuto(int source);
+
   public static native void setCameraWhiteBalanceHoldCurrent(int source);
+
   public static native void setCameraWhiteBalanceManual(int source, int value);
+
   public static native void setCameraExposureAuto(int source);
+
   public static native void setCameraExposureHoldCurrent(int source);
+
   public static native void setCameraExposureManual(int source, int value);
 
   //
   // UsbCamera Source Functions
   //
   public static native void setUsbCameraPath(int source, String path);
+
   public static native String getUsbCameraPath(int source);
+
   public static native UsbCameraInfo getUsbCameraInfo(int source);
 
   //
   // HttpCamera Source Functions
   //
   public static native int getHttpCameraKind(int source);
+
   public static native void setHttpCameraUrls(int source, String[] urls);
+
   public static native String[] getHttpCameraUrls(int source);
 
   //
   // Image Source Functions
   //
-  public static native void putRawSourceFrameBB(int source, ByteBuffer data, int width, int height, int pixelFormat, int totalData);
-  public static native void putRawSourceFrame(int source, long data, int width, int height, int pixelFormat, int totalData);
+  public static native void putRawSourceFrameBB(
+      int source, ByteBuffer data, int width, int height, int pixelFormat, int totalData);
+
+  public static native void putRawSourceFrame(
+      int source, long data, int width, int height, int pixelFormat, int totalData);
+
   public static void putRawSourceFrame(int source, RawFrame raw) {
-    putRawSourceFrame(source, raw.getDataPtr(), raw.getWidth(), raw.getHeight(), raw.getPixelFormat(), raw.getTotalData());
+    putRawSourceFrame(
+        source,
+        raw.getDataPtr(),
+        raw.getWidth(),
+        raw.getHeight(),
+        raw.getPixelFormat(),
+        raw.getTotalData());
   }
+
   public static native void notifySourceError(int source, String msg);
+
   public static native void setSourceConnected(int source, boolean connected);
+
   public static native void setSourceDescription(int source, String description);
-  public static native int createSourceProperty(int source, String name, int kind, int minimum, int maximum, int step, int defaultValue, int value);
-  public static native void setSourceEnumPropertyChoices(int source, int property, String[] choices);
+
+  public static native int createSourceProperty(
+      int source,
+      String name,
+      int kind,
+      int minimum,
+      int maximum,
+      int step,
+      int defaultValue,
+      int value);
+
+  public static native void setSourceEnumPropertyChoices(
+      int source, int property, String[] choices);
 
   //
   // Sink Creation Functions
@@ -153,22 +224,34 @@ public class CameraServerJNI {
   // Sink Functions
   //
   public static native int getSinkKind(int sink);
+
   public static native String getSinkName(int sink);
+
   public static native String getSinkDescription(int sink);
+
   public static native int getSinkProperty(int sink, String name);
+
   public static native int[] enumerateSinkProperties(int sink);
+
   public static native boolean setSinkConfigJson(int sink, String config);
+
   public static native String getSinkConfigJson(int sink);
+
   public static native void setSinkSource(int sink, int source);
+
   public static native int getSinkSourceProperty(int sink, String name);
+
   public static native int getSinkSource(int sink);
+
   public static native int copySink(int sink);
+
   public static native void releaseSink(int sink);
 
   //
   // MjpegServer Sink Functions
   //
   public static native String getMjpegServerListenAddress(int sink);
+
   public static native int getMjpegServerPort(int sink);
 
   //
@@ -176,23 +259,57 @@ public class CameraServerJNI {
   //
   public static native void setSinkDescription(int sink, String description);
 
-  private static native long grabRawSinkFrameImpl(int sink, RawFrame rawFrame, long rawFramePtr, ByteBuffer byteBuffer, int width, int height, int pixelFormat);
-  private static native long grabRawSinkFrameTimeoutImpl(int sink, RawFrame rawFrame, long rawFramePtr, ByteBuffer byteBuffer, int width, int height, int pixelFormat, double timeout);
+  private static native long grabRawSinkFrameImpl(
+      int sink,
+      RawFrame rawFrame,
+      long rawFramePtr,
+      ByteBuffer byteBuffer,
+      int width,
+      int height,
+      int pixelFormat);
+
+  private static native long grabRawSinkFrameTimeoutImpl(
+      int sink,
+      RawFrame rawFrame,
+      long rawFramePtr,
+      ByteBuffer byteBuffer,
+      int width,
+      int height,
+      int pixelFormat,
+      double timeout);
 
   public static long grabSinkFrame(int sink, RawFrame rawFrame) {
-    return grabRawSinkFrameImpl(sink, rawFrame, rawFrame.getFramePtr(), rawFrame.getDataByteBuffer(), rawFrame.getWidth(), rawFrame.getHeight(), rawFrame.getPixelFormat());
+    return grabRawSinkFrameImpl(
+        sink,
+        rawFrame,
+        rawFrame.getFramePtr(),
+        rawFrame.getDataByteBuffer(),
+        rawFrame.getWidth(),
+        rawFrame.getHeight(),
+        rawFrame.getPixelFormat());
   }
+
   public static long grabSinkFrameTimeout(int sink, RawFrame rawFrame, double timeout) {
-    return grabRawSinkFrameTimeoutImpl(sink, rawFrame, rawFrame.getFramePtr(), rawFrame.getDataByteBuffer(), rawFrame.getWidth(), rawFrame.getHeight(), rawFrame.getPixelFormat(), timeout);
+    return grabRawSinkFrameTimeoutImpl(
+        sink,
+        rawFrame,
+        rawFrame.getFramePtr(),
+        rawFrame.getDataByteBuffer(),
+        rawFrame.getWidth(),
+        rawFrame.getHeight(),
+        rawFrame.getPixelFormat(),
+        timeout);
   }
+
   public static native String getSinkError(int sink);
+
   public static native void setSinkEnabled(int sink, boolean enabled);
 
   //
   // Listener Functions
   //
-  public static native int addListener(Consumer<VideoEvent> listener,
-                                       int eventMask, boolean immediateNotify);
+  public static native int addListener(
+      Consumer<VideoEvent> listener, int eventMask, boolean immediateNotify);
 
   public static native void removeListener(int handle);
 
@@ -213,13 +330,19 @@ public class CameraServerJNI {
       return value;
     }
   }
+
   public static native void setTelemetryPeriod(double seconds);
+
   public static native double getTelemetryElapsedTime();
+
   public static native long getTelemetryValue(int handle, int kind);
+
   public static long getTelemetryValue(int handle, TelemetryKind kind) {
     return getTelemetryValue(handle, kind.getValue());
   }
+
   public static native double getTelemetryAverageValue(int handle, int kind);
+
   public static double getTelemetryAverageValue(int handle, TelemetryKind kind) {
     return getTelemetryAverageValue(handle, kind.getValue());
   }
@@ -231,6 +354,7 @@ public class CameraServerJNI {
   public interface LoggerFunction {
     void apply(int level, String file, int line, String msg);
   }
+
   public static native void setLogger(LoggerFunction func, int minLevel);
 
   //
diff --git a/cscore/src/main/java/edu/wpi/cscore/CvSink.java b/cscore/src/main/java/edu/wpi/cscore/CvSink.java
index e07562c855..5e3489ca12 100644
--- a/cscore/src/main/java/edu/wpi/cscore/CvSink.java
+++ b/cscore/src/main/java/edu/wpi/cscore/CvSink.java
@@ -7,16 +7,13 @@ package edu.wpi.cscore;
 import org.opencv.core.Mat;
 
 /**
- * A sink for user code to accept video frames as OpenCV images.
- * These sinks require the WPILib OpenCV builds.
- * For an alternate OpenCV, see the documentation how to build your own
- * with RawSink.
+ * A sink for user code to accept video frames as OpenCV images. These sinks require the WPILib
+ * OpenCV builds. For an alternate OpenCV, see the documentation how to build your own with RawSink.
  */
 public class CvSink extends ImageSink {
   /**
-   * Create a sink for accepting OpenCV images.
-   * WaitForFrame() must be called on the created sink to get each new
-   * image.
+   * Create a sink for accepting OpenCV images. WaitForFrame() must be called on the created sink to
+   * get each new image.
    *
    * @param name Source name (arbitrary unique identifier)
    */
@@ -32,41 +29,38 @@ public class CvSink extends ImageSink {
   ///        time=0 if an error occurred.  processFrame should call GetImage()
   ///        or GetError() as needed, but should not call (except in very
   ///        unusual circumstances) WaitForImage().
-  //public CvSink(wpi::StringRef name,
+  // public CvSink(wpi::StringRef name,
   //       std::function<void(uint64_t time)> processFrame) {
   //  super(CameraServerJNI.createCvSinkCallback(name, processFrame));
-  //}
+  // }
 
   /**
-   * Wait for the next frame and get the image.
-   * Times out (returning 0) after 0.225 seconds.
-   * The provided image will have three 3-bit channels stored in BGR order.
+   * Wait for the next frame and get the image. Times out (returning 0) after 0.225 seconds. The
+   * provided image will have three 3-bit channels stored in BGR order.
    *
-   * @return Frame time, or 0 on error (call GetError() to obtain the error
-   *         message)
+   * @return Frame time, or 0 on error (call GetError() to obtain the error message)
    */
   public long grabFrame(Mat image) {
     return grabFrame(image, 0.225);
   }
 
   /**
-   * Wait for the next frame and get the image.
-   * Times out (returning 0) after timeout seconds.
-   * The provided image will have three 3-bit channels stored in BGR order.
+   * Wait for the next frame and get the image. Times out (returning 0) after timeout seconds. The
+   * provided image will have three 3-bit channels stored in BGR order.
    *
-   * @return Frame time, or 0 on error (call GetError() to obtain the error
-   *         message); the frame time is in 1 us increments.
+   * @return Frame time, or 0 on error (call GetError() to obtain the error message); the frame time
+   *     is in 1 us increments.
    */
   public long grabFrame(Mat image, double timeout) {
     return CameraServerCvJNI.grabSinkFrameTimeout(m_handle, image.nativeObj, timeout);
   }
 
   /**
-   * Wait for the next frame and get the image.  May block forever.
-   * The provided image will have three 3-bit channels stored in BGR order.
+   * Wait for the next frame and get the image. May block forever. The provided image will have
+   * three 3-bit channels stored in BGR order.
    *
-   * @return Frame time, or 0 on error (call GetError() to obtain the error
-   *         message); the frame time is in 1 us increments.
+   * @return Frame time, or 0 on error (call GetError() to obtain the error message); the frame time
+   *     is in 1 us increments.
    */
   public long grabFrameNoTimeout(Mat image) {
     return CameraServerCvJNI.grabSinkFrame(m_handle, image.nativeObj);
diff --git a/cscore/src/main/java/edu/wpi/cscore/CvSource.java b/cscore/src/main/java/edu/wpi/cscore/CvSource.java
index 809aa7a6f0..09f551b7c6 100644
--- a/cscore/src/main/java/edu/wpi/cscore/CvSource.java
+++ b/cscore/src/main/java/edu/wpi/cscore/CvSource.java
@@ -7,10 +7,8 @@ package edu.wpi.cscore;
 import org.opencv.core.Mat;
 
 /**
- * A source that represents a video camera.
- * These sources require the WPILib OpenCV builds.
- * For an alternate OpenCV, see the documentation how to build your own
- * with RawSource.
+ * A source that represents a video camera. These sources require the WPILib OpenCV builds. For an
+ * alternate OpenCV, see the documentation how to build your own with RawSource.
  */
 public class CvSource extends ImageSource {
   /**
@@ -20,11 +18,9 @@ public class CvSource extends ImageSource {
    * @param mode Video mode being generated
    */
   public CvSource(String name, VideoMode mode) {
-    super(CameraServerCvJNI.createCvSource(name,
-        mode.pixelFormat.getValue(),
-        mode.width,
-        mode.height,
-        mode.fps));
+    super(
+        CameraServerCvJNI.createCvSource(
+            name, mode.pixelFormat.getValue(), mode.width, mode.height, mode.fps));
   }
 
   /**
@@ -43,14 +39,13 @@ public class CvSource extends ImageSource {
   /**
    * Put an OpenCV image and notify sinks.
    *
-   * <p>Only 8-bit single-channel or 3-channel (with BGR channel order) images
-   * are supported. If the format, depth or channel order is different, use
-   * Mat.convertTo() and/or cvtColor() to convert it first.
+   * <p>Only 8-bit single-channel or 3-channel (with BGR channel order) images are supported. If the
+   * format, depth or channel order is different, use Mat.convertTo() and/or cvtColor() to convert
+   * it first.
    *
    * @param image OpenCV image
    */
   public void putFrame(Mat image) {
     CameraServerCvJNI.putSourceFrame(m_handle, image.nativeObj);
   }
-
 }
diff --git a/cscore/src/main/java/edu/wpi/cscore/HttpCamera.java b/cscore/src/main/java/edu/wpi/cscore/HttpCamera.java
index a4ffc27a29..1caeb338ac 100644
--- a/cscore/src/main/java/edu/wpi/cscore/HttpCamera.java
+++ b/cscore/src/main/java/edu/wpi/cscore/HttpCamera.java
@@ -4,12 +4,13 @@
 
 package edu.wpi.cscore;
 
-/**
- * A source that represents a MJPEG-over-HTTP (IP) camera.
- */
+/** A source that represents a MJPEG-over-HTTP (IP) camera. */
 public class HttpCamera extends VideoCamera {
   public enum HttpCameraKind {
-    kUnknown(0), kMJPGStreamer(1), kCSCore(2), kAxis(3);
+    kUnknown(0),
+    kMJPGStreamer(1),
+    kCSCore(2),
+    kAxis(3);
 
     private final int value;
 
@@ -30,10 +31,14 @@ public class HttpCamera extends VideoCamera {
    */
   public static HttpCameraKind getHttpCameraKindFromInt(int kind) {
     switch (kind) {
-      case 1: return HttpCameraKind.kMJPGStreamer;
-      case 2: return HttpCameraKind.kCSCore;
-      case 3: return HttpCameraKind.kAxis;
-      default: return HttpCameraKind.kUnknown;
+      case 1:
+        return HttpCameraKind.kMJPGStreamer;
+      case 2:
+        return HttpCameraKind.kCSCore;
+      case 3:
+        return HttpCameraKind.kAxis;
+      default:
+        return HttpCameraKind.kUnknown;
     }
   }
 
@@ -82,23 +87,18 @@ public class HttpCamera extends VideoCamera {
   /**
    * Get the kind of HTTP camera.
    *
-   * <p>Autodetection can result in returning a different value than the camera
-   * was created with.
+   * <p>Autodetection can result in returning a different value than the camera was created with.
    */
   public HttpCameraKind getHttpCameraKind() {
     return getHttpCameraKindFromInt(CameraServerJNI.getHttpCameraKind(m_handle));
   }
 
-  /**
-   * Change the URLs used to connect to the camera.
-   */
+  /** Change the URLs used to connect to the camera. */
   public void setUrls(String[] urls) {
     CameraServerJNI.setHttpCameraUrls(m_handle, urls);
   }
 
-  /**
-   * Get the URLs used to connect to the camera.
-   */
+  /** Get the URLs used to connect to the camera. */
   public String[] getUrls() {
     return CameraServerJNI.getHttpCameraUrls(m_handle);
   }
diff --git a/cscore/src/main/java/edu/wpi/cscore/ImageSink.java b/cscore/src/main/java/edu/wpi/cscore/ImageSink.java
index d994bb0344..8907ee1106 100644
--- a/cscore/src/main/java/edu/wpi/cscore/ImageSink.java
+++ b/cscore/src/main/java/edu/wpi/cscore/ImageSink.java
@@ -18,19 +18,15 @@ public abstract class ImageSink extends VideoSink {
     CameraServerJNI.setSinkDescription(m_handle, description);
   }
 
-  /**
-   * Get error string.  Call this if WaitForFrame() returns 0 to determine
-   * what the error is.
-   */
+  /** Get error string. Call this if WaitForFrame() returns 0 to determine what the error is. */
   public String getError() {
     return CameraServerJNI.getSinkError(m_handle);
   }
 
   /**
-   * Enable or disable getting new frames.
-   * Disabling will cause processFrame (for callback-based CvSinks) to not
-   * be called and WaitForFrame() to not return.  This can be used to save
-   * processor resources when frames are not needed.
+   * Enable or disable getting new frames. Disabling will cause processFrame (for callback-based
+   * CvSinks) to not be called and WaitForFrame() to not return. This can be used to save processor
+   * resources when frames are not needed.
    */
   public void setEnabled(boolean enabled) {
     CameraServerJNI.setSinkEnabled(m_handle, enabled);
diff --git a/cscore/src/main/java/edu/wpi/cscore/ImageSource.java b/cscore/src/main/java/edu/wpi/cscore/ImageSource.java
index 185301f4cd..93f994c250 100644
--- a/cscore/src/main/java/edu/wpi/cscore/ImageSource.java
+++ b/cscore/src/main/java/edu/wpi/cscore/ImageSource.java
@@ -10,15 +10,15 @@ public abstract class ImageSource extends VideoSource {
   }
 
   /**
-   * Signal sinks that an error has occurred.  This should be called instead
-   * of NotifyFrame when an error occurs.
+   * Signal sinks that an error has occurred. This should be called instead of NotifyFrame when an
+   * error occurs.
    */
   public void notifyError(String msg) {
     CameraServerJNI.notifySourceError(m_handle, msg);
   }
 
   /**
-   * Set source connection status.  Defaults to true.
+   * Set source connection status. Defaults to true.
    *
    * @param connected True for connected, false for disconnected
    */
@@ -47,22 +47,17 @@ public abstract class ImageSource extends VideoSource {
    * @param value Current value
    * @return Property
    */
-  public VideoProperty createProperty(String name,
-                                      VideoProperty.Kind kind,
-                                      int minimum,
-                                      int maximum,
-                                      int step,
-                                      int defaultValue,
-                                      int value) {
+  public VideoProperty createProperty(
+      String name,
+      VideoProperty.Kind kind,
+      int minimum,
+      int maximum,
+      int step,
+      int defaultValue,
+      int value) {
     return new VideoProperty(
-        CameraServerJNI.createSourceProperty(m_handle,
-            name,
-            kind.getValue(),
-            minimum,
-            maximum,
-            step,
-            defaultValue,
-            value));
+        CameraServerJNI.createSourceProperty(
+            m_handle, name, kind.getValue(), minimum, maximum, step, defaultValue, value));
   }
 
   /**
@@ -76,14 +71,11 @@ public abstract class ImageSource extends VideoSource {
    * @param value Current value
    * @return Property
    */
-  public VideoProperty createIntegerProperty(String name,
-                                             int minimum,
-                                             int maximum,
-                                             int step,
-                                             int defaultValue,
-                                             int value) {
+  public VideoProperty createIntegerProperty(
+      String name, int minimum, int maximum, int step, int defaultValue, int value) {
     return new VideoProperty(
-        CameraServerJNI.createSourceProperty(m_handle,
+        CameraServerJNI.createSourceProperty(
+            m_handle,
             name,
             VideoProperty.Kind.kInteger.getValue(),
             minimum,
@@ -103,7 +95,8 @@ public abstract class ImageSource extends VideoSource {
    */
   public VideoProperty createBooleanProperty(String name, boolean defaultValue, boolean value) {
     return new VideoProperty(
-        CameraServerJNI.createSourceProperty(m_handle,
+        CameraServerJNI.createSourceProperty(
+            m_handle,
             name,
             VideoProperty.Kind.kBoolean.getValue(),
             0,
@@ -121,15 +114,10 @@ public abstract class ImageSource extends VideoSource {
    * @return Property
    */
   public VideoProperty createStringProperty(String name, String value) {
-    VideoProperty prop = new VideoProperty(
-        CameraServerJNI.createSourceProperty(m_handle,
-            name,
-            VideoProperty.Kind.kString.getValue(),
-            0,
-            0,
-            0,
-            0,
-            0));
+    VideoProperty prop =
+        new VideoProperty(
+            CameraServerJNI.createSourceProperty(
+                m_handle, name, VideoProperty.Kind.kString.getValue(), 0, 0, 0, 0, 0));
     prop.setString(value);
     return prop;
   }
diff --git a/cscore/src/main/java/edu/wpi/cscore/MjpegServer.java b/cscore/src/main/java/edu/wpi/cscore/MjpegServer.java
index c974a371ea..29619d27d3 100644
--- a/cscore/src/main/java/edu/wpi/cscore/MjpegServer.java
+++ b/cscore/src/main/java/edu/wpi/cscore/MjpegServer.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.cscore;
 
-/**
- * A sink that acts as a MJPEG-over-HTTP network server.
- */
+/** A sink that acts as a MJPEG-over-HTTP network server. */
 public class MjpegServer extends VideoSink {
   /**
    * Create a MJPEG-over-HTTP server sink.
@@ -29,16 +27,12 @@ public class MjpegServer extends VideoSink {
     this(name, "", port);
   }
 
-  /**
-   * Get the listen address of the server.
-   */
+  /** Get the listen address of the server. */
   public String getListenAddress() {
     return CameraServerJNI.getMjpegServerListenAddress(m_handle);
   }
 
-  /**
-   * Get the port number of the server.
-   */
+  /** Get the port number of the server. */
   public int getPort() {
     return CameraServerJNI.getMjpegServerPort(m_handle);
   }
@@ -46,13 +40,11 @@ public class MjpegServer extends VideoSink {
   /**
    * Set the stream resolution for clients that don't specify it.
    *
-   * <p>It is not necessary to set this if it is the same as the source
-   * resolution.
+   * <p>It is not necessary to set this if it is the same as the source resolution.
    *
-   * <p>Setting this different than the source resolution will result in
-   * increased CPU usage, particularly for MJPEG source cameras, as it will
-   * decompress, resize, and recompress the image, instead of using the
-   * camera's MJPEG image directly.
+   * <p>Setting this different than the source resolution will result in increased CPU usage,
+   * particularly for MJPEG source cameras, as it will decompress, resize, and recompress the image,
+   * instead of using the camera's MJPEG image directly.
    *
    * @param width width, 0 for unspecified
    * @param height height, 0 for unspecified
@@ -76,26 +68,24 @@ public class MjpegServer extends VideoSink {
   /**
    * Set the compression for clients that don't specify it.
    *
-   * <p>Setting this will result in increased CPU usage for MJPEG source cameras
-   * as it will decompress and recompress the image instead of using the
-   * camera's MJPEG image directly.
+   * <p>Setting this will result in increased CPU usage for MJPEG source cameras as it will
+   * decompress and recompress the image instead of using the camera's MJPEG image directly.
    *
    * @param quality JPEG compression quality (0-100), -1 for unspecified
    */
   public void setCompression(int quality) {
-    CameraServerJNI.setProperty(CameraServerJNI.getSinkProperty(m_handle, "compression"),
-                                quality);
+    CameraServerJNI.setProperty(CameraServerJNI.getSinkProperty(m_handle, "compression"), quality);
   }
 
   /**
-   * Set the default compression used for non-MJPEG sources.  If not set,
-   * 80 is used.  This function has no effect on MJPEG source cameras; use
-   * SetCompression() instead to force recompression of MJPEG source images.
+   * Set the default compression used for non-MJPEG sources. If not set, 80 is used. This function
+   * has no effect on MJPEG source cameras; use SetCompression() instead to force recompression of
+   * MJPEG source images.
    *
    * @param quality JPEG compression quality (0-100)
    */
   public void setDefaultCompression(int quality) {
-    CameraServerJNI.setProperty(CameraServerJNI.getSinkProperty(m_handle, "default_compression"),
-                                quality);
+    CameraServerJNI.setProperty(
+        CameraServerJNI.getSinkProperty(m_handle, "default_compression"), quality);
   }
 }
diff --git a/cscore/src/main/java/edu/wpi/cscore/UsbCamera.java b/cscore/src/main/java/edu/wpi/cscore/UsbCamera.java
index 8866f21466..144a4aadb5 100644
--- a/cscore/src/main/java/edu/wpi/cscore/UsbCamera.java
+++ b/cscore/src/main/java/edu/wpi/cscore/UsbCamera.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.cscore;
 
-/**
- * A source that represents a USB camera.
- */
+/** A source that represents a USB camera. */
 public class UsbCamera extends VideoCamera {
   /**
    * Create a source for a USB camera based on device number.
@@ -37,23 +35,17 @@ public class UsbCamera extends VideoCamera {
     return CameraServerJNI.enumerateUsbCameras();
   }
 
-  /**
-   * Change the path to the device.
-   */
+  /** Change the path to the device. */
   void setPath(String path) {
     CameraServerJNI.setUsbCameraPath(m_handle, path);
   }
 
-  /**
-   * Get the path to the device.
-   */
+  /** Get the path to the device. */
   public String getPath() {
     return CameraServerJNI.getUsbCameraPath(m_handle);
   }
 
-  /**
-   * Get the full camera information for the device.
-   */
+  /** Get the full camera information for the device. */
   public UsbCameraInfo getInfo() {
     return CameraServerJNI.getUsbCameraInfo(m_handle);
   }
@@ -64,7 +56,7 @@ public class UsbCamera extends VideoCamera {
    * @param level 0=don't display Connecting message, 1=do display message
    */
   public void setConnectVerbose(int level) {
-    CameraServerJNI.setProperty(CameraServerJNI.getSourceProperty(m_handle, "connect_verbose"),
-                                level);
+    CameraServerJNI.setProperty(
+        CameraServerJNI.getSourceProperty(m_handle, "connect_verbose"), level);
   }
 }
diff --git a/cscore/src/main/java/edu/wpi/cscore/UsbCameraInfo.java b/cscore/src/main/java/edu/wpi/cscore/UsbCameraInfo.java
index 92c72d6ae3..4899c77828 100644
--- a/cscore/src/main/java/edu/wpi/cscore/UsbCameraInfo.java
+++ b/cscore/src/main/java/edu/wpi/cscore/UsbCameraInfo.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.cscore;
 
-/**
- * USB camera information.
- */
+/** USB camera information. */
 public class UsbCameraInfo {
   /**
    * Create a new set of UsbCameraInfo.
@@ -19,8 +17,8 @@ public class UsbCameraInfo {
    * @param productId USB product id
    */
   @SuppressWarnings("PMD.ArrayIsStoredDirectly")
-  public UsbCameraInfo(int dev, String path, String name, String[] otherPaths, int vendorId,
-      int productId) {
+  public UsbCameraInfo(
+      int dev, String path, String name, String[] otherPaths, int vendorId, int productId) {
     this.dev = dev;
     this.path = path;
     this.name = name;
@@ -29,39 +27,27 @@ public class UsbCameraInfo {
     this.productId = productId;
   }
 
-  /**
-   * Device number (e.g. N in '/dev/videoN' on Linux).
-   */
+  /** Device number (e.g. N in '/dev/videoN' on Linux). */
   @SuppressWarnings("MemberName")
   public int dev;
 
-  /**
-   * Path to device if available (e.g. '/dev/video0' on Linux).
-   */
+  /** Path to device if available (e.g. '/dev/video0' on Linux). */
   @SuppressWarnings("MemberName")
   public String path;
 
-  /**
-   * Vendor/model name of the camera as provided by the USB driver.
-   */
+  /** Vendor/model name of the camera as provided by the USB driver. */
   @SuppressWarnings("MemberName")
   public String name;
 
-  /**
-   * Other path aliases to device (e.g. '/dev/v4l/by-id/...' etc on Linux).
-   */
+  /** Other path aliases to device (e.g. '/dev/v4l/by-id/...' etc on Linux). */
   @SuppressWarnings("MemberName")
   public String[] otherPaths;
 
-  /**
-   * USB vendor id.
-   */
+  /** USB vendor id. */
   @SuppressWarnings("MemberName")
   public int vendorId;
 
-  /**
-   * USB product id.
-   */
+  /** USB product id. */
   @SuppressWarnings("MemberName")
   public int productId;
 }
diff --git a/cscore/src/main/java/edu/wpi/cscore/VideoCamera.java b/cscore/src/main/java/edu/wpi/cscore/VideoCamera.java
index d5c62efb46..2a93112a9c 100644
--- a/cscore/src/main/java/edu/wpi/cscore/VideoCamera.java
+++ b/cscore/src/main/java/edu/wpi/cscore/VideoCamera.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.cscore;
 
-/**
- * A source that represents a video camera.
- */
+/** A source that represents a video camera. */
 public class VideoCamera extends VideoSource {
   public static class WhiteBalance {
     public static final int kFixedIndoor = 3000;
@@ -20,58 +18,42 @@ public class VideoCamera extends VideoSource {
     super(handle);
   }
 
-  /**
-   * Set the brightness, as a percentage (0-100).
-   */
+  /** Set the brightness, as a percentage (0-100). */
   public synchronized void setBrightness(int brightness) {
     CameraServerJNI.setCameraBrightness(m_handle, brightness);
   }
 
-  /**
-   * Get the brightness, as a percentage (0-100).
-   */
+  /** Get the brightness, as a percentage (0-100). */
   public synchronized int getBrightness() {
     return CameraServerJNI.getCameraBrightness(m_handle);
   }
 
-  /**
-   * Set the white balance to auto.
-   */
+  /** Set the white balance to auto. */
   public synchronized void setWhiteBalanceAuto() {
     CameraServerJNI.setCameraWhiteBalanceAuto(m_handle);
   }
 
-  /**
-   * Set the white balance to hold current.
-   */
+  /** Set the white balance to hold current. */
   public synchronized void setWhiteBalanceHoldCurrent() {
     CameraServerJNI.setCameraWhiteBalanceHoldCurrent(m_handle);
   }
 
-  /**
-   * Set the white balance to manual, with specified color temperature.
-   */
+  /** Set the white balance to manual, with specified color temperature. */
   public synchronized void setWhiteBalanceManual(int value) {
     CameraServerJNI.setCameraWhiteBalanceManual(m_handle, value);
   }
 
-  /**
-   * Set the exposure to auto aperture.
-   */
+  /** Set the exposure to auto aperture. */
   public synchronized void setExposureAuto() {
     CameraServerJNI.setCameraExposureAuto(m_handle);
   }
 
-  /**
-   * Set the exposure to hold current.
-   */
+  /** Set the exposure to hold current. */
   public synchronized void setExposureHoldCurrent() {
     CameraServerJNI.setCameraExposureHoldCurrent(m_handle);
   }
 
-  /**
-   * Set the exposure to manual, as a percentage (0-100).
-   */
+  /** Set the exposure to manual, as a percentage (0-100). */
   public synchronized void setExposureManual(int value) {
     CameraServerJNI.setCameraExposureManual(m_handle, value);
   }
diff --git a/cscore/src/main/java/edu/wpi/cscore/VideoEvent.java b/cscore/src/main/java/edu/wpi/cscore/VideoEvent.java
index 9e634183df..26396a21b3 100644
--- a/cscore/src/main/java/edu/wpi/cscore/VideoEvent.java
+++ b/cscore/src/main/java/edu/wpi/cscore/VideoEvent.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.cscore;
 
-/**
- * Video event.
- */
+/** Video event. */
 public class VideoEvent {
   public enum Kind {
     kUnknown(0x0000),
@@ -50,32 +48,61 @@ public class VideoEvent {
   @SuppressWarnings("PMD.CyclomaticComplexity")
   public static Kind getKindFromInt(int kind) {
     switch (kind) {
-      case 0x0001: return Kind.kSourceCreated;
-      case 0x0002: return Kind.kSourceDestroyed;
-      case 0x0004: return Kind.kSourceConnected;
-      case 0x0008: return Kind.kSourceDisconnected;
-      case 0x0010: return Kind.kSourceVideoModesUpdated;
-      case 0x0020: return Kind.kSourceVideoModeChanged;
-      case 0x0040: return Kind.kSourcePropertyCreated;
-      case 0x0080: return Kind.kSourcePropertyValueUpdated;
-      case 0x0100: return Kind.kSourcePropertyChoicesUpdated;
-      case 0x0200: return Kind.kSinkSourceChanged;
-      case 0x0400: return Kind.kSinkCreated;
-      case 0x0800: return Kind.kSinkDestroyed;
-      case 0x1000: return Kind.kSinkEnabled;
-      case 0x2000: return Kind.kSinkDisabled;
-      case 0x4000: return Kind.kNetworkInterfacesChanged;
-      case 0x10000: return Kind.kSinkPropertyCreated;
-      case 0x20000: return Kind.kSinkPropertyValueUpdated;
-      case 0x40000: return Kind.kSinkPropertyChoicesUpdated;
-      default: return Kind.kUnknown;
+      case 0x0001:
+        return Kind.kSourceCreated;
+      case 0x0002:
+        return Kind.kSourceDestroyed;
+      case 0x0004:
+        return Kind.kSourceConnected;
+      case 0x0008:
+        return Kind.kSourceDisconnected;
+      case 0x0010:
+        return Kind.kSourceVideoModesUpdated;
+      case 0x0020:
+        return Kind.kSourceVideoModeChanged;
+      case 0x0040:
+        return Kind.kSourcePropertyCreated;
+      case 0x0080:
+        return Kind.kSourcePropertyValueUpdated;
+      case 0x0100:
+        return Kind.kSourcePropertyChoicesUpdated;
+      case 0x0200:
+        return Kind.kSinkSourceChanged;
+      case 0x0400:
+        return Kind.kSinkCreated;
+      case 0x0800:
+        return Kind.kSinkDestroyed;
+      case 0x1000:
+        return Kind.kSinkEnabled;
+      case 0x2000:
+        return Kind.kSinkDisabled;
+      case 0x4000:
+        return Kind.kNetworkInterfacesChanged;
+      case 0x10000:
+        return Kind.kSinkPropertyCreated;
+      case 0x20000:
+        return Kind.kSinkPropertyValueUpdated;
+      case 0x40000:
+        return Kind.kSinkPropertyChoicesUpdated;
+      default:
+        return Kind.kUnknown;
     }
   }
 
   @SuppressWarnings("PMD.ExcessiveParameterList")
-  VideoEvent(int kind, int source, int sink, String name, int pixelFormat,
-             int width, int height, int fps, int property, int propertyKind,
-             int value, String valueStr) {
+  VideoEvent(
+      int kind,
+      int source,
+      int sink,
+      String name,
+      int pixelFormat,
+      int width,
+      int height,
+      int fps,
+      int property,
+      int propertyKind,
+      int value,
+      String valueStr) {
     this.kind = getKindFromInt(kind);
     this.sourceHandle = source;
     this.sinkHandle = sink;
@@ -93,6 +120,7 @@ public class VideoEvent {
   // Valid for kSource* and kSink* respectively
   @SuppressWarnings("MemberName")
   public int sourceHandle;
+
   @SuppressWarnings("MemberName")
   public int sinkHandle;
 
@@ -107,10 +135,13 @@ public class VideoEvent {
   // Fields for kSourceProperty* events
   @SuppressWarnings("MemberName")
   public int propertyHandle;
+
   @SuppressWarnings("MemberName")
   public VideoProperty.Kind propertyKind;
+
   @SuppressWarnings("MemberName")
   public int value;
+
   @SuppressWarnings("MemberName")
   public String valueStr;
 
@@ -125,5 +156,4 @@ public class VideoEvent {
   public VideoProperty getProperty() {
     return new VideoProperty(propertyHandle, propertyKind);
   }
-
 }
diff --git a/cscore/src/main/java/edu/wpi/cscore/VideoException.java b/cscore/src/main/java/edu/wpi/cscore/VideoException.java
index cbd9de1840..1142c0f8d7 100644
--- a/cscore/src/main/java/edu/wpi/cscore/VideoException.java
+++ b/cscore/src/main/java/edu/wpi/cscore/VideoException.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.cscore;
 
-/**
- * An exception raised by the camera server.
- */
+/** An exception raised by the camera server. */
 public class VideoException extends RuntimeException {
   private static final long serialVersionUID = -9155939328084105145L;
 
diff --git a/cscore/src/main/java/edu/wpi/cscore/VideoListener.java b/cscore/src/main/java/edu/wpi/cscore/VideoListener.java
index 4305821112..94c9f2fb21 100644
--- a/cscore/src/main/java/edu/wpi/cscore/VideoListener.java
+++ b/cscore/src/main/java/edu/wpi/cscore/VideoListener.java
@@ -7,8 +7,8 @@ package edu.wpi.cscore;
 import java.util.function.Consumer;
 
 /**
- * An event listener.  This calls back to a desigated callback function when
- * an event matching the specified mask is generated by the library.
+ * An event listener. This calls back to a desigated callback function when an event matching the
+ * specified mask is generated by the library.
  */
 public class VideoListener implements AutoCloseable {
   /**
@@ -16,11 +16,10 @@ public class VideoListener implements AutoCloseable {
    *
    * @param listener Listener function
    * @param eventMask Bitmask of VideoEvent.Type values
-   * @param immediateNotify Whether callback should be immediately called with
-   *        a representative set of events for the current library state.
+   * @param immediateNotify Whether callback should be immediately called with a representative set
+   *     of events for the current library state.
    */
-  public VideoListener(Consumer<VideoEvent> listener, int eventMask,
-                       boolean immediateNotify) {
+  public VideoListener(Consumer<VideoEvent> listener, int eventMask, boolean immediateNotify) {
     m_handle = CameraServerJNI.addListener(listener, eventMask, immediateNotify);
   }
 
diff --git a/cscore/src/main/java/edu/wpi/cscore/VideoMode.java b/cscore/src/main/java/edu/wpi/cscore/VideoMode.java
index 35fa14828f..b7191eeb40 100644
--- a/cscore/src/main/java/edu/wpi/cscore/VideoMode.java
+++ b/cscore/src/main/java/edu/wpi/cscore/VideoMode.java
@@ -4,12 +4,15 @@
 
 package edu.wpi.cscore;
 
-/**
- * Video mode.
- */
+/** Video mode. */
 public class VideoMode {
   public enum PixelFormat {
-    kUnknown(0), kMJPEG(1), kYUYV(2), kRGB565(3), kBGR(4), kGray(5);
+    kUnknown(0),
+    kMJPEG(1),
+    kYUYV(2),
+    kRGB565(3),
+    kBGR(4),
+    kGray(5);
 
     private final int value;
 
@@ -28,9 +31,7 @@ public class VideoMode {
     return m_pixelFormatValues[pixelFormat];
   }
 
-  /**
-   * Create a new video mode.
-   */
+  /** Create a new video mode. */
   public VideoMode(int pixelFormat, int width, int height, int fps) {
     this.pixelFormat = getPixelFormatFromInt(pixelFormat);
     this.width = width;
@@ -38,9 +39,7 @@ public class VideoMode {
     this.fps = fps;
   }
 
-  /**
-   * Create a new video mode.
-   */
+  /** Create a new video mode. */
   public VideoMode(PixelFormat pixelFormat, int width, int height, int fps) {
     this.pixelFormat = pixelFormat;
     this.width = width;
@@ -48,27 +47,19 @@ public class VideoMode {
     this.fps = fps;
   }
 
-  /**
-   * Pixel format.
-   */
+  /** Pixel format. */
   @SuppressWarnings("MemberName")
   public PixelFormat pixelFormat;
 
-  /**
-   * Width in pixels.
-   */
+  /** Width in pixels. */
   @SuppressWarnings("MemberName")
   public int width;
 
-  /**
-   * Height in pixels.
-   */
+  /** Height in pixels. */
   @SuppressWarnings("MemberName")
   public int height;
 
-  /**
-   * Frames per second.
-   */
+  /** Frames per second. */
   @SuppressWarnings("MemberName")
   public int fps;
 }
diff --git a/cscore/src/main/java/edu/wpi/cscore/VideoProperty.java b/cscore/src/main/java/edu/wpi/cscore/VideoProperty.java
index 2fdf99d1d9..53a24ad7fa 100644
--- a/cscore/src/main/java/edu/wpi/cscore/VideoProperty.java
+++ b/cscore/src/main/java/edu/wpi/cscore/VideoProperty.java
@@ -4,12 +4,14 @@
 
 package edu.wpi.cscore;
 
-/**
- * A source or sink property.
- */
+/** A source or sink property. */
 public class VideoProperty {
   public enum Kind {
-    kNone(0), kBoolean(1), kInteger(2), kString(4), kEnum(8);
+    kNone(0),
+    kBoolean(1),
+    kInteger(2),
+    kString(4),
+    kEnum(8);
 
     private final int value;
 
@@ -30,11 +32,16 @@ public class VideoProperty {
    */
   public static Kind getKindFromInt(int kind) {
     switch (kind) {
-      case 1: return Kind.kBoolean;
-      case 2: return Kind.kInteger;
-      case 4: return Kind.kString;
-      case 8: return Kind.kEnum;
-      default: return Kind.kNone;
+      case 1:
+        return Kind.kBoolean;
+      case 2:
+        return Kind.kInteger;
+      case 4:
+        return Kind.kString;
+      case 8:
+        return Kind.kEnum;
+      default:
+        return Kind.kNone;
     }
   }
 
diff --git a/cscore/src/main/java/edu/wpi/cscore/VideoSink.java b/cscore/src/main/java/edu/wpi/cscore/VideoSink.java
index 149bfb7fbf..098f9cb4bf 100644
--- a/cscore/src/main/java/edu/wpi/cscore/VideoSink.java
+++ b/cscore/src/main/java/edu/wpi/cscore/VideoSink.java
@@ -5,13 +5,15 @@
 package edu.wpi.cscore;
 
 /**
- * A source for video that provides a sequence of frames.  Each frame may
- * consist of multiple images (e.g. from a stereo or depth camera); these
- * are called channels.
+ * A source for video that provides a sequence of frames. Each frame may consist of multiple images
+ * (e.g. from a stereo or depth camera); these are called channels.
  */
 public class VideoSink implements AutoCloseable {
   public enum Kind {
-    kUnknown(0), kMjpeg(2), kCv(4), kRaw(8);
+    kUnknown(0),
+    kMjpeg(2),
+    kCv(4),
+    kRaw(8);
 
     private final int value;
 
@@ -32,9 +34,12 @@ public class VideoSink implements AutoCloseable {
    */
   public static Kind getKindFromInt(int kind) {
     switch (kind) {
-      case 2: return Kind.kMjpeg;
-      case 4: return Kind.kCv;
-      default: return Kind.kUnknown;
+      case 2:
+        return Kind.kMjpeg;
+      case 4:
+        return Kind.kCv;
+      default:
+        return Kind.kUnknown;
     }
   }
 
@@ -78,24 +83,20 @@ public class VideoSink implements AutoCloseable {
     return m_handle;
   }
 
-  /**
-   * Get the kind of the sink.
-   */
+  /** Get the kind of the sink. */
   public Kind getKind() {
     return getKindFromInt(CameraServerJNI.getSinkKind(m_handle));
   }
 
   /**
-   * Get the name of the sink.  The name is an arbitrary identifier
-   * provided when the sink is created, and should be unique.
+   * Get the name of the sink. The name is an arbitrary identifier provided when the sink is
+   * created, and should be unique.
    */
   public String getName() {
     return CameraServerJNI.getSinkName(m_handle);
   }
 
-  /**
-   * Get the sink description.  This is sink-kind specific.
-   */
+  /** Get the sink description. This is sink-kind specific. */
   public String getDescription() {
     return CameraServerJNI.getSinkDescription(m_handle);
   }
@@ -104,16 +105,13 @@ public class VideoSink implements AutoCloseable {
    * Get a property of the sink.
    *
    * @param name Property name
-   * @return Property (kind Property::kNone if no property with
-   *         the given name exists)
+   * @return Property (kind Property::kNone if no property with the given name exists)
    */
   public VideoProperty getProperty(String name) {
     return new VideoProperty(CameraServerJNI.getSinkProperty(m_handle, name));
   }
 
-  /**
-   * Enumerate all properties of this sink.
-   */
+  /** Enumerate all properties of this sink. */
   @SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
   public VideoProperty[] enumerateProperties() {
     int[] handles = CameraServerJNI.enumerateSinkProperties(m_handle);
@@ -157,9 +155,8 @@ public class VideoSink implements AutoCloseable {
   }
 
   /**
-   * Configure which source should provide frames to this sink.  Each sink
-   * can accept frames from only a single source, but a single source can
-   * provide frames to multiple clients.
+   * Configure which source should provide frames to this sink. Each sink can accept frames from
+   * only a single source, but a single source can provide frames to multiple clients.
    *
    * @param source Source
    */
@@ -186,12 +183,11 @@ public class VideoSink implements AutoCloseable {
    * Get a property of the associated source.
    *
    * @param name Property name
-   * @return Property (kind Property::kNone if no property with
-   *         the given name exists or no source connected)
+   * @return Property (kind Property::kNone if no property with the given name exists or no source
+   *     connected)
    */
   public VideoProperty getSourceProperty(String name) {
-    return new VideoProperty(
-        CameraServerJNI.getSinkSourceProperty(m_handle, name));
+    return new VideoProperty(CameraServerJNI.getSinkSourceProperty(m_handle, name));
   }
 
   /**
diff --git a/cscore/src/main/java/edu/wpi/cscore/VideoSource.java b/cscore/src/main/java/edu/wpi/cscore/VideoSource.java
index 0df9cdf6e9..fc115c7924 100644
--- a/cscore/src/main/java/edu/wpi/cscore/VideoSource.java
+++ b/cscore/src/main/java/edu/wpi/cscore/VideoSource.java
@@ -5,13 +5,16 @@
 package edu.wpi.cscore;
 
 /**
- * A source for video that provides a sequence of frames.  Each frame may
- * consist of multiple images (e.g. from a stereo or depth camera); these
- * are called channels.
+ * A source for video that provides a sequence of frames. Each frame may consist of multiple images
+ * (e.g. from a stereo or depth camera); these are called channels.
  */
 public class VideoSource implements AutoCloseable {
   public enum Kind {
-    kUnknown(0), kUsb(1), kHttp(2), kCv(4), kRaw(8);
+    kUnknown(0),
+    kUsb(1),
+    kHttp(2),
+    kCv(4),
+    kRaw(8);
 
     private final int value;
 
@@ -24,25 +27,19 @@ public class VideoSource implements AutoCloseable {
     }
   }
 
-  /**
-   * Connection strategy.
-   */
+  /** Connection strategy. */
   public enum ConnectionStrategy {
     /**
-     * Automatically connect or disconnect based on whether any sinks are
-     * connected to this source.  This is the default behavior.
+     * Automatically connect or disconnect based on whether any sinks are connected to this source.
+     * This is the default behavior.
      */
     kAutoManage(0),
 
-    /**
-     * Try to keep the connection open regardless of whether any sinks are
-     * connected.
-     */
+    /** Try to keep the connection open regardless of whether any sinks are connected. */
     kKeepOpen(1),
 
     /**
-     * Never open the connection.  If this is set when the connection is open,
-     * close the connection.
+     * Never open the connection. If this is set when the connection is open, close the connection.
      */
     kForceClose(2);
 
@@ -65,10 +62,14 @@ public class VideoSource implements AutoCloseable {
    */
   public static Kind getKindFromInt(int kind) {
     switch (kind) {
-      case 1: return Kind.kUsb;
-      case 2: return Kind.kHttp;
-      case 4: return Kind.kCv;
-      default: return Kind.kUnknown;
+      case 1:
+        return Kind.kUsb;
+      case 2:
+        return Kind.kHttp;
+      case 4:
+        return Kind.kCv;
+      default:
+        return Kind.kUnknown;
     }
   }
 
@@ -112,30 +113,27 @@ public class VideoSource implements AutoCloseable {
     return m_handle;
   }
 
-  /**
-   * Get the kind of the source.
-   */
+  /** Get the kind of the source. */
   public Kind getKind() {
     return getKindFromInt(CameraServerJNI.getSourceKind(m_handle));
   }
 
   /**
-   * Get the name of the source.  The name is an arbitrary identifier
-   * provided when the source is created, and should be unique.
+   * Get the name of the source. The name is an arbitrary identifier provided when the source is
+   * created, and should be unique.
    */
   public String getName() {
     return CameraServerJNI.getSourceName(m_handle);
   }
 
-  /**
-   * Get the source description.  This is source-kind specific.
-   */
+  /** Get the source description. This is source-kind specific. */
   public String getDescription() {
     return CameraServerJNI.getSourceDescription(m_handle);
   }
 
   /**
    * Get the last time a frame was captured.
+   *
    * @return Time in 1 us increments.
    */
   public long getLastFrameTime() {
@@ -143,12 +141,11 @@ public class VideoSource implements AutoCloseable {
   }
 
   /**
-   * Sets the connection strategy.  By default, the source will automatically
-   * connect or disconnect based on whether any sinks are connected.
+   * Sets the connection strategy. By default, the source will automatically connect or disconnect
+   * based on whether any sinks are connected.
    *
-   * <p>This function is non-blocking; look for either a connection open or
-   * close event or call {@link #isConnected()} to determine the connection
-   * state.
+   * <p>This function is non-blocking; look for either a connection open or close event or call
+   * {@link #isConnected()} to determine the connection state.
    *
    * @param strategy connection strategy (auto, keep open, or force close)
    */
@@ -156,16 +153,14 @@ public class VideoSource implements AutoCloseable {
     CameraServerJNI.setSourceConnectionStrategy(m_handle, strategy.getValue());
   }
 
-  /**
-   * Returns if the source currently connected to whatever is providing the images.
-   */
+  /** Returns if the source currently connected to whatever is providing the images. */
   public boolean isConnected() {
     return CameraServerJNI.isSourceConnected(m_handle);
   }
 
   /**
-   * Gets source enable status.  This is determined with a combination of
-   * connection strategy and the number of sinks connected.
+   * Gets source enable status. This is determined with a combination of connection strategy and the
+   * number of sinks connected.
    *
    * @return True if enabled, false otherwise.
    */
@@ -177,16 +172,13 @@ public class VideoSource implements AutoCloseable {
    * Get a property.
    *
    * @param name Property name
-   * @return Property contents (of kind Property::kNone if no property with
-   *         the given name exists)
+   * @return Property contents (of kind Property::kNone if no property with the given name exists)
    */
   public VideoProperty getProperty(String name) {
     return new VideoProperty(CameraServerJNI.getSourceProperty(m_handle, name));
   }
 
-  /**
-   * Enumerate all properties of this source.
-   */
+  /** Enumerate all properties of this source. */
   @SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
   public VideoProperty[] enumerateProperties() {
     int[] handles = CameraServerJNI.enumerateSourceProperties(m_handle);
@@ -197,23 +189,19 @@ public class VideoSource implements AutoCloseable {
     return rv;
   }
 
-  /**
-   * Get the current video mode.
-   */
+  /** Get the current video mode. */
   public VideoMode getVideoMode() {
     return CameraServerJNI.getSourceVideoMode(m_handle);
   }
 
   /**
    * Set the video mode.
+   *
    * @param mode Video mode
    */
   public boolean setVideoMode(VideoMode mode) {
-    return CameraServerJNI.setSourceVideoMode(m_handle,
-        mode.pixelFormat.getValue(),
-        mode.width,
-        mode.height,
-        mode.fps);
+    return CameraServerJNI.setSourceVideoMode(
+        m_handle, mode.pixelFormat.getValue(), mode.width, mode.height, mode.fps);
   }
 
   /**
@@ -302,32 +290,30 @@ public class VideoSource implements AutoCloseable {
   /**
    * Get the actual FPS.
    *
-   * <p>CameraServerJNI#setTelemetryPeriod() must be called for this to be valid
-   * (throws VisionException if telemetry is not enabled).
+   * <p>CameraServerJNI#setTelemetryPeriod() must be called for this to be valid (throws
+   * VisionException if telemetry is not enabled).
    *
    * @return Actual FPS averaged over the telemetry period.
    */
   public double getActualFPS() {
-    return CameraServerJNI.getTelemetryAverageValue(m_handle,
-        CameraServerJNI.TelemetryKind.kSourceFramesReceived);
+    return CameraServerJNI.getTelemetryAverageValue(
+        m_handle, CameraServerJNI.TelemetryKind.kSourceFramesReceived);
   }
 
   /**
    * Get the data rate (in bytes per second).
    *
-   * <p>CameraServerJNI#setTelemetryPeriod() must be called for this to be valid
-   * (throws VisionException if telemetry is not enabled).
+   * <p>CameraServerJNI#setTelemetryPeriod() must be called for this to be valid (throws
+   * VisionException if telemetry is not enabled).
    *
    * @return Data rate averaged over the telemetry period.
    */
   public double getActualDataRate() {
-    return CameraServerJNI.getTelemetryAverageValue(m_handle,
-        CameraServerJNI.TelemetryKind.kSourceBytesReceived);
+    return CameraServerJNI.getTelemetryAverageValue(
+        m_handle, CameraServerJNI.TelemetryKind.kSourceBytesReceived);
   }
 
-  /**
-   * Enumerate all known video modes for this source.
-   */
+  /** Enumerate all known video modes for this source. */
   public VideoMode[] enumerateVideoModes() {
     return CameraServerJNI.enumerateSourceVideoModes(m_handle);
   }
diff --git a/cscore/src/main/java/edu/wpi/cscore/raw/RawFrame.java b/cscore/src/main/java/edu/wpi/cscore/raw/RawFrame.java
index 86227df821..18da73dc3a 100644
--- a/cscore/src/main/java/edu/wpi/cscore/raw/RawFrame.java
+++ b/cscore/src/main/java/edu/wpi/cscore/raw/RawFrame.java
@@ -4,9 +4,8 @@
 
 package edu.wpi.cscore.raw;
 
-import java.nio.ByteBuffer;
-
 import edu.wpi.cscore.CameraServerJNI;
+import java.nio.ByteBuffer;
 
 /**
  * Class for storing raw frame data between image read call.
@@ -22,27 +21,28 @@ public class RawFrame implements AutoCloseable {
   private int m_height;
   private int m_pixelFormat;
 
-  /**
-   * Construct a new RawFrame.
-   */
+  /** Construct a new RawFrame. */
   public RawFrame() {
     m_framePtr = CameraServerJNI.allocateRawFrame();
   }
 
   /**
-   * Close the RawFrame, releasing native resources.
-   * Any images currently using the data will be invalidated.
+   * Close the RawFrame, releasing native resources. Any images currently using the data will be
+   * invalidated.
    */
   @Override
   public void close() {
     CameraServerJNI.freeRawFrame(m_framePtr);
   }
 
-  /**
-   * Called from JNI to set data in class.
-   */
-  public void setData(ByteBuffer dataByteBuffer, long dataPtr, int totalData,
-                      int width, int height, int pixelFormat) {
+  /** Called from JNI to set data in class. */
+  public void setData(
+      ByteBuffer dataByteBuffer,
+      long dataPtr,
+      int totalData,
+      int width,
+      int height,
+      int pixelFormat) {
     m_dataByteBuffer = dataByteBuffer;
     m_dataPtr = dataPtr;
     m_totalData = totalData;
@@ -51,76 +51,60 @@ public class RawFrame implements AutoCloseable {
     m_pixelFormat = pixelFormat;
   }
 
-  /**
-   * Get the pointer to native representation of this frame.
-   */
+  /** Get the pointer to native representation of this frame. */
   public long getFramePtr() {
     return m_framePtr;
   }
 
   /**
-   * Get a ByteBuffer pointing to the frame data.
-   * This ByteBuffer is backed by the frame directly. Its lifetime is controlled by
-   * the frame. If a new frame gets read, it will overwrite the current one.
+   * Get a ByteBuffer pointing to the frame data. This ByteBuffer is backed by the frame directly.
+   * Its lifetime is controlled by the frame. If a new frame gets read, it will overwrite the
+   * current one.
    */
   public ByteBuffer getDataByteBuffer() {
     return m_dataByteBuffer;
   }
 
   /**
-   * Get a long (is a char* in native code) pointing to the frame data.
-   * This pointer is backed by the frame directly. Its lifetime is controlled by
-   * the frame. If a new frame gets read, it will overwrite the current one.
+   * Get a long (is a char* in native code) pointing to the frame data. This pointer is backed by
+   * the frame directly. Its lifetime is controlled by the frame. If a new frame gets read, it will
+   * overwrite the current one.
    */
   public long getDataPtr() {
     return m_dataPtr;
   }
 
-  /**
-   * Get the total length of the data stored in the frame.
-   */
+  /** Get the total length of the data stored in the frame. */
   public int getTotalData() {
     return m_totalData;
   }
 
-  /**
-   * Get the width of the frame.
-   */
+  /** Get the width of the frame. */
   public int getWidth() {
     return m_width;
   }
 
-  /**
-   * Set the width of the frame.
-   */
+  /** Set the width of the frame. */
   public void setWidth(int width) {
     this.m_width = width;
   }
 
-  /**
-   * Get the height of the frame.
-   */
+  /** Get the height of the frame. */
   public int getHeight() {
     return m_height;
   }
 
-  /**
-   * Set the height of the frame.
-   */
+  /** Set the height of the frame. */
   public void setHeight(int height) {
     this.m_height = height;
   }
 
-  /**
-   * Get the PixelFormat of the frame.
-   */
+  /** Get the PixelFormat of the frame. */
   public int getPixelFormat() {
     return m_pixelFormat;
   }
 
-  /**
-   * Set the PixelFormat of the frame.
-   */
+  /** Set the PixelFormat of the frame. */
   public void setPixelFormat(int pixelFormat) {
     this.m_pixelFormat = pixelFormat;
   }
diff --git a/cscore/src/main/java/edu/wpi/cscore/raw/RawSink.java b/cscore/src/main/java/edu/wpi/cscore/raw/RawSink.java
index 25df88c014..e9854136b7 100644
--- a/cscore/src/main/java/edu/wpi/cscore/raw/RawSink.java
+++ b/cscore/src/main/java/edu/wpi/cscore/raw/RawSink.java
@@ -16,8 +16,7 @@ public class RawSink extends ImageSink {
   /**
    * Create a sink for accepting raw images.
    *
-   * <p>grabFrame() must be called on the created sink to get each new
-   * image.
+   * <p>grabFrame() must be called on the created sink to get each new image.
    *
    * @param name Source name (arbitrary unique identifier)
    */
@@ -26,38 +25,33 @@ public class RawSink extends ImageSink {
   }
 
   /**
-   * Wait for the next frame and get the image.
-   * Times out (returning 0) after 0.225 seconds.
-   * The provided image will have three 8-bit channels stored in BGR order.
+   * Wait for the next frame and get the image. Times out (returning 0) after 0.225 seconds. The
+   * provided image will have three 8-bit channels stored in BGR order.
    *
-   * @return Frame time, or 0 on error (call getError() to obtain the error
-   *         message); the frame time is in the same time base as wpi::Now(),
-   *         and is in 1 us increments.
+   * @return Frame time, or 0 on error (call getError() to obtain the error message); the frame time
+   *     is in the same time base as wpi::Now(), and is in 1 us increments.
    */
   protected long grabFrame(RawFrame frame) {
     return grabFrame(frame, 0.225);
   }
 
   /**
-   * Wait for the next frame and get the image.
-   * Times out (returning 0) after timeout seconds.
-   * The provided image will have three 8-bit channels stored in BGR order.
+   * Wait for the next frame and get the image. Times out (returning 0) after timeout seconds. The
+   * provided image will have three 8-bit channels stored in BGR order.
    *
-   * @return Frame time, or 0 on error (call getError() to obtain the error
-   *         message); the frame time is in the same time base as wpi::Now(),
-   *         and is in 1 us increments.
+   * @return Frame time, or 0 on error (call getError() to obtain the error message); the frame time
+   *     is in the same time base as wpi::Now(), and is in 1 us increments.
    */
   protected long grabFrame(RawFrame frame, double timeout) {
     return CameraServerJNI.grabSinkFrameTimeout(m_handle, frame, timeout);
   }
 
   /**
-   * Wait for the next frame and get the image.  May block forever.
-   * The provided image will have three 8-bit channels stored in BGR order.
+   * Wait for the next frame and get the image. May block forever. The provided image will have
+   * three 8-bit channels stored in BGR order.
    *
-   * @return Frame time, or 0 on error (call getError() to obtain the error
-   *         message); the frame time is in the same time base as wpi::Now(),
-   *         and is in 1 us increments.
+   * @return Frame time, or 0 on error (call getError() to obtain the error message); the frame time
+   *     is in the same time base as wpi::Now(), and is in 1 us increments.
    */
   protected long grabFrameNoTimeout(RawFrame frame) {
     return CameraServerJNI.grabSinkFrame(m_handle, frame);
diff --git a/cscore/src/main/java/edu/wpi/cscore/raw/RawSource.java b/cscore/src/main/java/edu/wpi/cscore/raw/RawSource.java
index 43e86e951d..89cb257670 100644
--- a/cscore/src/main/java/edu/wpi/cscore/raw/RawSource.java
+++ b/cscore/src/main/java/edu/wpi/cscore/raw/RawSource.java
@@ -21,10 +21,9 @@ public class RawSource extends ImageSource {
    * @param mode Video mode being generated
    */
   public RawSource(String name, VideoMode mode) {
-    super(CameraServerJNI.createRawSource(name,
-        mode.pixelFormat.getValue(),
-        mode.width, mode.height,
-        mode.fps));
+    super(
+        CameraServerJNI.createRawSource(
+            name, mode.pixelFormat.getValue(), mode.width, mode.height, mode.fps));
   }
 
   /**
@@ -37,10 +36,7 @@ public class RawSource extends ImageSource {
    * @param fps fps
    */
   public RawSource(String name, VideoMode.PixelFormat pixelFormat, int width, int height, int fps) {
-    super(CameraServerJNI.createRawSource(name,
-        pixelFormat.getValue(),
-        width, height,
-        fps));
+    super(CameraServerJNI.createRawSource(name, pixelFormat.getValue(), width, height, fps));
   }
 
   /**
@@ -74,9 +70,9 @@ public class RawSource extends ImageSource {
    * @param pixelFormat pixel format
    * @param totalData length of data in total
    */
-  protected void putFrame(long data, int width, int height, VideoMode.PixelFormat pixelFormat,
-                          int totalData) {
-    CameraServerJNI.putRawSourceFrame(m_handle, data, width, height, pixelFormat.getValue(),
-                                      totalData);
+  protected void putFrame(
+      long data, int width, int height, VideoMode.PixelFormat pixelFormat, int totalData) {
+    CameraServerJNI.putRawSourceFrame(
+        m_handle, data, width, height, pixelFormat.getValue(), totalData);
   }
 }
diff --git a/cscore/src/test/java/edu/wpi/cscore/UsbCameraTest.java b/cscore/src/test/java/edu/wpi/cscore/UsbCameraTest.java
index 7f9a0d388b..13a68d00db 100644
--- a/cscore/src/test/java/edu/wpi/cscore/UsbCameraTest.java
+++ b/cscore/src/test/java/edu/wpi/cscore/UsbCameraTest.java
@@ -4,21 +4,20 @@
 
 package edu.wpi.cscore;
 
+import static org.junit.jupiter.api.Assertions.assertThrows;
+import static org.junit.jupiter.api.Assertions.assertTimeoutPreemptively;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
 import java.time.Duration;
 import java.util.Arrays;
 import java.util.concurrent.CompletableFuture;
 import java.util.concurrent.TimeUnit;
 import java.util.concurrent.TimeoutException;
-
 import org.junit.jupiter.api.Nested;
 import org.junit.jupiter.api.Test;
 import org.junit.jupiter.api.condition.EnabledOnOs;
 import org.junit.jupiter.api.condition.OS;
 
-import static org.junit.jupiter.api.Assertions.assertThrows;
-import static org.junit.jupiter.api.Assertions.assertTimeoutPreemptively;
-import static org.junit.jupiter.api.Assertions.assertTrue;
-
 class UsbCameraTest {
   @Nested
   @EnabledOnOs(OS.LINUX)
@@ -31,7 +30,8 @@ class UsbCameraTest {
         CompletableFuture<String> result = new CompletableFuture<>();
         CameraServerJNI.setLogger((level, file, line, message) -> result.complete(message), 20);
 
-        assertTimeoutPreemptively(Duration.ofSeconds(5),
+        assertTimeoutPreemptively(
+            Duration.ofSeconds(5),
             () -> assertTrue(result.get().contains("Connecting to USB camera on ")));
       }
     }
@@ -44,15 +44,16 @@ class UsbCameraTest {
         CompletableFuture<String> result = new CompletableFuture<>();
         CameraServerJNI.setLogger((level, file, line, message) -> result.complete(message), 20);
 
-        assertThrows(TimeoutException.class,
-            () -> result.get(3, TimeUnit.SECONDS));
+        assertThrows(TimeoutException.class, () -> result.get(3, TimeUnit.SECONDS));
       }
     }
   }
 
   private static int getNonexistentCameraDev() {
     return Arrays.stream(CameraServerJNI.enumerateUsbCameras())
-        .mapToInt(info -> info.dev)
-        .max().orElse(-1) + 20;
+            .mapToInt(info -> info.dev)
+            .max()
+            .orElse(-1)
+        + 20;
   }
 }
diff --git a/hal/src/dev/java/edu/wpi/first/hal/DevMain.java b/hal/src/dev/java/edu/wpi/first/hal/DevMain.java
index 7da5a60e78..efe8e9bd76 100644
--- a/hal/src/dev/java/edu/wpi/first/hal/DevMain.java
+++ b/hal/src/dev/java/edu/wpi/first/hal/DevMain.java
@@ -5,10 +5,7 @@
 package edu.wpi.first.hal;
 
 public final class DevMain {
-  public static void main(String[] args) {
+  public static void main(String[] args) {}
 
-  }
-
-  private DevMain() {
-  }
+  private DevMain() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/AccumulatorResult.java b/hal/src/main/java/edu/wpi/first/hal/AccumulatorResult.java
index d8cdc084a2..64d017671c 100644
--- a/hal/src/main/java/edu/wpi/first/hal/AccumulatorResult.java
+++ b/hal/src/main/java/edu/wpi/first/hal/AccumulatorResult.java
@@ -4,24 +4,16 @@
 
 package edu.wpi.first.hal;
 
-/**
- * Structure for holding the values stored in an accumulator.
- */
+/** Structure for holding the values stored in an accumulator. */
 public class AccumulatorResult {
-  /**
-   * The total value accumulated.
-   */
+  /** The total value accumulated. */
   @SuppressWarnings("MemberName")
   public long value;
-  /**
-   * The number of sample value was accumulated over.
-   */
+  /** The number of sample value was accumulated over. */
   @SuppressWarnings("MemberName")
   public long count;
 
-  /**
-   * Set the value and count.
-   */
+  /** Set the value and count. */
   public void set(long value, long count) {
     this.value = value;
     this.count = count;
diff --git a/hal/src/main/java/edu/wpi/first/hal/AddressableLEDJNI.java b/hal/src/main/java/edu/wpi/first/hal/AddressableLEDJNI.java
index 819fe00af3..c732ec6ca7 100644
--- a/hal/src/main/java/edu/wpi/first/hal/AddressableLEDJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/AddressableLEDJNI.java
@@ -7,14 +7,19 @@ package edu.wpi.first.hal;
 @SuppressWarnings("AbbreviationAsWordInName")
 public class AddressableLEDJNI extends JNIWrapper {
   public static native int initialize(int pwmHandle);
+
   public static native void free(int handle);
 
   public static native void setLength(int handle, int length);
+
   public static native void setData(int handle, byte[] data);
 
-  public static native void setBitTiming(int handle, int lowTime0, int highTime0, int lowTime1, int highTime1);
+  public static native void setBitTiming(
+      int handle, int lowTime0, int highTime0, int lowTime1, int highTime1);
+
   public static native void setSyncTime(int handle, int syncTime);
 
   public static native void start(int handle);
+
   public static native void stop(int handle);
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/AllianceStationID.java b/hal/src/main/java/edu/wpi/first/hal/AllianceStationID.java
index 3b00c6a064..7b601b373d 100644
--- a/hal/src/main/java/edu/wpi/first/hal/AllianceStationID.java
+++ b/hal/src/main/java/edu/wpi/first/hal/AllianceStationID.java
@@ -5,5 +5,10 @@
 package edu.wpi.first.hal;
 
 public enum AllianceStationID {
-  Red1, Red2, Red3, Blue1, Blue2, Blue3
+  Red1,
+  Red2,
+  Red3,
+  Blue1,
+  Blue2,
+  Blue3
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/AnalogGyroJNI.java b/hal/src/main/java/edu/wpi/first/hal/AnalogGyroJNI.java
index 7757d6392c..5763f6ebf4 100644
--- a/hal/src/main/java/edu/wpi/first/hal/AnalogGyroJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/AnalogGyroJNI.java
@@ -11,12 +11,11 @@ public class AnalogGyroJNI extends JNIWrapper {
 
   public static native void freeAnalogGyro(int handle);
 
-  public static native void setAnalogGyroParameters(int handle,
-                                                    double voltsPerDegreePerSecond,
-                                                    double offset, int center);
+  public static native void setAnalogGyroParameters(
+      int handle, double voltsPerDegreePerSecond, double offset, int center);
 
-  public static native void setAnalogGyroVoltsPerDegreePerSecond(int handle,
-                                                                 double voltsPerDegreePerSecond);
+  public static native void setAnalogGyroVoltsPerDegreePerSecond(
+      int handle, double voltsPerDegreePerSecond);
 
   public static native void resetAnalogGyro(int handle);
 
diff --git a/hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java b/hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java
index 5d0075be66..72fa951511 100644
--- a/hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java
@@ -6,24 +6,17 @@ package edu.wpi.first.hal;
 
 public class AnalogJNI extends JNIWrapper {
   /**
-   * <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:58</i><br> enum values
+   * <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:58</i><br>
+   * enum values
    */
   public interface AnalogTriggerType {
-    /**
-     * <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:54</i>
-     */
+    /** <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:54</i> */
     int kInWindow = 0;
-    /**
-     * <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:55</i>
-     */
+    /** <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:55</i> */
     int kState = 1;
-    /**
-     * <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:56</i>
-     */
+    /** <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:56</i> */
     int kRisingPulse = 2;
-    /**
-     * <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:57</i>
-     */
+    /** <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:57</i> */
     int kFallingPulse = 3;
   }
 
@@ -95,20 +88,20 @@ public class AnalogJNI extends JNIWrapper {
 
   public static native void cleanAnalogTrigger(int analogTriggerHandle);
 
-  public static native void setAnalogTriggerLimitsRaw(int analogTriggerHandle, int lower,
-                                                      int upper);
+  public static native void setAnalogTriggerLimitsRaw(
+      int analogTriggerHandle, int lower, int upper);
 
-  public static native void setAnalogTriggerLimitsDutyCycle(int analogTriggerHandle, double lower,
-                                                            double higher);
+  public static native void setAnalogTriggerLimitsDutyCycle(
+      int analogTriggerHandle, double lower, double higher);
 
-  public static native void setAnalogTriggerLimitsVoltage(int analogTriggerHandle,
-                                                          double lower, double upper);
+  public static native void setAnalogTriggerLimitsVoltage(
+      int analogTriggerHandle, double lower, double upper);
 
-  public static native void setAnalogTriggerAveraged(int analogTriggerHandle,
-                                                     boolean useAveragedValue);
+  public static native void setAnalogTriggerAveraged(
+      int analogTriggerHandle, boolean useAveragedValue);
 
-  public static native void setAnalogTriggerFiltered(int analogTriggerHandle,
-                                                     boolean useFilteredValue);
+  public static native void setAnalogTriggerFiltered(
+      int analogTriggerHandle, boolean useFilteredValue);
 
   public static native boolean getAnalogTriggerInWindow(int analogTriggerHandle);
 
diff --git a/hal/src/main/java/edu/wpi/first/hal/CANAPIJNI.java b/hal/src/main/java/edu/wpi/first/hal/CANAPIJNI.java
index 1d0bff5174..31cf973b3e 100644
--- a/hal/src/main/java/edu/wpi/first/hal/CANAPIJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/CANAPIJNI.java
@@ -12,15 +12,15 @@ public class CANAPIJNI extends JNIWrapper {
 
   public static native void writeCANPacket(int handle, byte[] data, int apiId);
 
-  public static native void writeCANPacketRepeating(int handle, byte[] data, int apiId,
-                                                    int repeatMs);
+  public static native void writeCANPacketRepeating(
+      int handle, byte[] data, int apiId, int repeatMs);
 
   public static native void writeCANRTRFrame(int handle, int length, int apiId);
 
   public static native int writeCANPacketNoThrow(int handle, byte[] data, int apiId);
 
-  public static native int writeCANPacketRepeatingNoThrow(int handle, byte[] data, int apiId,
-                                                         int repeatMs);
+  public static native int writeCANPacketRepeatingNoThrow(
+      int handle, byte[] data, int apiId, int repeatMs);
 
   public static native int writeCANRTRFrameNoThrow(int handle, int length, int apiId);
 
@@ -30,6 +30,6 @@ public class CANAPIJNI extends JNIWrapper {
 
   public static native boolean readCANPacketLatest(int handle, int apiId, CANData data);
 
-  public static native boolean readCANPacketTimeout(int handle, int apiId, int timeoutMs,
-                                                 CANData data);
+  public static native boolean readCANPacketTimeout(
+      int handle, int apiId, int timeoutMs, CANData data);
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/CANData.java b/hal/src/main/java/edu/wpi/first/hal/CANData.java
index 3a7b2a4531..b37c2bdd59 100644
--- a/hal/src/main/java/edu/wpi/first/hal/CANData.java
+++ b/hal/src/main/java/edu/wpi/first/hal/CANData.java
@@ -7,14 +7,14 @@ package edu.wpi.first.hal;
 public class CANData {
   @SuppressWarnings("MemberName")
   public final byte[] data = new byte[8];
+
   @SuppressWarnings("MemberName")
   public int length;
+
   @SuppressWarnings("MemberName")
   public long timestamp;
 
-  /**
-   * API used from JNI to set the data.
-   */
+  /** API used from JNI to set the data. */
   @SuppressWarnings("PMD.MethodReturnsInternalArray")
   public byte[] setData(int length, long timestamp) {
     this.length = length;
diff --git a/hal/src/main/java/edu/wpi/first/hal/ControlWord.java b/hal/src/main/java/edu/wpi/first/hal/ControlWord.java
index 6fe76d4741..a56834369a 100644
--- a/hal/src/main/java/edu/wpi/first/hal/ControlWord.java
+++ b/hal/src/main/java/edu/wpi/first/hal/ControlWord.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.first.hal;
 
-/**
- * A wrapper for the HALControlWord bitfield.
- */
+/** A wrapper for the HALControlWord bitfield. */
 public class ControlWord {
   private boolean m_enabled;
   private boolean m_autonomous;
@@ -15,8 +13,13 @@ public class ControlWord {
   private boolean m_fmsAttached;
   private boolean m_dsAttached;
 
-  void update(boolean enabled, boolean autonomous, boolean test, boolean emergencyStop,
-              boolean fmsAttached, boolean dsAttached) {
+  void update(
+      boolean enabled,
+      boolean autonomous,
+      boolean test,
+      boolean emergencyStop,
+      boolean fmsAttached,
+      boolean dsAttached) {
     m_enabled = enabled;
     m_autonomous = autonomous;
     m_test = test;
diff --git a/hal/src/main/java/edu/wpi/first/hal/CounterJNI.java b/hal/src/main/java/edu/wpi/first/hal/CounterJNI.java
index 22c8dbc34b..f164dbdf4b 100644
--- a/hal/src/main/java/edu/wpi/first/hal/CounterJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/CounterJNI.java
@@ -13,19 +13,19 @@ public class CounterJNI extends JNIWrapper {
 
   public static native void setCounterAverageSize(int counterHandle, int size);
 
-  public static native void setCounterUpSource(int counterHandle, int digitalSourceHandle,
-                                               int analogTriggerType);
+  public static native void setCounterUpSource(
+      int counterHandle, int digitalSourceHandle, int analogTriggerType);
 
-  public static native void setCounterUpSourceEdge(int counterHandle, boolean risingEdge,
-                                                   boolean fallingEdge);
+  public static native void setCounterUpSourceEdge(
+      int counterHandle, boolean risingEdge, boolean fallingEdge);
 
   public static native void clearCounterUpSource(int counterHandle);
 
-  public static native void setCounterDownSource(int counterHandle, int digitalSourceHandle,
-                                                 int analogTriggerType);
+  public static native void setCounterDownSource(
+      int counterHandle, int digitalSourceHandle, int analogTriggerType);
 
-  public static native void setCounterDownSourceEdge(int counterHandle, boolean risingEdge,
-                                                     boolean fallingEdge);
+  public static native void setCounterDownSourceEdge(
+      int counterHandle, boolean risingEdge, boolean fallingEdge);
 
   public static native void clearCounterDownSource(int counterHandle);
 
@@ -33,15 +33,13 @@ public class CounterJNI extends JNIWrapper {
 
   public static native void setCounterExternalDirectionMode(int counterHandle);
 
-  public static native void setCounterSemiPeriodMode(int counterHandle,
-                                                     boolean highSemiPeriod);
+  public static native void setCounterSemiPeriodMode(int counterHandle, boolean highSemiPeriod);
 
   public static native void setCounterPulseLengthMode(int counterHandle, double threshold);
 
   public static native int getCounterSamplesToAverage(int counterHandle);
 
-  public static native void setCounterSamplesToAverage(int counterHandle,
-                                                       int samplesToAverage);
+  public static native void setCounterSamplesToAverage(int counterHandle, int samplesToAverage);
 
   public static native void resetCounter(int counterHandle);
 
@@ -57,6 +55,5 @@ public class CounterJNI extends JNIWrapper {
 
   public static native boolean getCounterDirection(int counterHandle);
 
-  public static native void setCounterReverseDirection(int counterHandle,
-                                                       boolean reverseDirection);
+  public static native void setCounterReverseDirection(int counterHandle, boolean reverseDirection);
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/DutyCycleJNI.java b/hal/src/main/java/edu/wpi/first/hal/DutyCycleJNI.java
index f074db562f..a1bba6f2de 100644
--- a/hal/src/main/java/edu/wpi/first/hal/DutyCycleJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/DutyCycleJNI.java
@@ -6,11 +6,15 @@ package edu.wpi.first.hal;
 
 public class DutyCycleJNI extends JNIWrapper {
   public static native int initialize(int digitalSourceHandle, int analogTriggerType);
+
   public static native void free(int handle);
 
   public static native int getFrequency(int handle);
+
   public static native double getOutput(int handle);
+
   public static native int getOutputRaw(int handle);
+
   public static native int getOutputScaleFactor(int handle);
 
   @SuppressWarnings("AbbreviationAsWordInName")
diff --git a/hal/src/main/java/edu/wpi/first/hal/EncoderJNI.java b/hal/src/main/java/edu/wpi/first/hal/EncoderJNI.java
index 51c4438a3c..f67e3a5f68 100644
--- a/hal/src/main/java/edu/wpi/first/hal/EncoderJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/EncoderJNI.java
@@ -5,9 +5,13 @@
 package edu.wpi.first.hal;
 
 public class EncoderJNI extends JNIWrapper {
-  public static native int initializeEncoder(int digitalSourceHandleA, int analogTriggerTypeA,
-                                             int digitalSourceHandleB, int analogTriggerTypeB,
-                                             boolean reverseDirection, int encodingType);
+  public static native int initializeEncoder(
+      int digitalSourceHandleA,
+      int analogTriggerTypeA,
+      int digitalSourceHandleB,
+      int analogTriggerTypeB,
+      boolean reverseDirection,
+      int encodingType);
 
   public static native void freeEncoder(int encoderHandle);
 
@@ -37,16 +41,14 @@ public class EncoderJNI extends JNIWrapper {
 
   public static native void setEncoderDistancePerPulse(int encoderHandle, double distancePerPulse);
 
-  public static native void setEncoderReverseDirection(int encoderHandle,
-                                                       boolean reverseDirection);
+  public static native void setEncoderReverseDirection(int encoderHandle, boolean reverseDirection);
 
-  public static native void setEncoderSamplesToAverage(int encoderHandle,
-                                                       int samplesToAverage);
+  public static native void setEncoderSamplesToAverage(int encoderHandle, int samplesToAverage);
 
   public static native int getEncoderSamplesToAverage(int encoderHandle);
 
-  public static native void setEncoderIndexSource(int encoderHandle, int digitalSourceHandle,
-                                                  int analogTriggerType, int indexingType);
+  public static native void setEncoderIndexSource(
+      int encoderHandle, int digitalSourceHandle, int analogTriggerType, int indexingType);
 
   @SuppressWarnings("AbbreviationAsWordInName")
   public static native int getEncoderFPGAIndex(int encoderHandle);
diff --git a/hal/src/main/java/edu/wpi/first/hal/HAL.java b/hal/src/main/java/edu/wpi/first/hal/HAL.java
index 29f876d232..fb51ac02a4 100644
--- a/hal/src/main/java/edu/wpi/first/hal/HAL.java
+++ b/hal/src/main/java/edu/wpi/first/hal/HAL.java
@@ -9,7 +9,8 @@ import java.util.ArrayList;
 import java.util.List;
 
 /**
- * JNI Wrapper for HAL<br>.
+ * JNI Wrapper for HAL<br>
+ * .
  */
 @SuppressWarnings({"AbbreviationAsWordInName", "MethodName"})
 public final class HAL extends JNIWrapper {
@@ -30,8 +31,8 @@ public final class HAL extends JNIWrapper {
   public static final List<Runnable> s_simPeriodicBefore = new ArrayList<>();
 
   /**
-   * Runs SimPeriodicBefore callbacks.  IterativeRobotBase calls this prior
-   * to the user's simulationPeriodic code.
+   * Runs SimPeriodicBefore callbacks. IterativeRobotBase calls this prior to the user's
+   * simulationPeriodic code.
    */
   public static void simPeriodicBefore() {
     simPeriodicBeforeNative();
@@ -47,8 +48,8 @@ public final class HAL extends JNIWrapper {
   public static final List<Runnable> s_simPeriodicAfter = new ArrayList<>();
 
   /**
-   * Runs SimPeriodicAfter callbacks.  IterativeRobotBase calls this after
-   * the user's simulationPeriodic code.
+   * Runs SimPeriodicAfter callbacks. IterativeRobotBase calls this after the user's
+   * simulationPeriodic code.
    */
   public static void simPeriodicAfter() {
     simPeriodicAfterNative();
@@ -83,13 +84,12 @@ public final class HAL extends JNIWrapper {
    * <p>Original signature: <code>uint32_t report(tResourceType, uint8_t, uint8_t, const
    * char*)</code>
    *
-   * @param resource       one of the values in the tResourceType above (max value 51). <br>
+   * @param resource one of the values in the tResourceType above (max value 51). <br>
    * @param instanceNumber an index that identifies the resource instance. <br>
-   * @param context        an optional additional context number for some cases (such as module
-   *                       number). Set to 0 to omit. <br>
-   * @param feature        a string to be included describing features in use on a specific
-   *                       resource. Setting the same resource more than once allows you to change
-   *                       the feature string.
+   * @param context an optional additional context number for some cases (such as module number).
+   *     Set to 0 to omit. <br>
+   * @param feature a string to be included describing features in use on a specific resource.
+   *     Setting the same resource more than once allows you to change the feature string.
    */
   public static native int report(int resource, int instanceNumber, int context, String feature);
 
@@ -98,8 +98,13 @@ public final class HAL extends JNIWrapper {
   @SuppressWarnings("MissingJavadocMethod")
   public static void getControlWord(ControlWord controlWord) {
     int word = nativeGetControlWord();
-    controlWord.update((word & 1) != 0, ((word >> 1) & 1) != 0, ((word >> 2) & 1) != 0,
-        ((word >> 3) & 1) != 0, ((word >> 4) & 1) != 0, ((word >> 5) & 1) != 0);
+    controlWord.update(
+        (word & 1) != 0,
+        ((word >> 1) & 1) != 0,
+        ((word >> 2) & 1) != 0,
+        ((word >> 3) & 1) != 0,
+        ((word >> 4) & 1) != 0,
+        ((word >> 5) & 1) != 0);
   }
 
   private static native int nativeGetAllianceStation();
@@ -142,8 +147,8 @@ public final class HAL extends JNIWrapper {
 
   public static native int getJoystickButtons(byte joystickNum, ByteBuffer count);
 
-  public static native int setJoystickOutputs(byte joystickNum, int outputs, short leftRumble,
-                                              short rightRumble);
+  public static native int setJoystickOutputs(
+      byte joystickNum, int outputs, short leftRumble, short rightRumble);
 
   public static native int getJoystickIsXbox(byte joystickNum);
 
@@ -161,9 +166,14 @@ public final class HAL extends JNIWrapper {
 
   public static native int getMatchInfo(MatchInfoData info);
 
-  public static native int sendError(boolean isError, int errorCode, boolean isLVCode,
-                                     String details, String location, String callStack,
-                                     boolean printMsg);
+  public static native int sendError(
+      boolean isError,
+      int errorCode,
+      boolean isLVCode,
+      String details,
+      String location,
+      String callStack,
+      boolean printMsg);
 
   public static native int sendConsoleLine(String line);
 
@@ -171,7 +181,5 @@ public final class HAL extends JNIWrapper {
 
   public static native int getPort(byte channel);
 
-  private HAL() {
-
-  }
+  private HAL() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/HALUtil.java b/hal/src/main/java/edu/wpi/first/hal/HALUtil.java
index 840a23a26b..781b5a8c9c 100644
--- a/hal/src/main/java/edu/wpi/first/hal/HALUtil.java
+++ b/hal/src/main/java/edu/wpi/first/hal/HALUtil.java
@@ -35,7 +35,5 @@ public final class HALUtil extends JNIWrapper {
     return getHALstrerror(getHALErrno());
   }
 
-  private HALUtil() {
-
-  }
+  private HALUtil() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/HALValue.java b/hal/src/main/java/edu/wpi/first/hal/HALValue.java
index b68c8cd02a..f204c86ecc 100644
--- a/hal/src/main/java/edu/wpi/first/hal/HALValue.java
+++ b/hal/src/main/java/edu/wpi/first/hal/HALValue.java
@@ -27,9 +27,7 @@ public final class HALValue {
     m_long = value;
   }
 
-  private HALValue() {
-
-  }
+  private HALValue() {}
 
   /**
    * Get the type of the value.
@@ -41,7 +39,7 @@ public final class HALValue {
   }
 
   /**
-   * Get the value as a boolean.  Does not perform type checking.
+   * Get the value as a boolean. Does not perform type checking.
    *
    * @return value contents
    */
@@ -50,7 +48,7 @@ public final class HALValue {
   }
 
   /**
-   * Get the value as a long.  Does not perform type checking.
+   * Get the value as a long. Does not perform type checking.
    *
    * @return value contents
    */
@@ -59,7 +57,7 @@ public final class HALValue {
   }
 
   /**
-   * Get the value as a double.  Does not perform type checking.
+   * Get the value as a double. Does not perform type checking.
    *
    * @return value contents
    */
@@ -68,7 +66,7 @@ public final class HALValue {
   }
 
   /**
-   * Get the native long value.  Does not perform type checking.
+   * Get the native long value. Does not perform type checking.
    *
    * @return value contents
    */
@@ -77,7 +75,7 @@ public final class HALValue {
   }
 
   /**
-   * Get the native double value.  Does not perform type checking.
+   * Get the native double value. Does not perform type checking.
    *
    * @return value contents
    */
diff --git a/hal/src/main/java/edu/wpi/first/hal/I2CJNI.java b/hal/src/main/java/edu/wpi/first/hal/I2CJNI.java
index 9bac423043..821c89bccc 100644
--- a/hal/src/main/java/edu/wpi/first/hal/I2CJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/I2CJNI.java
@@ -10,21 +10,30 @@ import java.nio.ByteBuffer;
 public class I2CJNI extends JNIWrapper {
   public static native void i2CInitialize(int port);
 
-  public static native int i2CTransaction(int port, byte address, ByteBuffer dataToSend,
-                                          byte sendSize, ByteBuffer dataReceived, byte receiveSize);
+  public static native int i2CTransaction(
+      int port,
+      byte address,
+      ByteBuffer dataToSend,
+      byte sendSize,
+      ByteBuffer dataReceived,
+      byte receiveSize);
 
-  public static native int i2CTransactionB(int port, byte address, byte[] dataToSend,
-                                           byte sendSize, byte[] dataReceived, byte receiveSize);
+  public static native int i2CTransactionB(
+      int port,
+      byte address,
+      byte[] dataToSend,
+      byte sendSize,
+      byte[] dataReceived,
+      byte receiveSize);
 
   public static native int i2CWrite(int port, byte address, ByteBuffer dataToSend, byte sendSize);
 
   public static native int i2CWriteB(int port, byte address, byte[] dataToSend, byte sendSize);
 
-  public static native int i2CRead(int port, byte address, ByteBuffer dataReceived,
-                                   byte receiveSize);
+  public static native int i2CRead(
+      int port, byte address, ByteBuffer dataReceived, byte receiveSize);
 
-  public static native int i2CReadB(int port, byte address, byte[] dataReceived,
-                                    byte receiveSize);
+  public static native int i2CReadB(int port, byte address, byte[] dataReceived, byte receiveSize);
 
   public static native void i2CClose(int port);
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/InterruptJNI.java b/hal/src/main/java/edu/wpi/first/hal/InterruptJNI.java
index 57c154fd8c..05bc2c524b 100644
--- a/hal/src/main/java/edu/wpi/first/hal/InterruptJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/InterruptJNI.java
@@ -15,8 +15,8 @@ public class InterruptJNI extends JNIWrapper {
 
   public static native void cleanInterrupts(int interruptHandle);
 
-  public static native int waitForInterrupt(int interruptHandle, double timeout,
-                                            boolean ignorePrevious);
+  public static native int waitForInterrupt(
+      int interruptHandle, double timeout, boolean ignorePrevious);
 
   public static native void enableInterrupts(int interruptHandle);
 
@@ -26,15 +26,14 @@ public class InterruptJNI extends JNIWrapper {
 
   public static native long readInterruptFallingTimestamp(int interruptHandle);
 
-  public static native void requestInterrupts(int interruptHandle, int digitalSourceHandle,
-                                              int analogTriggerType);
+  public static native void requestInterrupts(
+      int interruptHandle, int digitalSourceHandle, int analogTriggerType);
 
-  public static native void attachInterruptHandler(int interruptHandle,
-                                                   InterruptJNIHandlerFunction handler,
-                                                   Object param);
+  public static native void attachInterruptHandler(
+      int interruptHandle, InterruptJNIHandlerFunction handler, Object param);
 
-  public static native void setInterruptUpSourceEdge(int interruptHandle, boolean risingEdge,
-                                                     boolean fallingEdge);
+  public static native void setInterruptUpSourceEdge(
+      int interruptHandle, boolean risingEdge, boolean fallingEdge);
 
   public static native void releaseWaitingInterrupt(int interruptHandle);
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java b/hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java
index e73c75a84c..0b46737e42 100644
--- a/hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java
+++ b/hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java
@@ -4,14 +4,11 @@
 
 package edu.wpi.first.hal;
 
+import edu.wpi.first.wpiutil.RuntimeLoader;
 import java.io.IOException;
 import java.util.concurrent.atomic.AtomicBoolean;
 
-import edu.wpi.first.wpiutil.RuntimeLoader;
-
-/**
- * Base class for all JNI wrappers.
- */
+/** Base class for all JNI wrappers. */
 public class JNIWrapper {
   static boolean libraryLoaded = false;
   static RuntimeLoader<JNIWrapper> loader = null;
@@ -31,7 +28,9 @@ public class JNIWrapper {
   static {
     if (Helper.getExtractOnStaticLoad()) {
       try {
-        loader = new RuntimeLoader<>("wpiHaljni", RuntimeLoader.getDefaultExtractionRoot(), JNIWrapper.class);
+        loader =
+            new RuntimeLoader<>(
+                "wpiHaljni", RuntimeLoader.getDefaultExtractionRoot(), JNIWrapper.class);
         loader.loadLibrary();
       } catch (IOException ex) {
         ex.printStackTrace();
@@ -41,14 +40,14 @@ public class JNIWrapper {
     }
   }
 
-  /**
-   * Force load the library.
-   */
+  /** Force load the library. */
   public static synchronized void forceLoad() throws IOException {
     if (libraryLoaded) {
       return;
     }
-    loader = new RuntimeLoader<>("wpiHaljni", RuntimeLoader.getDefaultExtractionRoot(), JNIWrapper.class);
+    loader =
+        new RuntimeLoader<>(
+            "wpiHaljni", RuntimeLoader.getDefaultExtractionRoot(), JNIWrapper.class);
     loader.loadLibrary();
     libraryLoaded = true;
   }
diff --git a/hal/src/main/java/edu/wpi/first/hal/MatchInfoData.java b/hal/src/main/java/edu/wpi/first/hal/MatchInfoData.java
index 53600b5747..f1dae884e8 100644
--- a/hal/src/main/java/edu/wpi/first/hal/MatchInfoData.java
+++ b/hal/src/main/java/edu/wpi/first/hal/MatchInfoData.java
@@ -4,46 +4,36 @@
 
 package edu.wpi.first.hal;
 
-/**
- * Structure for holding the match info data request.
- */
+/** Structure for holding the match info data request. */
 public class MatchInfoData {
-  /**
-   * Stores the event name.
-   */
+  /** Stores the event name. */
   @SuppressWarnings("MemberName")
   public String eventName = "";
 
-  /**
-   * Stores the game specific message.
-   */
+  /** Stores the game specific message. */
   @SuppressWarnings("MemberName")
   public String gameSpecificMessage = "";
 
-  /**
-   * Stores the match number.
-   */
+  /** Stores the match number. */
   @SuppressWarnings("MemberName")
   public int matchNumber;
 
-  /**
-   * Stores the replay number.
-   */
+  /** Stores the replay number. */
   @SuppressWarnings("MemberName")
   public int replayNumber;
 
-  /**
-   * Stores the match type.
-   */
+  /** Stores the match type. */
   @SuppressWarnings("MemberName")
   public int matchType;
 
-  /**
-   * Called from JNI to set the structure data.
-   */
+  /** Called from JNI to set the structure data. */
   @SuppressWarnings("MissingJavadocMethod")
-  public void setData(String eventName, String gameSpecificMessage,
-                      int matchNumber, int replayNumber, int matchType) {
+  public void setData(
+      String eventName,
+      String gameSpecificMessage,
+      int matchNumber,
+      int replayNumber,
+      int matchType) {
     this.eventName = eventName;
     this.gameSpecificMessage = gameSpecificMessage;
     this.matchNumber = matchNumber;
diff --git a/hal/src/main/java/edu/wpi/first/hal/NotifierJNI.java b/hal/src/main/java/edu/wpi/first/hal/NotifierJNI.java
index c3a00f7c82..36e98ca616 100644
--- a/hal/src/main/java/edu/wpi/first/hal/NotifierJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/NotifierJNI.java
@@ -11,40 +11,30 @@ package edu.wpi.first.hal;
  * class, which corresponds to the C++ Notifier class, should be used.
  */
 public class NotifierJNI extends JNIWrapper {
-  /**
-   * Initializes the notifier.
-   */
+  /** Initializes the notifier. */
   public static native int initializeNotifier();
 
-  /**
-   * Sets the name of the notifier.
-   */
+  /** Sets the name of the notifier. */
   public static native void setNotifierName(int notifierHandle, String name);
 
   /**
-   * Wakes up the waiter with time=0.  Note: after this function is called, all
-   * calls to waitForNotifierAlarm() will immediately start returning 0.
+   * Wakes up the waiter with time=0. Note: after this function is called, all calls to
+   * waitForNotifierAlarm() will immediately start returning 0.
    */
   public static native void stopNotifier(int notifierHandle);
 
-  /**
-   * Deletes the notifier object when we are done with it.
-   */
+  /** Deletes the notifier object when we are done with it. */
   public static native void cleanNotifier(int notifierHandle);
 
-  /**
-   * Sets the notifier to wakeup the waiter in another triggerTime microseconds.
-   */
+  /** Sets the notifier to wakeup the waiter in another triggerTime microseconds. */
   public static native void updateNotifierAlarm(int notifierHandle, long triggerTime);
 
-  /**
-   * Cancels any pending wakeups set by updateNotifierAlarm().  Does NOT wake
-   * up any waiters.
-   */
+  /** Cancels any pending wakeups set by updateNotifierAlarm(). Does NOT wake up any waiters. */
   public static native void cancelNotifierAlarm(int notifierHandle);
 
   /**
    * Block until woken up by an alarm (or stop).
+   *
    * @return Time when woken up.
    */
   public static native long waitForNotifierAlarm(int notifierHandle);
diff --git a/hal/src/main/java/edu/wpi/first/hal/PWMConfigDataResult.java b/hal/src/main/java/edu/wpi/first/hal/PWMConfigDataResult.java
index 0500a60595..e64d6da7c6 100644
--- a/hal/src/main/java/edu/wpi/first/hal/PWMConfigDataResult.java
+++ b/hal/src/main/java/edu/wpi/first/hal/PWMConfigDataResult.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.first.hal;
 
-/**
- * Structure for holding the config data result for PWM.
- */
+/** Structure for holding the config data result for PWM. */
 public class PWMConfigDataResult {
   PWMConfigDataResult(int max, int deadbandMax, int center, int deadbandMin, int min) {
     this.max = max;
@@ -16,33 +14,23 @@ public class PWMConfigDataResult {
     this.min = min;
   }
 
-  /**
-   * The maximum PWM value.
-   */
+  /** The maximum PWM value. */
   @SuppressWarnings("MemberName")
   public int max;
 
-  /**
-   * The deadband maximum PWM value.
-   */
+  /** The deadband maximum PWM value. */
   @SuppressWarnings("MemberName")
   public int deadbandMax;
 
-  /**
-   * The center PWM value.
-   */
+  /** The center PWM value. */
   @SuppressWarnings("MemberName")
   public int center;
 
-  /**
-   * The deadband minimum PWM value.
-   */
+  /** The deadband minimum PWM value. */
   @SuppressWarnings("MemberName")
   public int deadbandMin;
 
-  /**
-   * The minimum PWM value.
-   */
+  /** The minimum PWM value. */
   @SuppressWarnings("MemberName")
   public int min;
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/PWMJNI.java b/hal/src/main/java/edu/wpi/first/hal/PWMJNI.java
index 7e4fcb1750..946ad0757b 100644
--- a/hal/src/main/java/edu/wpi/first/hal/PWMJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/PWMJNI.java
@@ -12,13 +12,21 @@ public class PWMJNI extends DIOJNI {
 
   public static native void freePWMPort(int pwmPortHandle);
 
-  public static native void setPWMConfigRaw(int pwmPortHandle, int maxPwm,
-                                            int deadbandMaxPwm, int centerPwm,
-                                            int deadbandMinPwm, int minPwm);
+  public static native void setPWMConfigRaw(
+      int pwmPortHandle,
+      int maxPwm,
+      int deadbandMaxPwm,
+      int centerPwm,
+      int deadbandMinPwm,
+      int minPwm);
 
-  public static native void setPWMConfig(int pwmPortHandle, double maxPwm,
-                                         double deadbandMaxPwm, double centerPwm,
-                                         double deadbandMinPwm, double minPwm);
+  public static native void setPWMConfig(
+      int pwmPortHandle,
+      double maxPwm,
+      double deadbandMaxPwm,
+      double centerPwm,
+      double deadbandMinPwm,
+      double minPwm);
 
   public static native PWMConfigDataResult getPWMConfigRaw(int pwmPortHandle);
 
@@ -38,7 +46,7 @@ public class PWMJNI extends DIOJNI {
 
   public static native double getPWMPosition(int pwmPortHandle);
 
-  public static native  void setPWMDisabled(int pwmPortHandle);
+  public static native void setPWMDisabled(int pwmPortHandle);
 
   public static native void latchPWMZero(int pwmPortHandle);
 
diff --git a/hal/src/main/java/edu/wpi/first/hal/SPIJNI.java b/hal/src/main/java/edu/wpi/first/hal/SPIJNI.java
index 426cbf928d..05ac08af9b 100644
--- a/hal/src/main/java/edu/wpi/first/hal/SPIJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/SPIJNI.java
@@ -10,11 +10,11 @@ import java.nio.ByteBuffer;
 public class SPIJNI extends JNIWrapper {
   public static native void spiInitialize(int port);
 
-  public static native int spiTransaction(int port, ByteBuffer dataToSend,
-                                          ByteBuffer dataReceived, byte size);
+  public static native int spiTransaction(
+      int port, ByteBuffer dataToSend, ByteBuffer dataReceived, byte size);
 
-  public static native int spiTransactionB(int port, byte[] dataToSend,
-                                           byte[] dataReceived, byte size);
+  public static native int spiTransactionB(
+      int port, byte[] dataToSend, byte[] dataReceived, byte size);
 
   public static native int spiWrite(int port, ByteBuffer dataToSend, byte sendSize);
 
@@ -28,8 +28,8 @@ public class SPIJNI extends JNIWrapper {
 
   public static native void spiSetSpeed(int port, int speed);
 
-  public static native void spiSetOpts(int port, int msbFirst, int sampleOnTrailing,
-                                       int clkIdleHigh);
+  public static native void spiSetOpts(
+      int port, int msbFirst, int sampleOnTrailing, int clkIdleHigh);
 
   public static native void spiSetChipSelectActiveHigh(int port);
 
@@ -41,9 +41,12 @@ public class SPIJNI extends JNIWrapper {
 
   public static native void spiStartAutoRate(int port, double period);
 
-  public static native void spiStartAutoTrigger(int port, int digitalSourceHandle,
-                                                int analogTriggerType, boolean triggerRising,
-                                                boolean triggerFalling);
+  public static native void spiStartAutoTrigger(
+      int port,
+      int digitalSourceHandle,
+      int analogTriggerType,
+      boolean triggerRising,
+      boolean triggerFalling);
 
   public static native void spiStopAuto(int port);
 
@@ -51,13 +54,14 @@ public class SPIJNI extends JNIWrapper {
 
   public static native void spiForceAutoRead(int port);
 
-  public static native int spiReadAutoReceivedData(int port, ByteBuffer buffer, int numToRead,
-                                                   double timeout);
+  public static native int spiReadAutoReceivedData(
+      int port, ByteBuffer buffer, int numToRead, double timeout);
 
-  public static native int spiReadAutoReceivedData(int port, int[] buffer, int numToRead,
-                                                   double timeout);
+  public static native int spiReadAutoReceivedData(
+      int port, int[] buffer, int numToRead, double timeout);
 
   public static native int spiGetAutoDroppedCount(int port);
 
-  public static native void spiConfigureAutoStall(int port, int csToSclkTicks, int stallTicks, int pow2BytesPerRead);
+  public static native void spiConfigureAutoStall(
+      int port, int csToSclkTicks, int stallTicks, int pow2BytesPerRead);
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/SimBoolean.java b/hal/src/main/java/edu/wpi/first/hal/SimBoolean.java
index 95a6e428d4..3f4c25775b 100644
--- a/hal/src/main/java/edu/wpi/first/hal/SimBoolean.java
+++ b/hal/src/main/java/edu/wpi/first/hal/SimBoolean.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.first.hal;
 
-/**
- * A wrapper around a simulator boolean value handle.
- */
+/** A wrapper around a simulator boolean value handle. */
 public class SimBoolean extends SimValue {
   /**
    * Wraps a simulated value handle as returned by SimDeviceJNI.createSimValueBoolean().
diff --git a/hal/src/main/java/edu/wpi/first/hal/SimDevice.java b/hal/src/main/java/edu/wpi/first/hal/SimDevice.java
index e8f007915a..8e45e81032 100644
--- a/hal/src/main/java/edu/wpi/first/hal/SimDevice.java
+++ b/hal/src/main/java/edu/wpi/first/hal/SimDevice.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.first.hal;
 
-/**
- * A wrapper around a simulator device handle.
- */
+/** A wrapper around a simulator device handle. */
 public class SimDevice implements AutoCloseable {
   public enum Direction {
     kInput(SimDeviceJNI.kInput),
@@ -23,10 +21,9 @@ public class SimDevice implements AutoCloseable {
   /**
    * Creates a simulated device.
    *
-   * <p>The device name must be unique.  Returns null if the device name
-   * already exists.  If multiple instances of the same device are desired,
-   * recommend appending the instance/unique identifer in brackets to the base
-   * name, e.g. "device[1]".
+   * <p>The device name must be unique. Returns null if the device name already exists. If multiple
+   * instances of the same device are desired, recommend appending the instance/unique identifer in
+   * brackets to the base name, e.g. "device[1]".
    *
    * <p>null is returned if not in simulation.
    *
@@ -44,10 +41,9 @@ public class SimDevice implements AutoCloseable {
   /**
    * Creates a simulated device.
    *
-   * <p>The device name must be unique.  Returns null if the device name
-   * already exists.  This is a convenience method that appends index in
-   * brackets to the device name, e.g. passing index=1 results in "device[1]"
-   * for the device name.
+   * <p>The device name must be unique. Returns null if the device name already exists. This is a
+   * convenience method that appends index in brackets to the device name, e.g. passing index=1
+   * results in "device[1]" for the device name.
    *
    * <p>null is returned if not in simulation.
    *
@@ -62,10 +58,9 @@ public class SimDevice implements AutoCloseable {
   /**
    * Creates a simulated device.
    *
-   * <p>The device name must be unique.  Returns null if the device name
-   * already exists.  This is a convenience method that appends index and
-   * channel in brackets to the device name, e.g. passing index=1 and channel=2
-   * results in "device[1,2]" for the device name.
+   * <p>The device name must be unique. Returns null if the device name already exists. This is a
+   * convenience method that appends index and channel in brackets to the device name, e.g. passing
+   * index=1 and channel=2 results in "device[1,2]" for the device name.
    *
    * <p>null is returned if not in simulation.
    *
@@ -110,7 +105,6 @@ public class SimDevice implements AutoCloseable {
    * @param readonly if the value should not be written from simulation side
    * @param initialValue initial value
    * @return simulated value object
-   *
    * @deprecated Use direction function instead
    */
   @Deprecated
@@ -145,7 +139,6 @@ public class SimDevice implements AutoCloseable {
    * @param readonly if the value should not be written from simulation side
    * @param initialValue initial value
    * @return simulated double value object
-   *
    * @deprecated Use direction function instead
    */
   @Deprecated
@@ -183,7 +176,6 @@ public class SimDevice implements AutoCloseable {
    * @param options array of option descriptions
    * @param initialValue initial value (selection)
    * @return simulated enum value object
-   *
    * @deprecated Use direction function instead
    */
   @Deprecated
@@ -205,8 +197,8 @@ public class SimDevice implements AutoCloseable {
    * @return simulated enum value object
    */
   public SimEnum createEnum(String name, Direction direction, String[] options, int initialValue) {
-    int handle = SimDeviceJNI.createSimValueEnum(m_handle, name, direction.m_value, options,
-        initialValue);
+    int handle =
+        SimDeviceJNI.createSimValueEnum(m_handle, name, direction.m_value, options, initialValue);
     if (handle <= 0) {
       return null;
     }
@@ -227,10 +219,11 @@ public class SimDevice implements AutoCloseable {
    * @param initialValue initial value (selection)
    * @return simulated enum value object
    */
-  public SimEnum createEnumDouble(String name, Direction direction, String[] options,
-      double[] optionValues, int initialValue) {
-    int handle = SimDeviceJNI.createSimValueEnumDouble(m_handle, name, direction.m_value, options,
-        optionValues, initialValue);
+  public SimEnum createEnumDouble(
+      String name, Direction direction, String[] options, double[] optionValues, int initialValue) {
+    int handle =
+        SimDeviceJNI.createSimValueEnumDouble(
+            m_handle, name, direction.m_value, options, optionValues, initialValue);
     if (handle <= 0) {
       return null;
     }
@@ -246,7 +239,6 @@ public class SimDevice implements AutoCloseable {
    * @param readonly if the value should not be written from simulation side
    * @param initialValue initial value
    * @return simulated boolean value object
-   *
    * @deprecated Use direction function instead
    */
   @Deprecated
@@ -265,8 +257,8 @@ public class SimDevice implements AutoCloseable {
    * @return simulated boolean value object
    */
   public SimBoolean createBoolean(String name, Direction direction, boolean initialValue) {
-    int handle = SimDeviceJNI.createSimValueBoolean(m_handle, name, direction.m_value,
-        initialValue);
+    int handle =
+        SimDeviceJNI.createSimValueBoolean(m_handle, name, direction.m_value, initialValue);
     if (handle <= 0) {
       return null;
     }
diff --git a/hal/src/main/java/edu/wpi/first/hal/SimDeviceJNI.java b/hal/src/main/java/edu/wpi/first/hal/SimDeviceJNI.java
index 9d6f5a96b5..b753de3b21 100644
--- a/hal/src/main/java/edu/wpi/first/hal/SimDeviceJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/SimDeviceJNI.java
@@ -12,10 +12,9 @@ public class SimDeviceJNI extends JNIWrapper {
   /**
    * Creates a simulated device.
    *
-   * <p>The device name must be unique.  0 is returned if the device name
-   * already exists.  If multiple instances of the same device are desired,
-   * recommend appending the instance/unique identifer in brackets to the base
-   * name, e.g. "device[1]".
+   * <p>The device name must be unique. 0 is returned if the device name already exists. If multiple
+   * instances of the same device are desired, recommend appending the instance/unique identifer in
+   * brackets to the base name, e.g. "device[1]".
    *
    * <p>0 is returned if not in simulation.
    *
@@ -27,42 +26,44 @@ public class SimDeviceJNI extends JNIWrapper {
   /**
    * Frees a simulated device.
    *
-   * <p>This also allows the same device name to be used again.
-   * This also frees all the simulated values created on the device.
+   * <p>This also allows the same device name to be used again. This also frees all the simulated
+   * values created on the device.
    *
    * @param handle simulated device handle
    */
   public static native void freeSimDevice(int handle);
 
-  private static native int createSimValueNative(int device, String name, int direction,
-      int type, long value1, double value2);
+  private static native int createSimValueNative(
+      int device, String name, int direction, int type, long value1, double value2);
 
   /**
    * Creates a value on a simulated device.
    *
-   * <p>Returns 0 if not in simulation; this can be used to avoid calls
-   * to Set/Get functions.
+   * <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
    *
    * @param device simulated device handle
    * @param name value name
    * @param readonly if the value should not be written from simulation side
    * @param initialValue initial value
    * @return simulated value handle
-   *
    * @deprecated Use direction-taking function instead
    */
   @Deprecated
-  public static int createSimValue(int device, String name, boolean readonly,
-      HALValue initialValue) {
-    return createSimValueNative(device, name, readonly ? kOutput : kInput, initialValue.getType(),
-        initialValue.getNativeLong(), initialValue.getNativeDouble());
+  public static int createSimValue(
+      int device, String name, boolean readonly, HALValue initialValue) {
+    return createSimValueNative(
+        device,
+        name,
+        readonly ? kOutput : kInput,
+        initialValue.getType(),
+        initialValue.getNativeLong(),
+        initialValue.getNativeDouble());
   }
 
   /**
    * Creates a value on a simulated device.
    *
-   * <p>Returns 0 if not in simulation; this can be used to avoid calls
-   * to Set/Get functions.
+   * <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
    *
    * @param device simulated device handle
    * @param name value name
@@ -70,37 +71,39 @@ public class SimDeviceJNI extends JNIWrapper {
    * @param initialValue initial value
    * @return simulated value handle
    */
-  public static int createSimValue(int device, String name, int direction,
-      HALValue initialValue) {
-    return createSimValueNative(device, name, direction, initialValue.getType(),
-        initialValue.getNativeLong(), initialValue.getNativeDouble());
+  public static int createSimValue(int device, String name, int direction, HALValue initialValue) {
+    return createSimValueNative(
+        device,
+        name,
+        direction,
+        initialValue.getType(),
+        initialValue.getNativeLong(),
+        initialValue.getNativeDouble());
   }
 
   /**
    * Creates a double value on a simulated device.
    *
-   * <p>Returns 0 if not in simulation; this can be used to avoid calls
-   * to Set/Get functions.
+   * <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
    *
    * @param device simulated device handle
    * @param name value name
    * @param readonly if the value should not be written from simulation side
    * @param initialValue initial value
    * @return simulated value handle
-   *
    * @deprecated Use direction-taking function instead
    */
   @Deprecated
-  public static int createSimValueDouble(int device, String name, boolean readonly,
-      double initialValue) {
-    return createSimValueNative(device, name, readonly ? kOutput : kInput, HALValue.kDouble, 0, initialValue);
+  public static int createSimValueDouble(
+      int device, String name, boolean readonly, double initialValue) {
+    return createSimValueNative(
+        device, name, readonly ? kOutput : kInput, HALValue.kDouble, 0, initialValue);
   }
 
   /**
    * Creates a double value on a simulated device.
    *
-   * <p>Returns 0 if not in simulation; this can be used to avoid calls
-   * to Set/Get functions.
+   * <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
    *
    * @param device simulated device handle
    * @param name value name
@@ -108,8 +111,8 @@ public class SimDeviceJNI extends JNIWrapper {
    * @param initialValue initial value
    * @return simulated value handle
    */
-  public static int createSimValueDouble(int device, String name, int direction,
-      double initialValue) {
+  public static int createSimValueDouble(
+      int device, String name, int direction, double initialValue) {
     return createSimValueNative(device, name, direction, HALValue.kDouble, 0, initialValue);
   }
 
@@ -118,8 +121,7 @@ public class SimDeviceJNI extends JNIWrapper {
    *
    * <p>Enumerated values are always in the range 0 to numOptions-1.
    *
-   * <p>Returns 0 if not in simulation; this can be used to avoid calls
-   * to Set/Get functions.
+   * <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
    *
    * @param device simulated device handle
    * @param name value name
@@ -127,12 +129,11 @@ public class SimDeviceJNI extends JNIWrapper {
    * @param options array of option descriptions
    * @param initialValue initial value (selection)
    * @return simulated value handle
-   *
    * @deprecated Use direction-taking function instead
    */
   @Deprecated
-  public static int createSimValueEnum(int device, String name, boolean readonly,
-      String[] options, int initialValue) {
+  public static int createSimValueEnum(
+      int device, String name, boolean readonly, String[] options, int initialValue) {
     return createSimValueEnum(device, name, readonly ? kOutput : kInput, options, initialValue);
   }
 
@@ -141,8 +142,7 @@ public class SimDeviceJNI extends JNIWrapper {
    *
    * <p>Enumerated values are always in the range 0 to numOptions-1.
    *
-   * <p>Returns 0 if not in simulation; this can be used to avoid calls
-   * to Set/Get functions.
+   * <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
    *
    * @param device simulated device handle
    * @param name value name
@@ -151,16 +151,15 @@ public class SimDeviceJNI extends JNIWrapper {
    * @param initialValue initial value (selection)
    * @return simulated value handle
    */
-  public static native int createSimValueEnum(int device, String name, int direction,
-      String[] options, int initialValue);
+  public static native int createSimValueEnum(
+      int device, String name, int direction, String[] options, int initialValue);
 
   /**
    * Creates an enumerated value on a simulated device with double values.
    *
    * <p>Enumerated values are always in the range 0 to numOptions-1.
    *
-   * <p>Returns 0 if not in simulation; this can be used to avoid calls
-   * to Set/Get functions.
+   * <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
    *
    * @param device simulated device handle
    * @param name value name
@@ -170,35 +169,37 @@ public class SimDeviceJNI extends JNIWrapper {
    * @param initialValue initial value (selection)
    * @return simulated value handle
    */
-  public static native int createSimValueEnumDouble(int device, String name, int direction,
-      String[] options, double[] optionValues, int initialValue);
+  public static native int createSimValueEnumDouble(
+      int device,
+      String name,
+      int direction,
+      String[] options,
+      double[] optionValues,
+      int initialValue);
 
   /**
    * Creates a boolean value on a simulated device.
    *
-   * <p>Returns 0 if not in simulation; this can be used to avoid calls
-   * to Set/Get functions.
+   * <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
    *
    * @param device simulated device handle
    * @param name value name
    * @param readonly if the value should not be written from simulation side
    * @param initialValue initial value
    * @return simulated value handle
-   *
    * @deprecated Use direction-taking function instead
    */
   @Deprecated
-  public static int createSimValueBoolean(int device, String name, boolean readonly,
-      boolean initialValue) {
-    return createSimValueNative(device, name, readonly ? kOutput : kInput, HALValue.kBoolean,
-        initialValue ? 1 : 0, 0.0);
+  public static int createSimValueBoolean(
+      int device, String name, boolean readonly, boolean initialValue) {
+    return createSimValueNative(
+        device, name, readonly ? kOutput : kInput, HALValue.kBoolean, initialValue ? 1 : 0, 0.0);
   }
 
   /**
    * Creates a boolean value on a simulated device.
    *
-   * <p>Returns 0 if not in simulation; this can be used to avoid calls
-   * to Set/Get functions.
+   * <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
    *
    * @param device simulated device handle
    * @param name value name
@@ -206,10 +207,10 @@ public class SimDeviceJNI extends JNIWrapper {
    * @param initialValue initial value
    * @return simulated value handle
    */
-  public static int createSimValueBoolean(int device, String name, int direction,
-      boolean initialValue) {
-    return createSimValueNative(device, name, direction, HALValue.kBoolean,
-        initialValue ? 1 : 0, 0.0);
+  public static int createSimValueBoolean(
+      int device, String name, int direction, boolean initialValue) {
+    return createSimValueNative(
+        device, name, direction, HALValue.kBoolean, initialValue ? 1 : 0, 0.0);
   }
 
   /**
diff --git a/hal/src/main/java/edu/wpi/first/hal/SimDouble.java b/hal/src/main/java/edu/wpi/first/hal/SimDouble.java
index 8c06585ff5..5e99ae99d2 100644
--- a/hal/src/main/java/edu/wpi/first/hal/SimDouble.java
+++ b/hal/src/main/java/edu/wpi/first/hal/SimDouble.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.first.hal;
 
-/**
- * A wrapper around a simulator double value handle.
- */
+/** A wrapper around a simulator double value handle. */
 public class SimDouble extends SimValue {
   /**
    * Wraps a simulated value handle as returned by SimDeviceJNI.createSimValueDouble().
diff --git a/hal/src/main/java/edu/wpi/first/hal/SimEnum.java b/hal/src/main/java/edu/wpi/first/hal/SimEnum.java
index f1825f5790..78f963d552 100644
--- a/hal/src/main/java/edu/wpi/first/hal/SimEnum.java
+++ b/hal/src/main/java/edu/wpi/first/hal/SimEnum.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.first.hal;
 
-/**
- * A wrapper around a simulator enum value handle.
- */
+/** A wrapper around a simulator enum value handle. */
 public class SimEnum extends SimValue {
   /**
    * Wraps a simulated value handle as returned by SimDeviceJNI.createSimValueEnum().
diff --git a/hal/src/main/java/edu/wpi/first/hal/SimValue.java b/hal/src/main/java/edu/wpi/first/hal/SimValue.java
index 113a28bdf7..a486981e3a 100644
--- a/hal/src/main/java/edu/wpi/first/hal/SimValue.java
+++ b/hal/src/main/java/edu/wpi/first/hal/SimValue.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.first.hal;
 
-/**
- * A wrapper around a simulator value handle.
- */
+/** A wrapper around a simulator value handle. */
 public class SimValue {
   /**
    * Wraps a simulated value handle as returned by SimDeviceJNI.createSimValue().
diff --git a/hal/src/main/java/edu/wpi/first/hal/can/CANExceptionFactory.java b/hal/src/main/java/edu/wpi/first/hal/can/CANExceptionFactory.java
index 7a8aadd4e8..75372e732d 100644
--- a/hal/src/main/java/edu/wpi/first/hal/can/CANExceptionFactory.java
+++ b/hal/src/main/java/edu/wpi/first/hal/can/CANExceptionFactory.java
@@ -15,8 +15,9 @@ public final class CANExceptionFactory {
   static final int ERR_CANSessionMux_NotInitialized = -44089;
 
   @SuppressWarnings({"MissingJavadocMethod", "PMD.CyclomaticComplexity"})
-  public static void checkStatus(int status, int messageID) throws CANInvalidBufferException,
-      CANMessageNotAllowedException, CANNotInitializedException, UncleanStatusException {
+  public static void checkStatus(int status, int messageID)
+      throws CANInvalidBufferException, CANMessageNotAllowedException, CANNotInitializedException,
+          UncleanStatusException {
     switch (status) {
       case NIRioStatus.kRioStatusSuccess:
         // Everything is ok... don't throw.
@@ -38,7 +39,5 @@ public final class CANExceptionFactory {
     }
   }
 
-  private CANExceptionFactory() {
-
-  }
+  private CANExceptionFactory() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/can/CANJNI.java b/hal/src/main/java/edu/wpi/first/hal/can/CANJNI.java
index 3126270b57..6281543df9 100644
--- a/hal/src/main/java/edu/wpi/first/hal/can/CANJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/can/CANJNI.java
@@ -4,11 +4,10 @@
 
 package edu.wpi.first.hal.can;
 
+import edu.wpi.first.hal.JNIWrapper;
 import java.nio.ByteBuffer;
 import java.nio.IntBuffer;
 
-import edu.wpi.first.hal.JNIWrapper;
-
 @SuppressWarnings("AbbreviationAsWordInName")
 public class CANJNI extends JNIWrapper {
   public static final int CAN_SEND_PERIOD_NO_REPEAT = 0;
@@ -19,15 +18,13 @@ public class CANJNI extends JNIWrapper {
   public static final int CAN_IS_FRAME_11BIT = 0x40000000;
 
   @SuppressWarnings("MethodName")
-  public static native void FRCNetCommCANSessionMuxSendMessage(int messageID,
-                                                               byte[] data,
-                                                               int periodMs);
+  public static native void FRCNetCommCANSessionMuxSendMessage(
+      int messageID, byte[] data, int periodMs);
 
   @SuppressWarnings("MethodName")
   public static native byte[] FRCNetCommCANSessionMuxReceiveMessage(
       IntBuffer messageID, int messageIDMask, ByteBuffer timeStamp);
 
-
   @SuppressWarnings("MethodName")
   public static native void GetCANStatus(CANStatus status);
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/can/CANStatus.java b/hal/src/main/java/edu/wpi/first/hal/can/CANStatus.java
index 448b08d952..62df8e8e19 100644
--- a/hal/src/main/java/edu/wpi/first/hal/can/CANStatus.java
+++ b/hal/src/main/java/edu/wpi/first/hal/can/CANStatus.java
@@ -4,43 +4,35 @@
 
 package edu.wpi.first.hal.can;
 
-/**
- * Structure for holding the result of a CAN Status request.
- */
+/** Structure for holding the result of a CAN Status request. */
 public class CANStatus {
-  /**
-   * The utilization of the CAN Bus.
-   */
+  /** The utilization of the CAN Bus. */
   @SuppressWarnings("MemberName")
   public double percentBusUtilization;
 
-  /**
-   * The CAN Bus off count.
-   */
+  /** The CAN Bus off count. */
   @SuppressWarnings("MemberName")
   public int busOffCount;
 
-  /**
-   * The CAN Bus TX full count.
-   */
+  /** The CAN Bus TX full count. */
   @SuppressWarnings("MemberName")
   public int txFullCount;
 
-  /**
-   * The CAN Bus receive error count.
-   */
+  /** The CAN Bus receive error count. */
   @SuppressWarnings("MemberName")
   public int receiveErrorCount;
 
-  /**
-   * The CAN Bus transmit error count.
-   */
+  /** The CAN Bus transmit error count. */
   @SuppressWarnings("MemberName")
   public int transmitErrorCount;
 
   @SuppressWarnings("MissingJavadocMethod")
-  public void setStatus(double percentBusUtilization, int busOffCount, int txFullCount,
-                        int receiveErrorCount, int transmitErrorCount) {
+  public void setStatus(
+      double percentBusUtilization,
+      int busOffCount,
+      int txFullCount,
+      int receiveErrorCount,
+      int transmitErrorCount) {
     this.percentBusUtilization = percentBusUtilization;
     this.busOffCount = busOffCount;
     this.txFullCount = txFullCount;
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/AccelerometerDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/AccelerometerDataJNI.java
index 518667ad8f..5ea3726eb7 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/AccelerometerDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/AccelerometerDataJNI.java
@@ -7,29 +7,49 @@ package edu.wpi.first.hal.simulation;
 import edu.wpi.first.hal.JNIWrapper;
 
 public class AccelerometerDataJNI extends JNIWrapper {
-  public static native int registerActiveCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerActiveCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelActiveCallback(int index, int uid);
+
   public static native boolean getActive(int index);
+
   public static native void setActive(int index, boolean active);
 
-  public static native int registerRangeCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerRangeCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelRangeCallback(int index, int uid);
+
   public static native int getRange(int index);
+
   public static native void setRange(int index, int range);
 
-  public static native int registerXCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerXCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelXCallback(int index, int uid);
+
   public static native double getX(int index);
+
   public static native void setX(int index, double x);
 
-  public static native int registerYCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerYCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelYCallback(int index, int uid);
+
   public static native double getY(int index);
+
   public static native void setY(int index, double y);
 
-  public static native int registerZCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerZCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelZCallback(int index, int uid);
+
   public static native double getZ(int index);
+
   public static native void setZ(int index, double z);
 
   public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/AddressableLEDDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/AddressableLEDDataJNI.java
index 444d5056bf..8ba0e94c7b 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/AddressableLEDDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/AddressableLEDDataJNI.java
@@ -7,29 +7,48 @@ package edu.wpi.first.hal.simulation;
 import edu.wpi.first.hal.JNIWrapper;
 
 public class AddressableLEDDataJNI extends JNIWrapper {
-  public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerInitializedCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelInitializedCallback(int index, int uid);
+
   public static native boolean getInitialized(int index);
+
   public static native void setInitialized(int index, boolean initialized);
 
-  public static native int registerOutputPortCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerOutputPortCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelOutputPortCallback(int index, int uid);
+
   public static native int getOutputPort(int index);
+
   public static native void setOutputPort(int index, int outputPort);
 
-  public static native int registerLengthCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerLengthCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelLengthCallback(int index, int uid);
+
   public static native int getLength(int index);
+
   public static native void setLength(int index, int length);
 
-  public static native int registerRunningCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerRunningCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelRunningCallback(int index, int uid);
+
   public static native boolean getRunning(int index);
+
   public static native void setRunning(int index, boolean running);
 
   public static native int registerDataCallback(int index, ConstBufferCallback callback);
+
   public static native void cancelDataCallback(int index, int uid);
+
   public static native byte[] getData(int index);
+
   public static native void setData(int index, byte[] data);
 
   public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogGyroDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogGyroDataJNI.java
index b46ded579f..a6acc9aa0d 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogGyroDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogGyroDataJNI.java
@@ -7,19 +7,31 @@ package edu.wpi.first.hal.simulation;
 import edu.wpi.first.hal.JNIWrapper;
 
 public class AnalogGyroDataJNI extends JNIWrapper {
-  public static native int registerAngleCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerAngleCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelAngleCallback(int index, int uid);
+
   public static native double getAngle(int index);
+
   public static native void setAngle(int index, double angle);
 
-  public static native int registerRateCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerRateCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelRateCallback(int index, int uid);
+
   public static native double getRate(int index);
+
   public static native void setRate(int index, double rate);
 
-  public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerInitializedCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelInitializedCallback(int index, int uid);
+
   public static native boolean getInitialized(int index);
+
   public static native void setInitialized(int index, boolean initialized);
 
   public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogInDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogInDataJNI.java
index 71f1bc4962..4229c09574 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogInDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogInDataJNI.java
@@ -7,49 +7,85 @@ package edu.wpi.first.hal.simulation;
 import edu.wpi.first.hal.JNIWrapper;
 
 public class AnalogInDataJNI extends JNIWrapper {
-  public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerInitializedCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelInitializedCallback(int index, int uid);
+
   public static native boolean getInitialized(int index);
+
   public static native void setInitialized(int index, boolean initialized);
 
-  public static native int registerAverageBitsCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerAverageBitsCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelAverageBitsCallback(int index, int uid);
+
   public static native int getAverageBits(int index);
+
   public static native void setAverageBits(int index, int averageBits);
 
-  public static native int registerOversampleBitsCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerOversampleBitsCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelOversampleBitsCallback(int index, int uid);
+
   public static native int getOversampleBits(int index);
+
   public static native void setOversampleBits(int index, int oversampleBits);
 
-  public static native int registerVoltageCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerVoltageCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelVoltageCallback(int index, int uid);
+
   public static native double getVoltage(int index);
+
   public static native void setVoltage(int index, double voltage);
 
-  public static native int registerAccumulatorInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerAccumulatorInitializedCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelAccumulatorInitializedCallback(int index, int uid);
+
   public static native boolean getAccumulatorInitialized(int index);
+
   public static native void setAccumulatorInitialized(int index, boolean accumulatorInitialized);
 
-  public static native int registerAccumulatorValueCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerAccumulatorValueCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelAccumulatorValueCallback(int index, int uid);
+
   public static native long getAccumulatorValue(int index);
+
   public static native void setAccumulatorValue(int index, long accumulatorValue);
 
-  public static native int registerAccumulatorCountCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerAccumulatorCountCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelAccumulatorCountCallback(int index, int uid);
+
   public static native long getAccumulatorCount(int index);
+
   public static native void setAccumulatorCount(int index, long accumulatorCount);
 
-  public static native int registerAccumulatorCenterCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerAccumulatorCenterCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelAccumulatorCenterCallback(int index, int uid);
+
   public static native int getAccumulatorCenter(int index);
+
   public static native void setAccumulatorCenter(int index, int AccumulatorCenter);
 
-  public static native int registerAccumulatorDeadbandCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerAccumulatorDeadbandCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelAccumulatorDeadbandCallback(int index, int uid);
+
   public static native int getAccumulatorDeadband(int index);
+
   public static native void setAccumulatorDeadband(int index, int AccumulatorDeadband);
 
   public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogOutDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogOutDataJNI.java
index 837732d784..6af16a0957 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogOutDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogOutDataJNI.java
@@ -7,14 +7,22 @@ package edu.wpi.first.hal.simulation;
 import edu.wpi.first.hal.JNIWrapper;
 
 public class AnalogOutDataJNI extends JNIWrapper {
-  public static native int registerVoltageCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerVoltageCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelVoltageCallback(int index, int uid);
+
   public static native double getVoltage(int index);
+
   public static native void setVoltage(int index, double voltage);
 
-  public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerInitializedCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelInitializedCallback(int index, int uid);
+
   public static native boolean getInitialized(int index);
+
   public static native void setInitialized(int index, boolean initialized);
 
   public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogTriggerDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogTriggerDataJNI.java
index 9d8ec5e885..67b65b50c9 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogTriggerDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogTriggerDataJNI.java
@@ -7,19 +7,31 @@ package edu.wpi.first.hal.simulation;
 import edu.wpi.first.hal.JNIWrapper;
 
 public class AnalogTriggerDataJNI extends JNIWrapper {
-  public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerInitializedCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelInitializedCallback(int index, int uid);
+
   public static native boolean getInitialized(int index);
+
   public static native void setInitialized(int index, boolean initialized);
 
-  public static native int registerTriggerLowerBoundCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerTriggerLowerBoundCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelTriggerLowerBoundCallback(int index, int uid);
+
   public static native double getTriggerLowerBound(int index);
+
   public static native void setTriggerLowerBound(int index, double triggerLowerBound);
 
-  public static native int registerTriggerUpperBoundCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerTriggerUpperBoundCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelTriggerUpperBoundCallback(int index, int uid);
+
   public static native double getTriggerUpperBound(int index);
+
   public static native void setTriggerUpperBound(int index, double triggerUpperBound);
 
   public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/DIODataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/DIODataJNI.java
index 6937cb719e..0c59415ee1 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/DIODataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/DIODataJNI.java
@@ -7,29 +7,49 @@ package edu.wpi.first.hal.simulation;
 import edu.wpi.first.hal.JNIWrapper;
 
 public class DIODataJNI extends JNIWrapper {
-  public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerInitializedCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelInitializedCallback(int index, int uid);
+
   public static native boolean getInitialized(int index);
+
   public static native void setInitialized(int index, boolean initialized);
 
-  public static native int registerValueCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerValueCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelValueCallback(int index, int uid);
+
   public static native boolean getValue(int index);
+
   public static native void setValue(int index, boolean value);
 
-  public static native int registerPulseLengthCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerPulseLengthCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelPulseLengthCallback(int index, int uid);
+
   public static native double getPulseLength(int index);
+
   public static native void setPulseLength(int index, double pulseLength);
 
-  public static native int registerIsInputCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerIsInputCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelIsInputCallback(int index, int uid);
+
   public static native boolean getIsInput(int index);
+
   public static native void setIsInput(int index, boolean isInput);
 
-  public static native int registerFilterIndexCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerFilterIndexCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelFilterIndexCallback(int index, int uid);
+
   public static native int getFilterIndex(int index);
+
   public static native void setFilterIndex(int index, int filterIndex);
 
   public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/DigitalPWMDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/DigitalPWMDataJNI.java
index d007032de7..addcffcd12 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/DigitalPWMDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/DigitalPWMDataJNI.java
@@ -7,19 +7,31 @@ package edu.wpi.first.hal.simulation;
 import edu.wpi.first.hal.JNIWrapper;
 
 public class DigitalPWMDataJNI extends JNIWrapper {
-  public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerInitializedCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelInitializedCallback(int index, int uid);
+
   public static native boolean getInitialized(int index);
+
   public static native void setInitialized(int index, boolean initialized);
 
-  public static native int registerDutyCycleCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerDutyCycleCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelDutyCycleCallback(int index, int uid);
+
   public static native double getDutyCycle(int index);
+
   public static native void setDutyCycle(int index, double dutyCycle);
 
-  public static native int registerPinCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerPinCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelPinCallback(int index, int uid);
+
   public static native int getPin(int index);
+
   public static native void setPin(int index, int pin);
 
   public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/DriverStationDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/DriverStationDataJNI.java
index 302b30cf13..196f0174ae 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/DriverStationDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/DriverStationDataJNI.java
@@ -8,76 +8,129 @@ import edu.wpi.first.hal.JNIWrapper;
 
 public class DriverStationDataJNI extends JNIWrapper {
   public static native int registerEnabledCallback(NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelEnabledCallback(int uid);
+
   public static native boolean getEnabled();
+
   public static native void setEnabled(boolean enabled);
 
-  public static native int registerAutonomousCallback(NotifyCallback callback, boolean initialNotify);
+  public static native int registerAutonomousCallback(
+      NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelAutonomousCallback(int uid);
+
   public static native boolean getAutonomous();
+
   public static native void setAutonomous(boolean autonomous);
 
   public static native int registerTestCallback(NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelTestCallback(int uid);
+
   public static native boolean getTest();
+
   public static native void setTest(boolean test);
 
   public static native int registerEStopCallback(NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelEStopCallback(int uid);
+
   public static native boolean getEStop();
+
   public static native void setEStop(boolean eStop);
 
-  public static native int registerFmsAttachedCallback(NotifyCallback callback, boolean initialNotify);
+  public static native int registerFmsAttachedCallback(
+      NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelFmsAttachedCallback(int uid);
+
   public static native boolean getFmsAttached();
+
   public static native void setFmsAttached(boolean fmsAttached);
 
-  public static native int registerDsAttachedCallback(NotifyCallback callback, boolean initialNotify);
+  public static native int registerDsAttachedCallback(
+      NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelDsAttachedCallback(int uid);
+
   public static native boolean getDsAttached();
+
   public static native void setDsAttached(boolean dsAttached);
 
-  public static native int registerAllianceStationIdCallback(NotifyCallback callback, boolean initialNotify);
+  public static native int registerAllianceStationIdCallback(
+      NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelAllianceStationIdCallback(int uid);
+
   public static native int getAllianceStationId();
+
   public static native void setAllianceStationId(int allianceStationId);
 
-  public static native int registerMatchTimeCallback(NotifyCallback callback, boolean initialNotify);
+  public static native int registerMatchTimeCallback(
+      NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelMatchTimeCallback(int uid);
+
   public static native double getMatchTime();
+
   public static native void setMatchTime(double matchTime);
 
   public static native void setJoystickAxes(byte joystickNum, float[] axesArray);
+
   public static native void setJoystickPOVs(byte joystickNum, short[] povsArray);
+
   public static native void setJoystickButtons(byte joystickNum, int buttons, int count);
+
   public static native long getJoystickOutputs(int stick);
+
   public static native int getJoystickRumble(int stick, int rumbleNum);
 
-  public static native void setMatchInfo(String eventName, String gameSpecificMessage, int matchNumber, int replayNumber, int matchType);
+  public static native void setMatchInfo(
+      String eventName,
+      String gameSpecificMessage,
+      int matchNumber,
+      int replayNumber,
+      int matchType);
 
   public static native void registerAllCallbacks(NotifyCallback callback, boolean initialNotify);
+
   public static native void notifyNewData();
 
   public static native void setSendError(boolean shouldSend);
+
   public static native void setSendConsoleLine(boolean shouldSend);
 
   public static native void setJoystickButton(int stick, int button, boolean state);
+
   public static native void setJoystickAxis(int stick, int axis, double value);
+
   public static native void setJoystickPOV(int stick, int pov, int value);
+
   public static native void setJoystickButtonsValue(int stick, int buttons);
+
   public static native void setJoystickAxisCount(int stick, int count);
+
   public static native void setJoystickPOVCount(int stick, int count);
+
   public static native void setJoystickButtonCount(int stick, int count);
 
   public static native void setJoystickIsXbox(int stick, boolean isXbox);
+
   public static native void setJoystickType(int stick, int type);
+
   public static native void setJoystickName(int stick, String name);
+
   public static native void setJoystickAxisType(int stick, int axis, int type);
 
   public static native void setGameSpecificMessage(String message);
+
   public static native void setEventName(String name);
+
   public static native void setMatchType(int type);
+
   public static native void setMatchNumber(int matchNumber);
+
   public static native void setReplayNumber(int replayNumber);
 
   public static native void resetData();
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/DutyCycleDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/DutyCycleDataJNI.java
index 5739af4110..8f244cac45 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/DutyCycleDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/DutyCycleDataJNI.java
@@ -7,19 +7,31 @@ package edu.wpi.first.hal.simulation;
 import edu.wpi.first.hal.JNIWrapper;
 
 public class DutyCycleDataJNI extends JNIWrapper {
-  public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerInitializedCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelInitializedCallback(int index, int uid);
+
   public static native boolean getInitialized(int index);
+
   public static native void setInitialized(int index, boolean initialized);
 
-  public static native int registerFrequencyCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerFrequencyCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelFrequencyCallback(int index, int uid);
+
   public static native int getFrequency(int index);
+
   public static native void setFrequency(int index, int frequency);
 
-  public static native int registerOutputCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerOutputCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelOutputCallback(int index, int uid);
+
   public static native double getOutput(int index);
+
   public static native void setOutput(int index, double output);
 
   public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/EncoderDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/EncoderDataJNI.java
index 0a2b4a9677..fc9d2e5c21 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/EncoderDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/EncoderDataJNI.java
@@ -7,49 +7,84 @@ package edu.wpi.first.hal.simulation;
 import edu.wpi.first.hal.JNIWrapper;
 
 public class EncoderDataJNI extends JNIWrapper {
-  public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerInitializedCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelInitializedCallback(int index, int uid);
+
   public static native boolean getInitialized(int index);
+
   public static native void setInitialized(int index, boolean initialized);
 
-  public static native int registerCountCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerCountCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelCountCallback(int index, int uid);
+
   public static native int getCount(int index);
+
   public static native void setCount(int index, int count);
 
-  public static native int registerPeriodCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerPeriodCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelPeriodCallback(int index, int uid);
+
   public static native double getPeriod(int index);
+
   public static native void setPeriod(int index, double period);
 
-  public static native int registerResetCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerResetCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelResetCallback(int index, int uid);
+
   public static native boolean getReset(int index);
+
   public static native void setReset(int index, boolean reset);
 
-  public static native int registerMaxPeriodCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerMaxPeriodCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelMaxPeriodCallback(int index, int uid);
+
   public static native double getMaxPeriod(int index);
+
   public static native void setMaxPeriod(int index, double maxPeriod);
 
-  public static native int registerDirectionCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerDirectionCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelDirectionCallback(int index, int uid);
+
   public static native boolean getDirection(int index);
+
   public static native void setDirection(int index, boolean direction);
 
-  public static native int registerReverseDirectionCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerReverseDirectionCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelReverseDirectionCallback(int index, int uid);
+
   public static native boolean getReverseDirection(int index);
+
   public static native void setReverseDirection(int index, boolean reverseDirection);
 
-  public static native int registerSamplesToAverageCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerSamplesToAverageCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelSamplesToAverageCallback(int index, int uid);
+
   public static native int getSamplesToAverage(int index);
+
   public static native void setSamplesToAverage(int index, int samplesToAverage);
 
   public static native void setDistance(int index, double distance);
+
   public static native double getDistance(int index);
+
   public static native void setRate(int index, double rate);
+
   public static native double getRate(int index);
 
   public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/I2CDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/I2CDataJNI.java
index a94369b203..ebe15ebb8e 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/I2CDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/I2CDataJNI.java
@@ -7,15 +7,21 @@ package edu.wpi.first.hal.simulation;
 import edu.wpi.first.hal.JNIWrapper;
 
 public class I2CDataJNI extends JNIWrapper {
-  public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerInitializedCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelInitializedCallback(int index, int uid);
+
   public static native boolean getInitialized(int index);
+
   public static native void setInitialized(int index, boolean initialized);
 
   public static native int registerReadCallback(int index, BufferCallback callback);
+
   public static native void cancelReadCallback(int index, int uid);
 
   public static native int registerWriteCallback(int index, ConstBufferCallback callback);
+
   public static native void cancelWriteCallback(int index, int uid);
 
   public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/NotifierDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/NotifierDataJNI.java
index 98e9c9529b..9c7b0a271e 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/NotifierDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/NotifierDataJNI.java
@@ -8,5 +8,6 @@ import edu.wpi.first.hal.JNIWrapper;
 
 public class NotifierDataJNI extends JNIWrapper {
   public static native long getNextTimeout();
+
   public static native int getNumNotifiers();
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/PCMDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/PCMDataJNI.java
index bd81c9e5f5..71bd2bbfc8 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/PCMDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/PCMDataJNI.java
@@ -7,43 +7,75 @@ package edu.wpi.first.hal.simulation;
 import edu.wpi.first.hal.JNIWrapper;
 
 public class PCMDataJNI extends JNIWrapper {
-  public static native int registerSolenoidInitializedCallback(int index, int channel, NotifyCallback callback, boolean initialNotify);
-  public static native void cancelSolenoidInitializedCallback(int index, int channel, int uid);
-  public static native boolean getSolenoidInitialized(int index, int channel);
-  public static native void setSolenoidInitialized(int index, int channel, boolean solenoidInitialized);
+  public static native int registerSolenoidInitializedCallback(
+      int index, int channel, NotifyCallback callback, boolean initialNotify);
+
+  public static native void cancelSolenoidInitializedCallback(int index, int channel, int uid);
+
+  public static native boolean getSolenoidInitialized(int index, int channel);
+
+  public static native void setSolenoidInitialized(
+      int index, int channel, boolean solenoidInitialized);
+
+  public static native int registerSolenoidOutputCallback(
+      int index, int channel, NotifyCallback callback, boolean initialNotify);
 
-  public static native int registerSolenoidOutputCallback(int index, int channel, NotifyCallback callback, boolean initialNotify);
   public static native void cancelSolenoidOutputCallback(int index, int channel, int uid);
+
   public static native boolean getSolenoidOutput(int index, int channel);
+
   public static native void setSolenoidOutput(int index, int channel, boolean solenoidOutput);
 
-  public static native int registerCompressorInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerCompressorInitializedCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelCompressorInitializedCallback(int index, int uid);
+
   public static native boolean getCompressorInitialized(int index);
+
   public static native void setCompressorInitialized(int index, boolean compressorInitialized);
 
-  public static native int registerCompressorOnCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerCompressorOnCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelCompressorOnCallback(int index, int uid);
+
   public static native boolean getCompressorOn(int index);
+
   public static native void setCompressorOn(int index, boolean compressorOn);
 
-  public static native int registerClosedLoopEnabledCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerClosedLoopEnabledCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelClosedLoopEnabledCallback(int index, int uid);
+
   public static native boolean getClosedLoopEnabled(int index);
+
   public static native void setClosedLoopEnabled(int index, boolean closeLoopEnabled);
 
-  public static native int registerPressureSwitchCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerPressureSwitchCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelPressureSwitchCallback(int index, int uid);
+
   public static native boolean getPressureSwitch(int index);
+
   public static native void setPressureSwitch(int index, boolean pressureSwitch);
 
-  public static native int registerCompressorCurrentCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerCompressorCurrentCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelCompressorCurrentCallback(int index, int uid);
+
   public static native double getCompressorCurrent(int index);
+
   public static native void setCompressorCurrent(int index, double compressorCurrent);
 
-  public static native void registerAllNonSolenoidCallbacks(int index, NotifyCallback callback, boolean initialNotify);
-  public static native void registerAllSolenoidCallbacks(int index, int channel, NotifyCallback callback, boolean initialNotify);
+  public static native void registerAllNonSolenoidCallbacks(
+      int index, NotifyCallback callback, boolean initialNotify);
+
+  public static native void registerAllSolenoidCallbacks(
+      int index, int channel, NotifyCallback callback, boolean initialNotify);
 
   public static native void resetData(int index);
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/PDPDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/PDPDataJNI.java
index ff1ed44439..c84d843990 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/PDPDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/PDPDataJNI.java
@@ -7,25 +7,40 @@ package edu.wpi.first.hal.simulation;
 import edu.wpi.first.hal.JNIWrapper;
 
 public class PDPDataJNI extends JNIWrapper {
-  public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerInitializedCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelInitializedCallback(int index, int uid);
+
   public static native boolean getInitialized(int index);
+
   public static native void setInitialized(int index, boolean initialized);
 
-  public static native int registerTemperatureCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerTemperatureCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelTemperatureCallback(int index, int uid);
+
   public static native double getTemperature(int index);
+
   public static native void setTemperature(int index, double temperature);
 
-  public static native int registerVoltageCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerVoltageCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelVoltageCallback(int index, int uid);
+
   public static native double getVoltage(int index);
+
   public static native void setVoltage(int index, double voltage);
 
+  public static native int registerCurrentCallback(
+      int index, int channel, NotifyCallback callback, boolean initialNotify);
 
-  public static native int registerCurrentCallback(int index, int channel, NotifyCallback callback, boolean initialNotify);
   public static native void cancelCurrentCallback(int index, int channel, int uid);
+
   public static native double getCurrent(int index, int channel);
+
   public static native void setCurrent(int index, int channel, double current);
 
   public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/PWMDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/PWMDataJNI.java
index 259e913ed8..bf753980e0 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/PWMDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/PWMDataJNI.java
@@ -7,34 +7,58 @@ package edu.wpi.first.hal.simulation;
 import edu.wpi.first.hal.JNIWrapper;
 
 public class PWMDataJNI extends JNIWrapper {
-  public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerInitializedCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelInitializedCallback(int index, int uid);
+
   public static native boolean getInitialized(int index);
+
   public static native void setInitialized(int index, boolean initialized);
 
-  public static native int registerRawValueCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerRawValueCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelRawValueCallback(int index, int uid);
+
   public static native int getRawValue(int index);
+
   public static native void setRawValue(int index, int rawValue);
 
-  public static native int registerSpeedCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerSpeedCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelSpeedCallback(int index, int uid);
+
   public static native double getSpeed(int index);
+
   public static native void setSpeed(int index, double speed);
 
-  public static native int registerPositionCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerPositionCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelPositionCallback(int index, int uid);
+
   public static native double getPosition(int index);
+
   public static native void setPosition(int index, double position);
 
-  public static native int registerPeriodScaleCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerPeriodScaleCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelPeriodScaleCallback(int index, int uid);
+
   public static native int getPeriodScale(int index);
+
   public static native void setPeriodScale(int index, int periodScale);
 
-  public static native int registerZeroLatchCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerZeroLatchCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelZeroLatchCallback(int index, int uid);
+
   public static native boolean getZeroLatch(int index);
+
   public static native void setZeroLatch(int index, boolean zeroLatch);
 
   public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/RelayDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/RelayDataJNI.java
index b37d90a107..3b165e2754 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/RelayDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/RelayDataJNI.java
@@ -7,24 +7,40 @@ package edu.wpi.first.hal.simulation;
 import edu.wpi.first.hal.JNIWrapper;
 
 public class RelayDataJNI extends JNIWrapper {
-  public static native int registerInitializedForwardCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerInitializedForwardCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelInitializedForwardCallback(int index, int uid);
+
   public static native boolean getInitializedForward(int index);
+
   public static native void setInitializedForward(int index, boolean initializedForward);
 
-  public static native int registerInitializedReverseCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerInitializedReverseCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelInitializedReverseCallback(int index, int uid);
+
   public static native boolean getInitializedReverse(int index);
+
   public static native void setInitializedReverse(int index, boolean initializedReverse);
 
-  public static native int registerForwardCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerForwardCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelForwardCallback(int index, int uid);
+
   public static native boolean getForward(int index);
+
   public static native void setForward(int index, boolean forward);
 
-  public static native int registerReverseCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerReverseCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelReverseCallback(int index, int uid);
+
   public static native boolean getReverse(int index);
+
   public static native void setReverse(int index, boolean reverse);
 
   public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/RoboRioDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/RoboRioDataJNI.java
index 91518c98a0..90a3813d0c 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/RoboRioDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/RoboRioDataJNI.java
@@ -7,79 +7,139 @@ package edu.wpi.first.hal.simulation;
 import edu.wpi.first.hal.JNIWrapper;
 
 public class RoboRioDataJNI extends JNIWrapper {
-  public static native int registerFPGAButtonCallback(NotifyCallback callback, boolean initialNotify);
+  public static native int registerFPGAButtonCallback(
+      NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelFPGAButtonCallback(int uid);
+
   public static native boolean getFPGAButton();
+
   public static native void setFPGAButton(boolean fPGAButton);
 
-  public static native int registerVInVoltageCallback(NotifyCallback callback, boolean initialNotify);
+  public static native int registerVInVoltageCallback(
+      NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelVInVoltageCallback(int uid);
+
   public static native double getVInVoltage();
+
   public static native void setVInVoltage(double vInVoltage);
 
-  public static native int registerVInCurrentCallback(NotifyCallback callback, boolean initialNotify);
+  public static native int registerVInCurrentCallback(
+      NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelVInCurrentCallback(int uid);
+
   public static native double getVInCurrent();
+
   public static native void setVInCurrent(double vInCurrent);
 
-  public static native int registerUserVoltage6VCallback(NotifyCallback callback, boolean initialNotify);
+  public static native int registerUserVoltage6VCallback(
+      NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelUserVoltage6VCallback(int uid);
+
   public static native double getUserVoltage6V();
+
   public static native void setUserVoltage6V(double userVoltage6V);
 
-  public static native int registerUserCurrent6VCallback(NotifyCallback callback, boolean initialNotify);
+  public static native int registerUserCurrent6VCallback(
+      NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelUserCurrent6VCallback(int uid);
+
   public static native double getUserCurrent6V();
+
   public static native void setUserCurrent6V(double userCurrent6V);
 
-  public static native int registerUserActive6VCallback(NotifyCallback callback, boolean initialNotify);
+  public static native int registerUserActive6VCallback(
+      NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelUserActive6VCallback(int uid);
+
   public static native boolean getUserActive6V();
+
   public static native void setUserActive6V(boolean userActive6V);
 
-  public static native int registerUserVoltage5VCallback(NotifyCallback callback, boolean initialNotify);
+  public static native int registerUserVoltage5VCallback(
+      NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelUserVoltage5VCallback(int uid);
+
   public static native double getUserVoltage5V();
+
   public static native void setUserVoltage5V(double userVoltage5V);
 
-  public static native int registerUserCurrent5VCallback(NotifyCallback callback, boolean initialNotify);
+  public static native int registerUserCurrent5VCallback(
+      NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelUserCurrent5VCallback(int uid);
+
   public static native double getUserCurrent5V();
+
   public static native void setUserCurrent5V(double userCurrent5V);
 
-  public static native int registerUserActive5VCallback(NotifyCallback callback, boolean initialNotify);
+  public static native int registerUserActive5VCallback(
+      NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelUserActive5VCallback(int uid);
+
   public static native boolean getUserActive5V();
+
   public static native void setUserActive5V(boolean userActive5V);
 
-  public static native int registerUserVoltage3V3Callback(NotifyCallback callback, boolean initialNotify);
+  public static native int registerUserVoltage3V3Callback(
+      NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelUserVoltage3V3Callback(int uid);
+
   public static native double getUserVoltage3V3();
+
   public static native void setUserVoltage3V3(double userVoltage3V3);
 
-  public static native int registerUserCurrent3V3Callback(NotifyCallback callback, boolean initialNotify);
+  public static native int registerUserCurrent3V3Callback(
+      NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelUserCurrent3V3Callback(int uid);
+
   public static native double getUserCurrent3V3();
+
   public static native void setUserCurrent3V3(double userCurrent3V3);
 
-  public static native int registerUserActive3V3Callback(NotifyCallback callback, boolean initialNotify);
+  public static native int registerUserActive3V3Callback(
+      NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelUserActive3V3Callback(int uid);
+
   public static native boolean getUserActive3V3();
+
   public static native void setUserActive3V3(boolean userActive3V3);
 
-  public static native int registerUserFaults6VCallback(NotifyCallback callback, boolean initialNotify);
+  public static native int registerUserFaults6VCallback(
+      NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelUserFaults6VCallback(int uid);
+
   public static native int getUserFaults6V();
+
   public static native void setUserFaults6V(int userFaults6V);
 
-  public static native int registerUserFaults5VCallback(NotifyCallback callback, boolean initialNotify);
+  public static native int registerUserFaults5VCallback(
+      NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelUserFaults5VCallback(int uid);
+
   public static native int getUserFaults5V();
+
   public static native void setUserFaults5V(int userFaults5V);
 
-  public static native int registerUserFaults3V3Callback(NotifyCallback callback, boolean initialNotify);
+  public static native int registerUserFaults3V3Callback(
+      NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelUserFaults3V3Callback(int uid);
+
   public static native int getUserFaults3V3();
+
   public static native void setUserFaults3V3(int userFaults3V3);
 
   public static native void resetData();
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/SPIAccelerometerDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/SPIAccelerometerDataJNI.java
index cff3245e0f..9ceaad8c40 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/SPIAccelerometerDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/SPIAccelerometerDataJNI.java
@@ -7,29 +7,49 @@ package edu.wpi.first.hal.simulation;
 import edu.wpi.first.hal.JNIWrapper;
 
 public class SPIAccelerometerDataJNI extends JNIWrapper {
-  public static native int registerActiveCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerActiveCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelActiveCallback(int index, int uid);
+
   public static native boolean getActive(int index);
+
   public static native void setActive(int index, boolean active);
 
-  public static native int registerRangeCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerRangeCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelRangeCallback(int index, int uid);
+
   public static native int getRange(int index);
+
   public static native void setRange(int index, int range);
 
-  public static native int registerXCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerXCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelXCallback(int index, int uid);
+
   public static native double getX(int index);
+
   public static native void setX(int index, double x);
 
-  public static native int registerYCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerYCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelYCallback(int index, int uid);
+
   public static native double getY(int index);
+
   public static native void setY(int index, double y);
 
-  public static native int registerZCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerZCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelZCallback(int index, int uid);
+
   public static native double getZ(int index);
+
   public static native void setZ(int index, double z);
 
   public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/SPIDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/SPIDataJNI.java
index 95fa14803b..11b777e262 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/SPIDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/SPIDataJNI.java
@@ -7,18 +7,26 @@ package edu.wpi.first.hal.simulation;
 import edu.wpi.first.hal.JNIWrapper;
 
 public class SPIDataJNI extends JNIWrapper {
-  public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native int registerInitializedCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
   public static native void cancelInitializedCallback(int index, int uid);
+
   public static native boolean getInitialized(int index);
+
   public static native void setInitialized(int index, boolean initialized);
 
   public static native int registerReadCallback(int index, BufferCallback callback);
+
   public static native void cancelReadCallback(int index, int uid);
 
   public static native int registerWriteCallback(int index, ConstBufferCallback callback);
+
   public static native void cancelWriteCallback(int index, int uid);
 
-  public static native int registerReadAutoReceiveBufferCallback(int index, SpiReadAutoReceiveBufferCallback callback);
+  public static native int registerReadAutoReceiveBufferCallback(
+      int index, SpiReadAutoReceiveBufferCallback callback);
+
   public static native void cancelReadAutoReceiveBufferCallback(int index, int uid);
 
   public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/SimDeviceDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/SimDeviceDataJNI.java
index fc296d910b..d8e88fdadf 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/SimDeviceDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/SimDeviceDataJNI.java
@@ -9,12 +9,17 @@ import edu.wpi.first.hal.JNIWrapper;
 
 public class SimDeviceDataJNI extends JNIWrapper {
   public static native void setSimDeviceEnabled(String prefix, boolean enabled);
+
   public static native boolean isSimDeviceEnabled(String name);
 
-  public static native int registerSimDeviceCreatedCallback(String prefix, SimDeviceCallback callback, boolean initialNotify);
+  public static native int registerSimDeviceCreatedCallback(
+      String prefix, SimDeviceCallback callback, boolean initialNotify);
+
   public static native void cancelSimDeviceCreatedCallback(int uid);
 
-  public static native int registerSimDeviceFreedCallback(String prefix, SimDeviceCallback callback, boolean initialNotify);
+  public static native int registerSimDeviceFreedCallback(
+      String prefix, SimDeviceCallback callback, boolean initialNotify);
+
   public static native void cancelSimDeviceFreedCallback(int uid);
 
   public static native int getSimDeviceHandle(String name);
@@ -35,20 +40,30 @@ public class SimDeviceDataJNI extends JNIWrapper {
     @SuppressWarnings("MemberName")
     public int handle;
   }
+
   public static native SimDeviceInfo[] enumerateSimDevices(String prefix);
 
-  public static native int registerSimValueCreatedCallback(int device, SimValueCallback callback, boolean initialNotify);
-  public static native int registerSimValueCreatedCallback2(int device, SimValueCallback2 callback, boolean initialNotify);
+  public static native int registerSimValueCreatedCallback(
+      int device, SimValueCallback callback, boolean initialNotify);
+
+  public static native int registerSimValueCreatedCallback2(
+      int device, SimValueCallback2 callback, boolean initialNotify);
+
   public static native void cancelSimValueCreatedCallback(int uid);
 
-  public static native int registerSimValueChangedCallback(int handle, SimValueCallback callback, boolean initialNotify);
-  public static native int registerSimValueChangedCallback2(int handle, SimValueCallback2 callback, boolean initialNotify);
+  public static native int registerSimValueChangedCallback(
+      int handle, SimValueCallback callback, boolean initialNotify);
+
+  public static native int registerSimValueChangedCallback2(
+      int handle, SimValueCallback2 callback, boolean initialNotify);
+
   public static native void cancelSimValueChangedCallback(int uid);
 
   public static native int getSimValueHandle(int device, String name);
 
   public static class SimValueInfo {
-    public SimValueInfo(String name, int handle, int direction, int type, long value1, double value2) {
+    public SimValueInfo(
+        String name, int handle, int direction, int type, long value1, double value2) {
       this.name = name;
       this.handle = handle;
       this.readonly = direction == 1;
@@ -72,6 +87,7 @@ public class SimDeviceDataJNI extends JNIWrapper {
     @SuppressWarnings("MemberName")
     public HALValue value;
   }
+
   public static native SimValueInfo[] enumerateSimValues(int device);
 
   public static native String[] getSimValueEnumOptions(int handle);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/SimValueCallback.java b/hal/src/main/java/edu/wpi/first/hal/simulation/SimValueCallback.java
index f6aeec893c..c586210459 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/SimValueCallback.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/SimValueCallback.java
@@ -10,7 +10,8 @@ import edu.wpi.first.hal.HALValue;
 public interface SimValueCallback {
   void callback(String name, int handle, boolean readonly, HALValue value);
 
-  default void callbackNative(String name, int handle, boolean readonly, int type, long value1, double value2) {
+  default void callbackNative(
+      String name, int handle, boolean readonly, int type, long value1, double value2) {
     callback(name, handle, readonly, HALValue.fromNative(type, value1, value2));
   }
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/SimValueCallback2.java b/hal/src/main/java/edu/wpi/first/hal/simulation/SimValueCallback2.java
index 110d7c8a41..f575c7f42c 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/SimValueCallback2.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/SimValueCallback2.java
@@ -10,7 +10,8 @@ import edu.wpi.first.hal.HALValue;
 public interface SimValueCallback2 {
   void callback(String name, int handle, int direction, HALValue value);
 
-  default void callbackNative(String name, int handle, int direction, int type, long value1, double value2) {
+  default void callbackNative(
+      String name, int handle, int direction, int type, long value1, double value2) {
     callback(name, handle, direction, HALValue.fromNative(type, value1, value2));
   }
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/SimulatorJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/SimulatorJNI.java
index 39ac74cf13..f3c61d7634 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/SimulatorJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/SimulatorJNI.java
@@ -9,15 +9,25 @@ import edu.wpi.first.hal.JNIWrapper;
 
 public class SimulatorJNI extends JNIWrapper {
   public static native void setRuntimeType(int type);
+
   public static native void waitForProgramStart();
+
   public static native void setProgramStarted();
+
   public static native boolean getProgramStarted();
+
   public static native void restartTiming();
+
   public static native void pauseTiming();
+
   public static native void resumeTiming();
+
   public static native boolean isTimingPaused();
+
   public static native void stepTiming(long delta);
+
   public static native void stepTimingAsync(long delta);
+
   public static native void resetHandles();
 
   public static class SimPeriodicBeforeCallback implements AutoCloseable {
diff --git a/hal/src/main/java/edu/wpi/first/hal/util/AllocationException.java b/hal/src/main/java/edu/wpi/first/hal/util/AllocationException.java
index 84e6dc4893..e9f9a9103b 100644
--- a/hal/src/main/java/edu/wpi/first/hal/util/AllocationException.java
+++ b/hal/src/main/java/edu/wpi/first/hal/util/AllocationException.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.first.hal.util;
 
-/**
- * Exception indicating that the resource is already allocated.
- */
+/** Exception indicating that the resource is already allocated. */
 @SuppressWarnings("serial")
 public class AllocationException extends RuntimeException {
   /**
diff --git a/hal/src/main/java/edu/wpi/first/hal/util/BoundaryException.java b/hal/src/main/java/edu/wpi/first/hal/util/BoundaryException.java
index 7e979b88c2..683980dc91 100644
--- a/hal/src/main/java/edu/wpi/first/hal/util/BoundaryException.java
+++ b/hal/src/main/java/edu/wpi/first/hal/util/BoundaryException.java
@@ -28,8 +28,8 @@ public class BoundaryException extends RuntimeException {
    */
   public static void assertWithinBounds(double value, double lower, double upper) {
     if (value < lower || value > upper) {
-      throw new BoundaryException("Value must be between " + lower + " and " + upper + ", " + value
-          + " given");
+      throw new BoundaryException(
+          "Value must be between " + lower + " and " + upper + ", " + value + " given");
     }
   }
 
diff --git a/hal/src/main/java/edu/wpi/first/hal/util/HalHandleException.java b/hal/src/main/java/edu/wpi/first/hal/util/HalHandleException.java
index f264b7d9b9..65c11f5f41 100644
--- a/hal/src/main/java/edu/wpi/first/hal/util/HalHandleException.java
+++ b/hal/src/main/java/edu/wpi/first/hal/util/HalHandleException.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.first.hal.util;
 
-/**
- * Exception indicating that an error has occurred with a HAL Handle.
- */
+/** Exception indicating that an error has occurred with a HAL Handle. */
 @SuppressWarnings("serial")
 public class HalHandleException extends RuntimeException {
   /**
diff --git a/hal/src/main/java/edu/wpi/first/hal/util/UncleanStatusException.java b/hal/src/main/java/edu/wpi/first/hal/util/UncleanStatusException.java
index 580ba6b189..90650fce5b 100644
--- a/hal/src/main/java/edu/wpi/first/hal/util/UncleanStatusException.java
+++ b/hal/src/main/java/edu/wpi/first/hal/util/UncleanStatusException.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.first.hal.util;
 
-/**
- * Exception for bad status codes from the chip object.
- */
+/** Exception for bad status codes from the chip object. */
 @SuppressWarnings("serial")
 public final class UncleanStatusException extends IllegalStateException {
   private final int m_statusCode;
@@ -14,7 +12,7 @@ public final class UncleanStatusException extends IllegalStateException {
   /**
    * Create a new UncleanStatusException.
    *
-   * @param status  the status code that caused the exception
+   * @param status the status code that caused the exception
    * @param message A message describing the exception
    */
   public UncleanStatusException(int status, String message) {
@@ -40,9 +38,7 @@ public final class UncleanStatusException extends IllegalStateException {
     this(-1, message);
   }
 
-  /**
-   * Create a new UncleanStatusException.
-   */
+  /** Create a new UncleanStatusException. */
   public UncleanStatusException() {
     this(-1, "Status code was non-zero");
   }
diff --git a/myRobot/src/main/java/frc/robot/Main.java b/myRobot/src/main/java/frc/robot/Main.java
index 624631bede..428a73d112 100644
--- a/myRobot/src/main/java/frc/robot/Main.java
+++ b/myRobot/src/main/java/frc/robot/Main.java
@@ -7,8 +7,7 @@ package frc.robot;
 import edu.wpi.first.wpilibj.RobotBase;
 
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/myRobot/src/main/java/frc/robot/MyRobot.java b/myRobot/src/main/java/frc/robot/MyRobot.java
index eafe11e88c..e62c34580b 100644
--- a/myRobot/src/main/java/frc/robot/MyRobot.java
+++ b/myRobot/src/main/java/frc/robot/MyRobot.java
@@ -9,45 +9,33 @@ import edu.wpi.first.wpilibj.TimedRobot;
 @SuppressWarnings("all")
 public class MyRobot extends TimedRobot {
   /**
-   * This function is run when the robot is first started up and should be
-   * used for any initialization code.
+   * This function is run when the robot is first started up and should be used for any
+   * initialization code.
    */
   @Override
   public void robotInit() {}
 
-  /**
-   * This function is run once each time the robot enters autonomous mode
-   */
+  /** This function is run once each time the robot enters autonomous mode */
   @Override
   public void autonomousInit() {}
 
-  /**
-   * This function is called periodically during autonomous
-   */
+  /** This function is called periodically during autonomous */
   @Override
   public void autonomousPeriodic() {}
 
-  /**
-   * This function is called once each time the robot enters tele-operated mode
-   */
+  /** This function is called once each time the robot enters tele-operated mode */
   @Override
   public void teleopInit() {}
 
-  /**
-   * This function is called periodically during operator control
-   */
+  /** This function is called periodically during operator control */
   @Override
   public void teleopPeriodic() {}
 
-  /**
-   * This function is called periodically during test mode
-   */
+  /** This function is called periodically during test mode */
   @Override
   public void testPeriodic() {}
 
-  /**
-   * This function is called periodically during all modes
-   */
+  /** This function is called periodically during all modes */
   @Override
   public void robotPeriodic() {}
 }
diff --git a/ntcore/src/dev/java/edu/wpi/first/ntcore/DevMain.java b/ntcore/src/dev/java/edu/wpi/first/ntcore/DevMain.java
index c5dbeb6e04..676d7219c4 100644
--- a/ntcore/src/dev/java/edu/wpi/first/ntcore/DevMain.java
+++ b/ntcore/src/dev/java/edu/wpi/first/ntcore/DevMain.java
@@ -8,15 +8,12 @@ import edu.wpi.first.networktables.NetworkTablesJNI;
 import edu.wpi.first.wpiutil.RuntimeDetector;
 
 public final class DevMain {
-  /**
-   * Main method.
-   */
+  /** Main method. */
   public static void main(String[] args) {
     System.out.println("Hello World!");
     System.out.println(RuntimeDetector.getPlatformPath());
     NetworkTablesJNI.flush(NetworkTablesJNI.getDefaultInstance());
   }
 
-  private DevMain() {
-  }
+  private DevMain() {}
 }
diff --git a/ntcore/src/main/java/edu/wpi/first/networktables/ConnectionInfo.java b/ntcore/src/main/java/edu/wpi/first/networktables/ConnectionInfo.java
index 1553b4f2e5..477d53bcb7 100644
--- a/ntcore/src/main/java/edu/wpi/first/networktables/ConnectionInfo.java
+++ b/ntcore/src/main/java/edu/wpi/first/networktables/ConnectionInfo.java
@@ -4,45 +4,39 @@
 
 package edu.wpi.first.networktables;
 
-/**
- * NetworkTables Connection information.
- */
+/** NetworkTables Connection information. */
 public final class ConnectionInfo {
   /**
-   * The remote identifier (as set on the remote node by
-   * {@link NetworkTableInstance#setNetworkIdentity(String)}).
+   * The remote identifier (as set on the remote node by {@link
+   * NetworkTableInstance#setNetworkIdentity(String)}).
    */
   @SuppressWarnings("MemberName")
   public final String remote_id;
 
-  /**
-   * The IP address of the remote node.
-   */
+  /** The IP address of the remote node. */
   @SuppressWarnings("MemberName")
   public final String remote_ip;
 
-  /**
-   * The port number of the remote node.
-   */
+  /** The port number of the remote node. */
   @SuppressWarnings("MemberName")
   public final int remote_port;
 
   /**
-   * The last time any update was received from the remote node (same scale as
-   * returned by {@link NetworkTablesJNI#now()}).
+   * The last time any update was received from the remote node (same scale as returned by {@link
+   * NetworkTablesJNI#now()}).
    */
   @SuppressWarnings("MemberName")
   public final long last_update;
 
   /**
-   * The protocol version being used for this connection.  This is in protocol
-   * layer format, so 0x0200 = 2.0, 0x0300 = 3.0).
+   * The protocol version being used for this connection. This is in protocol layer format, so
+   * 0x0200 = 2.0, 0x0300 = 3.0).
    */
   @SuppressWarnings("MemberName")
   public final int protocol_version;
 
-  /** Constructor.
-   * This should generally only be used internally to NetworkTables.
+  /**
+   * Constructor. This should generally only be used internally to NetworkTables.
    *
    * @param remoteId Remote identifier
    * @param remoteIp Remote IP address
@@ -50,8 +44,8 @@ public final class ConnectionInfo {
    * @param lastUpdate Last time an update was received
    * @param protocolVersion The protocol version used for the connection
    */
-  public ConnectionInfo(String remoteId, String remoteIp, int remotePort, long lastUpdate,
-                        int protocolVersion) {
+  public ConnectionInfo(
+      String remoteId, String remoteIp, int remotePort, long lastUpdate, int protocolVersion) {
     remote_id = remoteId;
     remote_ip = remoteIp;
     remote_port = remotePort;
diff --git a/ntcore/src/main/java/edu/wpi/first/networktables/ConnectionNotification.java b/ntcore/src/main/java/edu/wpi/first/networktables/ConnectionNotification.java
index d2c05df8eb..544e075671 100644
--- a/ntcore/src/main/java/edu/wpi/first/networktables/ConnectionNotification.java
+++ b/ntcore/src/main/java/edu/wpi/first/networktables/ConnectionNotification.java
@@ -4,38 +4,30 @@
 
 package edu.wpi.first.networktables;
 
-/**
- * NetworkTables Connection notification.
- */
+/** NetworkTables Connection notification. */
 public final class ConnectionNotification {
-  /**
-   *  Listener that was triggered.
-   */
+  /** Listener that was triggered. */
   @SuppressWarnings("MemberName")
   public final int listener;
 
-  /**
-   * True if event is due to connection being established.
-   */
+  /** True if event is due to connection being established. */
   @SuppressWarnings("MemberName")
   public final boolean connected;
 
-  /**
-   * Connection information.
-   */
+  /** Connection information. */
   @SuppressWarnings("MemberName")
   public final ConnectionInfo conn;
 
-  /** Constructor.
-   * This should generally only be used internally to NetworkTables.
+  /**
+   * Constructor. This should generally only be used internally to NetworkTables.
    *
    * @param inst Instance
    * @param listener Listener that was triggered
    * @param connected Connected if true
    * @param conn Connection information
    */
-  public ConnectionNotification(NetworkTableInstance inst, int listener, boolean connected,
-                                ConnectionInfo conn) {
+  public ConnectionNotification(
+      NetworkTableInstance inst, int listener, boolean connected, ConnectionInfo conn) {
     this.m_inst = inst;
     this.listener = listener;
     this.connected = connected;
diff --git a/ntcore/src/main/java/edu/wpi/first/networktables/EntryInfo.java b/ntcore/src/main/java/edu/wpi/first/networktables/EntryInfo.java
index c541d48012..471edc8a11 100644
--- a/ntcore/src/main/java/edu/wpi/first/networktables/EntryInfo.java
+++ b/ntcore/src/main/java/edu/wpi/first/networktables/EntryInfo.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.first.networktables;
 
-/**
- * NetworkTables Entry information.
- */
+/** NetworkTables Entry information. */
 public final class EntryInfo {
   /** Entry handle. */
   @SuppressWarnings("MemberName")
@@ -28,8 +26,8 @@ public final class EntryInfo {
   @SuppressWarnings("MemberName")
   public final long last_change;
 
-  /** Constructor.
-   * This should generally only be used internally to NetworkTables.
+  /**
+   * Constructor. This should generally only be used internally to NetworkTables.
    *
    * @param inst Instance
    * @param entry Entry handle
@@ -38,8 +36,8 @@ public final class EntryInfo {
    * @param flags Flags
    * @param lastChange Timestamp of last change
    */
-  public EntryInfo(NetworkTableInstance inst, int entry, String name, int type, int flags,
-                   long lastChange) {
+  public EntryInfo(
+      NetworkTableInstance inst, int entry, String name, int type, int flags, long lastChange) {
     this.m_inst = inst;
     this.entry = entry;
     this.name = name;
diff --git a/ntcore/src/main/java/edu/wpi/first/networktables/EntryListenerFlags.java b/ntcore/src/main/java/edu/wpi/first/networktables/EntryListenerFlags.java
index 95eaace519..856c9620a1 100644
--- a/ntcore/src/main/java/edu/wpi/first/networktables/EntryListenerFlags.java
+++ b/ntcore/src/main/java/edu/wpi/first/networktables/EntryListenerFlags.java
@@ -7,33 +7,32 @@ package edu.wpi.first.networktables;
 /**
  * Flag values for use with entry listeners.
  *
- * <p>The flags are a bitmask and must be OR'ed together to indicate the
- * combination of events desired to be received.
+ * <p>The flags are a bitmask and must be OR'ed together to indicate the combination of events
+ * desired to be received.
  *
- * <p>The constants kNew, kDelete, kUpdate, and kFlags represent different events
- * that can occur to entries.
+ * <p>The constants kNew, kDelete, kUpdate, and kFlags represent different events that can occur to
+ * entries.
  *
- * <p>By default, notifications are only generated for remote changes occurring
- * after the listener is created.  The constants kImmediate and kLocal are
- * modifiers that cause notifications to be generated at other times.
+ * <p>By default, notifications are only generated for remote changes occurring after the listener
+ * is created. The constants kImmediate and kLocal are modifiers that cause notifications to be
+ * generated at other times.
  */
 public interface EntryListenerFlags {
   /**
    * Initial listener addition.
    *
-   * <p>Set this flag to receive immediate notification of entries matching the
-   * flag criteria (generally only useful when combined with kNew).
+   * <p>Set this flag to receive immediate notification of entries matching the flag criteria
+   * (generally only useful when combined with kNew).
    */
   int kImmediate = 0x01;
 
   /**
    * Changed locally.
    *
-   * <p>Set this flag to receive notification of both local changes and changes
-   * coming from remote nodes.  By default, notifications are only generated
-   * for remote changes.  Must be combined with some combination of kNew,
-   * kDelete, kUpdate, and kFlags to receive notifications of those respective
-   * events.
+   * <p>Set this flag to receive notification of both local changes and changes coming from remote
+   * nodes. By default, notifications are only generated for remote changes. Must be combined with
+   * some combination of kNew, kDelete, kUpdate, and kFlags to receive notifications of those
+   * respective events.
    */
   int kLocal = 0x02;
 
@@ -54,16 +53,14 @@ public interface EntryListenerFlags {
   /**
    * Entry's value changed.
    *
-   * <p>Set this flag to receive a notification when an entry's value (or type)
-   * changes.
+   * <p>Set this flag to receive a notification when an entry's value (or type) changes.
    */
   int kUpdate = 0x10;
 
   /**
    * Entry's flags changed.
    *
-   * <p>Set this flag to receive a notification when an entry's flags value
-   * changes.
+   * <p>Set this flag to receive a notification when an entry's flags value changes.
    */
   int kFlags = 0x20;
 }
diff --git a/ntcore/src/main/java/edu/wpi/first/networktables/EntryNotification.java b/ntcore/src/main/java/edu/wpi/first/networktables/EntryNotification.java
index bf10a621f1..0f5cb51180 100644
--- a/ntcore/src/main/java/edu/wpi/first/networktables/EntryNotification.java
+++ b/ntcore/src/main/java/edu/wpi/first/networktables/EntryNotification.java
@@ -4,43 +4,32 @@
 
 package edu.wpi.first.networktables;
 
-/**
- * NetworkTables Entry notification.
- */
+/** NetworkTables Entry notification. */
 public final class EntryNotification {
-  /**
-   * Listener that was triggered.
-   */
+  /** Listener that was triggered. */
   @SuppressWarnings("MemberName")
   public final int listener;
 
-  /**
-   * Entry handle.
-   */
+  /** Entry handle. */
   @SuppressWarnings("MemberName")
   public final int entry;
 
-  /**
-   * Entry name.
-   */
+  /** Entry name. */
   @SuppressWarnings("MemberName")
   public final String name;
 
-  /**
-   * The new value.
-   */
+  /** The new value. */
   @SuppressWarnings("MemberName")
   public final NetworkTableValue value;
 
   /**
-   * Update flags.  For example, {@link EntryListenerFlags#kNew} if the key did
-   * not previously exist.
+   * Update flags. For example, {@link EntryListenerFlags#kNew} if the key did not previously exist.
    */
   @SuppressWarnings("MemberName")
   public final int flags;
 
-  /** Constructor.
-   * This should generally only be used internally to NetworkTables.
+  /**
+   * Constructor. This should generally only be used internally to NetworkTables.
    *
    * @param inst Instance
    * @param listener Listener that was triggered
@@ -49,8 +38,13 @@ public final class EntryNotification {
    * @param value The new value
    * @param flags Update flags
    */
-  public EntryNotification(NetworkTableInstance inst, int listener, int entry, String name,
-                           NetworkTableValue value, int flags) {
+  public EntryNotification(
+      NetworkTableInstance inst,
+      int listener,
+      int entry,
+      String name,
+      NetworkTableValue value,
+      int flags) {
     this.m_inst = inst;
     this.listener = listener;
     this.entry = entry;
diff --git a/ntcore/src/main/java/edu/wpi/first/networktables/LogMessage.java b/ntcore/src/main/java/edu/wpi/first/networktables/LogMessage.java
index 2bb6c92914..5d77d8b877 100644
--- a/ntcore/src/main/java/edu/wpi/first/networktables/LogMessage.java
+++ b/ntcore/src/main/java/edu/wpi/first/networktables/LogMessage.java
@@ -4,14 +4,11 @@
 
 package edu.wpi.first.networktables;
 
-/**
- * NetworkTables log message.
- */
+/** NetworkTables log message. */
 public final class LogMessage {
-  /**
-   * Logging levels.
-   */
+  /** Logging levels. */
   public static final int kCritical = 50;
+
   public static final int kError = 40;
   public static final int kWarning = 30;
   public static final int kInfo = 20;
@@ -21,38 +18,28 @@ public final class LogMessage {
   public static final int kDebug3 = 7;
   public static final int kDebug4 = 6;
 
-  /**
-   * The logger that generated the message.
-   */
+  /** The logger that generated the message. */
   @SuppressWarnings("MemberName")
   public final int logger;
 
-  /**
-   * Log level of the message.
-   */
+  /** Log level of the message. */
   @SuppressWarnings("MemberName")
   public final int level;
 
-  /**
-   * The filename of the source file that generated the message.
-   */
+  /** The filename of the source file that generated the message. */
   @SuppressWarnings("MemberName")
   public final String filename;
 
-  /**
-   * The line number in the source file that generated the message.
-   */
+  /** The line number in the source file that generated the message. */
   @SuppressWarnings("MemberName")
   public final int line;
 
-  /**
-   * The message.
-   */
+  /** The message. */
   @SuppressWarnings("MemberName")
   public final String message;
 
-  /** Constructor.
-   * This should generally only be used internally to NetworkTables.
+  /**
+   * Constructor. This should generally only be used internally to NetworkTables.
    *
    * @param inst Instance
    * @param logger Logger
@@ -61,8 +48,8 @@ public final class LogMessage {
    * @param line Line number
    * @param message Message
    */
-  public LogMessage(NetworkTableInstance inst, int logger, int level, String filename, int line,
-                    String message) {
+  public LogMessage(
+      NetworkTableInstance inst, int logger, int level, String filename, int line, String message) {
     this.m_inst = inst;
     this.logger = logger;
     this.level = level;
diff --git a/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTable.java b/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTable.java
index bd23a69d84..24b2c094b7 100644
--- a/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTable.java
+++ b/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTable.java
@@ -13,13 +13,9 @@ import java.util.concurrent.ConcurrentHashMap;
 import java.util.concurrent.ConcurrentMap;
 import java.util.function.Consumer;
 
-/**
- * A network table that knows its subtable path.
- */
+/** A network table that knows its subtable path. */
 public final class NetworkTable {
-  /**
-   * The path separator for sub-tables and keys.
-   */
+  /** The path separator for sub-tables and keys. */
   public static final char PATH_SEPARATOR = '/';
 
   private final String m_path;
@@ -27,8 +23,8 @@ public final class NetworkTable {
   private final NetworkTableInstance m_inst;
 
   /**
-   * Gets the "base name" of a key. For example, "/foo/bar" becomes "bar".
-   * If the key has a trailing slash, returns an empty string.
+   * Gets the "base name" of a key. For example, "/foo/bar" becomes "bar". If the key has a trailing
+   * slash, returns an empty string.
    *
    * @param key key
    * @return base name
@@ -42,8 +38,8 @@ public final class NetworkTable {
   }
 
   /**
-   * Normalizes an network table key to contain no consecutive slashes and
-   * optionally start with a leading slash. For example:
+   * Normalizes an network table key to contain no consecutive slashes and optionally start with a
+   * leading slash. For example:
    *
    * <pre><code>
    * normalizeKey("/foo/bar", true)  == "/foo/bar"
@@ -52,9 +48,8 @@ public final class NetworkTable {
    * normalizeKey("foo//bar", false) == "foo/bar"
    * </code></pre>
    *
-   * @param key              the key to normalize
-   * @param withLeadingSlash whether or not the normalized key should begin
-   *                         with a leading slash
+   * @param key the key to normalize
+   * @param withLeadingSlash whether or not the normalized key should begin with a leading slash
    * @return normalized key
    */
   public static String normalizeKey(String key, boolean withLeadingSlash) {
@@ -74,10 +69,9 @@ public final class NetworkTable {
   }
 
   /**
-   * Normalizes a network table key to start with exactly one leading slash
-   * ("/") and contain no consecutive slashes. For example,
-   * {@code "//foo/bar/"} becomes {@code "/foo/bar/"} and
-   * {@code "///a/b/c"} becomes {@code "/a/b/c"}.
+   * Normalizes a network table key to start with exactly one leading slash ("/") and contain no
+   * consecutive slashes. For example, {@code "//foo/bar/"} becomes {@code "/foo/bar/"} and {@code
+   * "///a/b/c"} becomes {@code "/a/b/c"}.
    *
    * <p>This is equivalent to {@code normalizeKey(key, true)}
    *
@@ -89,9 +83,8 @@ public final class NetworkTable {
   }
 
   /**
-   * Gets a list of the names of all the super tables of a given key. For
-   * example, the key "/foo/bar/baz" has a hierarchy of "/", "/foo",
-   * "/foo/bar", and "/foo/bar/baz".
+   * Gets a list of the names of all the super tables of a given key. For example, the key
+   * "/foo/bar/baz" has a hierarchy of "/", "/foo", "/foo/bar", and "/foo/bar/baz".
    *
    * @param key the key
    * @return List of super tables
@@ -115,9 +108,7 @@ public final class NetworkTable {
     return hierarchy;
   }
 
-  /**
-   * Constructor.  Use NetworkTableInstance.getTable() or getSubTable() instead.
-   */
+  /** Constructor. Use NetworkTableInstance.getTable() or getSubTable() instead. */
   NetworkTable(NetworkTableInstance inst, String path) {
     m_path = path;
     m_pathWithSep = path + PATH_SEPARATOR;
@@ -158,52 +149,54 @@ public final class NetworkTable {
   /**
    * Listen to keys only within this table.
    *
-   * @param listener    listener to add
-   * @param flags       {@link EntryListenerFlags} bitmask
+   * @param listener listener to add
+   * @param flags {@link EntryListenerFlags} bitmask
    * @return Listener handle
    */
   public int addEntryListener(TableEntryListener listener, int flags) {
     final int prefixLen = m_path.length() + 1;
-    return m_inst.addEntryListener(m_pathWithSep, event -> {
-      String relativeKey = event.name.substring(prefixLen);
-      if (relativeKey.indexOf(PATH_SEPARATOR) != -1) {
-        // part of a sub table
-        return;
-      }
-      listener.valueChanged(this, relativeKey, event.getEntry(), event.value, event.flags);
-    }, flags);
+    return m_inst.addEntryListener(
+        m_pathWithSep,
+        event -> {
+          String relativeKey = event.name.substring(prefixLen);
+          if (relativeKey.indexOf(PATH_SEPARATOR) != -1) {
+            // part of a sub table
+            return;
+          }
+          listener.valueChanged(this, relativeKey, event.getEntry(), event.value, event.flags);
+        },
+        flags);
   }
 
   /**
    * Listen to a single key.
    *
-   * @param key         the key name
-   * @param listener    listener to add
-   * @param flags       {@link EntryListenerFlags} bitmask
+   * @param key the key name
+   * @param listener listener to add
+   * @param flags {@link EntryListenerFlags} bitmask
    * @return Listener handle
    */
   public int addEntryListener(String key, TableEntryListener listener, int flags) {
     final NetworkTableEntry entry = getEntry(key);
-    return m_inst.addEntryListener(entry,
-        event -> listener.valueChanged(this, key, entry, event.value, event.flags), flags);
+    return m_inst.addEntryListener(
+        entry, event -> listener.valueChanged(this, key, entry, event.value, event.flags), flags);
   }
 
   /**
    * Remove an entry listener.
    *
-   * @param listener    listener handle
+   * @param listener listener handle
    */
   public void removeEntryListener(int listener) {
     m_inst.removeEntryListener(listener);
   }
 
   /**
-   * Listen for sub-table creation.
-   * This calls the listener once for each newly created sub-table.
+   * Listen for sub-table creation. This calls the listener once for each newly created sub-table.
    * It immediately calls the listener for any existing sub-tables.
    *
-   * @param listener        listener to add
-   * @param localNotify     notify local changes as well as remote
+   * @param listener listener to add
+   * @param localNotify notify local changes as well as remote
    * @return Listener handle
    */
   public int addSubTableListener(TableListener listener, boolean localNotify) {
@@ -215,38 +208,41 @@ public final class NetworkTable {
     final int prefixLen = m_path.length() + 1;
     final NetworkTable parent = this;
 
-    return m_inst.addEntryListener(m_pathWithSep, new Consumer<>() {
-      final Set<String> m_notifiedTables = new HashSet<>();
+    return m_inst.addEntryListener(
+        m_pathWithSep,
+        new Consumer<>() {
+          final Set<String> m_notifiedTables = new HashSet<>();
 
-      @Override
-      public void accept(EntryNotification event) {
-        String relativeKey = event.name.substring(prefixLen);
-        int endSubTable = relativeKey.indexOf(PATH_SEPARATOR);
-        if (endSubTable == -1) {
-          return;
-        }
-        String subTableKey = relativeKey.substring(0, endSubTable);
-        if (m_notifiedTables.contains(subTableKey)) {
-          return;
-        }
-        m_notifiedTables.add(subTableKey);
-        listener.tableCreated(parent, subTableKey, parent.getSubTable(subTableKey));
-      }
-    }, flags);
+          @Override
+          public void accept(EntryNotification event) {
+            String relativeKey = event.name.substring(prefixLen);
+            int endSubTable = relativeKey.indexOf(PATH_SEPARATOR);
+            if (endSubTable == -1) {
+              return;
+            }
+            String subTableKey = relativeKey.substring(0, endSubTable);
+            if (m_notifiedTables.contains(subTableKey)) {
+              return;
+            }
+            m_notifiedTables.add(subTableKey);
+            listener.tableCreated(parent, subTableKey, parent.getSubTable(subTableKey));
+          }
+        },
+        flags);
   }
 
   /**
    * Remove a sub-table listener.
    *
-   * @param listener    listener handle
+   * @param listener listener handle
    */
   public void removeTableListener(int listener) {
     m_inst.removeEntryListener(listener);
   }
 
   /**
-   * Returns the table at the specified key. If there is no table at the
-   * specified key, it will create a new table
+   * Returns the table at the specified key. If there is no table at the specified key, it will
+   * create a new table
    *
    * @param key the name of the table relative to this one
    * @return a sub table relative to this one
@@ -273,8 +269,8 @@ public final class NetworkTable {
    *     its own
    */
   public boolean containsSubTable(String key) {
-    int[] handles = NetworkTablesJNI.getEntries(m_inst.getHandle(),
-        m_pathWithSep + key + PATH_SEPARATOR, 0);
+    int[] handles =
+        NetworkTablesJNI.getEntries(m_inst.getHandle(), m_pathWithSep + key + PATH_SEPARATOR, 0);
     return handles.length != 0;
   }
 
@@ -330,8 +326,7 @@ public final class NetworkTable {
   }
 
   /**
-   * Deletes the specified key in this table. The key can
-   * not be null.
+   * Deletes the specified key in this table. The key can not be null.
    *
    * @param key the key name
    */
@@ -371,18 +366,15 @@ public final class NetworkTable {
     return getEntry(key).getValue();
   }
 
-  /**
-   * Get the path of the NetworkTable.
-   */
+  /** Get the path of the NetworkTable. */
   public String getPath() {
     return m_path;
   }
 
   /**
-   * Save table values to a file.  The file format used is identical to
-   * that used for SavePersistent.
+   * Save table values to a file. The file format used is identical to that used for SavePersistent.
    *
-   * @param filename  filename
+   * @param filename filename
    * @throws PersistentException if error saving file
    */
   public void saveEntries(String filename) throws PersistentException {
@@ -390,10 +382,10 @@ public final class NetworkTable {
   }
 
   /**
-   * Load table values from a file.  The file format used is identical to
-   * that used for SavePersistent / LoadPersistent.
+   * Load table values from a file. The file format used is identical to that used for
+   * SavePersistent / LoadPersistent.
    *
-   * @param filename  filename
+   * @param filename filename
    * @return List of warnings (errors result in an exception instead)
    * @throws PersistentException if error saving file
    */
diff --git a/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableEntry.java b/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableEntry.java
index 590281ab8f..0a2a707e3b 100644
--- a/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableEntry.java
+++ b/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableEntry.java
@@ -7,13 +7,9 @@ package edu.wpi.first.networktables;
 import java.nio.ByteBuffer;
 import java.util.function.Consumer;
 
-/**
- * NetworkTables Entry.
- */
+/** NetworkTables Entry. */
 public final class NetworkTableEntry {
-  /**
-   * Flag values (as returned by {@link #getFlags()}).
-   */
+  /** Flag values (as returned by {@link #getFlags()}). */
   public static final int kPersistent = 0x01;
 
   /**
@@ -109,8 +105,7 @@ public final class NetworkTableEntry {
   }
 
   /**
-   * Gets the entry's value.
-   * Returns a value with type NetworkTableType.kUnassigned if the value
+   * Gets the entry's value. Returns a value with type NetworkTableType.kUnassigned if the value
    * does not exist.
    *
    * @return the entry's value
@@ -120,8 +115,8 @@ public final class NetworkTableEntry {
   }
 
   /**
-   * Gets the entry's value as a boolean. If the entry does not exist or is of
-   * different type, it will return the default value.
+   * Gets the entry's value as a boolean. If the entry does not exist or is of different type, it
+   * will return the default value.
    *
    * @param defaultValue the value to be returned if no value is found
    * @return the entry's value or the given default value
@@ -131,8 +126,8 @@ public final class NetworkTableEntry {
   }
 
   /**
-   * Gets the entry's value as a double. If the entry does not exist or is of
-   * different type, it will return the default value.
+   * Gets the entry's value as a double. If the entry does not exist or is of different type, it
+   * will return the default value.
    *
    * @param defaultValue the value to be returned if no value is found
    * @return the entry's value or the given default value
@@ -142,8 +137,8 @@ public final class NetworkTableEntry {
   }
 
   /**
-   * Gets the entry's value as a double. If the entry does not exist or is of
-   * different type, it will return the default value.
+   * Gets the entry's value as a double. If the entry does not exist or is of different type, it
+   * will return the default value.
    *
    * @param defaultValue the value to be returned if no value is found
    * @return the entry's value or the given default value
@@ -153,8 +148,8 @@ public final class NetworkTableEntry {
   }
 
   /**
-   * Gets the entry's value as a string. If the entry does not exist or is of
-   * different type, it will return the default value.
+   * Gets the entry's value as a string. If the entry does not exist or is of different type, it
+   * will return the default value.
    *
    * @param defaultValue the value to be returned if no value is found
    * @return the entry's value or the given default value
@@ -164,8 +159,8 @@ public final class NetworkTableEntry {
   }
 
   /**
-   * Gets the entry's value as a raw value (byte array). If the entry does not
-   * exist or is of different type, it will return the default value.
+   * Gets the entry's value as a raw value (byte array). If the entry does not exist or is of
+   * different type, it will return the default value.
    *
    * @param defaultValue the value to be returned if no value is found
    * @return the entry's value or the given default value
@@ -175,8 +170,8 @@ public final class NetworkTableEntry {
   }
 
   /**
-   * Gets the entry's value as a boolean array. If the entry does not exist
-   * or is of different type, it will return the default value.
+   * Gets the entry's value as a boolean array. If the entry does not exist or is of different type,
+   * it will return the default value.
    *
    * @param defaultValue the value to be returned if no value is found
    * @return the entry's value or the given default value
@@ -186,20 +181,20 @@ public final class NetworkTableEntry {
   }
 
   /**
-   * Gets the entry's value as a boolean array. If the entry does not exist
-   * or is of different type, it will return the default value.
+   * Gets the entry's value as a boolean array. If the entry does not exist or is of different type,
+   * it will return the default value.
    *
    * @param defaultValue the value to be returned if no value is found
    * @return the entry's value or the given default value
    */
   public Boolean[] getBooleanArray(Boolean[] defaultValue) {
-    return NetworkTableValue.fromNative(NetworkTablesJNI.getBooleanArray(m_handle,
-        NetworkTableValue.toNative(defaultValue)));
+    return NetworkTableValue.fromNative(
+        NetworkTablesJNI.getBooleanArray(m_handle, NetworkTableValue.toNative(defaultValue)));
   }
 
   /**
-   * Gets the entry's value as a double array. If the entry does not exist
-   * or is of different type, it will return the default value.
+   * Gets the entry's value as a double array. If the entry does not exist or is of different type,
+   * it will return the default value.
    *
    * @param defaultValue the value to be returned if no value is found
    * @return the entry's value or the given default value
@@ -209,32 +204,32 @@ public final class NetworkTableEntry {
   }
 
   /**
-   * Gets the entry's value as a double array. If the entry does not exist
-   * or is of different type, it will return the default value.
+   * Gets the entry's value as a double array. If the entry does not exist or is of different type,
+   * it will return the default value.
    *
    * @param defaultValue the value to be returned if no value is found
    * @return the entry's value or the given default value
    */
   public Double[] getDoubleArray(Double[] defaultValue) {
-    return NetworkTableValue.fromNative(NetworkTablesJNI.getDoubleArray(m_handle,
-        NetworkTableValue.toNative(defaultValue)));
+    return NetworkTableValue.fromNative(
+        NetworkTablesJNI.getDoubleArray(m_handle, NetworkTableValue.toNative(defaultValue)));
   }
 
   /**
-   * Gets the entry's value as a double array. If the entry does not exist
-   * or is of different type, it will return the default value.
+   * Gets the entry's value as a double array. If the entry does not exist or is of different type,
+   * it will return the default value.
    *
    * @param defaultValue the value to be returned if no value is found
    * @return the entry's value or the given default value
    */
   public Number[] getNumberArray(Number[] defaultValue) {
-    return NetworkTableValue.fromNative(NetworkTablesJNI.getDoubleArray(m_handle,
-        NetworkTableValue.toNative(defaultValue)));
+    return NetworkTableValue.fromNative(
+        NetworkTablesJNI.getDoubleArray(m_handle, NetworkTableValue.toNative(defaultValue)));
   }
 
   /**
-   * Gets the entry's value as a string array. If the entry does not exist
-   * or is of different type, it will return the default value.
+   * Gets the entry's value as a string array. If the entry does not exist or is of different type,
+   * it will return the default value.
    *
    * @param defaultValue the value to be returned if no value is found
    * @return the entry's value or the given default value
@@ -276,11 +271,10 @@ public final class NetworkTableEntry {
       Object otherValue = ((NetworkTableValue) defaultValue).getValue();
       switch (((NetworkTableValue) defaultValue).getType()) {
         case kBoolean:
-          return NetworkTablesJNI.setDefaultBoolean(m_handle, time,
-              (Boolean) otherValue);
+          return NetworkTablesJNI.setDefaultBoolean(m_handle, time, (Boolean) otherValue);
         case kDouble:
-          return NetworkTablesJNI.setDefaultDouble(m_handle, time,
-              ((Number) otherValue).doubleValue());
+          return NetworkTablesJNI.setDefaultDouble(
+              m_handle, time, ((Number) otherValue).doubleValue());
         case kString:
           return NetworkTablesJNI.setDefaultString(m_handle, time, (String) otherValue);
         case kRaw:
@@ -302,21 +296,21 @@ public final class NetworkTableEntry {
       return setDefaultNumber((Number) defaultValue);
     } else if (defaultValue instanceof String) {
       return setDefaultString((String) defaultValue);
-    } else if (defaultValue instanceof byte[])  {
+    } else if (defaultValue instanceof byte[]) {
       return setDefaultRaw((byte[]) defaultValue);
-    } else if (defaultValue instanceof boolean[])  {
+    } else if (defaultValue instanceof boolean[]) {
       return setDefaultBooleanArray((boolean[]) defaultValue);
-    } else if (defaultValue instanceof double[])  {
+    } else if (defaultValue instanceof double[]) {
       return setDefaultDoubleArray((double[]) defaultValue);
-    } else if (defaultValue instanceof Boolean[])  {
+    } else if (defaultValue instanceof Boolean[]) {
       return setDefaultBooleanArray((Boolean[]) defaultValue);
-    } else if (defaultValue instanceof Number[])  {
+    } else if (defaultValue instanceof Number[]) {
       return setDefaultNumberArray((Number[]) defaultValue);
-    } else if (defaultValue instanceof String[])  {
+    } else if (defaultValue instanceof String[]) {
       return setDefaultStringArray((String[]) defaultValue);
     } else {
-      throw new IllegalArgumentException("Value of type " + defaultValue.getClass().getName()
-        + " cannot be put into a table");
+      throw new IllegalArgumentException(
+          "Value of type " + defaultValue.getClass().getName() + " cannot be put into a table");
     }
   }
 
@@ -387,8 +381,8 @@ public final class NetworkTableEntry {
    * @return False if the entry exists with a different type
    */
   public boolean setDefaultBooleanArray(Boolean[] defaultValue) {
-    return NetworkTablesJNI.setDefaultBooleanArray(m_handle,
-        0, NetworkTableValue.toNative(defaultValue));
+    return NetworkTablesJNI.setDefaultBooleanArray(
+        m_handle, 0, NetworkTableValue.toNative(defaultValue));
   }
 
   /**
@@ -408,8 +402,8 @@ public final class NetworkTableEntry {
    * @return False if the entry exists with a different type
    */
   public boolean setDefaultNumberArray(Number[] defaultValue) {
-    return NetworkTablesJNI.setDefaultDoubleArray(m_handle,
-        0, NetworkTableValue.toNative(defaultValue));
+    return NetworkTablesJNI.setDefaultDoubleArray(
+        m_handle, 0, NetworkTableValue.toNative(defaultValue));
   }
 
   /**
@@ -435,11 +429,10 @@ public final class NetworkTableEntry {
       Object otherValue = ((NetworkTableValue) value).getValue();
       switch (((NetworkTableValue) value).getType()) {
         case kBoolean:
-          return NetworkTablesJNI.setBoolean(m_handle, time, (Boolean) otherValue,
-              false);
+          return NetworkTablesJNI.setBoolean(m_handle, time, (Boolean) otherValue, false);
         case kDouble:
-          return NetworkTablesJNI.setDouble(m_handle, time, ((Number) otherValue).doubleValue(),
-              false);
+          return NetworkTablesJNI.setDouble(
+              m_handle, time, ((Number) otherValue).doubleValue(), false);
         case kString:
           return NetworkTablesJNI.setString(m_handle, time, (String) otherValue, false);
         case kRaw:
@@ -474,8 +467,8 @@ public final class NetworkTableEntry {
     } else if (value instanceof String[]) {
       return setStringArray((String[]) value);
     } else {
-      throw new IllegalArgumentException("Value of type " + value.getClass().getName()
-        + " cannot be put into a table");
+      throw new IllegalArgumentException(
+          "Value of type " + value.getClass().getName() + " cannot be put into a table");
     }
   }
 
@@ -597,8 +590,8 @@ public final class NetworkTableEntry {
   }
 
   /**
-   * Sets the entry's value.  If the value is of different type, the type is
-   * changed to match the new value.
+   * Sets the entry's value. If the value is of different type, the type is changed to match the new
+   * value.
    *
    * @param value the value to set
    * @throws IllegalArgumentException if the value is not a known type
@@ -653,14 +646,14 @@ public final class NetworkTableEntry {
     } else if (value instanceof String[]) {
       forceSetStringArray((String[]) value);
     } else {
-      throw new IllegalArgumentException("Value of type " + value.getClass().getName()
-        + " cannot be put into a table");
+      throw new IllegalArgumentException(
+          "Value of type " + value.getClass().getName() + " cannot be put into a table");
     }
   }
 
   /**
-   * Sets the entry's value.  If the value is of different type, the type is
-   * changed to match the new value.
+   * Sets the entry's value. If the value is of different type, the type is changed to match the new
+   * value.
    *
    * @param value the value to set
    */
@@ -669,8 +662,8 @@ public final class NetworkTableEntry {
   }
 
   /**
-   * Sets the entry's value.  If the value is of different type, the type is
-   * changed to match the new value.
+   * Sets the entry's value. If the value is of different type, the type is changed to match the new
+   * value.
    *
    * @param value the value to set
    */
@@ -679,8 +672,8 @@ public final class NetworkTableEntry {
   }
 
   /**
-   * Sets the entry's value.  If the value is of different type, the type is
-   * changed to match the new value.
+   * Sets the entry's value. If the value is of different type, the type is changed to match the new
+   * value.
    *
    * @param value the value to set
    */
@@ -689,8 +682,8 @@ public final class NetworkTableEntry {
   }
 
   /**
-   * Sets the entry's value.  If the value is of different type, the type is
-   * changed to match the new value.
+   * Sets the entry's value. If the value is of different type, the type is changed to match the new
+   * value.
    *
    * @param value the value to set
    */
@@ -699,8 +692,8 @@ public final class NetworkTableEntry {
   }
 
   /**
-   * Sets the entry's value.  If the value is of different type, the type is
-   * changed to match the new value.
+   * Sets the entry's value. If the value is of different type, the type is changed to match the new
+   * value.
    *
    * @param value the value to set
    */
@@ -709,8 +702,8 @@ public final class NetworkTableEntry {
   }
 
   /**
-   * Sets the entry's value.  If the value is of different type, the type is
-   * changed to match the new value.
+   * Sets the entry's value. If the value is of different type, the type is changed to match the new
+   * value.
    *
    * @param value the value to set
    */
@@ -719,8 +712,8 @@ public final class NetworkTableEntry {
   }
 
   /**
-   * Sets the entry's value.  If the value is of different type, the type is
-   * changed to match the new value.
+   * Sets the entry's value. If the value is of different type, the type is changed to match the new
+   * value.
    *
    * @param value the value to set
    */
@@ -729,8 +722,8 @@ public final class NetworkTableEntry {
   }
 
   /**
-   * Sets the entry's value.  If the value is of different type, the type is
-   * changed to match the new value.
+   * Sets the entry's value. If the value is of different type, the type is changed to match the new
+   * value.
    *
    * @param value the value to set
    */
@@ -739,8 +732,8 @@ public final class NetworkTableEntry {
   }
 
   /**
-   * Sets the entry's value.  If the value is of different type, the type is
-   * changed to match the new value.
+   * Sets the entry's value. If the value is of different type, the type is changed to match the new
+   * value.
    *
    * @param value the value to set
    */
@@ -749,8 +742,8 @@ public final class NetworkTableEntry {
   }
 
   /**
-   * Sets the entry's value.  If the value is of different type, the type is
-   * changed to match the new value.
+   * Sets the entry's value. If the value is of different type, the type is changed to match the new
+   * value.
    *
    * @param value the value to set
    */
@@ -776,16 +769,12 @@ public final class NetworkTableEntry {
     NetworkTablesJNI.setEntryFlags(m_handle, getFlags() & ~flags);
   }
 
-  /**
-   * Make value persistent through program restarts.
-   */
+  /** Make value persistent through program restarts. */
   public void setPersistent() {
     setFlags(kPersistent);
   }
 
-  /**
-   * Stop making value persistent through program restarts.
-   */
+  /** Stop making value persistent through program restarts. */
   public void clearPersistent() {
     clearFlags(kPersistent);
   }
@@ -799,31 +788,28 @@ public final class NetworkTableEntry {
     return (getFlags() & kPersistent) != 0;
   }
 
-  /**
-   * Deletes the entry.
-   */
+  /** Deletes the entry. */
   public void delete() {
     NetworkTablesJNI.deleteEntry(m_handle);
   }
 
   /**
-   * Create a callback-based RPC entry point.  Only valid to use on the server.
-   * The callback function will be called when the RPC is called.
-   * This function creates RPC version 0 definitions (raw data in and out).
+   * Create a callback-based RPC entry point. Only valid to use on the server. The callback function
+   * will be called when the RPC is called. This function creates RPC version 0 definitions (raw
+   * data in and out).
    *
-   * @param callback  callback function
+   * @param callback callback function
    */
   public void createRpc(Consumer<RpcAnswer> callback) {
     m_inst.createRpc(this, callback);
   }
 
   /**
-   * Call a RPC function.  May be used on either the client or server.
-   * This function is non-blocking.  Either {@link RpcCall#getResult()} or
-   * {@link RpcCall#cancelResult()} must be called on the return value to either
-   * get or ignore the result of the call.
+   * Call a RPC function. May be used on either the client or server. This function is non-blocking.
+   * Either {@link RpcCall#getResult()} or {@link RpcCall#cancelResult()} must be called on the
+   * return value to either get or ignore the result of the call.
    *
-   * @param params      parameter
+   * @param params parameter
    * @return RPC call object.
    */
   public RpcCall callRpc(byte[] params) {
diff --git a/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableInstance.java b/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableInstance.java
index 377d9b36a7..ba470b1d91 100644
--- a/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableInstance.java
+++ b/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableInstance.java
@@ -16,36 +16,33 @@ import java.util.function.Consumer;
 /**
  * NetworkTables Instance.
  *
- * <p>Instances are completely independent from each other.  Table operations on
- * one instance will not be visible to other instances unless the instances are
- * connected via the network.  The main limitation on instances is that you
- * cannot have two servers on the same network port.  The main utility of
- * instances is for unit testing, but they can also enable one program to
- * connect to two different NetworkTables networks.
+ * <p>Instances are completely independent from each other. Table operations on one instance will
+ * not be visible to other instances unless the instances are connected via the network. The main
+ * limitation on instances is that you cannot have two servers on the same network port. The main
+ * utility of instances is for unit testing, but they can also enable one program to connect to two
+ * different NetworkTables networks.
  *
- * <p>The global "default" instance (as returned by {@link #getDefault()}) is
- * always available, and is intended for the common case when there is only
- * a single NetworkTables instance being used in the program.
+ * <p>The global "default" instance (as returned by {@link #getDefault()}) is always available, and
+ * is intended for the common case when there is only a single NetworkTables instance being used in
+ * the program.
  *
- * <p>Additional instances can be created with the {@link #create()} function.
- * A reference must be kept to the NetworkTableInstance returned by this
- * function to keep it from being garbage collected.
+ * <p>Additional instances can be created with the {@link #create()} function. A reference must be
+ * kept to the NetworkTableInstance returned by this function to keep it from being garbage
+ * collected.
  */
 public final class NetworkTableInstance implements AutoCloseable {
   /**
-   * Client/server mode flag values (as returned by {@link #getNetworkMode()}).
-   * This is a bitmask.
+   * Client/server mode flag values (as returned by {@link #getNetworkMode()}). This is a bitmask.
    */
   public static final int kNetModeNone = 0x00;
+
   public static final int kNetModeServer = 0x01;
   public static final int kNetModeClient = 0x02;
   public static final int kNetModeStarting = 0x04;
   public static final int kNetModeFailure = 0x08;
   public static final int kNetModeLocal = 0x10;
 
-  /**
-   * The default port that network tables operates on.
-   */
+  /** The default port that network tables operates on. */
   public static final int kDefaultPort = 1735;
 
   /**
@@ -58,9 +55,7 @@ public final class NetworkTableInstance implements AutoCloseable {
     m_handle = handle;
   }
 
-  /**
-   * Destroys the instance (if created by {@link #create()}).
-   */
+  /** Destroys the instance (if created by {@link #create()}). */
   @Override
   public synchronized void close() {
     if (m_owned && m_handle != 0) {
@@ -93,8 +88,7 @@ public final class NetworkTableInstance implements AutoCloseable {
   }
 
   /**
-   * Create an instance.
-   * Note: A reference to the returned instance must be retained to ensure the
+   * Create an instance. Note: A reference to the returned instance must be retained to ensure the
    * instance is not garbage collected.
    *
    * @return Newly created instance
@@ -125,12 +119,11 @@ public final class NetworkTableInstance implements AutoCloseable {
   }
 
   /**
-   * Get entries starting with the given prefix.
-   * The results are optionally filtered by string prefix and entry type to
-   * only return a subset of all entries.
+   * Get entries starting with the given prefix. The results are optionally filtered by string
+   * prefix and entry type to only return a subset of all entries.
    *
-   * @param prefix entry name required prefix; only entries whose name
-   *     starts with this string are returned
+   * @param prefix entry name required prefix; only entries whose name starts with this string are
+   *     returned
    * @param types bitmask of types; 0 is treated as a "don't care"
    * @return Array of entries.
    */
@@ -144,12 +137,11 @@ public final class NetworkTableInstance implements AutoCloseable {
   }
 
   /**
-   * Get information about entries starting with the given prefix.
-   * The results are optionally filtered by string prefix and entry type to
-   * only return a subset of all entries.
+   * Get information about entries starting with the given prefix. The results are optionally
+   * filtered by string prefix and entry type to only return a subset of all entries.
    *
-   * @param prefix entry name required prefix; only entries whose name
-   *     starts with this string are returned
+   * @param prefix entry name required prefix; only entries whose name starts with this string are
+   *     returned
    * @param types bitmask of types; 0 is treated as a "don't care"
    * @return Array of entry information.
    */
@@ -189,10 +181,7 @@ public final class NetworkTableInstance implements AutoCloseable {
     return table;
   }
 
-  /**
-   * Deletes ALL keys in ALL subtables (except persistent values).
-   * Use with caution!
-   */
+  /** Deletes ALL keys in ALL subtables (except persistent values). Use with caution! */
   public void deleteAllEntries() {
     NetworkTablesJNI.deleteAllEntries(m_handle);
   }
@@ -219,58 +208,62 @@ public final class NetworkTableInstance implements AutoCloseable {
   private final Condition m_entryListenerWaitQueueCond = m_entryListenerLock.newCondition();
 
   private void startEntryListenerThread() {
-    m_entryListenerThread = new Thread(() -> {
-      boolean wasInterrupted = false;
-      while (!Thread.interrupted()) {
-        EntryNotification[] events;
-        try {
-          events = NetworkTablesJNI.pollEntryListener(this, m_entryListenerPoller);
-        } catch (InterruptedException ex) {
-          m_entryListenerLock.lock();
-          try {
-            if (m_entryListenerWaitQueue) {
-              m_entryListenerWaitQueue = false;
-              m_entryListenerWaitQueueCond.signalAll();
-              continue;
-            }
-          } finally {
-            m_entryListenerLock.unlock();
-          }
-          Thread.currentThread().interrupt();
-          // don't try to destroy poller, as its handle is likely no longer valid
-          wasInterrupted = true;
-          break;
-        }
-        for (EntryNotification event : events) {
-          EntryConsumer<EntryNotification> listener;
-          m_entryListenerLock.lock();
-          try {
-            listener = m_entryListeners.get(event.listener);
-          } finally {
-            m_entryListenerLock.unlock();
-          }
-          if (listener != null) {
-            event.m_entryObject = listener.m_entry;
-            try {
-              listener.m_consumer.accept(event);
-            } catch (Throwable throwable) {
-              System.err.println("Unhandled exception during entry listener callback: "
-                  + throwable.toString());
-              throwable.printStackTrace();
-            }
-          }
-        }
-      }
-      m_entryListenerLock.lock();
-      try {
-        if (!wasInterrupted) {
-          NetworkTablesJNI.destroyEntryListenerPoller(m_entryListenerPoller);
-        }
-        m_entryListenerPoller = 0;
-      } finally {
-        m_entryListenerLock.unlock();
-      }
-    }, "NTEntryListener");
+    m_entryListenerThread =
+        new Thread(
+            () -> {
+              boolean wasInterrupted = false;
+              while (!Thread.interrupted()) {
+                EntryNotification[] events;
+                try {
+                  events = NetworkTablesJNI.pollEntryListener(this, m_entryListenerPoller);
+                } catch (InterruptedException ex) {
+                  m_entryListenerLock.lock();
+                  try {
+                    if (m_entryListenerWaitQueue) {
+                      m_entryListenerWaitQueue = false;
+                      m_entryListenerWaitQueueCond.signalAll();
+                      continue;
+                    }
+                  } finally {
+                    m_entryListenerLock.unlock();
+                  }
+                  Thread.currentThread().interrupt();
+                  // don't try to destroy poller, as its handle is likely no longer valid
+                  wasInterrupted = true;
+                  break;
+                }
+                for (EntryNotification event : events) {
+                  EntryConsumer<EntryNotification> listener;
+                  m_entryListenerLock.lock();
+                  try {
+                    listener = m_entryListeners.get(event.listener);
+                  } finally {
+                    m_entryListenerLock.unlock();
+                  }
+                  if (listener != null) {
+                    event.m_entryObject = listener.m_entry;
+                    try {
+                      listener.m_consumer.accept(event);
+                    } catch (Throwable throwable) {
+                      System.err.println(
+                          "Unhandled exception during entry listener callback: "
+                              + throwable.toString());
+                      throwable.printStackTrace();
+                    }
+                  }
+                }
+              }
+              m_entryListenerLock.lock();
+              try {
+                if (!wasInterrupted) {
+                  NetworkTablesJNI.destroyEntryListenerPoller(m_entryListenerPoller);
+                }
+                m_entryListenerPoller = 0;
+              } finally {
+                m_entryListenerLock.unlock();
+              }
+            },
+            "NTEntryListener");
     m_entryListenerThread.setDaemon(true);
     m_entryListenerThread.start();
   }
@@ -278,9 +271,9 @@ public final class NetworkTableInstance implements AutoCloseable {
   /**
    * Add a listener for all entries starting with a certain prefix.
    *
-   * @param prefix            UTF-8 string prefix
-   * @param listener          listener to add
-   * @param flags             {@link EntryListenerFlags} bitmask
+   * @param prefix UTF-8 string prefix
+   * @param listener listener to add
+   * @param flags {@link EntryListenerFlags} bitmask
    * @return Listener handle
    */
   public int addEntryListener(String prefix, Consumer<EntryNotification> listener, int flags) {
@@ -301,14 +294,13 @@ public final class NetworkTableInstance implements AutoCloseable {
   /**
    * Add a listener for a particular entry.
    *
-   * @param entry             the entry
-   * @param listener          listener to add
-   * @param flags             {@link EntryListenerFlags} bitmask
+   * @param entry the entry
+   * @param listener listener to add
+   * @param flags {@link EntryListenerFlags} bitmask
    * @return Listener handle
    */
-  public int addEntryListener(NetworkTableEntry entry,
-                              Consumer<EntryNotification> listener,
-                              int flags) {
+  public int addEntryListener(
+      NetworkTableEntry entry, Consumer<EntryNotification> listener, int flags) {
     if (!equals(entry.getInstance())) {
       throw new IllegalArgumentException("entry does not belong to this instance");
     }
@@ -318,8 +310,8 @@ public final class NetworkTableInstance implements AutoCloseable {
         m_entryListenerPoller = NetworkTablesJNI.createEntryListenerPoller(m_handle);
         startEntryListenerThread();
       }
-      int handle = NetworkTablesJNI.addPolledEntryListener(m_entryListenerPoller, entry.getHandle(),
-          flags);
+      int handle =
+          NetworkTablesJNI.addPolledEntryListener(m_entryListenerPoller, entry.getHandle(), flags);
       m_entryListeners.put(handle, new EntryConsumer<>(entry, listener));
       return handle;
     } finally {
@@ -337,15 +329,14 @@ public final class NetworkTableInstance implements AutoCloseable {
   }
 
   /**
-   * Wait for the entry listener queue to be empty.  This is primarily useful
-   * for deterministic testing.  This blocks until either the entry listener
-   * queue is empty (e.g. there are no more events that need to be passed along
-   * to callbacks or poll queues) or the timeout expires.
+   * Wait for the entry listener queue to be empty. This is primarily useful for deterministic
+   * testing. This blocks until either the entry listener queue is empty (e.g. there are no more
+   * events that need to be passed along to callbacks or poll queues) or the timeout expires.
    *
-   * @param timeout   timeout, in seconds.  Set to 0 for non-blocking behavior,
-   *                  or a negative value to block indefinitely
+   * @param timeout timeout, in seconds. Set to 0 for non-blocking behavior, or a negative value to
+   *     block indefinitely
    * @return False if timed out, otherwise true.
-  */
+   */
   public boolean waitForEntryListenerQueue(double timeout) {
     if (!NetworkTablesJNI.waitForEntryListenerQueue(m_handle, timeout)) {
       return false;
@@ -360,8 +351,8 @@ public final class NetworkTableInstance implements AutoCloseable {
             if (timeout < 0) {
               m_entryListenerWaitQueueCond.await();
             } else {
-              return m_entryListenerWaitQueueCond.await((long) (timeout * 1e9),
-                  TimeUnit.NANOSECONDS);
+              return m_entryListenerWaitQueueCond.await(
+                  (long) (timeout * 1e9), TimeUnit.NANOSECONDS);
             }
           } catch (InterruptedException ex) {
             Thread.currentThread().interrupt();
@@ -376,66 +367,71 @@ public final class NetworkTableInstance implements AutoCloseable {
   }
 
   private final ReentrantLock m_connectionListenerLock = new ReentrantLock();
-  private final Map<Integer, Consumer<ConnectionNotification>> m_connectionListeners
-      = new HashMap<>();
+  private final Map<Integer, Consumer<ConnectionNotification>> m_connectionListeners =
+      new HashMap<>();
   private Thread m_connectionListenerThread;
   private int m_connectionListenerPoller;
   private boolean m_connectionListenerWaitQueue;
-  private final Condition m_connectionListenerWaitQueueCond
-      = m_connectionListenerLock.newCondition();
+  private final Condition m_connectionListenerWaitQueueCond =
+      m_connectionListenerLock.newCondition();
 
   private void startConnectionListenerThread() {
-    m_connectionListenerThread = new Thread(() -> {
-      boolean wasInterrupted = false;
-      while (!Thread.interrupted()) {
-        ConnectionNotification[] events;
-        try {
-          events = NetworkTablesJNI.pollConnectionListener(this, m_connectionListenerPoller);
-        } catch (InterruptedException ex) {
-          m_connectionListenerLock.lock();
-          try {
-            if (m_connectionListenerWaitQueue) {
-              m_connectionListenerWaitQueue = false;
-              m_connectionListenerWaitQueueCond.signalAll();
-              continue;
-            }
-          } finally {
-            m_connectionListenerLock.unlock();
-          }
-          Thread.currentThread().interrupt();
-          // don't try to destroy poller, as its handle is likely no longer valid
-          wasInterrupted = true;
-          break;
-        }
-        for (ConnectionNotification event : events) {
-          Consumer<ConnectionNotification> listener;
-          m_connectionListenerLock.lock();
-          try {
-            listener = m_connectionListeners.get(event.listener);
-          } finally {
-            m_connectionListenerLock.unlock();
-          }
-          if (listener != null) {
-            try {
-              listener.accept(event);
-            } catch (Throwable throwable) {
-              System.err.println("Unhandled exception during connection listener callback: "
-                  + throwable.toString());
-              throwable.printStackTrace();
-            }
-          }
-        }
-      }
-      m_connectionListenerLock.lock();
-      try {
-        if (!wasInterrupted) {
-          NetworkTablesJNI.destroyConnectionListenerPoller(m_connectionListenerPoller);
-        }
-        m_connectionListenerPoller = 0;
-      } finally {
-        m_connectionListenerLock.unlock();
-      }
-    }, "NTConnectionListener");
+    m_connectionListenerThread =
+        new Thread(
+            () -> {
+              boolean wasInterrupted = false;
+              while (!Thread.interrupted()) {
+                ConnectionNotification[] events;
+                try {
+                  events =
+                      NetworkTablesJNI.pollConnectionListener(this, m_connectionListenerPoller);
+                } catch (InterruptedException ex) {
+                  m_connectionListenerLock.lock();
+                  try {
+                    if (m_connectionListenerWaitQueue) {
+                      m_connectionListenerWaitQueue = false;
+                      m_connectionListenerWaitQueueCond.signalAll();
+                      continue;
+                    }
+                  } finally {
+                    m_connectionListenerLock.unlock();
+                  }
+                  Thread.currentThread().interrupt();
+                  // don't try to destroy poller, as its handle is likely no longer valid
+                  wasInterrupted = true;
+                  break;
+                }
+                for (ConnectionNotification event : events) {
+                  Consumer<ConnectionNotification> listener;
+                  m_connectionListenerLock.lock();
+                  try {
+                    listener = m_connectionListeners.get(event.listener);
+                  } finally {
+                    m_connectionListenerLock.unlock();
+                  }
+                  if (listener != null) {
+                    try {
+                      listener.accept(event);
+                    } catch (Throwable throwable) {
+                      System.err.println(
+                          "Unhandled exception during connection listener callback: "
+                              + throwable.toString());
+                      throwable.printStackTrace();
+                    }
+                  }
+                }
+              }
+              m_connectionListenerLock.lock();
+              try {
+                if (!wasInterrupted) {
+                  NetworkTablesJNI.destroyConnectionListenerPoller(m_connectionListenerPoller);
+                }
+                m_connectionListenerPoller = 0;
+              } finally {
+                m_connectionListenerLock.unlock();
+              }
+            },
+            "NTConnectionListener");
     m_connectionListenerThread.setDaemon(true);
     m_connectionListenerThread.start();
   }
@@ -447,16 +443,16 @@ public final class NetworkTableInstance implements AutoCloseable {
    * @param immediateNotify Notify listener of all existing connections
    * @return Listener handle
    */
-  public int addConnectionListener(Consumer<ConnectionNotification> listener,
-                                   boolean immediateNotify) {
+  public int addConnectionListener(
+      Consumer<ConnectionNotification> listener, boolean immediateNotify) {
     m_connectionListenerLock.lock();
     try {
       if (m_connectionListenerPoller == 0) {
         m_connectionListenerPoller = NetworkTablesJNI.createConnectionListenerPoller(m_handle);
         startConnectionListenerThread();
       }
-      int handle = NetworkTablesJNI.addPolledConnectionListener(m_connectionListenerPoller,
-          immediateNotify);
+      int handle =
+          NetworkTablesJNI.addPolledConnectionListener(m_connectionListenerPoller, immediateNotify);
       m_connectionListeners.put(handle, listener);
       return handle;
     } finally {
@@ -480,13 +476,12 @@ public final class NetworkTableInstance implements AutoCloseable {
   }
 
   /**
-   * Wait for the connection listener queue to be empty.  This is primarily useful
-   * for deterministic testing.  This blocks until either the connection listener
-   * queue is empty (e.g. there are no more events that need to be passed along
-   * to callbacks or poll queues) or the timeout expires.
+   * Wait for the connection listener queue to be empty. This is primarily useful for deterministic
+   * testing. This blocks until either the connection listener queue is empty (e.g. there are no
+   * more events that need to be passed along to callbacks or poll queues) or the timeout expires.
    *
-   * @param timeout   timeout, in seconds.  Set to 0 for non-blocking behavior,
-   *                  or a negative value to block indefinitely
+   * @param timeout timeout, in seconds. Set to 0 for non-blocking behavior, or a negative value to
+   *     block indefinitely
    * @return False if timed out, otherwise true.
    */
   public boolean waitForConnectionListenerQueue(double timeout) {
@@ -503,8 +498,8 @@ public final class NetworkTableInstance implements AutoCloseable {
             if (timeout < 0) {
               m_connectionListenerWaitQueueCond.await();
             } else {
-              return m_connectionListenerWaitQueueCond.await((long) (timeout * 1e9),
-                  TimeUnit.NANOSECONDS);
+              return m_connectionListenerWaitQueueCond.await(
+                  (long) (timeout * 1e9), TimeUnit.NANOSECONDS);
             }
           } catch (InterruptedException ex) {
             Thread.currentThread().interrupt();
@@ -530,59 +525,62 @@ public final class NetworkTableInstance implements AutoCloseable {
   private final Condition m_rpcCallWaitQueueCond = m_rpcCallLock.newCondition();
 
   private void startRpcCallThread() {
-    m_rpcCallThread = new Thread(() -> {
-      boolean wasInterrupted = false;
-      while (!Thread.interrupted()) {
-        RpcAnswer[] events;
-        try {
-          events = NetworkTablesJNI.pollRpc(this, m_rpcCallPoller);
-        } catch (InterruptedException ex) {
-          m_rpcCallLock.lock();
-          try {
-            if (m_rpcCallWaitQueue) {
-              m_rpcCallWaitQueue = false;
-              m_rpcCallWaitQueueCond.signalAll();
-              continue;
-            }
-          } finally {
-            m_rpcCallLock.unlock();
-          }
-          Thread.currentThread().interrupt();
-          // don't try to destroy poller, as its handle is likely no longer valid
-          wasInterrupted = true;
-          break;
-        }
-        for (RpcAnswer event : events) {
-          EntryConsumer<RpcAnswer> listener;
-          m_rpcCallLock.lock();
-          try {
-            listener = m_rpcCalls.get(event.entry);
-          } finally {
-            m_rpcCallLock.unlock();
-          }
-          if (listener != null) {
-            event.m_entryObject = listener.m_entry;
-            try {
-              listener.m_consumer.accept(event);
-            } catch (Throwable throwable) {
-              System.err.println("Unhandled exception during RPC callback: "
-                  + throwable.toString());
-              throwable.printStackTrace();
-            }
-            event.finish();
-          }
-        }
-      }
-      m_rpcCallLock.lock();
-      try {
-        if (!wasInterrupted) {
-          NetworkTablesJNI.destroyRpcCallPoller(m_rpcCallPoller);
-        }
-        m_rpcCallPoller = 0;
-      } finally {
-        m_rpcCallLock.unlock();
-      }
-    }, "NTRpcCall");
+    m_rpcCallThread =
+        new Thread(
+            () -> {
+              boolean wasInterrupted = false;
+              while (!Thread.interrupted()) {
+                RpcAnswer[] events;
+                try {
+                  events = NetworkTablesJNI.pollRpc(this, m_rpcCallPoller);
+                } catch (InterruptedException ex) {
+                  m_rpcCallLock.lock();
+                  try {
+                    if (m_rpcCallWaitQueue) {
+                      m_rpcCallWaitQueue = false;
+                      m_rpcCallWaitQueueCond.signalAll();
+                      continue;
+                    }
+                  } finally {
+                    m_rpcCallLock.unlock();
+                  }
+                  Thread.currentThread().interrupt();
+                  // don't try to destroy poller, as its handle is likely no longer valid
+                  wasInterrupted = true;
+                  break;
+                }
+                for (RpcAnswer event : events) {
+                  EntryConsumer<RpcAnswer> listener;
+                  m_rpcCallLock.lock();
+                  try {
+                    listener = m_rpcCalls.get(event.entry);
+                  } finally {
+                    m_rpcCallLock.unlock();
+                  }
+                  if (listener != null) {
+                    event.m_entryObject = listener.m_entry;
+                    try {
+                      listener.m_consumer.accept(event);
+                    } catch (Throwable throwable) {
+                      System.err.println(
+                          "Unhandled exception during RPC callback: " + throwable.toString());
+                      throwable.printStackTrace();
+                    }
+                    event.finish();
+                  }
+                }
+              }
+              m_rpcCallLock.lock();
+              try {
+                if (!wasInterrupted) {
+                  NetworkTablesJNI.destroyRpcCallPoller(m_rpcCallPoller);
+                }
+                m_rpcCallPoller = 0;
+              } finally {
+                m_rpcCallLock.unlock();
+              }
+            },
+            "NTRpcCall");
     m_rpcCallThread.setDaemon(true);
     m_rpcCallThread.start();
   }
@@ -590,12 +588,12 @@ public final class NetworkTableInstance implements AutoCloseable {
   private static final byte[] rev0def = new byte[] {0};
 
   /**
-   * Create a callback-based RPC entry point.  Only valid to use on the server.
-   * The callback function will be called when the RPC is called.
-   * This function creates RPC version 0 definitions (raw data in and out).
+   * Create a callback-based RPC entry point. Only valid to use on the server. The callback function
+   * will be called when the RPC is called. This function creates RPC version 0 definitions (raw
+   * data in and out).
    *
-   * @param entry     the entry
-   * @param callback  callback function
+   * @param entry the entry
+   * @param callback callback function
    */
   public void createRpc(NetworkTableEntry entry, Consumer<RpcAnswer> callback) {
     m_rpcCallLock.lock();
@@ -612,13 +610,12 @@ public final class NetworkTableInstance implements AutoCloseable {
   }
 
   /**
-   * Wait for the incoming RPC call queue to be empty.  This is primarily useful
-   * for deterministic testing.  This blocks until either the RPC call
-   * queue is empty (e.g. there are no more events that need to be passed along
-   * to callbacks or poll queues) or the timeout expires.
+   * Wait for the incoming RPC call queue to be empty. This is primarily useful for deterministic
+   * testing. This blocks until either the RPC call queue is empty (e.g. there are no more events
+   * that need to be passed along to callbacks or poll queues) or the timeout expires.
    *
-   * @param timeout   timeout, in seconds.  Set to 0 for non-blocking behavior,
-   *                  or a negative value to block indefinitely
+   * @param timeout timeout, in seconds. Set to 0 for non-blocking behavior, or a negative value to
+   *     block indefinitely
    * @return False if timed out, otherwise true.
    */
   public boolean waitForRpcCallQueue(double timeout) {
@@ -654,11 +651,10 @@ public final class NetworkTableInstance implements AutoCloseable {
    */
 
   /**
-   * Set the network identity of this node.
-   * This is the name used during the initial connection handshake, and is
-   * visible through ConnectionInfo on the remote node.
+   * Set the network identity of this node. This is the name used during the initial connection
+   * handshake, and is visible through ConnectionInfo on the remote node.
    *
-   * @param name      identity to advertise
+   * @param name identity to advertise
    */
   public void setNetworkIdentity(String name) {
     NetworkTablesJNI.setNetworkIdentity(m_handle, name);
@@ -674,47 +670,44 @@ public final class NetworkTableInstance implements AutoCloseable {
   }
 
   /**
-   * Starts local-only operation.  Prevents calls to startServer or startClient
-   * from taking effect.  Has no effect if startServer or startClient
-   * has already been called.
+   * Starts local-only operation. Prevents calls to startServer or startClient from taking effect.
+   * Has no effect if startServer or startClient has already been called.
    */
   public void startLocal() {
     NetworkTablesJNI.startLocal(m_handle);
   }
 
   /**
-   * Stops local-only operation.  startServer or startClient can be called after
-   * this call to start a server or client.
+   * Stops local-only operation. startServer or startClient can be called after this call to start a
+   * server or client.
    */
   public void stopLocal() {
     NetworkTablesJNI.stopLocal(m_handle);
   }
 
   /**
-   * Starts a server using the networktables.ini as the persistent file,
-   * using the default listening address and port.
+   * Starts a server using the networktables.ini as the persistent file, using the default listening
+   * address and port.
    */
   public void startServer() {
     startServer("networktables.ini");
   }
 
   /**
-   * Starts a server using the specified persistent filename, using the default
-   * listening address and port.
+   * Starts a server using the specified persistent filename, using the default listening address
+   * and port.
    *
-   * @param persistFilename  the name of the persist file to use
+   * @param persistFilename the name of the persist file to use
    */
   public void startServer(String persistFilename) {
     startServer(persistFilename, "");
   }
 
   /**
-   * Starts a server using the specified filename and listening address,
-   * using the default port.
+   * Starts a server using the specified filename and listening address, using the default port.
    *
-   * @param persistFilename  the name of the persist file to use
-   * @param listenAddress    the address to listen on, or empty to listen on any
-   *                         address
+   * @param persistFilename the name of the persist file to use
+   * @param listenAddress the address to listen on, or empty to listen on any address
    */
   public void startServer(String persistFilename, String listenAddress) {
     startServer(persistFilename, listenAddress, kDefaultPort);
@@ -723,25 +716,20 @@ public final class NetworkTableInstance implements AutoCloseable {
   /**
    * Starts a server using the specified filename, listening address, and port.
    *
-   * @param persistFilename  the name of the persist file to use
-   * @param listenAddress    the address to listen on, or empty to listen on any
-   *                         address
-   * @param port             port to communicate over
+   * @param persistFilename the name of the persist file to use
+   * @param listenAddress the address to listen on, or empty to listen on any address
+   * @param port port to communicate over
    */
   public void startServer(String persistFilename, String listenAddress, int port) {
     NetworkTablesJNI.startServer(m_handle, persistFilename, listenAddress, port);
   }
 
-  /**
-   * Stops the server if it is running.
-   */
+  /** Stops the server if it is running. */
   public void stopServer() {
     NetworkTablesJNI.stopServer(m_handle);
   }
 
-  /**
-   * Starts a client.  Use SetServer to set the server name and port.
-   */
+  /** Starts a client. Use SetServer to set the server name and port. */
   public void startClient() {
     NetworkTablesJNI.startClient(m_handle);
   }
@@ -749,7 +737,7 @@ public final class NetworkTableInstance implements AutoCloseable {
   /**
    * Starts a client using the specified server and the default port.
    *
-   * @param serverName  server name
+   * @param serverName server name
    */
   public void startClient(String serverName) {
     startClient(serverName, kDefaultPort);
@@ -758,29 +746,29 @@ public final class NetworkTableInstance implements AutoCloseable {
   /**
    * Starts a client using the specified server and port.
    *
-   * @param serverName  server name
-   * @param port        port to communicate over
+   * @param serverName server name
+   * @param port port to communicate over
    */
   public void startClient(String serverName, int port) {
     NetworkTablesJNI.startClient(m_handle, serverName, port);
   }
 
   /**
-   * Starts a client using the specified servers and default port.  The
-   * client will attempt to connect to each server in round robin fashion.
+   * Starts a client using the specified servers and default port. The client will attempt to
+   * connect to each server in round robin fashion.
    *
-   * @param serverNames   array of server names
+   * @param serverNames array of server names
    */
   public void startClient(String[] serverNames) {
     startClient(serverNames, kDefaultPort);
   }
 
   /**
-   * Starts a client using the specified servers and port number.  The
-   * client will attempt to connect to each server in round robin fashion.
+   * Starts a client using the specified servers and port number. The client will attempt to connect
+   * to each server in round robin fashion.
    *
-   * @param serverNames   array of server names
-   * @param port          port to communicate over
+   * @param serverNames array of server names
+   * @param port port to communicate over
    */
   public void startClient(String[] serverNames, int port) {
     int[] ports = new int[serverNames.length];
@@ -791,49 +779,46 @@ public final class NetworkTableInstance implements AutoCloseable {
   }
 
   /**
-   * Starts a client using the specified (server, port) combinations.  The
-   * client will attempt to connect to each server in round robin fashion.
+   * Starts a client using the specified (server, port) combinations. The client will attempt to
+   * connect to each server in round robin fashion.
    *
-   * @param serverNames   array of server names
-   * @param ports         array of port numbers
+   * @param serverNames array of server names
+   * @param ports array of port numbers
    */
   public void startClient(String[] serverNames, int[] ports) {
     NetworkTablesJNI.startClient(m_handle, serverNames, ports);
   }
 
   /**
-   * Starts a client using commonly known robot addresses for the specified
-   * team using the default port number.
+   * Starts a client using commonly known robot addresses for the specified team using the default
+   * port number.
    *
-   * @param team        team number
+   * @param team team number
    */
   public void startClientTeam(int team) {
     startClientTeam(team, kDefaultPort);
   }
 
   /**
-   * Starts a client using commonly known robot addresses for the specified
-   * team.
+   * Starts a client using commonly known robot addresses for the specified team.
    *
-   * @param team        team number
-   * @param port        port to communicate over
+   * @param team team number
+   * @param port port to communicate over
    */
   public void startClientTeam(int team, int port) {
     NetworkTablesJNI.startClientTeam(m_handle, team, port);
   }
 
-  /**
-   * Stops the client if it is running.
-   */
+  /** Stops the client if it is running. */
   public void stopClient() {
     NetworkTablesJNI.stopClient(m_handle);
   }
 
   /**
-   * Sets server address and port for client (without restarting client).
-   * Changes the port to the default port.
+   * Sets server address and port for client (without restarting client). Changes the port to the
+   * default port.
    *
-   * @param serverName  server name
+   * @param serverName server name
    */
   public void setServer(String serverName) {
     setServer(serverName, kDefaultPort);
@@ -842,30 +827,29 @@ public final class NetworkTableInstance implements AutoCloseable {
   /**
    * Sets server address and port for client (without restarting client).
    *
-   * @param serverName  server name
-   * @param port        port to communicate over
+   * @param serverName server name
+   * @param port port to communicate over
    */
   public void setServer(String serverName, int port) {
     NetworkTablesJNI.setServer(m_handle, serverName, port);
   }
 
   /**
-   * Sets server addresses and port for client (without restarting client).
-   * Changes the port to the default port.  The client will attempt to connect
-   * to each server in round robin fashion.
+   * Sets server addresses and port for client (without restarting client). Changes the port to the
+   * default port. The client will attempt to connect to each server in round robin fashion.
    *
-   * @param serverNames   array of server names
+   * @param serverNames array of server names
    */
   public void setServer(String[] serverNames) {
     setServer(serverNames, kDefaultPort);
   }
 
   /**
-   * Sets server addresses and port for client (without restarting client).
-   * The client will attempt to connect to each server in round robin fashion.
+   * Sets server addresses and port for client (without restarting client). The client will attempt
+   * to connect to each server in round robin fashion.
    *
-   * @param serverNames   array of server names
-   * @param port          port to communicate over
+   * @param serverNames array of server names
+   * @param port port to communicate over
    */
   public void setServer(String[] serverNames, int port) {
     int[] ports = new int[serverNames.length];
@@ -876,51 +860,48 @@ public final class NetworkTableInstance implements AutoCloseable {
   }
 
   /**
-   * Sets server addresses and ports for client (without restarting client).
-   * The client will attempt to connect to each server in round robin fashion.
+   * Sets server addresses and ports for client (without restarting client). The client will attempt
+   * to connect to each server in round robin fashion.
    *
-   * @param serverNames   array of server names
-   * @param ports         array of port numbers
+   * @param serverNames array of server names
+   * @param ports array of port numbers
    */
   public void setServer(String[] serverNames, int[] ports) {
     NetworkTablesJNI.setServer(m_handle, serverNames, ports);
   }
 
   /**
-   * Sets server addresses and port for client (without restarting client).
-   * Changes the port to the default port.  The client will attempt to connect
-   * to each server in round robin fashion.
+   * Sets server addresses and port for client (without restarting client). Changes the port to the
+   * default port. The client will attempt to connect to each server in round robin fashion.
    *
-   * @param team        team number
+   * @param team team number
    */
   public void setServerTeam(int team) {
     setServerTeam(team, kDefaultPort);
   }
 
   /**
-   * Sets server addresses and port for client (without restarting client).
-   * Connects using commonly known robot addresses for the specified team.
+   * Sets server addresses and port for client (without restarting client). Connects using commonly
+   * known robot addresses for the specified team.
    *
-   * @param team        team number
-   * @param port        port to communicate over
+   * @param team team number
+   * @param port port to communicate over
    */
   public void setServerTeam(int team, int port) {
     NetworkTablesJNI.setServerTeam(m_handle, team, port);
   }
 
   /**
-   * Starts requesting server address from Driver Station.
-   * This connects to the Driver Station running on localhost to obtain the
-   * server IP address, and connects with the default port.
+   * Starts requesting server address from Driver Station. This connects to the Driver Station
+   * running on localhost to obtain the server IP address, and connects with the default port.
    */
   public void startDSClient() {
     startDSClient(kDefaultPort);
   }
 
   /**
-   * Starts requesting server address from Driver Station.
-   * This connects to the Driver Station running on localhost to obtain the
-   * server IP address.
+   * Starts requesting server address from Driver Station. This connects to the Driver Station
+   * running on localhost to obtain the server IP address.
    *
    * @param port server port to use in combination with IP from DS
    */
@@ -928,16 +909,14 @@ public final class NetworkTableInstance implements AutoCloseable {
     NetworkTablesJNI.startDSClient(m_handle, port);
   }
 
-  /**
-   * Stops requesting server address from Driver Station.
-   */
+  /** Stops requesting server address from Driver Station. */
   public void stopDSClient() {
     NetworkTablesJNI.stopDSClient(m_handle);
   }
 
   /**
-   * Set the periodic update rate.
-   * Sets how frequently updates are sent to other nodes over the network.
+   * Set the periodic update rate. Sets how frequently updates are sent to other nodes over the
+   * network.
    *
    * @param interval update interval in seconds (range 0.01 to 1.0)
    */
@@ -946,18 +925,17 @@ public final class NetworkTableInstance implements AutoCloseable {
   }
 
   /**
-   * Flushes all updated values immediately to the network.
-   * Note: This is rate-limited to protect the network from flooding.
-   * This is primarily useful for synchronizing network updates with
-   * user code.
+   * Flushes all updated values immediately to the network. Note: This is rate-limited to protect
+   * the network from flooding. This is primarily useful for synchronizing network updates with user
+   * code.
    */
   public void flush() {
     NetworkTablesJNI.flush(m_handle);
   }
 
   /**
-   * Gets information on the currently established network connections.
-   * If operating as a client, this will return either zero or one values.
+   * Gets information on the currently established network connections. If operating as a client,
+   * this will return either zero or one values.
    *
    * @return array of connection information
    */
@@ -975,7 +953,7 @@ public final class NetworkTableInstance implements AutoCloseable {
   }
 
   /**
-   * Saves persistent keys to a file.  The server does this automatically.
+   * Saves persistent keys to a file. The server does this automatically.
    *
    * @param filename file name
    * @throws PersistentException if error saving file
@@ -985,7 +963,7 @@ public final class NetworkTableInstance implements AutoCloseable {
   }
 
   /**
-   * Loads persistent keys from a file.  The server does this automatically.
+   * Loads persistent keys from a file. The server does this automatically.
    *
    * @param filename file name
    * @return List of warnings (errors result in an exception instead)
@@ -996,11 +974,10 @@ public final class NetworkTableInstance implements AutoCloseable {
   }
 
   /**
-   * Save table values to a file.  The file format used is identical to
-   * that used for SavePersistent.
+   * Save table values to a file. The file format used is identical to that used for SavePersistent.
    *
-   * @param filename  filename
-   * @param prefix    save only keys starting with this prefix
+   * @param filename filename
+   * @param prefix save only keys starting with this prefix
    * @throws PersistentException if error saving file
    */
   public void saveEntries(String filename, String prefix) throws PersistentException {
@@ -1008,11 +985,11 @@ public final class NetworkTableInstance implements AutoCloseable {
   }
 
   /**
-   * Load table values from a file.  The file format used is identical to
-   * that used for SavePersistent / LoadPersistent.
+   * Load table values from a file. The file format used is identical to that used for
+   * SavePersistent / LoadPersistent.
    *
-   * @param filename  filename
-   * @param prefix    load only keys starting with this prefix
+   * @param filename filename
+   * @param prefix load only keys starting with this prefix
    * @return List of warnings (errors result in an exception instead)
    * @throws PersistentException if error saving file
    */
@@ -1028,61 +1005,63 @@ public final class NetworkTableInstance implements AutoCloseable {
   private final Condition m_loggerWaitQueueCond = m_loggerLock.newCondition();
 
   private void startLogThread() {
-    m_loggerThread = new Thread(() -> {
-      boolean wasInterrupted = false;
-      while (!Thread.interrupted()) {
-        LogMessage[] events;
-        try {
-          events = NetworkTablesJNI.pollLogger(this, m_loggerPoller);
-        } catch (InterruptedException ex) {
-          Thread.currentThread().interrupt();
-          // don't try to destroy poller, as its handle is likely no longer valid
-          wasInterrupted = true;
-          break;
-        }
-        for (LogMessage event : events) {
-          Consumer<LogMessage> logger;
-          m_loggerLock.lock();
-          try {
-            logger = m_loggers.get(event.logger);
-          } finally {
-            m_loggerLock.unlock();
-          }
-          if (logger != null) {
-            try {
-              logger.accept(event);
-            } catch (Throwable throwable) {
-              System.err.println("Unhandled exception during logger callback: "
-                  + throwable.toString());
-              throwable.printStackTrace();
-            }
-          }
-        }
-      }
-      m_loggerLock.lock();
-      try {
-        if (!wasInterrupted) {
-          NetworkTablesJNI.destroyLoggerPoller(m_loggerPoller);
-        }
-        m_rpcCallPoller = 0;
-      } finally {
-        m_loggerLock.unlock();
-      }
-    }, "NTLogger");
+    m_loggerThread =
+        new Thread(
+            () -> {
+              boolean wasInterrupted = false;
+              while (!Thread.interrupted()) {
+                LogMessage[] events;
+                try {
+                  events = NetworkTablesJNI.pollLogger(this, m_loggerPoller);
+                } catch (InterruptedException ex) {
+                  Thread.currentThread().interrupt();
+                  // don't try to destroy poller, as its handle is likely no longer valid
+                  wasInterrupted = true;
+                  break;
+                }
+                for (LogMessage event : events) {
+                  Consumer<LogMessage> logger;
+                  m_loggerLock.lock();
+                  try {
+                    logger = m_loggers.get(event.logger);
+                  } finally {
+                    m_loggerLock.unlock();
+                  }
+                  if (logger != null) {
+                    try {
+                      logger.accept(event);
+                    } catch (Throwable throwable) {
+                      System.err.println(
+                          "Unhandled exception during logger callback: " + throwable.toString());
+                      throwable.printStackTrace();
+                    }
+                  }
+                }
+              }
+              m_loggerLock.lock();
+              try {
+                if (!wasInterrupted) {
+                  NetworkTablesJNI.destroyLoggerPoller(m_loggerPoller);
+                }
+                m_rpcCallPoller = 0;
+              } finally {
+                m_loggerLock.unlock();
+              }
+            },
+            "NTLogger");
     m_loggerThread.setDaemon(true);
     m_loggerThread.start();
   }
 
   /**
-   * Add logger callback function.  By default, log messages are sent to stderr;
-   * this function sends log messages with the specified levels to the provided
-   * callback function instead.  The callback function will only be called for
-   * log messages with level greater than or equal to minLevel and less than or
-   * equal to maxLevel; messages outside this range will be silently ignored.
+   * Add logger callback function. By default, log messages are sent to stderr; this function sends
+   * log messages with the specified levels to the provided callback function instead. The callback
+   * function will only be called for log messages with level greater than or equal to minLevel and
+   * less than or equal to maxLevel; messages outside this range will be silently ignored.
    *
-   * @param func        log callback function
-   * @param minLevel    minimum log level
-   * @param maxLevel    maximum log level
+   * @param func log callback function
+   * @param minLevel minimum log level
+   * @param maxLevel maximum log level
    * @return Logger handle
    */
   public int addLogger(Consumer<LogMessage> func, int minLevel, int maxLevel) {
@@ -1116,13 +1095,12 @@ public final class NetworkTableInstance implements AutoCloseable {
   }
 
   /**
-   * Wait for the incoming log event queue to be empty.  This is primarily useful
-   * for deterministic testing.  This blocks until either the log event
-   * queue is empty (e.g. there are no more events that need to be passed along
-   * to callbacks or poll queues) or the timeout expires.
+   * Wait for the incoming log event queue to be empty. This is primarily useful for deterministic
+   * testing. This blocks until either the log event queue is empty (e.g. there are no more events
+   * that need to be passed along to callbacks or poll queues) or the timeout expires.
    *
-   * @param timeout   timeout, in seconds.  Set to 0 for non-blocking behavior,
-   *                  or a negative value to block indefinitely
+   * @param timeout timeout, in seconds. Set to 0 for non-blocking behavior, or a negative value to
+   *     block indefinitely
    * @return False if timed out, otherwise true.
    */
   public boolean waitForLoggerQueue(double timeout) {
diff --git a/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableType.java b/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableType.java
index 4c85fad50b..a173bb24a9 100644
--- a/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableType.java
+++ b/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableType.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.first.networktables;
 
-/**
- * Network table data types.
- */
+/** Network table data types. */
 public enum NetworkTableType {
   kUnassigned(0),
   kBoolean(0x01),
@@ -36,15 +34,24 @@ public enum NetworkTableType {
    */
   public static NetworkTableType getFromInt(int value) {
     switch (value) {
-      case 0x01: return kBoolean;
-      case 0x02: return kDouble;
-      case 0x04: return kString;
-      case 0x08: return kRaw;
-      case 0x10: return kBooleanArray;
-      case 0x20: return kDoubleArray;
-      case 0x40: return kStringArray;
-      case 0x80: return kRpc;
-      default: return kUnassigned;
+      case 0x01:
+        return kBoolean;
+      case 0x02:
+        return kDouble;
+      case 0x04:
+        return kString;
+      case 0x08:
+        return kRaw;
+      case 0x10:
+        return kBooleanArray;
+      case 0x20:
+        return kDoubleArray;
+      case 0x40:
+        return kStringArray;
+      case 0x80:
+        return kRpc;
+      default:
+        return kUnassigned;
     }
   }
 }
diff --git a/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableValue.java b/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableValue.java
index 52e482f7d9..128ffbc07d 100644
--- a/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableValue.java
+++ b/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableValue.java
@@ -6,9 +6,7 @@ package edu.wpi.first.networktables;
 
 import java.util.Objects;
 
-/**
- * A network table entry value.
- */
+/** A network table entry value. */
 public final class NetworkTableValue {
   NetworkTableValue(NetworkTableType type, Object value, long time) {
     m_type = type;
diff --git a/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java b/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java
index 1a74879986..4e1da98577 100644
--- a/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java
+++ b/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java
@@ -4,12 +4,11 @@
 
 package edu.wpi.first.networktables;
 
+import edu.wpi.first.wpiutil.RuntimeLoader;
 import java.io.IOException;
 import java.nio.ByteBuffer;
 import java.util.concurrent.atomic.AtomicBoolean;
 
-import edu.wpi.first.wpiutil.RuntimeLoader;
-
 public final class NetworkTablesJNI {
   static boolean libraryLoaded = false;
   static RuntimeLoader<NetworkTablesJNI> loader = null;
@@ -29,7 +28,9 @@ public final class NetworkTablesJNI {
   static {
     if (Helper.getExtractOnStaticLoad()) {
       try {
-        loader = new RuntimeLoader<>("ntcorejni", RuntimeLoader.getDefaultExtractionRoot(), NetworkTablesJNI.class);
+        loader =
+            new RuntimeLoader<>(
+                "ntcorejni", RuntimeLoader.getDefaultExtractionRoot(), NetworkTablesJNI.class);
         loader.loadLibrary();
       } catch (IOException ex) {
         ex.printStackTrace();
@@ -39,58 +40,86 @@ public final class NetworkTablesJNI {
     }
   }
 
-  /**
-   * Force load the library.
-   */
+  /** Force load the library. */
   public static synchronized void forceLoad() throws IOException {
     if (libraryLoaded) {
       return;
     }
-    loader = new RuntimeLoader<>("ntcorejni", RuntimeLoader.getDefaultExtractionRoot(), NetworkTablesJNI.class);
+    loader =
+        new RuntimeLoader<>(
+            "ntcorejni", RuntimeLoader.getDefaultExtractionRoot(), NetworkTablesJNI.class);
     loader.loadLibrary();
     libraryLoaded = true;
   }
 
   public static native int getDefaultInstance();
+
   public static native int createInstance();
+
   public static native void destroyInstance(int inst);
+
   public static native int getInstanceFromHandle(int handle);
 
   public static native int getEntry(int inst, String key);
+
   public static native int[] getEntries(int inst, String prefix, int types);
+
   public static native String getEntryName(int entry);
+
   public static native long getEntryLastChange(int entry);
 
   public static native int getType(int entry);
 
   public static native boolean setBoolean(int entry, long time, boolean value, boolean force);
+
   public static native boolean setDouble(int entry, long time, double value, boolean force);
+
   public static native boolean setString(int entry, long time, String value, boolean force);
+
   public static native boolean setRaw(int entry, long time, byte[] value, boolean force);
-  public static native boolean setRaw(int entry, long time, ByteBuffer value, int len, boolean force);
-  public static native boolean setBooleanArray(int entry, long time, boolean[] value, boolean force);
+
+  public static native boolean setRaw(
+      int entry, long time, ByteBuffer value, int len, boolean force);
+
+  public static native boolean setBooleanArray(
+      int entry, long time, boolean[] value, boolean force);
+
   public static native boolean setDoubleArray(int entry, long time, double[] value, boolean force);
+
   public static native boolean setStringArray(int entry, long time, String[] value, boolean force);
 
   public static native NetworkTableValue getValue(int entry);
 
   public static native boolean getBoolean(int entry, boolean defaultValue);
+
   public static native double getDouble(int entry, double defaultValue);
+
   public static native String getString(int entry, String defaultValue);
+
   public static native byte[] getRaw(int entry, byte[] defaultValue);
+
   public static native boolean[] getBooleanArray(int entry, boolean[] defaultValue);
+
   public static native double[] getDoubleArray(int entry, double[] defaultValue);
+
   public static native String[] getStringArray(int entry, String[] defaultValue);
+
   public static native boolean setDefaultBoolean(int entry, long time, boolean defaultValue);
 
   public static native boolean setDefaultDouble(int entry, long time, double defaultValue);
+
   public static native boolean setDefaultString(int entry, long time, String defaultValue);
+
   public static native boolean setDefaultRaw(int entry, long time, byte[] defaultValue);
+
   public static native boolean setDefaultBooleanArray(int entry, long time, boolean[] defaultValue);
+
   public static native boolean setDefaultDoubleArray(int entry, long time, double[] defaultValue);
+
   public static native boolean setDefaultStringArray(int entry, long time, String[] defaultValue);
 
   public static native void setEntryFlags(int entry, int flags);
+
   public static native int getEntryFlags(int entry);
 
   public static native void deleteEntry(int entry);
@@ -98,58 +127,109 @@ public final class NetworkTablesJNI {
   public static native void deleteAllEntries(int inst);
 
   public static native EntryInfo getEntryInfoHandle(NetworkTableInstance inst, int entry);
-  public static native EntryInfo[] getEntryInfo(NetworkTableInstance instObject, int inst, String prefix, int types);
+
+  public static native EntryInfo[] getEntryInfo(
+      NetworkTableInstance instObject, int inst, String prefix, int types);
 
   public static native int createEntryListenerPoller(int inst);
+
   public static native void destroyEntryListenerPoller(int poller);
+
   public static native int addPolledEntryListener(int poller, String prefix, int flags);
+
   public static native int addPolledEntryListener(int poller, int entry, int flags);
-  public static native EntryNotification[] pollEntryListener(NetworkTableInstance inst, int poller) throws InterruptedException;
-  public static native EntryNotification[] pollEntryListenerTimeout(NetworkTableInstance inst, int poller, double timeout) throws InterruptedException;
+
+  public static native EntryNotification[] pollEntryListener(NetworkTableInstance inst, int poller)
+      throws InterruptedException;
+
+  public static native EntryNotification[] pollEntryListenerTimeout(
+      NetworkTableInstance inst, int poller, double timeout) throws InterruptedException;
+
   public static native void cancelPollEntryListener(int poller);
+
   public static native void removeEntryListener(int entryListener);
+
   public static native boolean waitForEntryListenerQueue(int inst, double timeout);
 
   public static native int createConnectionListenerPoller(int inst);
+
   public static native void destroyConnectionListenerPoller(int poller);
+
   public static native int addPolledConnectionListener(int poller, boolean immediateNotify);
-  public static native ConnectionNotification[] pollConnectionListener(NetworkTableInstance inst, int poller) throws InterruptedException;
-  public static native ConnectionNotification[] pollConnectionListenerTimeout(NetworkTableInstance inst, int poller, double timeout) throws InterruptedException;
+
+  public static native ConnectionNotification[] pollConnectionListener(
+      NetworkTableInstance inst, int poller) throws InterruptedException;
+
+  public static native ConnectionNotification[] pollConnectionListenerTimeout(
+      NetworkTableInstance inst, int poller, double timeout) throws InterruptedException;
+
   public static native void cancelPollConnectionListener(int poller);
+
   public static native void removeConnectionListener(int connListener);
+
   public static native boolean waitForConnectionListenerQueue(int inst, double timeout);
 
   public static native int createRpcCallPoller(int inst);
+
   public static native void destroyRpcCallPoller(int poller);
+
   public static native void createPolledRpc(int entry, byte[] def, int poller);
-  public static native RpcAnswer[] pollRpc(NetworkTableInstance inst, int poller) throws InterruptedException;
-  public static native RpcAnswer[] pollRpcTimeout(NetworkTableInstance inst, int poller, double timeout) throws InterruptedException;
+
+  public static native RpcAnswer[] pollRpc(NetworkTableInstance inst, int poller)
+      throws InterruptedException;
+
+  public static native RpcAnswer[] pollRpcTimeout(
+      NetworkTableInstance inst, int poller, double timeout) throws InterruptedException;
+
   public static native void cancelPollRpc(int poller);
+
   public static native boolean waitForRpcCallQueue(int inst, double timeout);
+
   public static native boolean postRpcResponse(int entry, int call, byte[] result);
+
   public static native int callRpc(int entry, byte[] params);
+
   public static native byte[] getRpcResult(int entry, int call);
+
   public static native byte[] getRpcResult(int entry, int call, double timeout);
+
   public static native void cancelRpcResult(int entry, int call);
 
   public static native byte[] getRpc(int entry, byte[] defaultValue);
 
   public static native void setNetworkIdentity(int inst, String name);
+
   public static native int getNetworkMode(int inst);
+
   public static native void startLocal(int inst);
+
   public static native void stopLocal(int inst);
-  public static native void startServer(int inst, String persistFilename, String listenAddress, int port);
+
+  public static native void startServer(
+      int inst, String persistFilename, String listenAddress, int port);
+
   public static native void stopServer(int inst);
+
   public static native void startClient(int inst);
+
   public static native void startClient(int inst, String serverName, int port);
+
   public static native void startClient(int inst, String[] serverNames, int[] ports);
+
   public static native void startClientTeam(int inst, int team, int port);
+
   public static native void stopClient(int inst);
+
   public static native void setServer(int inst, String serverName, int port);
+
   public static native void setServer(int inst, String[] serverNames, int[] ports);
+
   public static native void setServerTeam(int inst, int team, int port);
+
   public static native void startDSClient(int inst, int port);
+
   public static native void stopDSClient(int inst);
+
   public static native void setUpdateRate(int inst, double interval);
 
   public static native void flush(int inst);
@@ -159,19 +239,33 @@ public final class NetworkTablesJNI {
   public static native boolean isConnected(int inst);
 
   public static native void savePersistent(int inst, String filename) throws PersistentException;
-  public static native String[] loadPersistent(int inst, String filename) throws PersistentException;  // returns warnings
 
-  public static native void saveEntries(int inst, String filename, String prefix) throws PersistentException;
-  public static native String[] loadEntries(int inst, String filename, String prefix) throws PersistentException;  // returns warnings
+  public static native String[] loadPersistent(int inst, String filename)
+      throws PersistentException; // returns warnings
+
+  public static native void saveEntries(int inst, String filename, String prefix)
+      throws PersistentException;
+
+  public static native String[] loadEntries(int inst, String filename, String prefix)
+      throws PersistentException; // returns warnings
 
   public static native long now();
 
   public static native int createLoggerPoller(int inst);
+
   public static native void destroyLoggerPoller(int poller);
+
   public static native int addPolledLogger(int poller, int minLevel, int maxLevel);
-  public static native LogMessage[] pollLogger(NetworkTableInstance inst, int poller) throws InterruptedException;
-  public static native LogMessage[] pollLoggerTimeout(NetworkTableInstance inst, int poller, double timeout) throws InterruptedException;
+
+  public static native LogMessage[] pollLogger(NetworkTableInstance inst, int poller)
+      throws InterruptedException;
+
+  public static native LogMessage[] pollLoggerTimeout(
+      NetworkTableInstance inst, int poller, double timeout) throws InterruptedException;
+
   public static native void cancelPollLogger(int poller);
+
   public static native void removeLogger(int logger);
+
   public static native boolean waitForLoggerQueue(int inst, double timeout);
 }
diff --git a/ntcore/src/main/java/edu/wpi/first/networktables/PersistentException.java b/ntcore/src/main/java/edu/wpi/first/networktables/PersistentException.java
index 34885167a1..1c6159595c 100644
--- a/ntcore/src/main/java/edu/wpi/first/networktables/PersistentException.java
+++ b/ntcore/src/main/java/edu/wpi/first/networktables/PersistentException.java
@@ -6,9 +6,7 @@ package edu.wpi.first.networktables;
 
 import java.io.IOException;
 
-/**
- * An exception thrown when persistent load/save fails in a {@link NetworkTable}.
- */
+/** An exception thrown when persistent load/save fails in a {@link NetworkTable}. */
 public final class PersistentException extends IOException {
   public static final long serialVersionUID = 0;
 
diff --git a/ntcore/src/main/java/edu/wpi/first/networktables/RpcAnswer.java b/ntcore/src/main/java/edu/wpi/first/networktables/RpcAnswer.java
index d399c5c815..33c640c82f 100644
--- a/ntcore/src/main/java/edu/wpi/first/networktables/RpcAnswer.java
+++ b/ntcore/src/main/java/edu/wpi/first/networktables/RpcAnswer.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.first.networktables;
 
-/**
- * NetworkTables Remote Procedure Call (Server Side).
- */
+/** NetworkTables Remote Procedure Call (Server Side). */
 public final class RpcAnswer {
   /** Entry handle. */
   @SuppressWarnings("MemberName")
@@ -28,8 +26,8 @@ public final class RpcAnswer {
   @SuppressWarnings("MemberName")
   public final ConnectionInfo conn;
 
-  /** Constructor.
-   * This should generally only be used internally to NetworkTables.
+  /**
+   * Constructor. This should generally only be used internally to NetworkTables.
    *
    * @param inst Instance
    * @param entry Entry handle
@@ -38,8 +36,13 @@ public final class RpcAnswer {
    * @param params Call raw parameters
    * @param conn Connection info
    */
-  public RpcAnswer(NetworkTableInstance inst, int entry, int call, String name, byte[] params,
-                   ConnectionInfo conn) {
+  public RpcAnswer(
+      NetworkTableInstance inst,
+      int entry,
+      int call,
+      String name,
+      byte[] params,
+      ConnectionInfo conn) {
     this.m_inst = inst;
     this.entry = entry;
     this.call = call;
@@ -73,8 +76,8 @@ public final class RpcAnswer {
   /**
    * Post RPC response (return value) for a polled RPC.
    *
-   * @param result  result raw data that will be provided to remote caller
-   * @return        true if the response was posted, otherwise false
+   * @param result result raw data that will be provided to remote caller
+   * @return true if the response was posted, otherwise false
    */
   public boolean postResponse(byte[] result) {
     boolean ret = NetworkTablesJNI.postRpcResponse(entry, call, result);
diff --git a/ntcore/src/main/java/edu/wpi/first/networktables/RpcCall.java b/ntcore/src/main/java/edu/wpi/first/networktables/RpcCall.java
index de906b3edd..790ff5fa0d 100644
--- a/ntcore/src/main/java/edu/wpi/first/networktables/RpcCall.java
+++ b/ntcore/src/main/java/edu/wpi/first/networktables/RpcCall.java
@@ -4,12 +4,10 @@
 
 package edu.wpi.first.networktables;
 
-/**
- * NetworkTables Remote Procedure Call.
- */
+/** NetworkTables Remote Procedure Call. */
 public final class RpcCall implements AutoCloseable {
-  /** Constructor.
-   * This should generally only be used internally to NetworkTables.
+  /**
+   * Constructor. This should generally only be used internally to NetworkTables.
    *
    * @param entry Entry
    * @param call Call handle
@@ -19,9 +17,7 @@ public final class RpcCall implements AutoCloseable {
     m_call = call;
   }
 
-  /**
-   * Cancels the result if no other action taken.
-   */
+  /** Cancels the result if no other action taken. */
   @Override
   public synchronized void close() {
     if (m_call != 0) {
@@ -57,8 +53,7 @@ public final class RpcCall implements AutoCloseable {
   }
 
   /**
-   * Get the result (return value).  This function blocks until
-   * the result is received.
+   * Get the result (return value). This function blocks until the result is received.
    *
    * @return Received result (output)
    */
@@ -71,10 +66,10 @@ public final class RpcCall implements AutoCloseable {
   }
 
   /**
-   * Get the result (return value).  This function blocks until
-   * the result is received or it times out.
+   * Get the result (return value). This function blocks until the result is received or it times
+   * out.
    *
-   * @param timeout     timeout, in seconds
+   * @param timeout timeout, in seconds
    * @return Received result (output)
    */
   public byte[] getResult(double timeout) {
@@ -85,9 +80,7 @@ public final class RpcCall implements AutoCloseable {
     return result;
   }
 
-  /**
-   * Ignore the result.  This function is non-blocking.
-   */
+  /** Ignore the result. This function is non-blocking. */
   public void cancelResult() {
     NetworkTablesJNI.cancelRpcResult(m_entry.getHandle(), m_call);
   }
diff --git a/ntcore/src/main/java/edu/wpi/first/networktables/TableEntryListener.java b/ntcore/src/main/java/edu/wpi/first/networktables/TableEntryListener.java
index 71e20b4cef..e0781e117b 100644
--- a/ntcore/src/main/java/edu/wpi/first/networktables/TableEntryListener.java
+++ b/ntcore/src/main/java/edu/wpi/first/networktables/TableEntryListener.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.first.networktables;
 
-/**
- * A listener that listens to changes in values in a {@link NetworkTable}.
- */
+/** A listener that listens to changes in values in a {@link NetworkTable}. */
 @FunctionalInterface
 public interface TableEntryListener extends EntryListenerFlags {
   /**
@@ -16,9 +14,9 @@ public interface TableEntryListener extends EntryListenerFlags {
    * @param key the key associated with the value that changed
    * @param entry the entry associated with the value that changed
    * @param value the new value
-   * @param flags update flags; for example, EntryListenerFlags.kNew if the key
-   *     did not previously exist in the table
+   * @param flags update flags; for example, EntryListenerFlags.kNew if the key did not previously
+   *     exist in the table
    */
-  void valueChanged(NetworkTable table, String key, NetworkTableEntry entry,
-                    NetworkTableValue value, int flags);
+  void valueChanged(
+      NetworkTable table, String key, NetworkTableEntry entry, NetworkTableValue value, int flags);
 }
diff --git a/ntcore/src/main/java/edu/wpi/first/networktables/TableListener.java b/ntcore/src/main/java/edu/wpi/first/networktables/TableListener.java
index 2ad1acd4f7..24fae2debe 100644
--- a/ntcore/src/main/java/edu/wpi/first/networktables/TableListener.java
+++ b/ntcore/src/main/java/edu/wpi/first/networktables/TableListener.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.first.networktables;
 
-/**
- * A listener that listens to new tables in a {@link NetworkTable}.
- */
+/** A listener that listens to new tables in a {@link NetworkTable}. */
 @FunctionalInterface
 public interface TableListener {
   /**
diff --git a/ntcore/src/main/java/edu/wpi/first/wpilibj/networktables/NetworkTable.java b/ntcore/src/main/java/edu/wpi/first/wpilibj/networktables/NetworkTable.java
index f03f1e62b5..e5affb2958 100644
--- a/ntcore/src/main/java/edu/wpi/first/wpilibj/networktables/NetworkTable.java
+++ b/ntcore/src/main/java/edu/wpi/first/wpilibj/networktables/NetworkTable.java
@@ -4,17 +4,6 @@
 
 package edu.wpi.first.wpilibj.networktables;
 
-import java.nio.ByteBuffer;
-import java.util.ArrayList;
-import java.util.HashMap;
-import java.util.HashSet;
-import java.util.List;
-import java.util.Objects;
-import java.util.Set;
-import java.util.concurrent.ConcurrentHashMap;
-import java.util.concurrent.ConcurrentMap;
-import java.util.function.Consumer;
-
 import edu.wpi.first.networktables.ConnectionInfo;
 import edu.wpi.first.networktables.ConnectionNotification;
 import edu.wpi.first.networktables.EntryInfo;
@@ -29,22 +18,28 @@ import edu.wpi.first.wpilibj.tables.IRemote;
 import edu.wpi.first.wpilibj.tables.IRemoteConnectionListener;
 import edu.wpi.first.wpilibj.tables.ITable;
 import edu.wpi.first.wpilibj.tables.ITableListener;
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.HashSet;
+import java.util.List;
+import java.util.Objects;
+import java.util.Set;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.ConcurrentMap;
+import java.util.function.Consumer;
 
 /**
  * A network table that knows its subtable path.
+ *
  * @deprecated Use {@link edu.wpi.first.networktables.NetworkTable} instead.
  */
 @Deprecated
 @SuppressWarnings("checkstyle:all")
 public class NetworkTable implements ITable, IRemote {
-  /**
-   * The path separator for sub-tables and keys
-   *
-   */
+  /** The path separator for sub-tables and keys */
   public static final char PATH_SEPARATOR = '/';
-  /**
-   * The default port that network tables operates on
-   */
+  /** The default port that network tables operates on */
   public static final int DEFAULT_PORT = 1735;
 
   private static boolean client = false;
@@ -53,178 +48,165 @@ public class NetworkTable implements ITable, IRemote {
   private static int port = DEFAULT_PORT;
   private static String persistentFilename = "networktables.ini";
 
-  private synchronized static void checkInit() {
-    if (running)
-      throw new IllegalStateException(
-          "Network tables has already been initialized");
+  private static synchronized void checkInit() {
+    if (running) throw new IllegalStateException("Network tables has already been initialized");
   }
 
   /**
    * initializes network tables
-   * @deprecated Use {@link NetworkTableInstance#startServer()} or
-   * {@link NetworkTableInstance#startClient()} instead.
+   *
+   * @deprecated Use {@link NetworkTableInstance#startServer()} or {@link
+   *     NetworkTableInstance#startClient()} instead.
    */
   @Deprecated
-  public synchronized static void initialize() {
-    if (running)
-      shutdown();
+  public static synchronized void initialize() {
+    if (running) shutdown();
     NetworkTableInstance inst = NetworkTableInstance.getDefault();
     if (client) {
       inst.startClient();
-      if (enableDS)
-        inst.startDSClient(port);
-    } else
-      inst.startServer(persistentFilename, "", port);
+      if (enableDS) inst.startDSClient(port);
+    } else inst.startServer(persistentFilename, "", port);
     running = true;
   }
 
   /**
    * shuts down network tables
-   * @deprecated Use {@link NetworkTableInstance#stopServer()} or
-   * {@link NetworkTableInstance#stopClient()} instead.
+   *
+   * @deprecated Use {@link NetworkTableInstance#stopServer()} or {@link
+   *     NetworkTableInstance#stopClient()} instead.
    */
   @Deprecated
-  public synchronized static void shutdown() {
-    if (!running)
-      return;
+  public static synchronized void shutdown() {
+    if (!running) return;
     NetworkTableInstance inst = NetworkTableInstance.getDefault();
     if (client) {
       inst.stopDSClient();
       inst.stopClient();
-    } else
-      inst.stopServer();
+    } else inst.stopServer();
     running = false;
   }
 
   /**
-   * set that network tables should be a server
-   * This must be called before initialize or getTable
+   * set that network tables should be a server This must be called before initialize or getTable
+   *
    * @deprecated Use {@link NetworkTableInstance#startServer()} instead.
    */
   @Deprecated
-  public synchronized static void setServerMode() {
-    if (!client)
-      return;
+  public static synchronized void setServerMode() {
+    if (!client) return;
     checkInit();
     client = false;
   }
 
   /**
-   * set that network tables should be a client
-   * This must be called before initialize or getTable
+   * set that network tables should be a client This must be called before initialize or getTable
+   *
    * @deprecated Use {@link NetworkTableInstance#startClient()} instead.
    */
   @Deprecated
-  public synchronized static void setClientMode() {
-    if (client)
-      return;
+  public static synchronized void setClientMode() {
+    if (client) return;
     checkInit();
     client = true;
   }
 
   /**
-   * set the team the robot is configured for (this will set the mdns address that
-   * network tables will connect to in client mode)
-   * This must be called before initialize or getTable
+   * set the team the robot is configured for (this will set the mdns address that network tables
+   * will connect to in client mode) This must be called before initialize or getTable
+   *
    * @param team the team number
-   * @deprecated Use {@link NetworkTableInstance#setServerTeam(int)} or
-   * {@link NetworkTableInstance#startClientTeam(int)} instead.
+   * @deprecated Use {@link NetworkTableInstance#setServerTeam(int)} or {@link
+   *     NetworkTableInstance#startClientTeam(int)} instead.
    */
   @Deprecated
-  public synchronized static void setTeam(int team) {
+  public static synchronized void setTeam(int team) {
     NetworkTableInstance inst = NetworkTableInstance.getDefault();
     inst.setServerTeam(team, port);
-    if (enableDS)
-      inst.startDSClient(port);
+    if (enableDS) inst.startDSClient(port);
   }
 
   /**
-   * @param address the address that network tables will connect to in client
-   * mode
-   * @deprecated Use {@link NetworkTableInstance#setServer(String)} or
-   * {@link NetworkTableInstance#startClient(String)} instead.
+   * @param address the address that network tables will connect to in client mode
+   * @deprecated Use {@link NetworkTableInstance#setServer(String)} or {@link
+   *     NetworkTableInstance#startClient(String)} instead.
    */
   @Deprecated
-  public synchronized static void setIPAddress(final String address) {
+  public static synchronized void setIPAddress(final String address) {
     String[] addresses = new String[1];
     addresses[0] = address;
     setIPAddress(addresses);
   }
 
   /**
-   * @param addresses the adresses that network tables will connect to in
-   * client mode (in round robin order)
-   * @deprecated Use {@link NetworkTableInstance#setServer(String[])} or
-   * {@link NetworkTableInstance#startClient(String[])} instead.
+   * @param addresses the adresses that network tables will connect to in client mode (in round
+   *     robin order)
+   * @deprecated Use {@link NetworkTableInstance#setServer(String[])} or {@link
+   *     NetworkTableInstance#startClient(String[])} instead.
    */
   @Deprecated
-  public synchronized static void setIPAddress(final String[] addresses) {
+  public static synchronized void setIPAddress(final String[] addresses) {
     NetworkTableInstance inst = NetworkTableInstance.getDefault();
     inst.setServer(addresses, port);
 
     // Stop the DS client if we're explicitly connecting to localhost
-    if (addresses.length > 0 &&
-        (addresses[0].equals("localhost") || addresses[0].equals("127.0.0.1")))
+    if (addresses.length > 0
+        && (addresses[0].equals("localhost") || addresses[0].equals("127.0.0.1")))
       inst.stopDSClient();
-    else if (enableDS)
-      inst.startDSClient(port);
+    else if (enableDS) inst.startDSClient(port);
   }
 
   /**
-   * Set the port number that network tables will connect to in client
-   * mode or listen to in server mode.
+   * Set the port number that network tables will connect to in client mode or listen to in server
+   * mode.
+   *
    * @param aport the port number
-   * @deprecated Use the appropriate parameters to
-   * {@link NetworkTableInstance#setServer(String, int)},
-   * {@link NetworkTableInstance#startClient(String, int)},
-   * {@link NetworkTableInstance#startServer(String, String, int)}, and
-   * {@link NetworkTableInstance#startDSClient(int)} instead.
+   * @deprecated Use the appropriate parameters to {@link NetworkTableInstance#setServer(String,
+   *     int)}, {@link NetworkTableInstance#startClient(String, int)}, {@link
+   *     NetworkTableInstance#startServer(String, String, int)}, and {@link
+   *     NetworkTableInstance#startDSClient(int)} instead.
    */
   @Deprecated
-  public synchronized static void setPort(int aport) {
-    if (port == aport)
-      return;
+  public static synchronized void setPort(int aport) {
+    if (port == aport) return;
     checkInit();
     port = aport;
   }
 
   /**
    * Enable requesting the server address from the Driver Station.
+   *
    * @param enabled whether to enable the connection to the local DS
-   * @deprecated Use {@link NetworkTableInstance#startDSClient()} and
-   * {@link NetworkTableInstance#stopDSClient()} instead.
+   * @deprecated Use {@link NetworkTableInstance#startDSClient()} and {@link
+   *     NetworkTableInstance#stopDSClient()} instead.
    */
   @Deprecated
-  public synchronized static void setDSClientEnabled(boolean enabled) {
+  public static synchronized void setDSClientEnabled(boolean enabled) {
     NetworkTableInstance inst = NetworkTableInstance.getDefault();
     enableDS = enabled;
-    if (enableDS)
-      inst.startDSClient(port);
-    else
-      inst.stopDSClient();
+    if (enableDS) inst.startDSClient(port);
+    else inst.stopDSClient();
   }
 
   /**
    * Sets the persistent filename.
-   * @param filename the filename that the network tables server uses for
-   * automatic loading and saving of persistent values
-   * @deprecated Use the appropriate parameter to
-   * {@link NetworkTableInstance#startServer()} instead.
+   *
+   * @param filename the filename that the network tables server uses for automatic loading and
+   *     saving of persistent values
+   * @deprecated Use the appropriate parameter to {@link NetworkTableInstance#startServer()}
+   *     instead.
    */
   @Deprecated
-  public synchronized static void setPersistentFilename(final String filename) {
-    if (persistentFilename.equals(filename))
-      return;
+  public static synchronized void setPersistentFilename(final String filename) {
+    if (persistentFilename.equals(filename)) return;
     checkInit();
     persistentFilename = filename;
   }
 
   /**
-   * Sets the network identity.
-   * This is provided in the connection info on the remote end.
+   * Sets the network identity. This is provided in the connection info on the remote end.
+   *
    * @param name identity
-   * @deprecated Use {@link NetworkTableInstance#setNetworkIdentity(String)}
-   * instead.
+   * @deprecated Use {@link NetworkTableInstance#setNetworkIdentity(String)} instead.
    */
   @Deprecated
   public static void setNetworkIdentity(String name) {
@@ -233,47 +215,40 @@ public class NetworkTable implements ITable, IRemote {
 
   public static boolean[] toNative(Boolean[] arr) {
     boolean[] out = new boolean[arr.length];
-    for (int i = 0; i < arr.length; i++)
-      out[i] = arr[i];
+    for (int i = 0; i < arr.length; i++) out[i] = arr[i];
     return out;
   }
 
   public static double[] toNative(Number[] arr) {
     double[] out = new double[arr.length];
-    for (int i = 0; i < arr.length; i++)
-      out[i] = arr[i].doubleValue();
+    for (int i = 0; i < arr.length; i++) out[i] = arr[i].doubleValue();
     return out;
   }
 
   public static Boolean[] fromNative(boolean[] arr) {
     Boolean[] out = new Boolean[arr.length];
-    for (int i = 0; i < arr.length; i++)
-      out[i] = arr[i];
+    for (int i = 0; i < arr.length; i++) out[i] = arr[i];
     return out;
   }
 
   public static Double[] fromNative(double[] arr) {
     Double[] out = new Double[arr.length];
-    for (int i = 0; i < arr.length; i++)
-      out[i] = arr[i];
+    for (int i = 0; i < arr.length; i++) out[i] = arr[i];
     return out;
   }
 
   /**
-   * Gets the table with the specified key. If the table does not exist, a new
-   * table will be created.<br>
-   * This will automatically initialize network tables if it has not been
-   * already
+   * Gets the table with the specified key. If the table does not exist, a new table will be
+   * created.<br>
+   * This will automatically initialize network tables if it has not been already
    *
    * @deprecated Use {@link NetworkTableInstance#getTable(String)} instead.
-   *
-   * @param key   the key name
+   * @param key the key name
    * @return the network table requested
    */
   @Deprecated
-  public synchronized static NetworkTable getTable(String key) {
-    if (!running)
-      initialize();
+  public static synchronized NetworkTable getTable(String key) {
+    if (!running) initialize();
     String theKey;
     if (key.isEmpty() || key.equals("/")) {
       theKey = "";
@@ -296,12 +271,16 @@ public class NetworkTable implements ITable, IRemote {
   }
 
   @Override
-  public String toString() { return "NetworkTable: " + path; }
+  public String toString() {
+    return "NetworkTable: " + path;
+  }
 
-  private final ConcurrentMap<String, NetworkTableEntry> entries = new ConcurrentHashMap<String, NetworkTableEntry>();
+  private final ConcurrentMap<String, NetworkTableEntry> entries =
+      new ConcurrentHashMap<String, NetworkTableEntry>();
 
   /**
    * Gets the entry for a subkey.
+   *
    * @param key the key name
    * @return Network table entry.
    */
@@ -316,6 +295,7 @@ public class NetworkTable implements ITable, IRemote {
 
   /**
    * Gets the current network connections.
+   *
    * @return An array of connection information.
    * @deprecated Use {@link NetworkTableInstance#getConnections()} instead.
    */
@@ -326,6 +306,7 @@ public class NetworkTable implements ITable, IRemote {
 
   /**
    * Determine whether or not a network connection is active.
+   *
    * @return True if connected, false if not connected.
    * @deprecated Use {@link NetworkTableInstance#isConnected()} instead.
    */
@@ -337,6 +318,7 @@ public class NetworkTable implements ITable, IRemote {
 
   /**
    * Determine whether NetworkTables is operating as a server or as a client.
+   *
    * @return True if operating as a server, false otherwise.
    * @deprecated Use {@link NetworkTableInstance#getNetworkMode()} instead.
    */
@@ -352,52 +334,63 @@ public class NetworkTable implements ITable, IRemote {
     private final IRemote targetSource;
     private final IRemoteConnectionListener targetListener;
 
-    public ConnectionListenerAdapter(IRemote targetSource, IRemoteConnectionListener targetListener) {
+    public ConnectionListenerAdapter(
+        IRemote targetSource, IRemoteConnectionListener targetListener) {
       this.targetSource = targetSource;
       this.targetListener = targetListener;
     }
 
     @Override
     public void accept(ConnectionNotification event) {
-      if (event.connected)
-        targetListener.connectedEx(targetSource, event.conn);
-      else
-        targetListener.disconnectedEx(targetSource, event.conn);
+      if (event.connected) targetListener.connectedEx(targetSource, event.conn);
+      else targetListener.disconnectedEx(targetSource, event.conn);
     }
   }
 
-  private static final HashMap<IRemoteConnectionListener,ConnectionListenerAdapter> globalConnectionListenerMap = new HashMap<IRemoteConnectionListener,ConnectionListenerAdapter>();
+  private static final HashMap<IRemoteConnectionListener, ConnectionListenerAdapter>
+      globalConnectionListenerMap =
+          new HashMap<IRemoteConnectionListener, ConnectionListenerAdapter>();
 
-  private static IRemote staticRemote = new IRemote() {
-    @Override
-    public void addConnectionListener(IRemoteConnectionListener listener, boolean immediateNotify) {
-      NetworkTable.addGlobalConnectionListener(listener, immediateNotify);
-    }
-    @Override
-    public void removeConnectionListener(IRemoteConnectionListener listener) {
-      NetworkTable.removeGlobalConnectionListener(listener);
-    }
-    @Override
-    public boolean isConnected() {
-      ConnectionInfo[] conns = NetworkTableInstance.getDefault().getConnections();
-      return conns.length > 0;
-    }
-    @Override
-    public boolean isServer() {
-      return (NetworkTableInstance.getDefault().getNetworkMode() & NetworkTableInstance.kNetModeServer) != 0;
-    }
-  };
+  private static IRemote staticRemote =
+      new IRemote() {
+        @Override
+        public void addConnectionListener(
+            IRemoteConnectionListener listener, boolean immediateNotify) {
+          NetworkTable.addGlobalConnectionListener(listener, immediateNotify);
+        }
 
-  private final HashMap<IRemoteConnectionListener,ConnectionListenerAdapter> connectionListenerMap = new HashMap<IRemoteConnectionListener,ConnectionListenerAdapter>();
+        @Override
+        public void removeConnectionListener(IRemoteConnectionListener listener) {
+          NetworkTable.removeGlobalConnectionListener(listener);
+        }
+
+        @Override
+        public boolean isConnected() {
+          ConnectionInfo[] conns = NetworkTableInstance.getDefault().getConnections();
+          return conns.length > 0;
+        }
+
+        @Override
+        public boolean isServer() {
+          return (NetworkTableInstance.getDefault().getNetworkMode()
+                  & NetworkTableInstance.kNetModeServer)
+              != 0;
+        }
+      };
+
+  private final HashMap<IRemoteConnectionListener, ConnectionListenerAdapter>
+      connectionListenerMap = new HashMap<IRemoteConnectionListener, ConnectionListenerAdapter>();
 
   /**
    * Add a connection listener.
+   *
    * @param listener connection listener
    * @param immediateNotify call listener immediately for all existing connections
    * @deprecated Use {@link NetworkTableInstance#addConnectionListener(Consumer, boolean)} instead.
    */
   @Deprecated
-  public static synchronized void addGlobalConnectionListener(IRemoteConnectionListener listener, boolean immediateNotify) {
+  public static synchronized void addGlobalConnectionListener(
+      IRemoteConnectionListener listener, boolean immediateNotify) {
     ConnectionListenerAdapter adapter = new ConnectionListenerAdapter(staticRemote, listener);
     if (globalConnectionListenerMap.putIfAbsent(listener, adapter) != null) {
       throw new IllegalStateException("Cannot add the same listener twice");
@@ -407,11 +400,13 @@ public class NetworkTable implements ITable, IRemote {
 
   /**
    * Remove a connection listener.
+   *
    * @param listener connection listener
    * @deprecated Use {@link NetworkTableInstance#removeConnectionListener(int)} instead.
    */
   @Deprecated
-  public static synchronized void removeGlobalConnectionListener(IRemoteConnectionListener listener) {
+  public static synchronized void removeGlobalConnectionListener(
+      IRemoteConnectionListener listener) {
     ConnectionListenerAdapter adapter = globalConnectionListenerMap.remove(listener);
     if (adapter != null) {
       NetworkTableInstance.getDefault().removeConnectionListener(adapter.uid);
@@ -420,14 +415,15 @@ public class NetworkTable implements ITable, IRemote {
 
   /**
    * Add a connection listener.
+   *
    * @param listener connection listener
    * @param immediateNotify call listener immediately for all existing connections
    * @deprecated Use {@link NetworkTableInstance#addConnectionListener(Consumer, boolean)} instead.
    */
   @Override
   @Deprecated
-  public synchronized void addConnectionListener(IRemoteConnectionListener listener,
-                                                 boolean immediateNotify) {
+  public synchronized void addConnectionListener(
+      IRemoteConnectionListener listener, boolean immediateNotify) {
     ConnectionListenerAdapter adapter = new ConnectionListenerAdapter(this, listener);
     if (connectionListenerMap.putIfAbsent(listener, adapter) != null) {
       throw new IllegalStateException("Cannot add the same listener twice");
@@ -437,6 +433,7 @@ public class NetworkTable implements ITable, IRemote {
 
   /**
    * Remove a connection listener.
+   *
    * @param listener connection listener
    * @deprecated Use {@link NetworkTableInstance#removeConnectionListener(int)} instead.
    */
@@ -451,8 +448,10 @@ public class NetworkTable implements ITable, IRemote {
 
   /**
    * {@inheritDoc}
-   * @deprecated Use {@link edu.wpi.first.networktables.NetworkTable#addEntryListener(TableEntryListener, int)} instead
-   * (with flags value of NOTIFY_NEW | NOTIFY_UPDATE).
+   *
+   * @deprecated Use {@link
+   *     edu.wpi.first.networktables.NetworkTable#addEntryListener(TableEntryListener, int)} instead
+   *     (with flags value of NOTIFY_NEW | NOTIFY_UPDATE).
    */
   @Override
   @Deprecated
@@ -462,16 +461,16 @@ public class NetworkTable implements ITable, IRemote {
 
   /**
    * {@inheritDoc}
-   * @deprecated Use {@link edu.wpi.first.networktables.NetworkTable#addEntryListener(TableEntryListener, int)} instead
-   * (with flags value of NOTIFY_NEW | NOTIFY_UPDATE | NOTIFY_IMMEDIATE).
+   *
+   * @deprecated Use {@link
+   *     edu.wpi.first.networktables.NetworkTable#addEntryListener(TableEntryListener, int)} instead
+   *     (with flags value of NOTIFY_NEW | NOTIFY_UPDATE | NOTIFY_IMMEDIATE).
    */
   @Override
   @Deprecated
-  public void addTableListener(ITableListener listener,
-                               boolean immediateNotify) {
+  public void addTableListener(ITableListener listener, boolean immediateNotify) {
     int flags = NOTIFY_NEW | NOTIFY_UPDATE;
-    if (immediateNotify)
-      flags |= NOTIFY_IMMEDIATE;
+    if (immediateNotify) flags |= NOTIFY_IMMEDIATE;
     addTableListenerEx(listener, flags);
   }
 
@@ -480,12 +479,14 @@ public class NetworkTable implements ITable, IRemote {
     public int uid;
   }
 
-  private static class OldTableListenerAdapter extends ListenerBase implements Consumer<EntryNotification> {
+  private static class OldTableListenerAdapter extends ListenerBase
+      implements Consumer<EntryNotification> {
     private final int prefixLen;
     private final ITable targetSource;
     private final ITableListener targetListener;
 
-    public OldTableListenerAdapter(int prefixLen, ITable targetSource, ITableListener targetListener) {
+    public OldTableListenerAdapter(
+        int prefixLen, ITable targetSource, ITableListener targetListener) {
       this.prefixLen = prefixLen;
       this.targetSource = targetSource;
       this.targetListener = targetListener;
@@ -494,22 +495,24 @@ public class NetworkTable implements ITable, IRemote {
     @Override
     public void accept(EntryNotification event) {
       String relativeKey = event.name.substring(prefixLen);
-      if (relativeKey.indexOf(PATH_SEPARATOR) != -1)
-        return;
+      if (relativeKey.indexOf(PATH_SEPARATOR) != -1) return;
       targetListener.valueChangedEx(targetSource, relativeKey, event.value.getValue(), event.flags);
     }
   }
 
-  private final HashMap<ITableListener,List<ListenerBase>> oldListenerMap = new HashMap<ITableListener,List<ListenerBase>>();
+  private final HashMap<ITableListener, List<ListenerBase>> oldListenerMap =
+      new HashMap<ITableListener, List<ListenerBase>>();
 
   /**
    * {@inheritDoc}
-   * @deprecated Use {@link edu.wpi.first.networktables.NetworkTable#addEntryListener(TableEntryListener, int)} instead.
+   *
+   * @deprecated Use {@link
+   *     edu.wpi.first.networktables.NetworkTable#addEntryListener(TableEntryListener, int)}
+   *     instead.
    */
   @Override
   @Deprecated
-  public synchronized void addTableListenerEx(ITableListener listener,
-                                              int flags) {
+  public synchronized void addTableListenerEx(ITableListener listener, int flags) {
     List<ListenerBase> adapters = oldListenerMap.get(listener);
     if (adapters == null) {
       adapters = new ArrayList<ListenerBase>();
@@ -523,25 +526,26 @@ public class NetworkTable implements ITable, IRemote {
 
   /**
    * {@inheritDoc}
-   * @deprecated Use {@link edu.wpi.first.networktables.NetworkTable#addEntryListener(String, TableEntryListener, int)}
-   * or {@link NetworkTableEntry#addListener(Consumer, int)} instead.
+   *
+   * @deprecated Use {@link edu.wpi.first.networktables.NetworkTable#addEntryListener(String,
+   *     TableEntryListener, int)} or {@link NetworkTableEntry#addListener(Consumer, int)} instead.
    */
   @Override
   @Deprecated
-  public void addTableListener(String key, ITableListener listener,
-                               boolean immediateNotify) {
+  public void addTableListener(String key, ITableListener listener, boolean immediateNotify) {
     int flags = NOTIFY_NEW | NOTIFY_UPDATE;
-    if (immediateNotify)
-      flags |= NOTIFY_IMMEDIATE;
+    if (immediateNotify) flags |= NOTIFY_IMMEDIATE;
     addTableListenerEx(key, listener, flags);
   }
 
-  private static class OldKeyListenerAdapter extends ListenerBase implements Consumer<EntryNotification> {
+  private static class OldKeyListenerAdapter extends ListenerBase
+      implements Consumer<EntryNotification> {
     private final String relativeKey;
     private final ITable targetSource;
     private final ITableListener targetListener;
 
-    public OldKeyListenerAdapter(String relativeKey, ITable targetSource, ITableListener targetListener) {
+    public OldKeyListenerAdapter(
+        String relativeKey, ITable targetSource, ITableListener targetListener) {
       this.relativeKey = relativeKey;
       this.targetSource = targetSource;
       this.targetListener = targetListener;
@@ -555,14 +559,13 @@ public class NetworkTable implements ITable, IRemote {
 
   /**
    * {@inheritDoc}
-   * @deprecated Use {@link edu.wpi.first.networktables.NetworkTable#addEntryListener(String, TableEntryListener, int)}
-   * or {@link NetworkTableEntry#addListener(Consumer, int)} instead.
+   *
+   * @deprecated Use {@link edu.wpi.first.networktables.NetworkTable#addEntryListener(String,
+   *     TableEntryListener, int)} or {@link NetworkTableEntry#addListener(Consumer, int)} instead.
    */
   @Override
   @Deprecated
-  public synchronized void addTableListenerEx(String key,
-                                              ITableListener listener,
-                                              int flags) {
+  public synchronized void addTableListenerEx(String key, ITableListener listener, int flags) {
     List<ListenerBase> adapters = oldListenerMap.get(listener);
     if (adapters == null) {
       adapters = new ArrayList<ListenerBase>();
@@ -575,8 +578,10 @@ public class NetworkTable implements ITable, IRemote {
 
   /**
    * {@inheritDoc}
-   * @deprecated Use {@link edu.wpi.first.networktables.NetworkTable#addSubTableListener(TableListener, boolean)}
-   * instead.
+   *
+   * @deprecated Use {@link
+   *     edu.wpi.first.networktables.NetworkTable#addSubTableListener(TableListener, boolean)}
+   *     instead.
    */
   @Override
   @Deprecated
@@ -584,13 +589,15 @@ public class NetworkTable implements ITable, IRemote {
     addSubTableListener(listener, false);
   }
 
-  private static class OldSubListenerAdapter extends ListenerBase implements Consumer<EntryNotification> {
+  private static class OldSubListenerAdapter extends ListenerBase
+      implements Consumer<EntryNotification> {
     private final int prefixLen;
     private final ITable targetSource;
     private final ITableListener targetListener;
     private final Set<String> notifiedTables = new HashSet<String>();
 
-    public OldSubListenerAdapter(int prefixLen, ITable targetSource, ITableListener targetListener) {
+    public OldSubListenerAdapter(
+        int prefixLen, ITable targetSource, ITableListener targetListener) {
       this.prefixLen = prefixLen;
       this.targetSource = targetSource;
       this.targetListener = targetListener;
@@ -600,64 +607,59 @@ public class NetworkTable implements ITable, IRemote {
     public void accept(EntryNotification event) {
       String relativeKey = event.name.substring(prefixLen);
       int endSubTable = relativeKey.indexOf(PATH_SEPARATOR);
-      if (endSubTable == -1)
-        return;
+      if (endSubTable == -1) return;
       String subTableKey = relativeKey.substring(0, endSubTable);
-      if (notifiedTables.contains(subTableKey))
-        return;
+      if (notifiedTables.contains(subTableKey)) return;
       notifiedTables.add(subTableKey);
-      targetListener.valueChangedEx(targetSource, subTableKey, targetSource.getSubTable(subTableKey), event.flags);
+      targetListener.valueChangedEx(
+          targetSource, subTableKey, targetSource.getSubTable(subTableKey), event.flags);
     }
   }
 
   /**
    * {@inheritDoc}
-   * @deprecated Use {@link edu.wpi.first.networktables.NetworkTable#addSubTableListener(TableListener, boolean)}
-   * instead.
+   *
+   * @deprecated Use {@link
+   *     edu.wpi.first.networktables.NetworkTable#addSubTableListener(TableListener, boolean)}
+   *     instead.
    */
   @Override
   @Deprecated
-  public synchronized void addSubTableListener(final ITableListener listener,
-                                               boolean localNotify) {
+  public synchronized void addSubTableListener(final ITableListener listener, boolean localNotify) {
     List<ListenerBase> adapters = oldListenerMap.get(listener);
     if (adapters == null) {
       adapters = new ArrayList<ListenerBase>();
       oldListenerMap.put(listener, adapters);
     }
-    OldSubListenerAdapter adapter =
-        new OldSubListenerAdapter(path.length() + 1, this, listener);
+    OldSubListenerAdapter adapter = new OldSubListenerAdapter(path.length() + 1, this, listener);
     int flags = NOTIFY_NEW | NOTIFY_IMMEDIATE;
-    if (localNotify)
-      flags |= NOTIFY_LOCAL;
+    if (localNotify) flags |= NOTIFY_LOCAL;
     adapter.uid = inst.addEntryListener(pathWithSep, adapter, flags);
     adapters.add(adapter);
   }
 
   /**
    * {@inheritDoc}
-   * @deprecated Use {@link edu.wpi.first.networktables.NetworkTable#removeTableListener(int)} instead.
+   *
+   * @deprecated Use {@link edu.wpi.first.networktables.NetworkTable#removeTableListener(int)}
+   *     instead.
    */
   @Override
   @Deprecated
   public synchronized void removeTableListener(ITableListener listener) {
     List<ListenerBase> adapters = oldListenerMap.remove(listener);
     if (adapters != null) {
-      for (ListenerBase adapter : adapters)
-        inst.removeEntryListener(adapter.uid);
+      for (ListenerBase adapter : adapters) inst.removeEntryListener(adapter.uid);
     }
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public ITable getSubTable(String key) {
     return new NetworkTable(inst, pathWithSep + key);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public boolean containsKey(String key) {
     return getEntry(key).exists();
@@ -665,7 +667,8 @@ public class NetworkTable implements ITable, IRemote {
 
   @Override
   public boolean containsSubTable(String key) {
-    int[] handles = NetworkTablesJNI.getEntries(inst.getHandle(), pathWithSep + key + PATH_SEPARATOR, 0);
+    int[] handles =
+        NetworkTablesJNI.getEntries(inst.getHandle(), pathWithSep + key + PATH_SEPARATOR, 0);
     return handles.length != 0;
   }
 
@@ -679,8 +682,7 @@ public class NetworkTable implements ITable, IRemote {
     int prefixLen = path.length() + 1;
     for (EntryInfo info : inst.getEntryInfo(pathWithSep, types)) {
       String relativeKey = info.name.substring(prefixLen);
-      if (relativeKey.indexOf(PATH_SEPARATOR) != -1)
-        continue;
+      if (relativeKey.indexOf(PATH_SEPARATOR) != -1) continue;
       keys.add(relativeKey);
       // populate entries as we go
       if (entries.get(relativeKey) == null) {
@@ -690,17 +692,13 @@ public class NetworkTable implements ITable, IRemote {
     return keys;
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public Set<String> getKeys() {
     return getKeys(0);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public Set<String> getSubTables() {
     Set<String> keys = new HashSet<String>();
@@ -708,232 +706,175 @@ public class NetworkTable implements ITable, IRemote {
     for (EntryInfo info : inst.getEntryInfo(pathWithSep, 0)) {
       String relativeKey = info.name.substring(prefixLen);
       int endSubTable = relativeKey.indexOf(PATH_SEPARATOR);
-      if (endSubTable == -1)
-        continue;
+      if (endSubTable == -1) continue;
       keys.add(relativeKey.substring(0, endSubTable));
     }
     return keys;
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public boolean putNumber(String key, double value) {
     return getEntry(key).setNumber(value);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public boolean setDefaultNumber(String key, double defaultValue) {
     return getEntry(key).setDefaultDouble(defaultValue);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public double getNumber(String key, double defaultValue) {
     return getEntry(key).getDouble(defaultValue);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public boolean putString(String key, String value) {
     return getEntry(key).setString(value);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public boolean setDefaultString(String key, String defaultValue) {
     return getEntry(key).setDefaultString(defaultValue);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public String getString(String key, String defaultValue) {
     return getEntry(key).getString(defaultValue);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public boolean putBoolean(String key, boolean value) {
     return getEntry(key).setBoolean(value);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public boolean setDefaultBoolean(String key, boolean defaultValue) {
     return getEntry(key).setDefaultBoolean(defaultValue);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public boolean getBoolean(String key, boolean defaultValue) {
     return getEntry(key).getBoolean(defaultValue);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public boolean putBooleanArray(String key, boolean[] value) {
     return getEntry(key).setBooleanArray(value);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public boolean putBooleanArray(String key, Boolean[] value) {
     return getEntry(key).setBooleanArray(value);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public boolean setDefaultBooleanArray(String key, boolean[] defaultValue) {
     return getEntry(key).setDefaultBooleanArray(defaultValue);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public boolean setDefaultBooleanArray(String key, Boolean[] defaultValue) {
     return getEntry(key).setDefaultBooleanArray(defaultValue);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public boolean[] getBooleanArray(String key, boolean[] defaultValue) {
     return getEntry(key).getBooleanArray(defaultValue);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public Boolean[] getBooleanArray(String key, Boolean[] defaultValue) {
     return getEntry(key).getBooleanArray(defaultValue);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public boolean putNumberArray(String key, double[] value) {
     return getEntry(key).setDoubleArray(value);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public boolean putNumberArray(String key, Double[] value) {
     return getEntry(key).setNumberArray(value);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public boolean setDefaultNumberArray(String key, double[] defaultValue) {
     return getEntry(key).setDefaultDoubleArray(defaultValue);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public boolean setDefaultNumberArray(String key, Double[] defaultValue) {
     return getEntry(key).setDefaultNumberArray(defaultValue);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public double[] getNumberArray(String key, double[] defaultValue) {
     return getEntry(key).getDoubleArray(defaultValue);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public Double[] getNumberArray(String key, Double[] defaultValue) {
     return getEntry(key).getDoubleArray(defaultValue);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public boolean putStringArray(String key, String[] value) {
     return getEntry(key).setStringArray(value);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public boolean setDefaultStringArray(String key, String[] defaultValue) {
     return getEntry(key).setDefaultStringArray(defaultValue);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public String[] getStringArray(String key, String[] defaultValue) {
     return getEntry(key).getStringArray(defaultValue);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public boolean putRaw(String key, byte[] value) {
     return getEntry(key).setRaw(value);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public boolean setDefaultRaw(String key, byte[] defaultValue) {
     return getEntry(key).setDefaultRaw(defaultValue);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public boolean putRaw(String key, ByteBuffer value, int len) {
     return getEntry(key).setRaw(value, len);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public byte[] getRaw(String key, byte[] defaultValue) {
     return getEntry(key).getRaw(defaultValue);
@@ -941,6 +882,7 @@ public class NetworkTable implements ITable, IRemote {
 
   /**
    * Put a value in the table
+   *
    * @param key the key to be assigned to
    * @param value the value that will be assigned
    * @return False if the table key already exists with a different type
@@ -951,6 +893,7 @@ public class NetworkTable implements ITable, IRemote {
 
   /**
    * Sets the current value in the table if it does not exist.
+   *
    * @param key the key
    * @param defaultValue the default value to set if key doens't exist.
    * @return False if the table key exists with a different type
@@ -961,6 +904,7 @@ public class NetworkTable implements ITable, IRemote {
 
   /**
    * Gets the value associated with a key as a NetworkTableValue object.
+   *
    * @param key the key of the value to look up
    * @return the value associated with the given key
    */
@@ -970,41 +914,35 @@ public class NetworkTable implements ITable, IRemote {
 
   /**
    * {@inheritDoc}
-   * @deprecated Use {@link edu.wpi.first.networktables.NetworkTableEntry#setValue(Object)}
-   * instead, e.g. `NetworkTable.getEntry(key).setValue(NetworkTableEntry.makeBoolean(false));`
-   * or `NetworkTable.getEntry(key).setValue(new Boolean(false));`
+   *
+   * @deprecated Use {@link edu.wpi.first.networktables.NetworkTableEntry#setValue(Object)} instead,
+   *     e.g. `NetworkTable.getEntry(key).setValue(NetworkTableEntry.makeBoolean(false));` or
+   *     `NetworkTable.getEntry(key).setValue(new Boolean(false));`
    */
   @Override
   @Deprecated
   public boolean putValue(String key, Object value) throws IllegalArgumentException {
-    if (value instanceof Boolean)
-      return putBoolean(key, ((Boolean)value).booleanValue());
-    else if (value instanceof Number)
-      return putDouble(key, ((Number)value).doubleValue());
-    else if (value instanceof String)
-      return putString(key, (String)value);
-    else if (value instanceof byte[])
-      return putRaw(key, (byte[])value);
-    else if (value instanceof boolean[])
-      return putBooleanArray(key, (boolean[])value);
-    else if (value instanceof double[])
-      return putNumberArray(key, (double[])value);
-    else if (value instanceof Boolean[])
-      return putBooleanArray(key, toNative((Boolean[])value));
-    else if (value instanceof Number[])
-      return putNumberArray(key, toNative((Number[])value));
-    else if (value instanceof String[])
-      return putStringArray(key, (String[])value);
+    if (value instanceof Boolean) return putBoolean(key, ((Boolean) value).booleanValue());
+    else if (value instanceof Number) return putDouble(key, ((Number) value).doubleValue());
+    else if (value instanceof String) return putString(key, (String) value);
+    else if (value instanceof byte[]) return putRaw(key, (byte[]) value);
+    else if (value instanceof boolean[]) return putBooleanArray(key, (boolean[]) value);
+    else if (value instanceof double[]) return putNumberArray(key, (double[]) value);
+    else if (value instanceof Boolean[]) return putBooleanArray(key, toNative((Boolean[]) value));
+    else if (value instanceof Number[]) return putNumberArray(key, toNative((Number[]) value));
+    else if (value instanceof String[]) return putStringArray(key, (String[]) value);
     else if (value instanceof NetworkTableValue)
-      return getEntry(key).setValue((NetworkTableValue)value);
+      return getEntry(key).setValue((NetworkTableValue) value);
     else
-      throw new IllegalArgumentException("Value of type " + value.getClass().getName() + " cannot be put into a table");
+      throw new IllegalArgumentException(
+          "Value of type " + value.getClass().getName() + " cannot be put into a table");
   }
 
   /**
    * {@inheritDoc}
-   * @deprecated Use {@link edu.wpi.first.networktables.NetworkTableEntry#getValue()}
-   * instead, e.g. `NetworkTable.getEntry(key).getValue();`
+   *
+   * @deprecated Use {@link edu.wpi.first.networktables.NetworkTableEntry#getValue()} instead, e.g.
+   *     `NetworkTable.getEntry(key).getValue();`
    */
   @Override
   @Deprecated
@@ -1019,64 +957,51 @@ public class NetworkTable implements ITable, IRemote {
   /** The persistent flag value. */
   public static final int PERSISTENT = 1;
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public void setPersistent(String key) {
     getEntry(key).setPersistent();
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public void clearPersistent(String key) {
     getEntry(key).clearPersistent();
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public boolean isPersistent(String key) {
     return getEntry(key).isPersistent();
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public void setFlags(String key, int flags) {
     getEntry(key).setFlags(flags);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public void clearFlags(String key, int flags) {
     getEntry(key).clearFlags(flags);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public int getFlags(String key) {
     return getEntry(key).getFlags();
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public void delete(String key) {
     getEntry(key).delete();
   }
 
   /**
-   * Deletes ALL keys in ALL subtables.  Use with caution!
+   * Deletes ALL keys in ALL subtables. Use with caution!
+   *
    * @deprecated Use {@link NetworkTableInstance#deleteAllEntries()} instead.
    */
   @Deprecated
@@ -1085,10 +1010,10 @@ public class NetworkTable implements ITable, IRemote {
   }
 
   /**
-   * Flushes all updated values immediately to the network.
-   * Note: This is rate-limited to protect the network from flooding.
-   * This is primarily useful for synchronizing network updates with
-   * user code.
+   * Flushes all updated values immediately to the network. Note: This is rate-limited to protect
+   * the network from flooding. This is primarily useful for synchronizing network updates with user
+   * code.
+   *
    * @deprecated Use {@link NetworkTableInstance#flush()} instead.
    */
   @Deprecated
@@ -1100,8 +1025,7 @@ public class NetworkTable implements ITable, IRemote {
    * Set the periodic update rate.
    *
    * @param interval update interval in seconds (range 0.01 to 1.0)
-   * @deprecated Use {@link NetworkTableInstance#setUpdateRate(double)}
-   * instead.
+   * @deprecated Use {@link NetworkTableInstance#setUpdateRate(double)} instead.
    */
   @Deprecated
   public static void setUpdateRate(double interval) {
@@ -1109,12 +1033,11 @@ public class NetworkTable implements ITable, IRemote {
   }
 
   /**
-   * Saves persistent keys to a file.  The server does this automatically.
+   * Saves persistent keys to a file. The server does this automatically.
    *
    * @param filename file name
    * @throws PersistentException if error saving file
-   * @deprecated Use {@link NetworkTableInstance#savePersistent(String)}
-   * instead.
+   * @deprecated Use {@link NetworkTableInstance#savePersistent(String)} instead.
    */
   @Deprecated
   public static void savePersistent(String filename) throws PersistentException {
@@ -1122,13 +1045,12 @@ public class NetworkTable implements ITable, IRemote {
   }
 
   /**
-   * Loads persistent keys from a file.  The server does this automatically.
+   * Loads persistent keys from a file. The server does this automatically.
    *
    * @param filename file name
    * @return List of warnings (errors result in an exception instead)
    * @throws PersistentException if error reading file
-   * @deprecated Use {@link NetworkTableInstance#loadPersistent(String)}
-   * instead.
+   * @deprecated Use {@link NetworkTableInstance#loadPersistent(String)} instead.
    */
   @Deprecated
   public static String[] loadPersistent(String filename) throws PersistentException {
@@ -1141,6 +1063,7 @@ public class NetworkTable implements ITable, IRemote {
 
   /**
    * {@inheritDoc}
+   *
    * @deprecated Use {@link #putNumber(String, double)} instead.
    */
   @Override
@@ -1151,6 +1074,7 @@ public class NetworkTable implements ITable, IRemote {
 
   /**
    * {@inheritDoc}
+   *
    * @deprecated Use {@link #getNumber(String, double)} instead.
    */
   @Override
@@ -1159,9 +1083,7 @@ public class NetworkTable implements ITable, IRemote {
     return getNumber(key, defaultValue);
   }
 
-  /**
-   * {@inheritDoc}
-   */
+  /** {@inheritDoc} */
   @Override
   public String getPath() {
     return path;
diff --git a/ntcore/src/main/java/edu/wpi/first/wpilibj/tables/IRemote.java b/ntcore/src/main/java/edu/wpi/first/wpilibj/tables/IRemote.java
index 0f44250980..508e8812b5 100644
--- a/ntcore/src/main/java/edu/wpi/first/wpilibj/tables/IRemote.java
+++ b/ntcore/src/main/java/edu/wpi/first/wpilibj/tables/IRemote.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.wpilibj.tables;
 
-
 /**
  * Represents an object that has a remote connection.
+ *
  * @deprecated Use {@link edu.wpi.first.networktables.NetworkTableInstance}.
  */
 @Deprecated
@@ -16,7 +16,8 @@ public interface IRemote {
    * Register an object to listen for connection and disconnection events
    *
    * @param listener the listener to be register
-   * @param immediateNotify if the listener object should be notified of the current connection state
+   * @param immediateNotify if the listener object should be notified of the current connection
+   *     state
    */
   public void addConnectionListener(IRemoteConnectionListener listener, boolean immediateNotify);
 
@@ -29,13 +30,15 @@ public interface IRemote {
 
   /**
    * Get the current state of the objects connection
+   *
    * @return the current connection state
    */
-    public boolean isConnected();
+  public boolean isConnected();
 
   /**
    * If the object is acting as a server
+   *
    * @return if the object is a server
    */
-    public boolean isServer();
+  public boolean isServer();
 }
diff --git a/ntcore/src/main/java/edu/wpi/first/wpilibj/tables/IRemoteConnectionListener.java b/ntcore/src/main/java/edu/wpi/first/wpilibj/tables/IRemoteConnectionListener.java
index 6d82a98f99..ed5d02b8b6 100644
--- a/ntcore/src/main/java/edu/wpi/first/wpilibj/tables/IRemoteConnectionListener.java
+++ b/ntcore/src/main/java/edu/wpi/first/wpilibj/tables/IRemoteConnectionListener.java
@@ -8,6 +8,7 @@ import edu.wpi.first.networktables.ConnectionInfo;
 
 /**
  * A listener that listens for connection changes in a {@link IRemote} object.
+ *
  * @deprecated Use Consumer&lt;{@link edu.wpi.first.networktables.ConnectionNotification}&gt;.
  */
 @Deprecated
@@ -15,30 +16,34 @@ import edu.wpi.first.networktables.ConnectionInfo;
 public interface IRemoteConnectionListener {
   /**
    * Called when an IRemote is connected
+   *
    * @param remote the object that connected
    */
   public void connected(IRemote remote);
   /**
    * Called when an IRemote is disconnected
+   *
    * @param remote the object that disconnected
    */
   public void disconnected(IRemote remote);
   /**
-   * Extended version of connected called when an IRemote is connected.
-    * Contains the connection info of the connected remote
+   * Extended version of connected called when an IRemote is connected. Contains the connection info
+   * of the connected remote
+   *
    * @param remote the object that connected
    * @param info the connection info for the connected remote
    */
-  default public void connectedEx(IRemote remote, ConnectionInfo info) {
+  public default void connectedEx(IRemote remote, ConnectionInfo info) {
     connected(remote);
   }
   /**
-   * Extended version of connected called when an IRemote is disconnected.
-   * Contains the connection info of the disconnected remote
+   * Extended version of connected called when an IRemote is disconnected. Contains the connection
+   * info of the disconnected remote
+   *
    * @param remote the object that disconnected
    * @param info the connection info for the disconnected remote
    */
-  default public void disconnectedEx(IRemote remote, ConnectionInfo info) {
+  public default void disconnectedEx(IRemote remote, ConnectionInfo info) {
     disconnected(remote);
   }
 }
diff --git a/ntcore/src/main/java/edu/wpi/first/wpilibj/tables/ITable.java b/ntcore/src/main/java/edu/wpi/first/wpilibj/tables/ITable.java
index 4644256dc6..330484a73d 100644
--- a/ntcore/src/main/java/edu/wpi/first/wpilibj/tables/ITable.java
+++ b/ntcore/src/main/java/edu/wpi/first/wpilibj/tables/ITable.java
@@ -7,9 +7,9 @@ package edu.wpi.first.wpilibj.tables;
 import java.nio.ByteBuffer;
 import java.util.Set;
 
-
 /**
  * A table whose values can be read and written to.
+ *
  * @deprecated Use {@link edu.wpi.first.networktables.NetworkTable}.
  */
 @Deprecated
@@ -26,14 +26,14 @@ public interface ITable {
 
   /**
    * @param key the key to search for
-   * @return true if there is a subtable with the key which contains at least
-   * one key/subtable of its own
+   * @return true if there is a subtable with the key which contains at least one key/subtable of
+   *     its own
    */
   public boolean containsSubTable(String key);
 
   /**
-   * Returns the table at the specified key. If there is no table at the
-   * specified key, it will create a new table
+   * Returns the table at the specified key. If there is no table at the specified key, it will
+   * create a new table
    *
    * @param key the name of the table relative to this one
    * @return a sub table relative to this one
@@ -42,6 +42,7 @@ public interface ITable {
 
   /**
    * Gets all keys in the table (not including sub-tables).
+   *
    * @param types bitmask of types; 0 is treated as a "don't care".
    * @return keys currently in the table
    */
@@ -49,35 +50,34 @@ public interface ITable {
 
   /**
    * Gets all keys in the table (not including sub-tables).
+   *
    * @return keys currently in the table
    */
   public Set<String> getKeys();
 
   /**
    * Gets the names of all subtables in the table.
+   *
    * @return subtables currently in the table
    */
   public Set<String> getSubTables();
 
   /**
-   * Makes a key's value persistent through program restarts.
-   * The key cannot be null.
+   * Makes a key's value persistent through program restarts. The key cannot be null.
    *
    * @param key the key name
    */
   public void setPersistent(String key);
 
   /**
-   * Stop making a key's value persistent through program restarts.
-   * The key cannot be null.
+   * Stop making a key's value persistent through program restarts. The key cannot be null.
    *
    * @param key the key name
    */
   public void clearPersistent(String key);
 
   /**
-   * Returns whether the value is persistent through program restarts.
-   * The key cannot be null.
+   * Returns whether the value is persistent through program restarts. The key cannot be null.
    *
    * @param key the key name
    * @return True if the value is persistent.
@@ -85,8 +85,7 @@ public interface ITable {
   public boolean isPersistent(String key);
 
   /**
-   * Sets flags on the specified key in this table. The key can
-   * not be null.
+   * Sets flags on the specified key in this table. The key can not be null.
    *
    * @param key the key name
    * @param flags the flags to set (bitmask)
@@ -94,8 +93,7 @@ public interface ITable {
   public void setFlags(String key, int flags);
 
   /**
-   * Clears flags on the specified key in this table. The key can
-   * not be null.
+   * Clears flags on the specified key in this table. The key can not be null.
    *
    * @param key the key name
    * @param flags the flags to clear (bitmask)
@@ -111,18 +109,17 @@ public interface ITable {
   public int getFlags(String key);
 
   /**
-   * Deletes the specified key in this table. The key can
-   * not be null.
+   * Deletes the specified key in this table. The key can not be null.
    *
    * @param key the key name
    */
   public void delete(String key);
 
   /**
-   * Gets the value associated with a key as an object.
-   * NOTE: If the value is a double, it will return a Double object,
-   * not a primitive.  To get the primitive, use
-   * {@link #getDouble(String, double)}.
+   * Gets the value associated with a key as an object. NOTE: If the value is a double, it will
+   * return a Double object, not a primitive. To get the primitive, use {@link #getDouble(String,
+   * double)}.
+   *
    * @param key the key of the value to look up
    * @param defaultValue the default value if the key is null
    * @return the value associated with the given key
@@ -131,17 +128,17 @@ public interface ITable {
 
   /**
    * Put a value in the table
+   *
    * @param key the key to be assigned to
    * @param value the value that will be assigned
    * @return False if the table key already exists with a different type
-   * @throws IllegalArgumentException when the value is not supported by the
-   * table
+   * @throws IllegalArgumentException when the value is not supported by the table
    */
-  public boolean putValue(String key, Object value)
-      throws IllegalArgumentException;
+  public boolean putValue(String key, Object value) throws IllegalArgumentException;
 
   /**
    * Put a number in the table
+   *
    * @param key the key to be assigned to
    * @param value the value that will be assigned
    * @return False if the table key already exists with a different type
@@ -150,6 +147,7 @@ public interface ITable {
 
   /**
    * Gets the current value in the table, setting it if it does not exist.
+   *
    * @param key the key
    * @param defaultValue the default value to set if key doens't exist.
    * @return False if the table key exists with a different type
@@ -157,17 +155,19 @@ public interface ITable {
   public boolean setDefaultNumber(String key, double defaultValue);
 
   /**
-   * Returns the number the key maps to. If the key does not exist or is of
-   * different type, it will return the default value.
+   * Returns the number the key maps to. If the key does not exist or is of different type, it will
+   * return the default value.
+   *
    * @param key the key to look up
    * @param defaultValue the value to be returned if no value is found
-   * @return the value associated with the given key or the given default value
-   * if there is no value associated with the key
+   * @return the value associated with the given key or the given default value if there is no value
+   *     associated with the key
    */
   public double getNumber(String key, double defaultValue);
 
   /**
    * Put a string in the table
+   *
    * @param key the key to be assigned to
    * @param value the value that will be assigned
    * @return False if the table key already exists with a different type
@@ -176,6 +176,7 @@ public interface ITable {
 
   /**
    * Gets the current value in the table, setting it if it does not exist.
+   *
    * @param key the key
    * @param defaultValue the default value to set if key doens't exist.
    * @return False if the table key exists with a different type
@@ -183,17 +184,19 @@ public interface ITable {
   public boolean setDefaultString(String key, String defaultValue);
 
   /**
-   * Returns the string the key maps to. If the key does not exist or is of
-   * different type, it will return the default value.
+   * Returns the string the key maps to. If the key does not exist or is of different type, it will
+   * return the default value.
+   *
    * @param key the key to look up
    * @param defaultValue the value to be returned if no value is found
-   * @return the value associated with the given key or the given default value
-   * if there is no value associated with the key
+   * @return the value associated with the given key or the given default value if there is no value
+   *     associated with the key
    */
   public String getString(String key, String defaultValue);
 
   /**
    * Put a boolean in the table
+   *
    * @param key the key to be assigned to
    * @param value the value that will be assigned
    * @return False if the table key already exists with a different type
@@ -202,6 +205,7 @@ public interface ITable {
 
   /**
    * Gets the current value in the table, setting it if it does not exist.
+   *
    * @param key the key
    * @param defaultValue the default value to set if key doens't exist.
    * @return False if the table key exists with a different type
@@ -209,17 +213,19 @@ public interface ITable {
   public boolean setDefaultBoolean(String key, boolean defaultValue);
 
   /**
-   * Returns the boolean the key maps to. If the key does not exist or is of
-   * different type, it will return the default value.
+   * Returns the boolean the key maps to. If the key does not exist or is of different type, it will
+   * return the default value.
+   *
    * @param key the key to look up
    * @param defaultValue the value to be returned if no value is found
-   * @return the value associated with the given key or the given default value
-   * if there is no value associated with the key
+   * @return the value associated with the given key or the given default value if there is no value
+   *     associated with the key
    */
   public boolean getBoolean(String key, boolean defaultValue);
 
   /**
    * Put a boolean array in the table
+   *
    * @param key the key to be assigned to
    * @param value the value that will be assigned
    * @return False if the table key already exists with a different type
@@ -228,6 +234,7 @@ public interface ITable {
 
   /**
    * Gets the current value in the table, setting it if it does not exist.
+   *
    * @param key the key
    * @param defaultValue the default value to set if key doens't exist.
    * @return False if the table key exists with a different type
@@ -236,6 +243,7 @@ public interface ITable {
 
   /**
    * Put a boolean array in the table
+   *
    * @param key the key to be assigned to
    * @param value the value that will be assigned
    * @return False if the table key already exists with a different type
@@ -244,6 +252,7 @@ public interface ITable {
 
   /**
    * Gets the current value in the table, setting it if it does not exist.
+   *
    * @param key the key
    * @param defaultValue the default value to set if key doens't exist.
    * @return False if the table key exists with a different type
@@ -251,26 +260,29 @@ public interface ITable {
   public boolean setDefaultBooleanArray(String key, Boolean[] defaultValue);
 
   /**
-   * Returns the boolean array the key maps to. If the key does not exist or is
-   * of different type, it will return the default value.
+   * Returns the boolean array the key maps to. If the key does not exist or is of different type,
+   * it will return the default value.
+   *
    * @param key the key to look up
    * @param defaultValue the value to be returned if no value is found
-   * @return the value associated with the given key or the given default value
-   * if there is no value associated with the key
+   * @return the value associated with the given key or the given default value if there is no value
+   *     associated with the key
    */
   public boolean[] getBooleanArray(String key, boolean[] defaultValue);
   /**
-   * Returns the boolean array the key maps to. If the key does not exist or is
-   * of different type, it will return the default value.
+   * Returns the boolean array the key maps to. If the key does not exist or is of different type,
+   * it will return the default value.
+   *
    * @param key the key to look up
    * @param defaultValue the value to be returned if no value is found
-   * @return the value associated with the given key or the given default value
-   * if there is no value associated with the key
+   * @return the value associated with the given key or the given default value if there is no value
+   *     associated with the key
    */
   public Boolean[] getBooleanArray(String key, Boolean[] defaultValue);
 
   /**
    * Put a number array in the table
+   *
    * @param key the key to be assigned to
    * @param value the value that will be assigned
    * @return False if the table key already exists with a different type
@@ -279,6 +291,7 @@ public interface ITable {
 
   /**
    * Gets the current value in the table, setting it if it does not exist.
+   *
    * @param key the key
    * @param defaultValue the default value to set if key doens't exist.
    * @return False if the table key exists with a different type
@@ -287,6 +300,7 @@ public interface ITable {
 
   /**
    * Put a number array in the table
+   *
    * @param key the key to be assigned to
    * @param value the value that will be assigned
    * @return False if the table key already exists with a different type
@@ -295,6 +309,7 @@ public interface ITable {
 
   /**
    * Gets the current value in the table, setting it if it does not exist.
+   *
    * @param key the key
    * @param defaultValue the default value to set if key doens't exist.
    * @return False if the table key exists with a different type
@@ -302,26 +317,29 @@ public interface ITable {
   public boolean setDefaultNumberArray(String key, Double[] defaultValue);
 
   /**
-   * Returns the number array the key maps to. If the key does not exist or is
-   * of different type, it will return the default value.
+   * Returns the number array the key maps to. If the key does not exist or is of different type, it
+   * will return the default value.
+   *
    * @param key the key to look up
    * @param defaultValue the value to be returned if no value is found
-   * @return the value associated with the given key or the given default value
-   * if there is no value associated with the key
+   * @return the value associated with the given key or the given default value if there is no value
+   *     associated with the key
    */
   public double[] getNumberArray(String key, double[] defaultValue);
   /**
-   * Returns the number array the key maps to. If the key does not exist or is
-   * of different type, it will return the default value.
+   * Returns the number array the key maps to. If the key does not exist or is of different type, it
+   * will return the default value.
+   *
    * @param key the key to look up
    * @param defaultValue the value to be returned if no value is found
-   * @return the value associated with the given key or the given default value
-   * if there is no value associated with the key
+   * @return the value associated with the given key or the given default value if there is no value
+   *     associated with the key
    */
   public Double[] getNumberArray(String key, Double[] defaultValue);
 
   /**
    * Put a string array in the table
+   *
    * @param key the key to be assigned to
    * @param value the value that will be assigned
    * @return False if the table key already exists with a different type
@@ -330,6 +348,7 @@ public interface ITable {
 
   /**
    * Gets the current value in the table, setting it if it does not exist.
+   *
    * @param key the key
    * @param defaultValue the default value to set if key doens't exist.
    * @return False if the table key exists with a different type
@@ -337,17 +356,19 @@ public interface ITable {
   public boolean setDefaultStringArray(String key, String[] defaultValue);
 
   /**
-   * Returns the string array the key maps to. If the key does not exist or is
-   * of different type, it will return the default value.
+   * Returns the string array the key maps to. If the key does not exist or is of different type, it
+   * will return the default value.
+   *
    * @param key the key to look up
    * @param defaultValue the value to be returned if no value is found
-   * @return the value associated with the given key or the given default value
-   * if there is no value associated with the key
+   * @return the value associated with the given key or the given default value if there is no value
+   *     associated with the key
    */
   public String[] getStringArray(String key, String[] defaultValue);
 
   /**
    * Put a raw value (byte array) in the table
+   *
    * @param key the key to be assigned to
    * @param value the value that will be assigned
    * @return False if the table key already exists with a different type
@@ -356,6 +377,7 @@ public interface ITable {
 
   /**
    * Gets the current value in the table, setting it if it does not exist.
+   *
    * @param key the key
    * @param defaultValue the default value to set if key doens't exist.
    * @return False if the table key exists with a different type
@@ -364,6 +386,7 @@ public interface ITable {
 
   /**
    * Put a raw value (bytes from a byte buffer) in the table
+   *
    * @param key the key to be assigned to
    * @param value the value that will be assigned
    * @param len the length of the value
@@ -372,17 +395,19 @@ public interface ITable {
   public boolean putRaw(String key, ByteBuffer value, int len);
 
   /**
-   * Returns the raw value (byte array) the key maps to. If the key does not
-   * exist or is of different type, it will return the default value.
+   * Returns the raw value (byte array) the key maps to. If the key does not exist or is of
+   * different type, it will return the default value.
+   *
    * @param key the key to look up
    * @param defaultValue the value to be returned if no value is found
-   * @return the value associated with the given key or the given default value
-   * if there is no value associated with the key
+   * @return the value associated with the given key or the given default value if there is no value
+   *     associated with the key
    */
   public byte[] getRaw(String key, byte[] defaultValue);
 
   /** Notifier flag values. */
   public static final int NOTIFY_IMMEDIATE = 0x01;
+
   public static final int NOTIFY_LOCAL = 0x02;
   public static final int NOTIFY_NEW = 0x04;
   public static final int NOTIFY_DELETE = 0x08;
@@ -391,19 +416,21 @@ public interface ITable {
 
   /**
    * Add a listener for changes to the table
+   *
    * @param listener the listener to add
    */
   public void addTableListener(ITableListener listener);
   /**
    * Add a listener for changes to the table
+   *
    * @param listener the listener to add
-   * @param immediateNotify if true then this listener will be notified of all
-   * current entries (marked as new)
+   * @param immediateNotify if true then this listener will be notified of all current entries
+   *     (marked as new)
    */
-  public void addTableListener(ITableListener listener,
-                               boolean immediateNotify);
+  public void addTableListener(ITableListener listener, boolean immediateNotify);
   /**
    * Add a listener for changes to the table
+   *
    * @param listener the listener to add
    * @param flags bitmask specifying desired notifications
    */
@@ -411,36 +438,38 @@ public interface ITable {
 
   /**
    * Add a listener for changes to a specific key the table
+   *
    * @param key the key to listen for
    * @param listener the listener to add
-   * @param immediateNotify if true then this listener will be notified of all
-   * current entries (marked as new)
+   * @param immediateNotify if true then this listener will be notified of all current entries
+   *     (marked as new)
    */
-  public void addTableListener(String key, ITableListener listener,
-                               boolean immediateNotify);
+  public void addTableListener(String key, ITableListener listener, boolean immediateNotify);
   /**
    * Add a listener for changes to a specific key the table
+   *
    * @param key the key to listen for
    * @param listener the listener to add
    * @param flags bitmask specifying desired notifications
    */
-  public void addTableListenerEx(String key, ITableListener listener,
-                                 int flags);
+  public void addTableListenerEx(String key, ITableListener listener, int flags);
   /**
    * This will immediately notify the listener of all current sub tables
+   *
    * @param listener the listener to notify
    */
   public void addSubTableListener(final ITableListener listener);
   /**
    * This will immediately notify the listener of all current sub tables
+   *
    * @param listener the listener to notify
-   * @param localNotify if true then this listener will be notified of all
-   * local changes in addition to all remote changes
+   * @param localNotify if true then this listener will be notified of all local changes in addition
+   *     to all remote changes
    */
-  public void addSubTableListener(final ITableListener listener,
-                                  boolean localNotify);
+  public void addSubTableListener(final ITableListener listener, boolean localNotify);
   /**
    * Remove a listener from receiving table events
+   *
    * @param listener the listener to be removed
    */
   public void removeTableListener(ITableListener listener);
@@ -450,10 +479,9 @@ public interface ITable {
    */
 
   /**
-   * Maps the specified key to the specified value in this table.
-   * The key can not be null.
-   * The value can be retrieved by calling the get method with a key that is
-   * equal to the original key.
+   * Maps the specified key to the specified value in this table. The key can not be null. The value
+   * can be retrieved by calling the get method with a key that is equal to the original key.
+   *
    * @param key the key
    * @param value the value
    * @return False if the table key already exists with a different type
@@ -465,11 +493,11 @@ public interface ITable {
 
   /**
    * Returns the value at the specified key.
+   *
    * @param key the key
    * @param defaultValue the value returned if the key is undefined
    * @return the value
-   * @throws IllegalArgumentException if the value mapped to by the key is not a
-   * double
+   * @throws IllegalArgumentException if the value mapped to by the key is not a double
    * @throws IllegalArgumentException if the key is null
    * @deprecated Use {@link #getNumber(String, double)} instead.
    */
@@ -477,9 +505,9 @@ public interface ITable {
   public double getDouble(String key, double defaultValue);
 
   /**
-   * Gets the full path of this table.  Does not include the trailing "/".
+   * Gets the full path of this table. Does not include the trailing "/".
+   *
    * @return The path to this table (e.g. "", "/foo").
    */
   public String getPath();
-
 }
diff --git a/ntcore/src/main/java/edu/wpi/first/wpilibj/tables/ITableListener.java b/ntcore/src/main/java/edu/wpi/first/wpilibj/tables/ITableListener.java
index 1d1a9b7ecb..3ff81f17ec 100644
--- a/ntcore/src/main/java/edu/wpi/first/wpilibj/tables/ITableListener.java
+++ b/ntcore/src/main/java/edu/wpi/first/wpilibj/tables/ITableListener.java
@@ -6,36 +6,38 @@ package edu.wpi.first.wpilibj.tables;
 
 /**
  * A listener that listens to changes in values in a {@link ITable}.
- * @deprecated Use Consumer&lt;{@link edu.wpi.first.networktables.EntryNotification}&gt;,
- * {@link edu.wpi.first.networktables.TableEntryListener}, or
- * {@link edu.wpi.first.networktables.TableListener} as appropriate.
+ *
+ * @deprecated Use Consumer&lt;{@link edu.wpi.first.networktables.EntryNotification}&gt;, {@link
+ *     edu.wpi.first.networktables.TableEntryListener}, or {@link
+ *     edu.wpi.first.networktables.TableListener} as appropriate.
  */
 @FunctionalInterface
 @Deprecated
 @SuppressWarnings("checkstyle:all")
 public interface ITableListener {
-    /**
-     * Called when a key-value pair is changed in a {@link ITable}
-     * @param source the table the key-value pair exists in
-     * @param key the key associated with the value that changed
-     * @param value the new value
-     * @param isNew true if the key did not previously exist in the table, otherwise it is false
-     */
-    public void valueChanged(ITable source, String key, Object value, boolean isNew);
+  /**
+   * Called when a key-value pair is changed in a {@link ITable}
+   *
+   * @param source the table the key-value pair exists in
+   * @param key the key associated with the value that changed
+   * @param value the new value
+   * @param isNew true if the key did not previously exist in the table, otherwise it is false
+   */
+  public void valueChanged(ITable source, String key, Object value, boolean isNew);
 
-    /**
-     * Extended version of valueChanged.  Called when a key-value pair is
-     * changed in a {@link ITable}.  The default implementation simply calls
-     * valueChanged().  If this is overridden, valueChanged() will not be
-     * called.
-     * @param source the table the key-value pair exists in
-     * @param key the key associated with the value that changed
-     * @param value the new value
-     * @param flags update flags; for example, NOTIFY_NEW if the key did not
-     * previously exist in the table
-     */
-    default public void valueChangedEx(ITable source, String key, Object value, int flags) {
-        // NOTIFY_NEW = 0x04
-        valueChanged(source, key, value, (flags & 0x04) != 0);
-    }
+  /**
+   * Extended version of valueChanged. Called when a key-value pair is changed in a {@link ITable}.
+   * The default implementation simply calls valueChanged(). If this is overridden, valueChanged()
+   * will not be called.
+   *
+   * @param source the table the key-value pair exists in
+   * @param key the key associated with the value that changed
+   * @param value the new value
+   * @param flags update flags; for example, NOTIFY_NEW if the key did not previously exist in the
+   *     table
+   */
+  public default void valueChangedEx(ITable source, String key, Object value, int flags) {
+    // NOTIFY_NEW = 0x04
+    valueChanged(source, key, value, (flags & 0x04) != 0);
+  }
 }
diff --git a/ntcore/src/test/java/edu/wpi/first/networktables/ConnectionListenerTest.java b/ntcore/src/test/java/edu/wpi/first/networktables/ConnectionListenerTest.java
index bab1ad38de..3e58b08328 100644
--- a/ntcore/src/test/java/edu/wpi/first/networktables/ConnectionListenerTest.java
+++ b/ntcore/src/test/java/edu/wpi/first/networktables/ConnectionListenerTest.java
@@ -4,17 +4,6 @@
 
 package edu.wpi.first.networktables;
 
-import java.util.ArrayList;
-import java.util.List;
-
-import org.junit.jupiter.api.AfterEach;
-import org.junit.jupiter.api.BeforeEach;
-import org.junit.jupiter.api.Test;
-import org.junit.jupiter.api.condition.DisabledOnOs;
-import org.junit.jupiter.api.condition.OS;
-import org.junit.jupiter.params.ParameterizedTest;
-import org.junit.jupiter.params.provider.ValueSource;
-
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertNotNull;
@@ -22,6 +11,16 @@ import static org.junit.jupiter.api.Assertions.assertNotSame;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 import static org.junit.jupiter.api.Assertions.fail;
 
+import java.util.ArrayList;
+import java.util.List;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.api.condition.DisabledOnOs;
+import org.junit.jupiter.api.condition.OS;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.ValueSource;
+
 class ConnectionListenerTest {
   private NetworkTableInstance m_serverInst;
   private NetworkTableInstance m_clientInst;
@@ -41,9 +40,7 @@ class ConnectionListenerTest {
     m_serverInst.close();
   }
 
-  /**
-   * Connect to the server.
-   */
+  /** Connect to the server. */
   @SuppressWarnings("PMD.AvoidUsingHardCodedIP")
   private void connect() {
     m_serverInst.startServer("connectionlistenertest.ini", "127.0.0.1", 10000);
@@ -108,13 +105,12 @@ class ConnectionListenerTest {
     assertEquals(1, events.length);
     assertEquals(handle, events[0].listener);
     assertFalse(events[0].connected);
-
   }
 
   @ParameterizedTest
   @DisabledOnOs(OS.WINDOWS)
   @SuppressWarnings("PMD.AvoidUsingHardCodedIP")
-  @ValueSource(strings = { "127.0.0.1", "127.0.0.1 ", " 127.0.0.1 " })
+  @ValueSource(strings = {"127.0.0.1", "127.0.0.1 ", " 127.0.0.1 "})
   void testThreaded(String address) {
     m_serverInst.startServer("connectionlistenertest.ini", address, 10000);
     List<ConnectionNotification> events = new ArrayList<>();
diff --git a/ntcore/src/test/java/edu/wpi/first/networktables/EntryListenerTest.java b/ntcore/src/test/java/edu/wpi/first/networktables/EntryListenerTest.java
index 71d7809e1f..7e4f4d6120 100644
--- a/ntcore/src/test/java/edu/wpi/first/networktables/EntryListenerTest.java
+++ b/ntcore/src/test/java/edu/wpi/first/networktables/EntryListenerTest.java
@@ -4,18 +4,17 @@
 
 package edu.wpi.first.networktables;
 
-import java.util.ArrayList;
-import java.util.List;
-
-import org.junit.jupiter.api.AfterEach;
-import org.junit.jupiter.api.BeforeEach;
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 import static org.junit.jupiter.api.Assertions.fail;
 
+import java.util.ArrayList;
+import java.util.List;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
 class EntryListenerTest {
   private NetworkTableInstance m_serverInst;
   private NetworkTableInstance m_clientInst;
@@ -53,15 +52,12 @@ class EntryListenerTest {
     }
   }
 
-  /**
-   * Test prefix with a new remote.
-   */
+  /** Test prefix with a new remote. */
   @Test
   void testPrefixNewRemote() {
     connect();
     List<EntryNotification> events = new ArrayList<>();
-    final int handle = m_serverInst.addEntryListener("/foo", events::add,
-        EntryListenerFlags.kNew);
+    final int handle = m_serverInst.addEntryListener("/foo", events::add, EntryListenerFlags.kNew);
 
     // Trigger an event
     m_clientInst.getEntry("/foo/bar").setDouble(1.0);
@@ -76,13 +72,13 @@ class EntryListenerTest {
     assertTrue(m_serverInst.waitForEntryListenerQueue(1.0));
 
     // Check the event
-    assertAll("Event",
+    assertAll(
+        "Event",
         () -> assertEquals(1, events.size()),
         () -> assertEquals(handle, events.get(0).listener),
         () -> assertEquals(m_serverInst.getEntry("/foo/bar"), events.get(0).getEntry()),
         () -> assertEquals("/foo/bar", events.get(0).name),
         () -> assertEquals(NetworkTableValue.makeDouble(1.0), events.get(0).value),
-        () -> assertEquals(EntryListenerFlags.kNew, events.get(0).flags)
-    );
+        () -> assertEquals(EntryListenerFlags.kNew, events.get(0).flags));
   }
 }
diff --git a/ntcore/src/test/java/edu/wpi/first/networktables/LoggerTest.java b/ntcore/src/test/java/edu/wpi/first/networktables/LoggerTest.java
index 36f7287586..2c0a2810a1 100644
--- a/ntcore/src/test/java/edu/wpi/first/networktables/LoggerTest.java
+++ b/ntcore/src/test/java/edu/wpi/first/networktables/LoggerTest.java
@@ -4,16 +4,15 @@
 
 package edu.wpi.first.networktables;
 
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.fail;
+
 import java.util.ArrayList;
 import java.util.List;
-
 import org.junit.jupiter.api.AfterEach;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 
-import static org.junit.jupiter.api.Assertions.assertFalse;
-import static org.junit.jupiter.api.Assertions.fail;
-
 class LoggerTest {
   private NetworkTableInstance m_clientInst;
 
diff --git a/ntcore/src/test/java/edu/wpi/first/networktables/NetworkTableTest.java b/ntcore/src/test/java/edu/wpi/first/networktables/NetworkTableTest.java
index 3111f4545a..4c431afbdc 100644
--- a/ntcore/src/test/java/edu/wpi/first/networktables/NetworkTableTest.java
+++ b/ntcore/src/test/java/edu/wpi/first/networktables/NetworkTableTest.java
@@ -4,24 +4,22 @@
 
 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;
-
 import org.junit.jupiter.params.ParameterizedTest;
 import org.junit.jupiter.params.provider.Arguments;
 import org.junit.jupiter.params.provider.MethodSource;
 
-import static org.junit.jupiter.api.Assertions.assertEquals;
-
 class NetworkTableTest {
   private static Stream<Arguments> basenameKeyArguments() {
     return Stream.of(
         Arguments.of("simple", "simple"),
         Arguments.of("simple", "one/two/many/simple"),
-        Arguments.of("simple", "//////an/////awful/key////simple")
-    );
+        Arguments.of("simple", "//////an/////awful/key////simple"));
   }
 
   @ParameterizedTest
@@ -35,8 +33,7 @@ class NetworkTableTest {
         Arguments.of("/", "///"),
         Arguments.of("/no/normal/req", "/no/normal/req"),
         Arguments.of("/no/leading/slash", "no/leading/slash"),
-        Arguments.of("/what/an/awful/key/", "//////what////an/awful/////key///")
-    );
+        Arguments.of("/what/an/awful/key/", "//////what////an/awful/////key///"));
   }
 
   @ParameterizedTest
@@ -51,8 +48,7 @@ class NetworkTableTest {
         Arguments.of("a", "///a"),
         Arguments.of("leading/slash", "/leading/slash"),
         Arguments.of("no/leading/slash", "no/leading/slash"),
-        Arguments.of("what/an/awful/key/", "//////what////an/awful/////key///")
-    );
+        Arguments.of("what/an/awful/key/", "//////what////an/awful/////key///"));
   }
 
   @ParameterizedTest
@@ -66,8 +62,7 @@ class NetworkTableTest {
         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(Arrays.asList("/", "/foo", "/foo/bar", "/foo/bar/"), "/foo/bar/"));
   }
 
   @ParameterizedTest
diff --git a/styleguide/checkstyle.xml b/styleguide/checkstyle.xml
index 5c1d2d207c..3b396fa1a2 100644
--- a/styleguide/checkstyle.xml
+++ b/styleguide/checkstyle.xml
@@ -81,15 +81,11 @@ module PUBLIC "-//Puppy Crawl//DTD Check Configuration 1.3//EN"
       <property name="allowNonPrintableEscapes"
                 value="true" />
     </module>
-    <module name="ImportOrder">
-      <property name="option"
-                value="bottom"/>
-      <property name="groups"
-                value="/^java\./,javax,com,org,/^edu\./,*,/^edu\.wpi\./,/^edu\.wpi\.first\.wpilibj\.examples\./"/>
-      <property name="separated"
-                value="true"/>
-      <property name="sortStaticImportsAlphabetically"
-                value="true"/>
+    <module name="CustomImportOrder">
+      <property name="sortImportsInGroupAlphabetically" value="true"/>
+      <property name="separateLineBetweenGroups" value="true"/>
+      <property name="customImportOrderRules" value="STATIC###THIRD_PARTY_PACKAGE"/>
+      <property name="tokens" value="IMPORT, STATIC_IMPORT, PACKAGE_DEF"/>
     </module>
     <module name="AvoidStarImport" />
     <module name="RedundantImport" />
@@ -106,7 +102,7 @@ module PUBLIC "-//Puppy Crawl//DTD Check Configuration 1.3//EN"
     <module name="LeftCurly">
       <property name="tokens"
                 value="ANNOTATION_DEF, CLASS_DEF, CTOR_DEF, ENUM_CONSTANT_DEF, ENUM_DEF,
-                    INTERFACE_DEF, LAMBDA, LITERAL_CASE, LITERAL_CATCH, LITERAL_DEFAULT,
+                    INTERFACE_DEF, LAMBDA, LITERAL_CATCH, LITERAL_DEFAULT,
                     LITERAL_DO, LITERAL_ELSE, LITERAL_FINALLY, LITERAL_FOR, LITERAL_IF,
                     LITERAL_SWITCH, LITERAL_SYNCHRONIZED, LITERAL_TRY, LITERAL_WHILE, METHOD_DEF,
                     OBJBLOCK, STATIC_INIT, RECORD_DEF, COMPACT_CTOR_DEF"/>
@@ -132,18 +128,24 @@ module PUBLIC "-//Puppy Crawl//DTD Check Configuration 1.3//EN"
                                      or preceding-sibling::*[last()][self::LCURLY]]"/>
     </module>
     <module name="WhitespaceAround">
-      <property name="allowEmptyConstructors"
-                value="true" />
-      <property name="allowEmptyMethods"
-                value="true" />
-      <property name="allowEmptyTypes"
-                value="true" />
-      <property name="allowEmptyLoops"
-                value="true" />
+      <property name="allowEmptyConstructors" value="true"/>
+      <property name="allowEmptyLambdas" value="true"/>
+      <property name="allowEmptyMethods" value="true"/>
+      <property name="allowEmptyTypes" value="true"/>
+      <property name="allowEmptyLoops" value="true"/>
+      <property name="ignoreEnhancedForColon" value="false"/>
+      <property name="tokens"
+               value="ASSIGN, BAND, BAND_ASSIGN, BOR, BOR_ASSIGN, BSR, BSR_ASSIGN, BXOR,
+                    BXOR_ASSIGN, COLON, DIV, DIV_ASSIGN, DO_WHILE, EQUAL, GE, GT, LAMBDA, LAND,
+                    LCURLY, LE, LITERAL_CATCH, LITERAL_DO, LITERAL_ELSE, LITERAL_FINALLY,
+                    LITERAL_FOR, LITERAL_IF, LITERAL_RETURN, LITERAL_SWITCH, LITERAL_SYNCHRONIZED,
+                    LITERAL_TRY, LITERAL_WHILE, LOR, LT, MINUS, MINUS_ASSIGN, MOD, MOD_ASSIGN,
+                    NOT_EQUAL, PLUS, PLUS_ASSIGN, QUESTION, RCURLY, SL, SLIST, SL_ASSIGN, SR,
+                    SR_ASSIGN, STAR, STAR_ASSIGN, LITERAL_ASSERT, TYPE_EXTENSION_AND"/>
       <message key="ws.notFollowed"
-               value="WhitespaceAround: ''{0}'' is not followed by whitespace. Empty blocks may only be represented as '{}' when not part of a multi-block statement (4.1.3)" />
+              value="WhitespaceAround: ''{0}'' is not followed by whitespace. Empty blocks may only be represented as '{}' when not part of a multi-block statement (4.1.3)"/>
       <message key="ws.notPreceded"
-               value="WhitespaceAround: ''{0}'' is not preceded with whitespace." />
+              value="WhitespaceAround: ''{0}'' is not preceded with whitespace."/>
     </module>
     <module name="WhitespaceAfter" />
     <module name="OneStatementPerLine" />
@@ -246,14 +248,6 @@ module PUBLIC "-//Puppy Crawl//DTD Check Configuration 1.3//EN"
       <message key="ws.notPreceded"
                value="GenericWhitespace ''{0}'' is not preceded with whitespace." />
     </module>
-    <module name="Indentation">
-      <property name="basicOffset" value="2"/>
-      <property name="braceAdjustment" value="2"/>
-      <property name="caseIndent" value="2"/>
-      <property name="throwsIndent" value="4"/>
-      <property name="lineWrappingIndentation" value="4"/>
-      <property name="arrayInitIndent" value="2"/>
-    </module>
     <module name="AbbreviationAsWordInName">
       <property name="ignoreFinal"
                 value="false" />
@@ -314,10 +308,11 @@ module PUBLIC "-//Puppy Crawl//DTD Check Configuration 1.3//EN"
       <message key="name.invalidPattern"
                value="Method name ''{0}'' must match pattern ''{1}''." />
     </module>
-    <module name="SingleLineJavadoc">
+    <!-- https://github.com/checkstyle/checkstyle/issues/4052 -->
+    <!-- <module name="SingleLineJavadoc">
       <property name="ignoreInlineTags"
                 value="false" />
-    </module>
+    </module> -->
     <module name="EmptyCatchBlock">
       <property name="exceptionVariableName"
                 value="expected" />
diff --git a/styleguide/suppressions.xml b/styleguide/suppressions.xml
index 9558d4bc54..33e4a24c7b 100644
--- a/styleguide/suppressions.xml
+++ b/styleguide/suppressions.xml
@@ -10,5 +10,5 @@ suppressions PUBLIC "-//Puppy Crawl//DTD Suppressions 1.1//EN"
   <suppress files=".*wpilibjIntegrationTests.*"
             checks="MissingJavadocMethod" />
   <suppress files=".*JNI.*"
-            checks="(LineLength|EmptyLineSeparator|ParameterName)" />
+            checks="(LineLength|EmptyLineSeparator|ParameterName|MissingJavadocMethod)" />
 </suppressions>
diff --git a/wpilibNewCommands/src/dev/java/edu/wpi/first/wpilibj2/commands/DevMain.java b/wpilibNewCommands/src/dev/java/edu/wpi/first/wpilibj2/commands/DevMain.java
index b772faf1a6..345cf9f82a 100644
--- a/wpilibNewCommands/src/dev/java/edu/wpi/first/wpilibj2/commands/DevMain.java
+++ b/wpilibNewCommands/src/dev/java/edu/wpi/first/wpilibj2/commands/DevMain.java
@@ -9,9 +9,7 @@ import edu.wpi.first.networktables.NetworkTablesJNI;
 import edu.wpi.first.wpiutil.RuntimeDetector;
 
 public final class DevMain {
-  /**
-   * Main entry point.
-   */
+  /** Main entry point. */
   public static void main(String[] args) {
     System.out.println("Hello World!");
     System.out.println(RuntimeDetector.getPlatformPath());
@@ -19,6 +17,5 @@ public final class DevMain {
     System.out.println(HALUtil.getHALRuntimeType());
   }
 
-  private DevMain() {
-  }
+  private DevMain() {}
 }
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
index b8914f674f..b37a17054e 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
@@ -8,42 +8,35 @@ import java.util.Set;
 import java.util.function.BooleanSupplier;
 
 /**
- * A state machine representing a complete action to be performed by the robot.  Commands are
- * run by the {@link CommandScheduler}, and can be composed into CommandGroups to allow users to
- * build complicated multi-step actions without the need to roll the state machine logic themselves.
+ * A state machine representing a complete action to be performed by the robot. Commands are run by
+ * the {@link CommandScheduler}, and can be composed into CommandGroups to allow users to build
+ * complicated multi-step actions without the need to roll the state machine logic themselves.
  *
  * <p>Commands are run synchronously from the main robot loop; no multithreading is used, unless
  * specified explicitly from the command implementation.
  */
 public interface Command {
 
-  /**
-   * The initial subroutine of a command.  Called once when the command is initially scheduled.
-   */
-  default void initialize() {
-  }
+  /** The initial subroutine of a command. Called once when the command is initially scheduled. */
+  default void initialize() {}
+
+  /** The main body of a command. Called repeatedly while the command is scheduled. */
+  default void execute() {}
 
   /**
-   * The main body of a command.  Called repeatedly while the command is scheduled.
-   */
-  default void execute() {
-  }
-
-  /**
-   * The action to take when the command ends.  Called when either the command finishes normally,
-   * or when it interrupted/canceled.
+   * The action to take when the command ends. Called when either the command finishes normally, or
+   * when it interrupted/canceled.
    *
-   * <p>Do not schedule commands here that share requirements with this command.
-   * Use {@link #andThen(Command...)} instead.
+   * <p>Do not schedule commands here that share requirements with this command. Use {@link
+   * #andThen(Command...)} instead.
    *
    * @param interrupted whether the command was interrupted/canceled
    */
-  default void end(boolean interrupted) {
-  }
+  default void end(boolean interrupted) {}
 
   /**
-   * Whether the command has finished.  Once a command finishes, the scheduler will call its
-   * end() method and un-schedule it.
+   * Whether the command has finished. Once a command finishes, the scheduler will call its end()
+   * method and un-schedule it.
    *
    * @return whether the command has finished.
    */
@@ -52,29 +45,28 @@ public interface Command {
   }
 
   /**
-   * Specifies the set of subsystems used by this command.  Two commands cannot use the same
-   * subsystem at the same time.  If the command is scheduled as interruptible and another
-   * command is scheduled that shares a requirement, the command will be interrupted.  Else,
-   * the command will not be scheduled.  If no subsystems are required, return an empty set.
+   * Specifies the set of subsystems used by this command. Two commands cannot use the same
+   * subsystem at the same time. If the command is scheduled as interruptible and another command is
+   * scheduled that shares a requirement, the command will be interrupted. Else, the command will
+   * not be scheduled. If no subsystems are required, return an empty set.
    *
-   * <p>Note: it is recommended that user implementations contain the requirements as a field,
-   * and return that field here, rather than allocating a new set every time this is called.
+   * <p>Note: it is recommended that user implementations contain the requirements as a field, and
+   * return that field here, rather than allocating a new set every time this is called.
    *
    * @return the set of subsystems that are required
    */
   Set<Subsystem> getRequirements();
 
   /**
-   * Decorates this command with a timeout.  If the specified timeout is exceeded before the command
-   * finishes normally, the command will be interrupted and un-scheduled.  Note that the
-   * timeout only applies to the command returned by this method; the calling command is
-   * not itself changed.
+   * Decorates this command with a timeout. If the specified timeout is exceeded before the command
+   * finishes normally, the command will be interrupted and un-scheduled. Note that the timeout only
+   * applies to the command returned by this method; the calling command is not itself changed.
    *
-   * <p>Note: This decorator works by composing this command within a CommandGroup.  The command
+   * <p>Note: This decorator works by composing this command within a CommandGroup. The command
    * cannot be used independently after being decorated, or be re-decorated with a different
-   * decorator, unless it is manually cleared from the list of grouped commands with
-   * {@link CommandGroupBase#clearGroupedCommand(Command)}.  The decorated command can, however, be
-   * further decorated without issue.
+   * decorator, unless it is manually cleared from the list of grouped commands with {@link
+   * CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be further
+   * decorated without issue.
    *
    * @param seconds the timeout duration
    * @return the command with the timeout added
@@ -84,16 +76,16 @@ public interface Command {
   }
 
   /**
-   * Decorates this command with an interrupt condition.  If the specified condition becomes true
-   * before the command finishes normally, the command will be interrupted and un-scheduled.
-   * Note that this only applies to the command returned by this method; the calling command
-   * is not itself changed.
+   * Decorates this command with an interrupt condition. If the specified condition becomes true
+   * before the command finishes normally, the command will be interrupted and un-scheduled. Note
+   * that this only applies to the command returned by this method; the calling command is not
+   * itself changed.
    *
-   * <p>Note: This decorator works by composing this command within a CommandGroup.  The command
+   * <p>Note: This decorator works by composing this command within a CommandGroup. The command
    * cannot be used independently after being decorated, or be re-decorated with a different
-   * decorator, unless it is manually cleared from the list of grouped commands with
-   * {@link CommandGroupBase#clearGroupedCommand(Command)}.  The decorated command can, however, be
-   * further decorated without issue.
+   * decorator, unless it is manually cleared from the list of grouped commands with {@link
+   * CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be further
+   * decorated without issue.
    *
    * @param condition the interrupt condition
    * @return the command with the interrupt condition added
@@ -105,13 +97,13 @@ public interface Command {
   /**
    * Decorates this command with a runnable to run before this command starts.
    *
-   * <p>Note: This decorator works by composing this command within a CommandGroup.  The command
+   * <p>Note: This decorator works by composing this command within a CommandGroup. The command
    * cannot be used independently after being decorated, or be re-decorated with a different
-   * decorator, unless it is manually cleared from the list of grouped commands with
-   * {@link CommandGroupBase#clearGroupedCommand(Command)}.  The decorated command can, however, be
-   * further decorated without issue.
+   * decorator, unless it is manually cleared from the list of grouped commands with {@link
+   * CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be further
+   * decorated without issue.
    *
-   * @param toRun        the Runnable to run
+   * @param toRun the Runnable to run
    * @param requirements the required subsystems
    * @return the decorated command
    */
@@ -122,13 +114,13 @@ public interface Command {
   /**
    * Decorates this command with a runnable to run after the command finishes.
    *
-   * <p>Note: This decorator works by composing this command within a CommandGroup.  The command
+   * <p>Note: This decorator works by composing this command within a CommandGroup. The command
    * cannot be used independently after being decorated, or be re-decorated with a different
-   * decorator, unless it is manually cleared from the list of grouped commands with
-   * {@link CommandGroupBase#clearGroupedCommand(Command)}.  The decorated command can, however, be
-   * further decorated without issue.
+   * decorator, unless it is manually cleared from the list of grouped commands with {@link
+   * CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be further
+   * decorated without issue.
    *
-   * @param toRun        the Runnable to run
+   * @param toRun the Runnable to run
    * @param requirements the required subsystems
    * @return the decorated command
    */
@@ -137,14 +129,14 @@ public interface Command {
   }
 
   /**
-   * Decorates this command with a set of commands to run after it in sequence.  Often more
+   * Decorates this command with a set of commands to run after it in sequence. Often more
    * convenient/less-verbose than constructing a new {@link SequentialCommandGroup} explicitly.
    *
-   * <p>Note: This decorator works by composing this command within a CommandGroup.  The command
+   * <p>Note: This decorator works by composing this command within a CommandGroup. The command
    * cannot be used independently after being decorated, or be re-decorated with a different
-   * decorator, unless it is manually cleared from the list of grouped commands with
-   * {@link CommandGroupBase#clearGroupedCommand(Command)}.  The decorated command can, however, be
-   * further decorated without issue.
+   * decorator, unless it is manually cleared from the list of grouped commands with {@link
+   * CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be further
+   * decorated without issue.
    *
    * @param next the commands to run next
    * @return the decorated command
@@ -157,14 +149,14 @@ public interface Command {
 
   /**
    * Decorates this command with a set of commands to run parallel to it, ending when the calling
-   * command ends and interrupting all the others.  Often more convenient/less-verbose than
+   * command ends and interrupting all the others. Often more convenient/less-verbose than
    * constructing a new {@link ParallelDeadlineGroup} explicitly.
    *
-   * <p>Note: This decorator works by composing this command within a CommandGroup.  The command
+   * <p>Note: This decorator works by composing this command within a CommandGroup. The command
    * cannot be used independently after being decorated, or be re-decorated with a different
-   * decorator, unless it is manually cleared from the list of grouped commands with
-   * {@link CommandGroupBase#clearGroupedCommand(Command)}.  The decorated command can, however, be
-   * further decorated without issue.
+   * decorator, unless it is manually cleared from the list of grouped commands with {@link
+   * CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be further
+   * decorated without issue.
    *
    * @param parallel the commands to run in parallel
    * @return the decorated command
@@ -175,14 +167,14 @@ public interface Command {
 
   /**
    * Decorates this command with a set of commands to run parallel to it, ending when the last
-   * command ends.  Often more convenient/less-verbose than constructing a new
-   * {@link ParallelCommandGroup} explicitly.
+   * command ends. Often more convenient/less-verbose than constructing a new {@link
+   * ParallelCommandGroup} explicitly.
    *
-   * <p>Note: This decorator works by composing this command within a CommandGroup.  The command
+   * <p>Note: This decorator works by composing this command within a CommandGroup. The command
    * cannot be used independently after being decorated, or be re-decorated with a different
-   * decorator, unless it is manually cleared from the list of grouped commands with
-   * {@link CommandGroupBase#clearGroupedCommand(Command)}.  The decorated command can, however, be
-   * further decorated without issue.
+   * decorator, unless it is manually cleared from the list of grouped commands with {@link
+   * CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be further
+   * decorated without issue.
    *
    * @param parallel the commands to run in parallel
    * @return the decorated command
@@ -195,14 +187,14 @@ public interface Command {
 
   /**
    * Decorates this command with a set of commands to run parallel to it, ending when the first
-   * command ends.  Often more convenient/less-verbose than constructing a new
-   * {@link ParallelRaceGroup} explicitly.
+   * command ends. Often more convenient/less-verbose than constructing a new {@link
+   * ParallelRaceGroup} explicitly.
    *
-   * <p>Note: This decorator works by composing this command within a CommandGroup.  The command
+   * <p>Note: This decorator works by composing this command within a CommandGroup. The command
    * cannot be used independently after being decorated, or be re-decorated with a different
-   * decorator, unless it is manually cleared from the list of grouped commands with
-   * {@link CommandGroupBase#clearGroupedCommand(Command)}.  The decorated command can, however, be
-   * further decorated without issue.
+   * decorator, unless it is manually cleared from the list of grouped commands with {@link
+   * CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be further
+   * decorated without issue.
    *
    * @param parallel the commands to run in parallel
    * @return the decorated command
@@ -214,14 +206,14 @@ public interface Command {
   }
 
   /**
-   * Decorates this command to run perpetually, ignoring its ordinary end conditions.  The decorated
+   * Decorates this command to run perpetually, ignoring its ordinary end conditions. The decorated
    * command can still be interrupted or canceled.
    *
-   * <p>Note: This decorator works by composing this command within a CommandGroup.  The command
+   * <p>Note: This decorator works by composing this command within a CommandGroup. The command
    * cannot be used independently after being decorated, or be re-decorated with a different
-   * decorator, unless it is manually cleared from the list of grouped commands with
-   * {@link CommandGroupBase#clearGroupedCommand(Command)}.  The decorated command can, however, be
-   * further decorated without issue.
+   * decorator, unless it is manually cleared from the list of grouped commands with {@link
+   * CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be further
+   * decorated without issue.
    *
    * @return the decorated command
    */
@@ -230,9 +222,9 @@ public interface Command {
   }
 
   /**
-   * Decorates this command to run "by proxy" by wrapping it in a {@link ProxyScheduleCommand}.
-   * This is useful for "forking off" from command groups when the user does not wish to extend
-   * the command's requirements to the entire command group.
+   * Decorates this command to run "by proxy" by wrapping it in a {@link ProxyScheduleCommand}. This
+   * is useful for "forking off" from command groups when the user does not wish to extend the
+   * command's requirements to the entire command group.
    *
    * @return the decorated command
    */
@@ -243,32 +235,29 @@ public interface Command {
   /**
    * Schedules this command.
    *
-   * @param interruptible whether this command can be interrupted by another command that
-   *                      shares one of its requirements
+   * @param interruptible whether this command can be interrupted by another command that shares one
+   *     of its requirements
    */
   default void schedule(boolean interruptible) {
     CommandScheduler.getInstance().schedule(interruptible, this);
   }
 
-  /**
-   * Schedules this command, defaulting to interruptible.
-   */
+  /** Schedules this command, defaulting to interruptible. */
   default void schedule() {
     schedule(true);
   }
 
   /**
-   * Cancels this command.  Will call the command's interrupted() method.
-   * Commands will be canceled even if they are not marked as interruptible.
+   * Cancels this command. Will call the command's interrupted() method. Commands will be canceled
+   * even if they are not marked as interruptible.
    */
   default void cancel() {
     CommandScheduler.getInstance().cancel(this);
   }
 
   /**
-   * Whether or not the command is currently scheduled.  Note that this does not detect whether
-   * the command is being run by a CommandGroup, only whether it is directly being run by
-   * the scheduler.
+   * Whether or not the command is currently scheduled. Note that this does not detect whether the
+   * command is being run by a CommandGroup, only whether it is directly being run by the scheduler.
    *
    * @return Whether the command is scheduled.
    */
@@ -277,10 +266,10 @@ public interface Command {
   }
 
   /**
-   * Whether the command requires a given subsystem.  Named "hasRequirement" rather than "requires"
-   * to avoid confusion with
-   * {@link edu.wpi.first.wpilibj.command.Command#requires(edu.wpi.first.wpilibj.command.Subsystem)}
-   * - this may be able to be changed in a few years.
+   * Whether the command requires a given subsystem. Named "hasRequirement" rather than "requires"
+   * to avoid confusion with {@link
+   * edu.wpi.first.wpilibj.command.Command#requires(edu.wpi.first.wpilibj.command.Subsystem)} - this
+   * may be able to be changed in a few years.
    *
    * @param requirement the subsystem to inquire about
    * @return whether the subsystem is required
@@ -290,8 +279,8 @@ public interface Command {
   }
 
   /**
-   * Whether the given command should run when the robot is disabled.  Override to return true
-   * if the command should run when disabled.
+   * Whether the given command should run when the robot is disabled. Override to return true if the
+   * command should run when disabled.
    *
    * @return whether the command should run when the robot is disabled
    */
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandBase.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandBase.java
index 0e6f07fbad..f042fa8d2e 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandBase.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandBase.java
@@ -4,16 +4,13 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.HashSet;
-import java.util.Set;
-
 import edu.wpi.first.wpilibj.Sendable;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import java.util.HashSet;
+import java.util.Set;
 
-/**
- * A {@link Sendable} base class for {@link Command}s.
- */
+/** A {@link Sendable} base class for {@link Command}s. */
 @SuppressWarnings("PMD.AbstractClassWithoutAbstractMethod")
 public abstract class CommandBase implements Sendable, Command {
 
@@ -54,12 +51,11 @@ public abstract class CommandBase implements Sendable, Command {
   }
 
   /**
-  * Decorates this Command with a name.
-  * Is an inline function for #setName(String);
-  *
-  * @param name name
-  * @return the decorated Command
-  */
+   * Decorates this Command with a name. Is an inline function for #setName(String);
+   *
+   * @param name name
+   * @return the decorated Command
+   */
   public Command withName(String name) {
     this.setName(name);
     return this;
@@ -86,7 +82,7 @@ public abstract class CommandBase implements Sendable, Command {
   }
 
   /**
-   * Initializes this sendable.  Useful for allowing implementations to easily extend SendableBase.
+   * Initializes this sendable. Useful for allowing implementations to easily extend SendableBase.
    *
    * @param builder the builder used to construct this sendable
    */
@@ -94,18 +90,21 @@ public abstract class CommandBase implements Sendable, Command {
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("Command");
     builder.addStringProperty(".name", this::getName, null);
-    builder.addBooleanProperty("running", this::isScheduled, value -> {
-      if (value) {
-        if (!isScheduled()) {
-          schedule();
-        }
-      } else {
-        if (isScheduled()) {
-          cancel();
-        }
-      }
-    });
-    builder.addBooleanProperty(".isParented",
-        () -> CommandGroupBase.getGroupedCommands().contains(this), null);
+    builder.addBooleanProperty(
+        "running",
+        this::isScheduled,
+        value -> {
+          if (value) {
+            if (!isScheduled()) {
+              schedule();
+            }
+          } else {
+            if (isScheduled()) {
+              cancel();
+            }
+          }
+        });
+    builder.addBooleanProperty(
+        ".isParented", () -> CommandGroupBase.getGroupedCommands().contains(this), null);
   }
 }
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandGroupBase.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandGroupBase.java
index 34b7d67f41..e360980887 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandGroupBase.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandGroupBase.java
@@ -10,9 +10,9 @@ import java.util.Set;
 import java.util.WeakHashMap;
 
 /**
- * A base for CommandGroups.  Statically tracks commands that have been allocated to groups to
- * ensure those commands are not also used independently, which can result in inconsistent command
- * state and unpredictable execution.
+ * A base for CommandGroups. Statically tracks commands that have been allocated to groups to ensure
+ * those commands are not also used independently, which can result in inconsistent command state
+ * and unpredictable execution.
  */
 public abstract class CommandGroupBase extends CommandBase implements Command {
   private static final Set<Command> m_groupedCommands =
@@ -25,8 +25,8 @@ public abstract class CommandGroupBase extends CommandBase implements Command {
   /**
    * Clears the list of grouped commands, allowing all commands to be freely used again.
    *
-   * <p>WARNING: Using this haphazardly can result in unexpected/undesirable behavior.  Do not
-   * use this unless you fully understand what you are doing.
+   * <p>WARNING: Using this haphazardly can result in unexpected/undesirable behavior. Do not use
+   * this unless you fully understand what you are doing.
    */
   public static void clearGroupedCommands() {
     m_groupedCommands.clear();
@@ -36,8 +36,8 @@ public abstract class CommandGroupBase extends CommandBase implements Command {
    * Removes a single command from the list of grouped commands, allowing it to be freely used
    * again.
    *
-   * <p>WARNING: Using this haphazardly can result in unexpected/undesirable behavior.  Do not
-   * use this unless you fully understand what you are doing.
+   * <p>WARNING: Using this haphazardly can result in unexpected/undesirable behavior. Do not use
+   * this unless you fully understand what you are doing.
    *
    * @param command the command to remove from the list of grouped commands
    */
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
index 57edd05c63..3baf6fda21 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
@@ -4,17 +4,6 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.ArrayList;
-import java.util.Collection;
-import java.util.Collections;
-import java.util.Iterator;
-import java.util.LinkedHashMap;
-import java.util.LinkedHashSet;
-import java.util.List;
-import java.util.Map;
-import java.util.Set;
-import java.util.function.Consumer;
-
 import edu.wpi.first.hal.FRCNetComm.tInstances;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
@@ -27,19 +16,27 @@ import edu.wpi.first.wpilibj.Watchdog;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import java.util.ArrayList;
+import java.util.Collection;
+import java.util.Collections;
+import java.util.Iterator;
+import java.util.LinkedHashMap;
+import java.util.LinkedHashSet;
+import java.util.List;
+import java.util.Map;
+import java.util.Set;
+import java.util.function.Consumer;
 
 /**
- * The scheduler responsible for running {@link Command}s.  A Command-based robot should call {@link
+ * The scheduler responsible for running {@link Command}s. A Command-based robot should call {@link
  * CommandScheduler#run()} on the singleton instance in its periodic block in order to run commands
- * synchronously from the main loop.  Subsystems should be registered with the scheduler using
- * {@link CommandScheduler#registerSubsystem(Subsystem...)} in order for their {@link
- * Subsystem#periodic()} methods to be called and for their default commands to be scheduled.
+ * synchronously from the main loop. Subsystems should be registered with the scheduler using {@link
+ * CommandScheduler#registerSubsystem(Subsystem...)} in order for their {@link Subsystem#periodic()}
+ * methods to be called and for their default commands to be scheduled.
  */
 @SuppressWarnings({"PMD.GodClass", "PMD.TooManyFields"})
 public final class CommandScheduler implements Sendable, AutoCloseable {
-  /**
-   * The Singleton Instance.
-   */
+  /** The Singleton Instance. */
   private static CommandScheduler instance;
 
   /**
@@ -54,24 +51,24 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
     return instance;
   }
 
-  //A map from commands to their scheduling state.  Also used as a set of the currently-running
-  //commands.
+  // A map from commands to their scheduling state.  Also used as a set of the currently-running
+  // commands.
   private final Map<Command, CommandState> m_scheduledCommands = new LinkedHashMap<>();
 
-  //A map from required subsystems to their requiring commands.  Also used as a set of the
-  //currently-required subsystems.
+  // A map from required subsystems to their requiring commands.  Also used as a set of the
+  // currently-required subsystems.
   private final Map<Subsystem, Command> m_requirements = new LinkedHashMap<>();
 
-  //A map from subsystems registered with the scheduler to their default commands.  Also used
-  //as a list of currently-registered subsystems.
+  // A map from subsystems registered with the scheduler to their default commands.  Also used
+  // as a list of currently-registered subsystems.
   private final Map<Subsystem, Command> m_subsystems = new LinkedHashMap<>();
 
-  //The set of currently-registered buttons that will be polled every iteration.
+  // The set of currently-registered buttons that will be polled every iteration.
   private final Collection<Runnable> m_buttons = new LinkedHashSet<>();
 
   private boolean m_disabled;
 
-  //Lists of user-supplied actions to be executed on scheduling events for every command.
+  // Lists of user-supplied actions to be executed on scheduling events for every command.
   private final List<Consumer<Command>> m_initActions = new ArrayList<>();
   private final List<Consumer<Command>> m_executeActions = new ArrayList<>();
   private final List<Consumer<Command>> m_interruptActions = new ArrayList<>();
@@ -83,22 +80,24 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
   private final Map<Command, Boolean> m_toSchedule = new LinkedHashMap<>();
   private final List<Command> m_toCancel = new ArrayList<>();
 
-  private final Watchdog m_watchdog = new Watchdog(TimedRobot.kDefaultPeriod, () -> { });
+  private final Watchdog m_watchdog = new Watchdog(TimedRobot.kDefaultPeriod, () -> {});
 
   CommandScheduler() {
     HAL.report(tResourceType.kResourceType_Command, tInstances.kCommand2_Scheduler);
     SendableRegistry.addLW(this, "Scheduler");
-    LiveWindow.setEnabledListener(() -> {
-      disable();
-      cancelAll();
-    });
-    LiveWindow.setDisabledListener(() -> {
-      enable();
-    });
+    LiveWindow.setEnabledListener(
+        () -> {
+          disable();
+          cancelAll();
+        });
+    LiveWindow.setDisabledListener(
+        () -> {
+          enable();
+        });
   }
 
   /**
-   * Changes the period of the loop overrun watchdog.  This should be be kept in sync with the
+   * Changes the period of the loop overrun watchdog. This should be be kept in sync with the
    * TimedRobot period.
    *
    * @param period Period in seconds.
@@ -123,9 +122,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
     m_buttons.add(button);
   }
 
-  /**
-   * Removes all button bindings from the scheduler.
-   */
+  /** Removes all button bindings from the scheduler. */
   public void clearButtons() {
     m_buttons.clear();
   }
@@ -133,9 +130,9 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
   /**
    * Initializes a given command, adds its requirements to the list, and performs the init actions.
    *
-   * @param command       The command to initialize
+   * @param command The command to initialize
    * @param interruptible Whether the command is interruptible
-   * @param requirements  The command requirements
+   * @param requirements The command requirements
    */
   private void initCommand(Command command, boolean interruptible, Set<Subsystem> requirements) {
     CommandState scheduledCommand = new CommandState(interruptible);
@@ -152,13 +149,13 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
   }
 
   /**
-   * Schedules a command for execution.  Does nothing if the command is already scheduled. If a
+   * Schedules a command for execution. Does nothing if the command is already scheduled. If a
    * command's requirements are not available, it will only be started if all the commands currently
-   * using those requirements have been scheduled as interruptible.  If this is the case, they will
+   * using those requirements have been scheduled as interruptible. If this is the case, they will
    * be interrupted and the command will be scheduled.
    *
    * @param interruptible whether this command can be interrupted
-   * @param command       the command to schedule
+   * @param command the command to schedule
    */
   @SuppressWarnings({"PMD.CyclomaticComplexity", "PMD.NPathComplexity"})
   private void schedule(boolean interruptible, Command command) {
@@ -172,21 +169,22 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
           "A command that is part of a command group cannot be independently scheduled");
     }
 
-    //Do nothing if the scheduler is disabled, the robot is disabled and the command doesn't
-    //run when disabled, or the command is already scheduled.
-    if (m_disabled || (RobotState.isDisabled() && !command.runsWhenDisabled())
+    // Do nothing if the scheduler is disabled, the robot is disabled and the command doesn't
+    // run when disabled, or the command is already scheduled.
+    if (m_disabled
+        || (RobotState.isDisabled() && !command.runsWhenDisabled())
         || m_scheduledCommands.containsKey(command)) {
       return;
     }
 
     Set<Subsystem> requirements = command.getRequirements();
 
-    //Schedule the command if the requirements are not currently in-use.
+    // Schedule the command if the requirements are not currently in-use.
     if (Collections.disjoint(m_requirements.keySet(), requirements)) {
       initCommand(command, interruptible, requirements);
     } else {
-      //Else check if the requirements that are in use have all have interruptible commands,
-      //and if so, interrupt those commands and schedule the new command.
+      // Else check if the requirements that are in use have all have interruptible commands,
+      // and if so, interrupt those commands and schedule the new command.
       for (Subsystem requirement : requirements) {
         if (m_requirements.containsKey(requirement)
             && !m_scheduledCommands.get(m_requirements.get(requirement)).isInterruptible()) {
@@ -203,13 +201,13 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
   }
 
   /**
-   * Schedules multiple commands for execution.  Does nothing if the command is already scheduled.
-   * If a command's requirements are not available, it will only be started if all the commands
-   * currently using those requirements have been scheduled as interruptible.  If this is the case,
+   * Schedules multiple commands for execution. Does nothing if the command is already scheduled. If
+   * a command's requirements are not available, it will only be started if all the commands
+   * currently using those requirements have been scheduled as interruptible. If this is the case,
    * they will be interrupted and the command will be scheduled.
    *
    * @param interruptible whether the commands should be interruptible
-   * @param commands      the commands to schedule
+   * @param commands the commands to schedule
    */
   public void schedule(boolean interruptible, Command... commands) {
     for (Command command : commands) {
@@ -218,7 +216,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
   }
 
   /**
-   * Schedules multiple commands for execution, with interruptible defaulted to true.  Does nothing
+   * Schedules multiple commands for execution, with interruptible defaulted to true. Does nothing
    * if the command is already scheduled.
    *
    * @param commands the commands to schedule
@@ -228,7 +226,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
   }
 
   /**
-   * Runs a single iteration of the scheduler.  The execution occurs in the following order:
+   * Runs a single iteration of the scheduler. The execution occurs in the following order:
    *
    * <p>Subsystem periodic methods are called.
    *
@@ -248,7 +246,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
     }
     m_watchdog.reset();
 
-    //Run the periodic method of all registered subsystems.
+    // Run the periodic method of all registered subsystems.
     for (Subsystem subsystem : m_subsystems.keySet()) {
       subsystem.periodic();
       if (RobotBase.isSimulation()) {
@@ -257,16 +255,16 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
       m_watchdog.addEpoch(subsystem.getClass().getSimpleName() + ".periodic()");
     }
 
-    //Poll buttons for new commands to add.
+    // Poll buttons for new commands to add.
     for (Runnable button : m_buttons) {
       button.run();
     }
     m_watchdog.addEpoch("buttons.run()");
 
     m_inRunLoop = true;
-    //Run scheduled commands, remove finished commands.
+    // Run scheduled commands, remove finished commands.
     for (Iterator<Command> iterator = m_scheduledCommands.keySet().iterator();
-         iterator.hasNext(); ) {
+        iterator.hasNext(); ) {
       Command command = iterator.next();
 
       if (!command.runsWhenDisabled() && RobotState.isDisabled()) {
@@ -298,7 +296,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
     }
     m_inRunLoop = false;
 
-    //Schedule/cancel commands from queues populated during loop
+    // Schedule/cancel commands from queues populated during loop
     for (Map.Entry<Command, Boolean> commandInterruptible : m_toSchedule.entrySet()) {
       schedule(commandInterruptible.getValue(), commandInterruptible.getKey());
     }
@@ -310,7 +308,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
     m_toSchedule.clear();
     m_toCancel.clear();
 
-    //Add default commands for un-required registered subsystems.
+    // Add default commands for un-required registered subsystems.
     for (Map.Entry<Subsystem, Command> subsystemCommand : m_subsystems.entrySet()) {
       if (!m_requirements.containsKey(subsystemCommand.getKey())
           && subsystemCommand.getValue() != null) {
@@ -326,10 +324,9 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
   }
 
   /**
-   * Registers subsystems with the scheduler.  This must be called for the subsystem's periodic
-   * block to run when the scheduler is run, and for the subsystem's default command to be
-   * scheduled.  It is recommended to call this from the constructor of your subsystem
-   * implementations.
+   * Registers subsystems with the scheduler. This must be called for the subsystem's periodic block
+   * to run when the scheduler is run, and for the subsystem's default command to be scheduled. It
+   * is recommended to call this from the constructor of your subsystem implementations.
    *
    * @param subsystems the subsystem to register
    */
@@ -340,7 +337,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
   }
 
   /**
-   * Un-registers subsystems with the scheduler.  The subsystem will no longer have its periodic
+   * Un-registers subsystems with the scheduler. The subsystem will no longer have its periodic
    * block called, and will not have its default command scheduled.
    *
    * @param subsystems the subsystem to un-register
@@ -350,13 +347,13 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
   }
 
   /**
-   * Sets the default command for a subsystem.  Registers that subsystem if it is not already
-   * registered.  Default commands will run whenever there is no other command currently scheduled
-   * that requires the subsystem.  Default commands should be written to never end (i.e. their
-   * {@link Command#isFinished()} method should return false), as they would simply be re-scheduled
-   * if they do.  Default commands must also require their subsystem.
+   * Sets the default command for a subsystem. Registers that subsystem if it is not already
+   * registered. Default commands will run whenever there is no other command currently scheduled
+   * that requires the subsystem. Default commands should be written to never end (i.e. their {@link
+   * Command#isFinished()} method should return false), as they would simply be re-scheduled if they
+   * do. Default commands must also require their subsystem.
    *
-   * @param subsystem      the subsystem whose default command will be set
+   * @param subsystem the subsystem whose default command will be set
    * @param defaultCommand the default command to associate with the subsystem
    */
   public void setDefaultCommand(Subsystem subsystem, Command defaultCommand) {
@@ -372,7 +369,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
   }
 
   /**
-   * Gets the default command associated with this subsystem.  Null if this subsystem has no default
+   * Gets the default command associated with this subsystem. Null if this subsystem has no default
    * command associated with it.
    *
    * @param subsystem the subsystem to inquire about
@@ -383,9 +380,9 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
   }
 
   /**
-   * Cancels commands. The scheduler will only call {@link Command#end(boolean)} method
-   * of the canceled command with {@code true},
-   * indicating they were canceled (as opposed to finishing normally).
+   * Cancels commands. The scheduler will only call {@link Command#end(boolean)} method of the
+   * canceled command with {@code true}, indicating they were canceled (as opposed to finishing
+   * normally).
    *
    * <p>Commands will be canceled even if they are not scheduled as interruptible.
    *
@@ -412,9 +409,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
     }
   }
 
-  /**
-   * Cancels all commands that are currently scheduled.
-   */
+  /** Cancels all commands that are currently scheduled. */
   public void cancelAll() {
     for (Command command : m_scheduledCommands.keySet().toArray(new Command[0])) {
       cancel(command);
@@ -422,7 +417,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
   }
 
   /**
-   * Returns the time since a given command was scheduled.  Note that this only works on commands
+   * Returns the time since a given command was scheduled. Note that this only works on commands
    * that are directly scheduled by the scheduler; it will not work on commands inside of
    * commandgroups, as the scheduler does not see them.
    *
@@ -439,9 +434,9 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
   }
 
   /**
-   * Whether the given commands are running.  Note that this only works on commands that are
-   * directly scheduled by the scheduler; it will not work on commands inside of CommandGroups, as
-   * the scheduler does not see them.
+   * Whether the given commands are running. Note that this only works on commands that are directly
+   * scheduled by the scheduler; it will not work on commands inside of CommandGroups, as the
+   * scheduler does not see them.
    *
    * @param commands the command to query
    * @return whether the command is currently scheduled
@@ -451,7 +446,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
   }
 
   /**
-   * Returns the command currently requiring a given subsystem.  Null if no command is currently
+   * Returns the command currently requiring a given subsystem. Null if no command is currently
    * requiring the subsystem
    *
    * @param subsystem the subsystem to be inquired about
@@ -461,16 +456,12 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
     return m_requirements.get(subsystem);
   }
 
-  /**
-   * Disables the command scheduler.
-   */
+  /** Disables the command scheduler. */
   public void disable() {
     m_disabled = true;
   }
 
-  /**
-   * Enables the command scheduler.
-   */
+  /** Enables the command scheduler. */
   public void enable() {
     m_disabled = false;
   }
@@ -517,34 +508,33 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
     final NetworkTableEntry namesEntry = builder.getEntry("Names");
     final NetworkTableEntry idsEntry = builder.getEntry("Ids");
     final NetworkTableEntry cancelEntry = builder.getEntry("Cancel");
-    builder.setUpdateTable(() -> {
+    builder.setUpdateTable(
+        () -> {
+          if (namesEntry == null || idsEntry == null || cancelEntry == null) {
+            return;
+          }
 
-      if (namesEntry == null || idsEntry == null || cancelEntry == null) {
-        return;
-      }
+          Map<Double, Command> ids = new LinkedHashMap<>();
 
-      Map<Double, Command> ids = new LinkedHashMap<>();
+          for (Command command : m_scheduledCommands.keySet()) {
+            ids.put((double) command.hashCode(), command);
+          }
 
+          double[] toCancel = cancelEntry.getDoubleArray(new double[0]);
+          if (toCancel.length > 0) {
+            for (double hash : toCancel) {
+              cancel(ids.get(hash));
+              ids.remove(hash);
+            }
+            cancelEntry.setDoubleArray(new double[0]);
+          }
 
-      for (Command command : m_scheduledCommands.keySet()) {
-        ids.put((double) command.hashCode(), command);
-      }
+          List<String> names = new ArrayList<>();
 
-      double[] toCancel = cancelEntry.getDoubleArray(new double[0]);
-      if (toCancel.length > 0) {
-        for (double hash : toCancel) {
-          cancel(ids.get(hash));
-          ids.remove(hash);
-        }
-        cancelEntry.setDoubleArray(new double[0]);
-      }
+          ids.values().forEach(command -> names.add(command.getName()));
 
-      List<String> names = new ArrayList<>();
-
-      ids.values().forEach(command -> names.add(command.getName()));
-
-      namesEntry.setStringArray(names.toArray(new String[0]));
-      idsEntry.setNumberArray(ids.keySet().toArray(new Double[0]));
-    });
+          namesEntry.setStringArray(names.toArray(new String[0]));
+          idsEntry.setNumberArray(ids.keySet().toArray(new Double[0]));
+        });
   }
 }
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandState.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandState.java
index e9bdc86606..2d60982954 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandState.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandState.java
@@ -7,14 +7,13 @@ package edu.wpi.first.wpilibj2.command;
 import edu.wpi.first.wpilibj.Timer;
 
 /**
- * Class that holds scheduling state for a command.  Used internally by the
- * {@link CommandScheduler}.
+ * Class that holds scheduling state for a command. Used internally by the {@link CommandScheduler}.
  */
 class CommandState {
-  //The time since this command was initialized.
+  // The time since this command was initialized.
   private double m_startTime = -1;
 
-  //Whether or not it is interruptible.
+  // Whether or not it is interruptible.
   private final boolean m_interruptible;
 
   CommandState(boolean interruptible) {
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.java
index 46136372a7..74bf1ce149 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.java
@@ -4,17 +4,17 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.function.BooleanSupplier;
-
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 import static edu.wpi.first.wpilibj2.command.CommandGroupBase.requireUngrouped;
 
+import java.util.function.BooleanSupplier;
+
 /**
  * Runs one of two commands, depending on the value of the given condition when this command is
- * initialized.  Does not actually schedule the selected command - rather, the command is run
- * through this command; this ensures that the command will behave as expected if used as part of a
- * CommandGroup.  Requires the requirements of both commands, again to ensure proper functioning
- * when used in a CommandGroup.  If this is undesired, consider using {@link ScheduleCommand}.
+ * initialized. Does not actually schedule the selected command - rather, the command is run through
+ * this command; this ensures that the command will behave as expected if used as part of a
+ * CommandGroup. Requires the requirements of both commands, again to ensure proper functioning when
+ * used in a CommandGroup. If this is undesired, consider using {@link ScheduleCommand}.
  *
  * <p>As this command contains multiple component commands within it, it is technically a command
  * group; the command instances that are passed to it cannot be added to any other groups, or
@@ -31,8 +31,8 @@ public class ConditionalCommand extends CommandBase {
   /**
    * Creates a new ConditionalCommand.
    *
-   * @param onTrue    the command to run if the condition is true
-   * @param onFalse   the command to run if the condition is false
+   * @param onTrue the command to run if the condition is true
+   * @param onFalse the command to run if the condition is false
    * @param condition the condition to determine which command to run
    */
   public ConditionalCommand(Command onTrue, Command onFalse, BooleanSupplier condition) {
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/FunctionalCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/FunctionalCommand.java
index 121b758a44..d9469c3149 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/FunctionalCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/FunctionalCommand.java
@@ -4,14 +4,14 @@
 
 package edu.wpi.first.wpilibj2.command;
 
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
 import java.util.function.BooleanSupplier;
 import java.util.function.Consumer;
 
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
-
 /**
  * A command that allows the user to pass in functions for each of the basic command methods through
- * the constructor.  Useful for inline definitions of complex commands - note, however, that if a
+ * the constructor. Useful for inline definitions of complex commands - note, however, that if a
  * command is beyond a certain complexity it is usually better practice to write a proper class for
  * it than to inline it.
  */
@@ -24,14 +24,18 @@ public class FunctionalCommand extends CommandBase {
   /**
    * Creates a new FunctionalCommand.
    *
-   * @param onInit       the function to run on command initialization
-   * @param onExecute    the function to run on command execution
-   * @param onEnd        the function to run on command end
-   * @param isFinished   the function that determines whether the command has finished
+   * @param onInit the function to run on command initialization
+   * @param onExecute the function to run on command execution
+   * @param onEnd the function to run on command end
+   * @param isFinished the function that determines whether the command has finished
    * @param requirements the subsystems required by this command
    */
-  public FunctionalCommand(Runnable onInit, Runnable onExecute, Consumer<Boolean> onEnd,
-                           BooleanSupplier isFinished, Subsystem... requirements) {
+  public FunctionalCommand(
+      Runnable onInit,
+      Runnable onExecute,
+      Consumer<Boolean> onEnd,
+      BooleanSupplier isFinished,
+      Subsystem... requirements) {
     m_onInit = requireNonNullParam(onInit, "onInit", "FunctionalCommand");
     m_onExecute = requireNonNullParam(onExecute, "onExecute", "FunctionalCommand");
     m_onEnd = requireNonNullParam(onEnd, "onEnd", "FunctionalCommand");
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/InstantCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/InstantCommand.java
index cf6a3560b0..10816df8bd 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/InstantCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/InstantCommand.java
@@ -7,9 +7,9 @@ package edu.wpi.first.wpilibj2.command;
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
 /**
- * A Command that runs instantly; it will initialize, execute once, and end on the same
- * iteration of the scheduler.  Users can either pass in a Runnable and a set of requirements,
- * or else subclass this command if desired.
+ * A Command that runs instantly; it will initialize, execute once, and end on the same iteration of
+ * the scheduler. Users can either pass in a Runnable and a set of requirements, or else subclass
+ * this command if desired.
  */
 public class InstantCommand extends CommandBase {
   private final Runnable m_toRun;
@@ -17,7 +17,7 @@ public class InstantCommand extends CommandBase {
   /**
    * Creates a new InstantCommand that runs the given Runnable with the given requirements.
    *
-   * @param toRun        the Runnable to run
+   * @param toRun the Runnable to run
    * @param requirements the subsystems required by this command
    */
   public InstantCommand(Runnable toRun, Subsystem... requirements) {
@@ -27,12 +27,11 @@ public class InstantCommand extends CommandBase {
   }
 
   /**
-   * Creates a new InstantCommand with a Runnable that does nothing.  Useful only as a no-arg
+   * Creates a new InstantCommand with a Runnable that does nothing. Useful only as a no-arg
    * constructor to call implicitly from subclass constructors.
    */
   public InstantCommand() {
-    m_toRun = () -> {
-    };
+    m_toRun = () -> {};
   }
 
   @Override
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
index 43aa1957b9..9f7f399c68 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
@@ -4,8 +4,7 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.function.Consumer;
-import java.util.function.Supplier;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.controller.HolonomicDriveController;
@@ -19,28 +18,24 @@ import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics;
 import edu.wpi.first.wpilibj.kinematics.MecanumDriveMotorVoltages;
 import edu.wpi.first.wpilibj.kinematics.MecanumDriveWheelSpeeds;
 import edu.wpi.first.wpilibj.trajectory.Trajectory;
-
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import java.util.function.Consumer;
+import java.util.function.Supplier;
 
 /**
- * A command that uses two PID controllers ({@link PIDController}) and a
- * ProfiledPIDController ({@link ProfiledPIDController}) to follow a trajectory
- * {@link Trajectory} with a mecanum drive.
+ * A command that uses two PID controllers ({@link PIDController}) and a ProfiledPIDController
+ * ({@link ProfiledPIDController}) to follow a trajectory {@link Trajectory} with a mecanum drive.
  *
- * <p>The command handles trajectory-following,
- * Velocity PID calculations, and feedforwards internally. This
- * is intended to be a more-or-less "complete solution" that can be used by teams without a great
- * deal of controls expertise.
+ * <p>The command handles trajectory-following, Velocity PID calculations, and feedforwards
+ * internally. This is intended to be a more-or-less "complete solution" that can be used by teams
+ * without a great deal of controls expertise.
  *
- * <p>Advanced teams seeking more flexibility (for example, those who wish to use the onboard
- * PID functionality of a "smart" motor controller) may use the secondary constructor that omits
- * the PID and feedforward functionality, returning only the raw wheel speeds from the PID
- * controllers.
+ * <p>Advanced teams seeking more flexibility (for example, those who wish to use the onboard PID
+ * functionality of a "smart" motor controller) may use the secondary constructor that omits the PID
+ * and feedforward functionality, returning only the raw wheel speeds from the PID controllers.
  *
- * <p>The robot angle controller does not follow the angle given by
- * the trajectory but rather goes to the angle given in the final state of the trajectory.
+ * <p>The robot angle controller does not follow the angle given by the trajectory but rather goes
+ * to the angle given in the final state of the trajectory.
  */
-
 @SuppressWarnings({"PMD.TooManyFields", "MemberName"})
 public class MecanumControllerCommand extends CommandBase {
   private final Timer m_timer = new Timer();
@@ -70,85 +65,79 @@ public class MecanumControllerCommand extends CommandBase {
    * <p>Note: The controllers will *not* set the outputVolts to zero upon completion of the path
    * this is left to the user, since it is not appropriate for paths with nonstationary endstates.
    *
-   * @param trajectory                      The trajectory to follow.
-   * @param pose                            A function that supplies the robot pose - use one of
-   *                                        the odometry classes to provide this.
-   * @param feedforward                     The feedforward to use for the drivetrain.
-   * @param kinematics                      The kinematics for the robot drivetrain.
-   * @param xController                     The Trajectory Tracker PID controller
-   *                                        for the robot's x position.
-   * @param yController                     The Trajectory Tracker PID controller
-   *                                        for the robot's y position.
-   * @param thetaController                 The Trajectory Tracker PID controller
-   *                                        for angle for the robot.
-   * @param desiredRotation                 The angle that the robot should be facing. This
-   *                                        is sampled at each time step.
+   * @param trajectory The trajectory to follow.
+   * @param pose A function that supplies the robot pose - use one of the odometry classes to
+   *     provide this.
+   * @param feedforward The feedforward to use for the drivetrain.
+   * @param kinematics The kinematics for the robot drivetrain.
+   * @param xController The Trajectory Tracker PID controller for the robot's x position.
+   * @param yController The Trajectory Tracker PID controller for the robot's y position.
+   * @param thetaController The Trajectory Tracker PID controller for angle for the robot.
+   * @param desiredRotation The angle that the robot should be facing. This is sampled at each time
+   *     step.
    * @param maxWheelVelocityMetersPerSecond The maximum velocity of a drivetrain wheel.
-   * @param frontLeftController             The front left wheel velocity PID.
-   * @param rearLeftController              The rear left wheel velocity PID.
-   * @param frontRightController            The front right wheel velocity PID.
-   * @param rearRightController             The rear right wheel velocity PID.
-   * @param currentWheelSpeeds              A MecanumDriveWheelSpeeds object containing
-   *                                        the current wheel speeds.
-   * @param outputDriveVoltages             A MecanumDriveMotorVoltages object containing
-   *                                        the output motor voltages.
-   * @param requirements                    The subsystems to require.
+   * @param frontLeftController The front left wheel velocity PID.
+   * @param rearLeftController The rear left wheel velocity PID.
+   * @param frontRightController The front right wheel velocity PID.
+   * @param rearRightController The rear right wheel velocity PID.
+   * @param currentWheelSpeeds A MecanumDriveWheelSpeeds object containing the current wheel speeds.
+   * @param outputDriveVoltages A MecanumDriveMotorVoltages object containing the output motor
+   *     voltages.
+   * @param requirements The subsystems to require.
    */
-
   @SuppressWarnings({"PMD.ExcessiveParameterList", "ParameterName"})
-  public MecanumControllerCommand(Trajectory trajectory,
-                                  Supplier<Pose2d> pose,
-                                  SimpleMotorFeedforward feedforward,
-                                  MecanumDriveKinematics kinematics,
-                                  PIDController xController,
-                                  PIDController yController,
-                                  ProfiledPIDController thetaController,
-                                  Supplier<Rotation2d> desiredRotation,
-                                  double maxWheelVelocityMetersPerSecond,
-                                  PIDController frontLeftController,
-                                  PIDController rearLeftController,
-                                  PIDController frontRightController,
-                                  PIDController rearRightController,
-                                  Supplier<MecanumDriveWheelSpeeds> currentWheelSpeeds,
-                                  Consumer<MecanumDriveMotorVoltages> outputDriveVoltages,
-                                  Subsystem... requirements) {
-    m_trajectory = requireNonNullParam(trajectory, "trajectory",
-        "MecanumControllerCommand");
+  public MecanumControllerCommand(
+      Trajectory trajectory,
+      Supplier<Pose2d> pose,
+      SimpleMotorFeedforward feedforward,
+      MecanumDriveKinematics kinematics,
+      PIDController xController,
+      PIDController yController,
+      ProfiledPIDController thetaController,
+      Supplier<Rotation2d> desiredRotation,
+      double maxWheelVelocityMetersPerSecond,
+      PIDController frontLeftController,
+      PIDController rearLeftController,
+      PIDController frontRightController,
+      PIDController rearRightController,
+      Supplier<MecanumDriveWheelSpeeds> currentWheelSpeeds,
+      Consumer<MecanumDriveMotorVoltages> outputDriveVoltages,
+      Subsystem... requirements) {
+    m_trajectory = requireNonNullParam(trajectory, "trajectory", "MecanumControllerCommand");
     m_pose = requireNonNullParam(pose, "pose", "MecanumControllerCommand");
-    m_feedforward = requireNonNullParam(feedforward, "feedforward",
-        "MecanumControllerCommand");
-    m_kinematics = requireNonNullParam(kinematics, "kinematics",
-        "MecanumControllerCommand");
+    m_feedforward = requireNonNullParam(feedforward, "feedforward", "MecanumControllerCommand");
+    m_kinematics = requireNonNullParam(kinematics, "kinematics", "MecanumControllerCommand");
 
-    m_controller = new HolonomicDriveController(
-        requireNonNullParam(xController,
-            "xController", "SwerveControllerCommand"),
-        requireNonNullParam(yController,
-            "xController", "SwerveControllerCommand"),
-        requireNonNullParam(thetaController,
-            "thetaController", "SwerveControllerCommand")
-    );
+    m_controller =
+        new HolonomicDriveController(
+            requireNonNullParam(xController, "xController", "SwerveControllerCommand"),
+            requireNonNullParam(yController, "xController", "SwerveControllerCommand"),
+            requireNonNullParam(thetaController, "thetaController", "SwerveControllerCommand"));
 
-    m_desiredRotation = requireNonNullParam(desiredRotation, "desiredRotation",
-        "MecanumControllerCommand");
+    m_desiredRotation =
+        requireNonNullParam(desiredRotation, "desiredRotation", "MecanumControllerCommand");
 
-    m_maxWheelVelocityMetersPerSecond = requireNonNullParam(maxWheelVelocityMetersPerSecond,
-        "maxWheelVelocityMetersPerSecond", "MecanumControllerCommand");
+    m_maxWheelVelocityMetersPerSecond =
+        requireNonNullParam(
+            maxWheelVelocityMetersPerSecond,
+            "maxWheelVelocityMetersPerSecond",
+            "MecanumControllerCommand");
 
-    m_frontLeftController = requireNonNullParam(frontLeftController,
-        "frontLeftController", "MecanumControllerCommand");
-    m_rearLeftController = requireNonNullParam(rearLeftController,
-        "rearLeftController", "MecanumControllerCommand");
-    m_frontRightController = requireNonNullParam(frontRightController,
-        "frontRightController", "MecanumControllerCommand");
-    m_rearRightController = requireNonNullParam(rearRightController,
-        "rearRightController", "MecanumControllerCommand");
+    m_frontLeftController =
+        requireNonNullParam(frontLeftController, "frontLeftController", "MecanumControllerCommand");
+    m_rearLeftController =
+        requireNonNullParam(rearLeftController, "rearLeftController", "MecanumControllerCommand");
+    m_frontRightController =
+        requireNonNullParam(
+            frontRightController, "frontRightController", "MecanumControllerCommand");
+    m_rearRightController =
+        requireNonNullParam(rearRightController, "rearRightController", "MecanumControllerCommand");
 
-    m_currentWheelSpeeds = requireNonNullParam(currentWheelSpeeds,
-        "currentWheelSpeeds", "MecanumControllerCommand");
+    m_currentWheelSpeeds =
+        requireNonNullParam(currentWheelSpeeds, "currentWheelSpeeds", "MecanumControllerCommand");
 
-    m_outputDriveVoltages = requireNonNullParam(outputDriveVoltages,
-        "outputDriveVoltages", "MecanumControllerCommand");
+    m_outputDriveVoltages =
+        requireNonNullParam(outputDriveVoltages, "outputDriveVoltages", "MecanumControllerCommand");
 
     m_outputWheelSpeeds = null;
 
@@ -165,56 +154,64 @@ public class MecanumControllerCommand extends CommandBase {
    * <p>Note: The controllers will *not* set the outputVolts to zero upon completion of the path
    * this is left to the user, since it is not appropriate for paths with nonstationary endstates.
    *
-   * <p>Note 2: The final rotation of the robot will be set to the rotation of
-   * the final pose in the trajectory. The robot will not follow the rotations
-   * from the poses at each timestep. If alternate rotation behavior is desired,
-   * the other constructor with a supplier for rotation should be used.
+   * <p>Note 2: The final rotation of the robot will be set to the rotation of the final pose in the
+   * trajectory. The robot will not follow the rotations from the poses at each timestep. If
+   * alternate rotation behavior is desired, the other constructor with a supplier for rotation
+   * should be used.
    *
-   * @param trajectory                      The trajectory to follow.
-   * @param pose                            A function that supplies the robot pose - use one of
-   *                                        the odometry classes to provide this.
-   * @param feedforward                     The feedforward to use for the drivetrain.
-   * @param kinematics                      The kinematics for the robot drivetrain.
-   * @param xController                     The Trajectory Tracker PID controller
-   *                                        for the robot's x position.
-   * @param yController                     The Trajectory Tracker PID controller
-   *                                        for the robot's y position.
-   * @param thetaController                 The Trajectory Tracker PID controller
-   *                                        for angle for the robot.
+   * @param trajectory The trajectory to follow.
+   * @param pose A function that supplies the robot pose - use one of the odometry classes to
+   *     provide this.
+   * @param feedforward The feedforward to use for the drivetrain.
+   * @param kinematics The kinematics for the robot drivetrain.
+   * @param xController The Trajectory Tracker PID controller for the robot's x position.
+   * @param yController The Trajectory Tracker PID controller for the robot's y position.
+   * @param thetaController The Trajectory Tracker PID controller for angle for the robot.
    * @param maxWheelVelocityMetersPerSecond The maximum velocity of a drivetrain wheel.
-   * @param frontLeftController             The front left wheel velocity PID.
-   * @param rearLeftController              The rear left wheel velocity PID.
-   * @param frontRightController            The front right wheel velocity PID.
-   * @param rearRightController             The rear right wheel velocity PID.
-   * @param currentWheelSpeeds              A MecanumDriveWheelSpeeds object containing
-   *                                        the current wheel speeds.
-   * @param outputDriveVoltages             A MecanumDriveMotorVoltages object containing
-   *                                        the output motor voltages.
-   * @param requirements                    The subsystems to require.
+   * @param frontLeftController The front left wheel velocity PID.
+   * @param rearLeftController The rear left wheel velocity PID.
+   * @param frontRightController The front right wheel velocity PID.
+   * @param rearRightController The rear right wheel velocity PID.
+   * @param currentWheelSpeeds A MecanumDriveWheelSpeeds object containing the current wheel speeds.
+   * @param outputDriveVoltages A MecanumDriveMotorVoltages object containing the output motor
+   *     voltages.
+   * @param requirements The subsystems to require.
    */
-
   @SuppressWarnings({"PMD.ExcessiveParameterList", "ParameterName"})
-  public MecanumControllerCommand(Trajectory trajectory,
-                                  Supplier<Pose2d> pose,
-                                  SimpleMotorFeedforward feedforward,
-                                  MecanumDriveKinematics kinematics,
-                                  PIDController xController,
-                                  PIDController yController,
-                                  ProfiledPIDController thetaController,
-                                  double maxWheelVelocityMetersPerSecond,
-                                  PIDController frontLeftController,
-                                  PIDController rearLeftController,
-                                  PIDController frontRightController,
-                                  PIDController rearRightController,
-                                  Supplier<MecanumDriveWheelSpeeds> currentWheelSpeeds,
-                                  Consumer<MecanumDriveMotorVoltages> outputDriveVoltages,
-                                  Subsystem... requirements) {
+  public MecanumControllerCommand(
+      Trajectory trajectory,
+      Supplier<Pose2d> pose,
+      SimpleMotorFeedforward feedforward,
+      MecanumDriveKinematics kinematics,
+      PIDController xController,
+      PIDController yController,
+      ProfiledPIDController thetaController,
+      double maxWheelVelocityMetersPerSecond,
+      PIDController frontLeftController,
+      PIDController rearLeftController,
+      PIDController frontRightController,
+      PIDController rearRightController,
+      Supplier<MecanumDriveWheelSpeeds> currentWheelSpeeds,
+      Consumer<MecanumDriveMotorVoltages> outputDriveVoltages,
+      Subsystem... requirements) {
 
-    this(trajectory, pose, feedforward, kinematics, xController, yController, thetaController,
-        () -> trajectory.getStates().get(trajectory.getStates().size() - 1)
-            .poseMeters.getRotation(),
-        maxWheelVelocityMetersPerSecond, frontLeftController, rearLeftController,
-        frontRightController, rearRightController, currentWheelSpeeds, outputDriveVoltages,
+    this(
+        trajectory,
+        pose,
+        feedforward,
+        kinematics,
+        xController,
+        yController,
+        thetaController,
+        () ->
+            trajectory.getStates().get(trajectory.getStates().size() - 1).poseMeters.getRotation(),
+        maxWheelVelocityMetersPerSecond,
+        frontLeftController,
+        rearLeftController,
+        frontRightController,
+        rearRightController,
+        currentWheelSpeeds,
+        outputDriveVoltages,
         requirements);
   }
 
@@ -225,56 +222,50 @@ public class MecanumControllerCommand extends CommandBase {
    * <p>Note: The controllers will *not* set the outputVolts to zero upon completion of the path -
    * this is left to the user, since it is not appropriate for paths with non-stationary end-states.
    *
-   * @param trajectory                      The trajectory to follow.
-   * @param pose                            A function that supplies the robot pose - use one of
-   *                                        the odometry classes to provide this.
-   * @param kinematics                      The kinematics for the robot drivetrain.
-   * @param xController                     The Trajectory Tracker PID controller
-   *                                        for the robot's x position.
-   * @param yController                     The Trajectory Tracker PID controller
-   *                                        for the robot's y position.
-   * @param thetaController                 The Trajectory Tracker PID controller
-   *                                        for angle for the robot.
-   * @param desiredRotation                 The angle that the robot should be facing. This
-   *                                        is sampled at each time step.
+   * @param trajectory The trajectory to follow.
+   * @param pose A function that supplies the robot pose - use one of the odometry classes to
+   *     provide this.
+   * @param kinematics The kinematics for the robot drivetrain.
+   * @param xController The Trajectory Tracker PID controller for the robot's x position.
+   * @param yController The Trajectory Tracker PID controller for the robot's y position.
+   * @param thetaController The Trajectory Tracker PID controller for angle for the robot.
+   * @param desiredRotation The angle that the robot should be facing. This is sampled at each time
+   *     step.
    * @param maxWheelVelocityMetersPerSecond The maximum velocity of a drivetrain wheel.
-   * @param outputWheelSpeeds               A MecanumDriveWheelSpeeds object containing
-   *                                        the output wheel speeds.
-   * @param requirements                    The subsystems to require.
+   * @param outputWheelSpeeds A MecanumDriveWheelSpeeds object containing the output wheel speeds.
+   * @param requirements The subsystems to require.
    */
-
   @SuppressWarnings({"PMD.ExcessiveParameterList", "ParameterName"})
-  public MecanumControllerCommand(Trajectory trajectory,
-                                  Supplier<Pose2d> pose,
-                                  MecanumDriveKinematics kinematics,
-                                  PIDController xController,
-                                  PIDController yController,
-                                  ProfiledPIDController thetaController,
-                                  Supplier<Rotation2d> desiredRotation,
-                                  double maxWheelVelocityMetersPerSecond,
-                                  Consumer<MecanumDriveWheelSpeeds> outputWheelSpeeds,
-                                  Subsystem... requirements) {
-    m_trajectory = requireNonNullParam(trajectory, "trajectory",
-        "MecanumControllerCommand");
+  public MecanumControllerCommand(
+      Trajectory trajectory,
+      Supplier<Pose2d> pose,
+      MecanumDriveKinematics kinematics,
+      PIDController xController,
+      PIDController yController,
+      ProfiledPIDController thetaController,
+      Supplier<Rotation2d> desiredRotation,
+      double maxWheelVelocityMetersPerSecond,
+      Consumer<MecanumDriveWheelSpeeds> outputWheelSpeeds,
+      Subsystem... requirements) {
+    m_trajectory = requireNonNullParam(trajectory, "trajectory", "MecanumControllerCommand");
     m_pose = requireNonNullParam(pose, "pose", "MecanumControllerCommand");
     m_feedforward = new SimpleMotorFeedforward(0, 0, 0);
-    m_kinematics = requireNonNullParam(kinematics,
-        "kinematics", "MecanumControllerCommand");
+    m_kinematics = requireNonNullParam(kinematics, "kinematics", "MecanumControllerCommand");
 
-    m_controller = new HolonomicDriveController(
-        requireNonNullParam(xController,
-            "xController", "SwerveControllerCommand"),
-        requireNonNullParam(yController,
-            "xController", "SwerveControllerCommand"),
-        requireNonNullParam(thetaController,
-            "thetaController", "SwerveControllerCommand")
-    );
+    m_controller =
+        new HolonomicDriveController(
+            requireNonNullParam(xController, "xController", "SwerveControllerCommand"),
+            requireNonNullParam(yController, "xController", "SwerveControllerCommand"),
+            requireNonNullParam(thetaController, "thetaController", "SwerveControllerCommand"));
 
-    m_desiredRotation = requireNonNullParam(desiredRotation, "desiredRotation",
-        "MecanumControllerCommand");
+    m_desiredRotation =
+        requireNonNullParam(desiredRotation, "desiredRotation", "MecanumControllerCommand");
 
-    m_maxWheelVelocityMetersPerSecond = requireNonNullParam(maxWheelVelocityMetersPerSecond,
-        "maxWheelVelocityMetersPerSecond", "MecanumControllerCommand");
+    m_maxWheelVelocityMetersPerSecond =
+        requireNonNullParam(
+            maxWheelVelocityMetersPerSecond,
+            "maxWheelVelocityMetersPerSecond",
+            "MecanumControllerCommand");
 
     m_frontLeftController = null;
     m_rearLeftController = null;
@@ -283,8 +274,8 @@ public class MecanumControllerCommand extends CommandBase {
 
     m_currentWheelSpeeds = null;
 
-    m_outputWheelSpeeds = requireNonNullParam(outputWheelSpeeds,
-        "outputWheelSpeeds", "MecanumControllerCommand");
+    m_outputWheelSpeeds =
+        requireNonNullParam(outputWheelSpeeds, "outputWheelSpeeds", "MecanumControllerCommand");
 
     m_outputDriveVoltages = null;
 
@@ -300,54 +291,58 @@ public class MecanumControllerCommand extends CommandBase {
    * <p>Note: The controllers will *not* set the outputVolts to zero upon completion of the path -
    * this is left to the user, since it is not appropriate for paths with non-stationary end-states.
    *
-   * <p>Note 2: The final rotation of the robot will be set to the rotation of
-   * the final pose in the trajectory. The robot will not follow the rotations
-   * from the poses at each timestep. If alternate rotation behavior is desired,
-   * the other constructor with a supplier for rotation should be used.
+   * <p>Note 2: The final rotation of the robot will be set to the rotation of the final pose in the
+   * trajectory. The robot will not follow the rotations from the poses at each timestep. If
+   * alternate rotation behavior is desired, the other constructor with a supplier for rotation
+   * should be used.
    *
-   * @param trajectory                      The trajectory to follow.
-   * @param pose                            A function that supplies the robot pose - use one of
-   *                                        the odometry classes to provide this.
-   * @param kinematics                      The kinematics for the robot drivetrain.
-   * @param xController                     The Trajectory Tracker PID controller
-   *                                        for the robot's x position.
-   * @param yController                     The Trajectory Tracker PID controller
-   *                                        for the robot's y position.
-   * @param thetaController                 The Trajectory Tracker PID controller
-   *                                        for angle for the robot.
+   * @param trajectory The trajectory to follow.
+   * @param pose A function that supplies the robot pose - use one of the odometry classes to
+   *     provide this.
+   * @param kinematics The kinematics for the robot drivetrain.
+   * @param xController The Trajectory Tracker PID controller for the robot's x position.
+   * @param yController The Trajectory Tracker PID controller for the robot's y position.
+   * @param thetaController The Trajectory Tracker PID controller for angle for the robot.
    * @param maxWheelVelocityMetersPerSecond The maximum velocity of a drivetrain wheel.
-   * @param outputWheelSpeeds               A MecanumDriveWheelSpeeds object containing
-   *                                        the output wheel speeds.
-   * @param requirements                    The subsystems to require.
+   * @param outputWheelSpeeds A MecanumDriveWheelSpeeds object containing the output wheel speeds.
+   * @param requirements The subsystems to require.
    */
-
   @SuppressWarnings({"PMD.ExcessiveParameterList", "ParameterName"})
-  public MecanumControllerCommand(Trajectory trajectory,
-                                  Supplier<Pose2d> pose,
-                                  MecanumDriveKinematics kinematics,
-                                  PIDController xController,
-                                  PIDController yController,
-                                  ProfiledPIDController thetaController,
-                                  double maxWheelVelocityMetersPerSecond,
-                                  Consumer<MecanumDriveWheelSpeeds> outputWheelSpeeds,
-                                  Subsystem... requirements) {
-    this(trajectory, pose, kinematics, xController, yController, thetaController,
-        () -> trajectory.getStates().get(trajectory.getStates().size() - 1)
-            .poseMeters.getRotation(),
-        maxWheelVelocityMetersPerSecond, outputWheelSpeeds, requirements);
+  public MecanumControllerCommand(
+      Trajectory trajectory,
+      Supplier<Pose2d> pose,
+      MecanumDriveKinematics kinematics,
+      PIDController xController,
+      PIDController yController,
+      ProfiledPIDController thetaController,
+      double maxWheelVelocityMetersPerSecond,
+      Consumer<MecanumDriveWheelSpeeds> outputWheelSpeeds,
+      Subsystem... requirements) {
+    this(
+        trajectory,
+        pose,
+        kinematics,
+        xController,
+        yController,
+        thetaController,
+        () ->
+            trajectory.getStates().get(trajectory.getStates().size() - 1).poseMeters.getRotation(),
+        maxWheelVelocityMetersPerSecond,
+        outputWheelSpeeds,
+        requirements);
   }
 
   @Override
   public void initialize() {
     var initialState = m_trajectory.sample(0);
 
-    var initialXVelocity = initialState.velocityMetersPerSecond
-        * initialState.poseMeters.getRotation().getCos();
-    var initialYVelocity = initialState.velocityMetersPerSecond
-        * initialState.poseMeters.getRotation().getSin();
+    var initialXVelocity =
+        initialState.velocityMetersPerSecond * initialState.poseMeters.getRotation().getCos();
+    var initialYVelocity =
+        initialState.velocityMetersPerSecond * initialState.poseMeters.getRotation().getSin();
 
-    m_prevSpeeds = m_kinematics.toWheelSpeeds(
-        new ChassisSpeeds(initialXVelocity, initialYVelocity, 0.0));
+    m_prevSpeeds =
+        m_kinematics.toWheelSpeeds(new ChassisSpeeds(initialXVelocity, initialYVelocity, 0.0));
 
     m_timer.reset();
     m_timer.start();
@@ -361,8 +356,8 @@ public class MecanumControllerCommand extends CommandBase {
 
     var desiredState = m_trajectory.sample(curTime);
 
-    var targetChassisSpeeds = m_controller.calculate(m_pose.get(), desiredState,
-        m_desiredRotation.get());
+    var targetChassisSpeeds =
+        m_controller.calculate(m_pose.get(), desiredState, m_desiredRotation.get());
     var targetWheelSpeeds = m_kinematics.toWheelSpeeds(targetChassisSpeeds);
 
     targetWheelSpeeds.normalize(m_maxWheelVelocityMetersPerSecond);
@@ -378,46 +373,57 @@ public class MecanumControllerCommand extends CommandBase {
     double rearRightOutput;
 
     if (m_usePID) {
-      final double frontLeftFeedforward = m_feedforward.calculate(frontLeftSpeedSetpoint,
-          (frontLeftSpeedSetpoint - m_prevSpeeds.frontLeftMetersPerSecond) / dt);
+      final double frontLeftFeedforward =
+          m_feedforward.calculate(
+              frontLeftSpeedSetpoint,
+              (frontLeftSpeedSetpoint - m_prevSpeeds.frontLeftMetersPerSecond) / dt);
 
-      final double rearLeftFeedforward = m_feedforward.calculate(rearLeftSpeedSetpoint,
-          (rearLeftSpeedSetpoint - m_prevSpeeds.rearLeftMetersPerSecond) / dt);
+      final double rearLeftFeedforward =
+          m_feedforward.calculate(
+              rearLeftSpeedSetpoint,
+              (rearLeftSpeedSetpoint - m_prevSpeeds.rearLeftMetersPerSecond) / dt);
 
-      final double frontRightFeedforward = m_feedforward.calculate(frontRightSpeedSetpoint,
-          (frontRightSpeedSetpoint - m_prevSpeeds.frontRightMetersPerSecond) / dt);
+      final double frontRightFeedforward =
+          m_feedforward.calculate(
+              frontRightSpeedSetpoint,
+              (frontRightSpeedSetpoint - m_prevSpeeds.frontRightMetersPerSecond) / dt);
 
-      final double rearRightFeedforward = m_feedforward.calculate(rearRightSpeedSetpoint,
-          (rearRightSpeedSetpoint - m_prevSpeeds.rearRightMetersPerSecond) / dt);
+      final double rearRightFeedforward =
+          m_feedforward.calculate(
+              rearRightSpeedSetpoint,
+              (rearRightSpeedSetpoint - m_prevSpeeds.rearRightMetersPerSecond) / dt);
 
-      frontLeftOutput = frontLeftFeedforward + m_frontLeftController.calculate(
-          m_currentWheelSpeeds.get().frontLeftMetersPerSecond,
-          frontLeftSpeedSetpoint);
+      frontLeftOutput =
+          frontLeftFeedforward
+              + m_frontLeftController.calculate(
+                  m_currentWheelSpeeds.get().frontLeftMetersPerSecond, frontLeftSpeedSetpoint);
 
-      rearLeftOutput = rearLeftFeedforward + m_rearLeftController.calculate(
-          m_currentWheelSpeeds.get().rearLeftMetersPerSecond,
-          rearLeftSpeedSetpoint);
+      rearLeftOutput =
+          rearLeftFeedforward
+              + m_rearLeftController.calculate(
+                  m_currentWheelSpeeds.get().rearLeftMetersPerSecond, rearLeftSpeedSetpoint);
 
-      frontRightOutput = frontRightFeedforward + m_frontRightController.calculate(
-          m_currentWheelSpeeds.get().frontRightMetersPerSecond,
-          frontRightSpeedSetpoint);
+      frontRightOutput =
+          frontRightFeedforward
+              + m_frontRightController.calculate(
+                  m_currentWheelSpeeds.get().frontRightMetersPerSecond, frontRightSpeedSetpoint);
 
-      rearRightOutput = rearRightFeedforward + m_rearRightController.calculate(
-          m_currentWheelSpeeds.get().rearRightMetersPerSecond,
-          rearRightSpeedSetpoint);
+      rearRightOutput =
+          rearRightFeedforward
+              + m_rearRightController.calculate(
+                  m_currentWheelSpeeds.get().rearRightMetersPerSecond, rearRightSpeedSetpoint);
 
-      m_outputDriveVoltages.accept(new MecanumDriveMotorVoltages(
-          frontLeftOutput,
-          frontRightOutput,
-          rearLeftOutput,
-          rearRightOutput));
+      m_outputDriveVoltages.accept(
+          new MecanumDriveMotorVoltages(
+              frontLeftOutput, frontRightOutput, rearLeftOutput, rearRightOutput));
 
     } else {
-      m_outputWheelSpeeds.accept(new MecanumDriveWheelSpeeds(
-          frontLeftSpeedSetpoint,
-          frontRightSpeedSetpoint,
-          rearLeftSpeedSetpoint,
-          rearRightSpeedSetpoint));
+      m_outputWheelSpeeds.accept(
+          new MecanumDriveWheelSpeeds(
+              frontLeftSpeedSetpoint,
+              frontRightSpeedSetpoint,
+              rearLeftSpeedSetpoint,
+              rearRightSpeedSetpoint));
     }
 
     m_prevTime = curTime;
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/NotifierCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/NotifierCommand.java
index 11d7e5b522..487aa12eaf 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/NotifierCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/NotifierCommand.java
@@ -4,18 +4,16 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.function.BooleanSupplier;
-
 import edu.wpi.first.wpilibj.Notifier;
 
 /**
- * A command that starts a notifier to run the given runnable periodically in a separate thread.
- * Has no end condition as-is; either subclass it or use {@link Command#withTimeout(double)} or
- * {@link Command#withInterrupt(BooleanSupplier)} to give it one.
+ * A command that starts a notifier to run the given runnable periodically in a separate thread. Has
+ * no end condition as-is; either subclass it or use {@link Command#withTimeout(double)} or {@link
+ * Command#withInterrupt(java.util.function.BooleanSupplier)} to give it one.
  *
  * <p>WARNING: Do not use this class unless you are confident in your ability to make the executed
- * code thread-safe.  If you do not know what "thread-safe" means, that is a good sign that
- * you should not use this class.
+ * code thread-safe. If you do not know what "thread-safe" means, that is a good sign that you
+ * should not use this class.
  */
 public class NotifierCommand extends CommandBase {
   protected final Notifier m_notifier;
@@ -24,8 +22,8 @@ public class NotifierCommand extends CommandBase {
   /**
    * Creates a new NotifierCommand.
    *
-   * @param toRun        the runnable for the notifier to run
-   * @param period       the period at which the notifier should run, in seconds
+   * @param toRun the runnable for the notifier to run
+   * @param period the period at which the notifier should run, in seconds
    * @param requirements the subsystems required by this command
    */
   public NotifierCommand(Runnable toRun, double period, Subsystem... requirements) {
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java
index 1579ab2a24..2ad335373a 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java
@@ -4,18 +4,17 @@
 
 package edu.wpi.first.wpilibj2.command;
 
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
+import edu.wpi.first.wpilibj.controller.PIDController;
 import java.util.Set;
 import java.util.function.DoubleConsumer;
 import java.util.function.DoubleSupplier;
 
-import edu.wpi.first.wpilibj.controller.PIDController;
-
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
-
 /**
- * A command that controls an output with a {@link PIDController}.  Runs forever by default - to add
- * exit conditions and/or other behavior, subclass this class.  The controller calculation and
- * output are performed synchronously in the command's execute() method.
+ * A command that controls an output with a {@link PIDController}. Runs forever by default - to add
+ * exit conditions and/or other behavior, subclass this class. The controller calculation and output
+ * are performed synchronously in the command's execute() method.
  */
 public class PIDCommand extends CommandBase {
   protected final PIDController m_controller;
@@ -26,15 +25,18 @@ public class PIDCommand extends CommandBase {
   /**
    * Creates a new PIDCommand, which controls the given output with a PIDController.
    *
-   * @param controller        the controller that controls the output.
+   * @param controller the controller that controls the output.
    * @param measurementSource the measurement of the process variable
-   * @param setpointSource    the controller's setpoint
-   * @param useOutput         the controller's output
-   * @param requirements      the subsystems required by this command
+   * @param setpointSource the controller's setpoint
+   * @param useOutput the controller's output
+   * @param requirements the subsystems required by this command
    */
-  public PIDCommand(PIDController controller, DoubleSupplier measurementSource,
-                    DoubleSupplier setpointSource, DoubleConsumer useOutput,
-                    Subsystem... requirements) {
+  public PIDCommand(
+      PIDController controller,
+      DoubleSupplier measurementSource,
+      DoubleSupplier setpointSource,
+      DoubleConsumer useOutput,
+      Subsystem... requirements) {
     requireNonNullParam(controller, "controller", "SynchronousPIDCommand");
     requireNonNullParam(measurementSource, "measurementSource", "SynchronousPIDCommand");
     requireNonNullParam(setpointSource, "setpointSource", "SynchronousPIDCommand");
@@ -50,15 +52,18 @@ public class PIDCommand extends CommandBase {
   /**
    * Creates a new PIDCommand, which controls the given output with a PIDController.
    *
-   * @param controller        the controller that controls the output.
+   * @param controller the controller that controls the output.
    * @param measurementSource the measurement of the process variable
-   * @param setpoint          the controller's setpoint
-   * @param useOutput         the controller's output
-   * @param requirements      the subsystems required by this command
+   * @param setpoint the controller's setpoint
+   * @param useOutput the controller's output
+   * @param requirements the subsystems required by this command
    */
-  public PIDCommand(PIDController controller, DoubleSupplier measurementSource,
-                    double setpoint, DoubleConsumer useOutput,
-                    Subsystem... requirements) {
+  public PIDCommand(
+      PIDController controller,
+      DoubleSupplier measurementSource,
+      double setpoint,
+      DoubleConsumer useOutput,
+      Subsystem... requirements) {
     this(controller, measurementSource, () -> setpoint, useOutput, requirements);
   }
 
@@ -69,8 +74,8 @@ public class PIDCommand extends CommandBase {
 
   @Override
   public void execute() {
-    m_useOutput.accept(m_controller.calculate(m_measurement.getAsDouble(),
-                                              m_setpoint.getAsDouble()));
+    m_useOutput.accept(
+        m_controller.calculate(m_measurement.getAsDouble(), m_setpoint.getAsDouble()));
   }
 
   @Override
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
index c2f0eb0894..40ee91bff0 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
@@ -4,12 +4,12 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import edu.wpi.first.wpilibj.controller.PIDController;
-
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
+import edu.wpi.first.wpilibj.controller.PIDController;
+
 /**
- * A subsystem that uses a {@link PIDController} to control an output.  The controller is run
+ * A subsystem that uses a {@link PIDController} to control an output. The controller is run
  * synchronously from the subsystem's periodic() method.
  */
 public abstract class PIDSubsystem extends SubsystemBase {
@@ -31,7 +31,7 @@ public abstract class PIDSubsystem extends SubsystemBase {
   }
 
   /**
-   * Creates a new PIDSubsystem.  Initial setpoint is zero.
+   * Creates a new PIDSubsystem. Initial setpoint is zero.
    *
    * @param controller the PIDController to use
    */
@@ -83,17 +83,13 @@ public abstract class PIDSubsystem extends SubsystemBase {
    */
   protected abstract double getMeasurement();
 
-  /**
-   * Enables the PID control.  Resets the controller.
-   */
+  /** Enables the PID control. Resets the controller. */
   public void enable() {
     m_enabled = true;
     m_controller.reset();
   }
 
-  /**
-   * Disables the PID control.  Sets output to zero.
-   */
+  /** Disables the PID control. Sets output to zero. */
   public void disable() {
     m_enabled = false;
     useOutput(0, 0);
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.java
index 5d6218a332..5c6fe1ee66 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.java
@@ -14,14 +14,14 @@ import java.util.Map;
  * <p>As a rule, CommandGroups require the union of the requirements of their component commands.
  */
 public class ParallelCommandGroup extends CommandGroupBase {
-  //maps commands in this group to whether they are still running
+  // maps commands in this group to whether they are still running
   private final Map<Command, Boolean> m_commands = new HashMap<>();
   private boolean m_runWhenDisabled = true;
 
   /**
-   * Creates a new ParallelCommandGroup.  The given commands will be executed simultaneously.
-   * The command group will finish when the last command finishes.  If the CommandGroup is
-   * interrupted, only the commands that are still running will be interrupted.
+   * Creates a new ParallelCommandGroup. The given commands will be executed simultaneously. The
+   * command group will finish when the last command finishes. If the CommandGroup is interrupted,
+   * only the commands that are still running will be interrupted.
    *
    * @param commands the commands to include in this group.
    */
@@ -42,8 +42,8 @@ public class ParallelCommandGroup extends CommandGroupBase {
 
     for (Command command : commands) {
       if (!Collections.disjoint(command.getRequirements(), m_requirements)) {
-        throw new IllegalArgumentException("Multiple commands in a parallel group cannot"
-            + "require the same subsystems");
+        throw new IllegalArgumentException(
+            "Multiple commands in a parallel group cannot" + "require the same subsystems");
       }
       m_commands.put(command, false);
       m_requirements.addAll(command.getRequirements());
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java
index 14d9196b02..06539f0f52 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java
@@ -9,23 +9,23 @@ import java.util.HashMap;
 import java.util.Map;
 
 /**
- * A CommandGroup that runs a set of commands in parallel, ending only when a specific command
- * (the "deadline") ends, interrupting all other commands that are still running at that point.
+ * A CommandGroup that runs a set of commands in parallel, ending only when a specific command (the
+ * "deadline") ends, interrupting all other commands that are still running at that point.
  *
  * <p>As a rule, CommandGroups require the union of the requirements of their component commands.
  */
 public class ParallelDeadlineGroup extends CommandGroupBase {
-  //maps commands in this group to whether they are still running
+  // maps commands in this group to whether they are still running
   private final Map<Command, Boolean> m_commands = new HashMap<>();
   private boolean m_runWhenDisabled = true;
   private boolean m_finished = true;
   private Command m_deadline;
 
   /**
-   * Creates a new ParallelDeadlineGroup.  The given commands (including the deadline) will be
-   * executed simultaneously.  The CommandGroup will finish when the deadline finishes,
-   * interrupting all other still-running commands.  If the CommandGroup is interrupted, only
-   * the commands still running will be interrupted.
+   * Creates a new ParallelDeadlineGroup. The given commands (including the deadline) will be
+   * executed simultaneously. The CommandGroup will finish when the deadline finishes, interrupting
+   * all other still-running commands. If the CommandGroup is interrupted, only the commands still
+   * running will be interrupted.
    *
    * @param deadline the command that determines when the group ends
    * @param commands the commands to be executed
@@ -39,8 +39,8 @@ public class ParallelDeadlineGroup extends CommandGroupBase {
   }
 
   /**
-   * Sets the deadline to the given command.  The deadline is added to the group if it is not
-   * already contained.
+   * Sets the deadline to the given command. The deadline is added to the group if it is not already
+   * contained.
    *
    * @param deadline the command that determines when the group ends
    */
@@ -64,8 +64,8 @@ public class ParallelDeadlineGroup extends CommandGroupBase {
 
     for (Command command : commands) {
       if (!Collections.disjoint(command.getRequirements(), m_requirements)) {
-        throw new IllegalArgumentException("Multiple commands in a parallel group cannot"
-            + "require the same subsystems");
+        throw new IllegalArgumentException(
+            "Multiple commands in a parallel group cannot" + "require the same subsystems");
       }
       m_commands.put(command, false);
       m_requirements.addAll(command.getRequirements());
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java
index 93e59485c1..434ee38fcd 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java
@@ -20,8 +20,8 @@ public class ParallelRaceGroup extends CommandGroupBase {
   private boolean m_finished = true;
 
   /**
-   * Creates a new ParallelCommandRace.  The given commands will be executed simultaneously, and
-   * will "race to the finish" - the first command to finish ends the entire command, with all other
+   * Creates a new ParallelCommandRace. The given commands will be executed simultaneously, and will
+   * "race to the finish" - the first command to finish ends the entire command, with all other
    * commands being interrupted.
    *
    * @param commands the commands to include in this group.
@@ -43,8 +43,8 @@ public class ParallelRaceGroup extends CommandGroupBase {
 
     for (Command command : commands) {
       if (!Collections.disjoint(command.getRequirements(), m_requirements)) {
-        throw new IllegalArgumentException("Multiple commands in a parallel group cannot"
-            + " require the same subsystems");
+        throw new IllegalArgumentException(
+            "Multiple commands in a parallel group cannot" + " require the same subsystems");
       }
       m_commands.add(command);
       m_requirements.addAll(command.getRequirements());
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PerpetualCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PerpetualCommand.java
index a381ed248c..9291f64a5f 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PerpetualCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PerpetualCommand.java
@@ -8,7 +8,7 @@ import static edu.wpi.first.wpilibj2.command.CommandGroupBase.registerGroupedCom
 import static edu.wpi.first.wpilibj2.command.CommandGroupBase.requireUngrouped;
 
 /**
- * A command that runs another command in perpetuity, ignoring that command's end conditions.  While
+ * A command that runs another command in perpetuity, ignoring that command's end conditions. While
  * this class does not extend {@link CommandGroupBase}, it is still considered a CommandGroup, as it
  * allows one to compose another command within it; the command instances that are passed to it
  * cannot be added to any other groups, or scheduled individually.
@@ -19,8 +19,8 @@ public class PerpetualCommand extends CommandBase {
   protected final Command m_command;
 
   /**
-   * Creates a new PerpetualCommand.  Will run another command in perpetuity, ignoring that
-   * command's end conditions, unless this command itself is interrupted.
+   * Creates a new PerpetualCommand. Will run another command in perpetuity, ignoring that command's
+   * end conditions, unless this command itself is interrupted.
    *
    * @param command the command to run perpetually
    */
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PrintCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PrintCommand.java
index 70f5094428..33415d0a12 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PrintCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PrintCommand.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-/**
- * A command that prints a string when initialized.
- */
+/** A command that prints a string when initialized. */
 public class PrintCommand extends InstantCommand {
   /**
    * Creates a new a PrintCommand.
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java
index 64efc735ae..b3a747ce79 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java
@@ -4,20 +4,18 @@
 
 package edu.wpi.first.wpilibj2.command;
 
+import static edu.wpi.first.wpilibj.trajectory.TrapezoidProfile.State;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
+import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
 import java.util.Set;
 import java.util.function.BiConsumer;
 import java.util.function.DoubleSupplier;
 import java.util.function.Supplier;
 
-import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
-
-import static edu.wpi.first.wpilibj.trajectory.TrapezoidProfile.State;
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
-
 /**
- * A command that controls an output with a {@link ProfiledPIDController}.  Runs forever by
- * default - to add
- * exit conditions and/or other behavior, subclass this class.  The controller calculation and
+ * A command that controls an output with a {@link ProfiledPIDController}. Runs forever by default -
+ * to add exit conditions and/or other behavior, subclass this class. The controller calculation and
  * output are performed synchronously in the command's execute() method.
  */
 public class ProfiledPIDCommand extends CommandBase {
@@ -27,18 +25,21 @@ public class ProfiledPIDCommand extends CommandBase {
   protected BiConsumer<Double, State> m_useOutput;
 
   /**
-   * Creates a new PIDCommand, which controls the given output with a ProfiledPIDController.
-   * Goal velocity is specified.
+   * Creates a new PIDCommand, which controls the given output with a ProfiledPIDController. Goal
+   * velocity is specified.
    *
-   * @param controller        the controller that controls the output.
+   * @param controller the controller that controls the output.
    * @param measurementSource the measurement of the process variable
-   * @param goalSource        the controller's goal
-   * @param useOutput         the controller's output
-   * @param requirements      the subsystems required by this command
+   * @param goalSource the controller's goal
+   * @param useOutput the controller's output
+   * @param requirements the subsystems required by this command
    */
-  public ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource,
-                            Supplier<State> goalSource, BiConsumer<Double, State> useOutput,
-                            Subsystem... requirements) {
+  public ProfiledPIDCommand(
+      ProfiledPIDController controller,
+      DoubleSupplier measurementSource,
+      Supplier<State> goalSource,
+      BiConsumer<Double, State> useOutput,
+      Subsystem... requirements) {
     requireNonNullParam(controller, "controller", "SynchronousPIDCommand");
     requireNonNullParam(measurementSource, "measurementSource", "SynchronousPIDCommand");
     requireNonNullParam(goalSource, "goalSource", "SynchronousPIDCommand");
@@ -52,18 +53,21 @@ public class ProfiledPIDCommand extends CommandBase {
   }
 
   /**
-   * Creates a new PIDCommand, which controls the given output with a ProfiledPIDController.
-   * Goal velocity is implicitly zero.
+   * Creates a new PIDCommand, which controls the given output with a ProfiledPIDController. Goal
+   * velocity is implicitly zero.
    *
-   * @param controller        the controller that controls the output.
+   * @param controller the controller that controls the output.
    * @param measurementSource the measurement of the process variable
-   * @param goalSource        the controller's goal
-   * @param useOutput         the controller's output
-   * @param requirements      the subsystems required by this command
+   * @param goalSource the controller's goal
+   * @param useOutput the controller's output
+   * @param requirements the subsystems required by this command
    */
-  public ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource,
-                            DoubleSupplier goalSource, BiConsumer<Double, State> useOutput,
-                            Subsystem... requirements) {
+  public ProfiledPIDCommand(
+      ProfiledPIDController controller,
+      DoubleSupplier measurementSource,
+      DoubleSupplier goalSource,
+      BiConsumer<Double, State> useOutput,
+      Subsystem... requirements) {
     requireNonNullParam(controller, "controller", "SynchronousPIDCommand");
     requireNonNullParam(measurementSource, "measurementSource", "SynchronousPIDCommand");
     requireNonNullParam(goalSource, "goalSource", "SynchronousPIDCommand");
@@ -80,15 +84,18 @@ public class ProfiledPIDCommand extends CommandBase {
    * Creates a new PIDCommand, which controls the given output with a ProfiledPIDController. Goal
    * velocity is specified.
    *
-   * @param controller        the controller that controls the output.
+   * @param controller the controller that controls the output.
    * @param measurementSource the measurement of the process variable
-   * @param goal              the controller's goal
-   * @param useOutput         the controller's output
-   * @param requirements      the subsystems required by this command
+   * @param goal the controller's goal
+   * @param useOutput the controller's output
+   * @param requirements the subsystems required by this command
    */
-  public ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource,
-                            State goal, BiConsumer<Double, State> useOutput,
-                            Subsystem... requirements) {
+  public ProfiledPIDCommand(
+      ProfiledPIDController controller,
+      DoubleSupplier measurementSource,
+      State goal,
+      BiConsumer<Double, State> useOutput,
+      Subsystem... requirements) {
     this(controller, measurementSource, () -> goal, useOutput, requirements);
   }
 
@@ -96,15 +103,18 @@ public class ProfiledPIDCommand extends CommandBase {
    * Creates a new PIDCommand, which controls the given output with a ProfiledPIDController. Goal
    * velocity is implicitly zero.
    *
-   * @param controller        the controller that controls the output.
+   * @param controller the controller that controls the output.
    * @param measurementSource the measurement of the process variable
-   * @param goal              the controller's goal
-   * @param useOutput         the controller's output
-   * @param requirements      the subsystems required by this command
+   * @param goal the controller's goal
+   * @param useOutput the controller's output
+   * @param requirements the subsystems required by this command
    */
-  public ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource,
-                            double goal, BiConsumer<Double, State> useOutput,
-                            Subsystem... requirements) {
+  public ProfiledPIDCommand(
+      ProfiledPIDController controller,
+      DoubleSupplier measurementSource,
+      double goal,
+      BiConsumer<Double, State> useOutput,
+      Subsystem... requirements) {
     this(controller, measurementSource, () -> goal, useOutput, requirements);
   }
 
@@ -115,8 +125,9 @@ public class ProfiledPIDCommand extends CommandBase {
 
   @Override
   public void execute() {
-    m_useOutput.accept(m_controller.calculate(m_measurement.getAsDouble(), m_goal.get()),
-                       m_controller.getSetpoint());
+    m_useOutput.accept(
+        m_controller.calculate(m_measurement.getAsDouble(), m_goal.get()),
+        m_controller.getSetpoint());
   }
 
   @Override
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
index d804f7daec..6139961b64 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
@@ -4,15 +4,15 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
-import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
-
 import static edu.wpi.first.wpilibj.trajectory.TrapezoidProfile.State;
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
+import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
+import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
+
 /**
- * A subsystem that uses a {@link ProfiledPIDController} to control an output.  The controller is
- * run synchronously from the subsystem's periodic() method.
+ * A subsystem that uses a {@link ProfiledPIDController} to control an output. The controller is run
+ * synchronously from the subsystem's periodic() method.
  */
 public abstract class ProfiledPIDSubsystem extends SubsystemBase {
   protected final ProfiledPIDController m_controller;
@@ -26,14 +26,13 @@ public abstract class ProfiledPIDSubsystem extends SubsystemBase {
    * @param controller the ProfiledPIDController to use
    * @param initialPosition the initial goal position of the controller
    */
-  public ProfiledPIDSubsystem(ProfiledPIDController controller,
-                              double initialPosition) {
+  public ProfiledPIDSubsystem(ProfiledPIDController controller, double initialPosition) {
     m_controller = requireNonNullParam(controller, "controller", "ProfiledPIDSubsystem");
     setGoal(initialPosition);
   }
 
   /**
-   * Creates a new ProfiledPIDSubsystem.  Initial goal position is zero.
+   * Creates a new ProfiledPIDSubsystem. Initial goal position is zero.
    *
    * @param controller the ProfiledPIDController to use
    */
@@ -62,7 +61,7 @@ public abstract class ProfiledPIDSubsystem extends SubsystemBase {
   }
 
   /**
-   * Sets the goal state for the subsystem.  Goal velocity assumed to be zero.
+   * Sets the goal state for the subsystem. Goal velocity assumed to be zero.
    *
    * @param goal The goal position for the subsystem's motion profile.
    */
@@ -73,7 +72,7 @@ public abstract class ProfiledPIDSubsystem extends SubsystemBase {
   /**
    * Uses the output from the ProfiledPIDController.
    *
-   * @param output   the output of the ProfiledPIDController
+   * @param output the output of the ProfiledPIDController
    * @param setpoint the setpoint state of the ProfiledPIDController, for feedforward
    */
   protected abstract void useOutput(double output, State setpoint);
@@ -85,17 +84,13 @@ public abstract class ProfiledPIDSubsystem extends SubsystemBase {
    */
   protected abstract double getMeasurement();
 
-  /**
-   * Enables the PID control.  Resets the controller.
-   */
+  /** Enables the PID control. Resets the controller. */
   public void enable() {
     m_enabled = true;
     m_controller.reset(getMeasurement());
   }
 
-  /**
-   * Disables the PID control.  Sets output to zero.
-   */
+  /** Disables the PID control. Sets output to zero. */
   public void disable() {
     m_enabled = false;
     useOutput(0, new State());
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommand.java
index 0ab5c1b276..ae403a42e3 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommand.java
@@ -8,7 +8,7 @@ import java.util.Set;
 
 /**
  * Schedules the given commands when this command is initialized, and ends when all the commands are
- * no longer scheduled.  Useful for forking off from CommandGroups.  If this command is interrupted,
+ * no longer scheduled. Useful for forking off from CommandGroups. If this command is interrupted,
  * it will cancel all of the commands.
  */
 public class ProxyScheduleCommand extends CommandBase {
@@ -16,8 +16,8 @@ public class ProxyScheduleCommand extends CommandBase {
   private boolean m_finished;
 
   /**
-   * Creates a new ProxyScheduleCommand that schedules the given commands when initialized,
-   * and ends when they are all no longer scheduled.
+   * Creates a new ProxyScheduleCommand that schedules the given commands when initialized, and ends
+   * when they are all no longer scheduled.
    *
    * @param toSchedule the commands to schedule
    */
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
index 936ff492af..148606002d 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
@@ -4,8 +4,7 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.function.BiConsumer;
-import java.util.function.Supplier;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.controller.PIDController;
@@ -16,21 +15,20 @@ import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
 import edu.wpi.first.wpilibj.trajectory.Trajectory;
-
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import java.util.function.BiConsumer;
+import java.util.function.Supplier;
 
 /**
  * A command that uses a RAMSETE controller ({@link RamseteController}) to follow a trajectory
  * {@link Trajectory} with a differential drive.
  *
- * <p>The command handles trajectory-following, PID calculations, and feedforwards internally.  This
+ * <p>The command handles trajectory-following, PID calculations, and feedforwards internally. This
  * is intended to be a more-or-less "complete solution" that can be used by teams without a great
  * deal of controls expertise.
  *
- * <p>Advanced teams seeking more flexibility (for example, those who wish to use the onboard
- * PID functionality of a "smart" motor controller) may use the secondary constructor that omits
- * the PID and feedforward functionality, returning only the raw wheel speeds from the RAMSETE
- * controller.
+ * <p>Advanced teams seeking more flexibility (for example, those who wish to use the onboard PID
+ * functionality of a "smart" motor controller) may use the secondary constructor that omits the PID
+ * and feedforward functionality, returning only the raw wheel speeds from the RAMSETE controller.
  */
 @SuppressWarnings("PMD.TooManyFields")
 public class RamseteCommand extends CommandBase {
@@ -49,39 +47,39 @@ public class RamseteCommand extends CommandBase {
   private double m_prevTime;
 
   /**
-   * Constructs a new RamseteCommand that, when executed, will follow the provided trajectory.
-   * PID control and feedforward are handled internally, and outputs are scaled -12 to 12
-   * representing units of volts.
+   * Constructs a new RamseteCommand that, when executed, will follow the provided trajectory. PID
+   * control and feedforward are handled internally, and outputs are scaled -12 to 12 representing
+   * units of volts.
    *
    * <p>Note: The controller will *not* set the outputVolts to zero upon completion of the path -
-   * this
-   * is left to the user, since it is not appropriate for paths with nonstationary endstates.
+   * this is left to the user, since it is not appropriate for paths with nonstationary endstates.
    *
-   * @param trajectory      The trajectory to follow.
-   * @param pose            A function that supplies the robot pose - use one of
-   *                        the odometry classes to provide this.
-   * @param controller      The RAMSETE controller used to follow the trajectory.
-   * @param feedforward     The feedforward to use for the drive.
-   * @param kinematics      The kinematics for the robot drivetrain.
-   * @param wheelSpeeds     A function that supplies the speeds of the left and
-   *                        right sides of the robot drive.
-   * @param leftController  The PIDController for the left side of the robot drive.
+   * @param trajectory The trajectory to follow.
+   * @param pose A function that supplies the robot pose - use one of the odometry classes to
+   *     provide this.
+   * @param controller The RAMSETE controller used to follow the trajectory.
+   * @param feedforward The feedforward to use for the drive.
+   * @param kinematics The kinematics for the robot drivetrain.
+   * @param wheelSpeeds A function that supplies the speeds of the left and right sides of the robot
+   *     drive.
+   * @param leftController The PIDController for the left side of the robot drive.
    * @param rightController The PIDController for the right side of the robot drive.
-   * @param outputVolts     A function that consumes the computed left and right
-   *                        outputs (in volts) for the robot drive.
-   * @param requirements    The subsystems to require.
+   * @param outputVolts A function that consumes the computed left and right outputs (in volts) for
+   *     the robot drive.
+   * @param requirements The subsystems to require.
    */
   @SuppressWarnings("PMD.ExcessiveParameterList")
-  public RamseteCommand(Trajectory trajectory,
-                        Supplier<Pose2d> pose,
-                        RamseteController controller,
-                        SimpleMotorFeedforward feedforward,
-                        DifferentialDriveKinematics kinematics,
-                        Supplier<DifferentialDriveWheelSpeeds> wheelSpeeds,
-                        PIDController leftController,
-                        PIDController rightController,
-                        BiConsumer<Double, Double> outputVolts,
-                        Subsystem... requirements) {
+  public RamseteCommand(
+      Trajectory trajectory,
+      Supplier<Pose2d> pose,
+      RamseteController controller,
+      SimpleMotorFeedforward feedforward,
+      DifferentialDriveKinematics kinematics,
+      Supplier<DifferentialDriveWheelSpeeds> wheelSpeeds,
+      PIDController leftController,
+      PIDController rightController,
+      BiConsumer<Double, Double> outputVolts,
+      Subsystem... requirements) {
     m_trajectory = requireNonNullParam(trajectory, "trajectory", "RamseteCommand");
     m_pose = requireNonNullParam(pose, "pose", "RamseteCommand");
     m_follower = requireNonNullParam(controller, "controller", "RamseteCommand");
@@ -99,24 +97,24 @@ public class RamseteCommand extends CommandBase {
 
   /**
    * Constructs a new RamseteCommand that, when executed, will follow the provided trajectory.
-   * Performs no PID control and calculates no feedforwards; outputs are the raw wheel speeds
-   * from the RAMSETE controller, and will need to be converted into a usable form by the user.
+   * Performs no PID control and calculates no feedforwards; outputs are the raw wheel speeds from
+   * the RAMSETE controller, and will need to be converted into a usable form by the user.
    *
-   * @param trajectory            The trajectory to follow.
-   * @param pose                  A function that supplies the robot pose - use one of
-   *                              the odometry classes to provide this.
-   * @param follower              The RAMSETE follower used to follow the trajectory.
-   * @param kinematics            The kinematics for the robot drivetrain.
-   * @param outputMetersPerSecond A function that consumes the computed left and right
-   *                              wheel speeds.
-   * @param requirements          The subsystems to require.
+   * @param trajectory The trajectory to follow.
+   * @param pose A function that supplies the robot pose - use one of the odometry classes to
+   *     provide this.
+   * @param follower The RAMSETE follower used to follow the trajectory.
+   * @param kinematics The kinematics for the robot drivetrain.
+   * @param outputMetersPerSecond A function that consumes the computed left and right wheel speeds.
+   * @param requirements The subsystems to require.
    */
-  public RamseteCommand(Trajectory trajectory,
-                        Supplier<Pose2d> pose,
-                        RamseteController follower,
-                        DifferentialDriveKinematics kinematics,
-                        BiConsumer<Double, Double> outputMetersPerSecond,
-                        Subsystem... requirements) {
+  public RamseteCommand(
+      Trajectory trajectory,
+      Supplier<Pose2d> pose,
+      RamseteController follower,
+      DifferentialDriveKinematics kinematics,
+      BiConsumer<Double, Double> outputMetersPerSecond,
+      Subsystem... requirements) {
     m_trajectory = requireNonNullParam(trajectory, "trajectory", "RamseteCommand");
     m_pose = requireNonNullParam(pose, "pose", "RamseteCommand");
     m_follower = requireNonNullParam(follower, "follower", "RamseteCommand");
@@ -137,11 +135,12 @@ public class RamseteCommand extends CommandBase {
   public void initialize() {
     m_prevTime = -1;
     var initialState = m_trajectory.sample(0);
-    m_prevSpeeds = m_kinematics.toWheelSpeeds(
-        new ChassisSpeeds(initialState.velocityMetersPerSecond,
-            0,
-            initialState.curvatureRadPerMeter
-                * initialState.velocityMetersPerSecond));
+    m_prevSpeeds =
+        m_kinematics.toWheelSpeeds(
+            new ChassisSpeeds(
+                initialState.velocityMetersPerSecond,
+                0,
+                initialState.curvatureRadPerMeter * initialState.velocityMetersPerSecond));
     m_timer.reset();
     m_timer.start();
     if (m_usePID) {
@@ -161,8 +160,9 @@ public class RamseteCommand extends CommandBase {
       return;
     }
 
-    var targetWheelSpeeds = m_kinematics.toWheelSpeeds(
-        m_follower.calculate(m_pose.get(), m_trajectory.sample(curTime)));
+    var targetWheelSpeeds =
+        m_kinematics.toWheelSpeeds(
+            m_follower.calculate(m_pose.get(), m_trajectory.sample(curTime)));
 
     var leftSpeedSetpoint = targetWheelSpeeds.leftMetersPerSecond;
     var rightSpeedSetpoint = targetWheelSpeeds.rightMetersPerSecond;
@@ -172,20 +172,21 @@ public class RamseteCommand extends CommandBase {
 
     if (m_usePID) {
       double leftFeedforward =
-          m_feedforward.calculate(leftSpeedSetpoint,
-              (leftSpeedSetpoint - m_prevSpeeds.leftMetersPerSecond) / dt);
+          m_feedforward.calculate(
+              leftSpeedSetpoint, (leftSpeedSetpoint - m_prevSpeeds.leftMetersPerSecond) / dt);
 
       double rightFeedforward =
-          m_feedforward.calculate(rightSpeedSetpoint,
-              (rightSpeedSetpoint - m_prevSpeeds.rightMetersPerSecond) / dt);
+          m_feedforward.calculate(
+              rightSpeedSetpoint, (rightSpeedSetpoint - m_prevSpeeds.rightMetersPerSecond) / dt);
 
-      leftOutput = leftFeedforward
-          + m_leftController.calculate(m_speeds.get().leftMetersPerSecond,
-          leftSpeedSetpoint);
+      leftOutput =
+          leftFeedforward
+              + m_leftController.calculate(m_speeds.get().leftMetersPerSecond, leftSpeedSetpoint);
 
-      rightOutput = rightFeedforward
-          + m_rightController.calculate(m_speeds.get().rightMetersPerSecond,
-          rightSpeedSetpoint);
+      rightOutput =
+          rightFeedforward
+              + m_rightController.calculate(
+                  m_speeds.get().rightMetersPerSecond, rightSpeedSetpoint);
     } else {
       leftOutput = leftSpeedSetpoint;
       rightOutput = rightSpeedSetpoint;
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RunCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RunCommand.java
index 2af7cd4a1b..e1a729649b 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RunCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RunCommand.java
@@ -4,24 +4,23 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.function.BooleanSupplier;
-
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
+import java.util.function.BooleanSupplier;
+
 /**
- * A command that runs a Runnable continuously.  Has no end condition as-is;
- * either subclass it or use {@link Command#withTimeout(double)} or
- * {@link Command#withInterrupt(BooleanSupplier)} to give it one.  If you only wish
- * to execute a Runnable once, use {@link InstantCommand}.
+ * A command that runs a Runnable continuously. Has no end condition as-is; either subclass it or
+ * use {@link Command#withTimeout(double)} or {@link Command#withInterrupt(BooleanSupplier)} to give
+ * it one. If you only wish to execute a Runnable once, use {@link InstantCommand}.
  */
 public class RunCommand extends CommandBase {
   protected final Runnable m_toRun;
 
   /**
-   * Creates a new RunCommand.  The Runnable will be run continuously until the command
-   * ends.  Does not run when disabled.
+   * Creates a new RunCommand. The Runnable will be run continuously until the command ends. Does
+   * not run when disabled.
    *
-   * @param toRun        the Runnable to run
+   * @param toRun the Runnable to run
    * @param requirements the subsystems to require
    */
   public RunCommand(Runnable toRun, Subsystem... requirements) {
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java
index ea82ad7615..75b5774462 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java
@@ -7,9 +7,9 @@ package edu.wpi.first.wpilibj2.command;
 import java.util.Set;
 
 /**
- * Schedules the given commands when this command is initialized.  Useful for forking off from
- * CommandGroups.  Note that if run from a CommandGroup, the group will not know about the status
- * of the scheduled commands, and will treat this command as finishing instantly.
+ * Schedules the given commands when this command is initialized. Useful for forking off from
+ * CommandGroups. Note that if run from a CommandGroup, the group will not know about the status of
+ * the scheduled commands, and will treat this command as finishing instantly.
  */
 public class ScheduleCommand extends CommandBase {
   private final Set<Command> m_toSchedule;
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java
index 295579aebc..a5c885942e 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java
@@ -4,18 +4,18 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.Map;
-import java.util.function.Supplier;
-
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 import static edu.wpi.first.wpilibj2.command.CommandGroupBase.requireUngrouped;
 
+import java.util.Map;
+import java.util.function.Supplier;
+
 /**
  * Runs one of a selection of commands, either using a selector and a key to command mapping, or a
- * supplier that returns the command directly at runtime.  Does not actually schedule the selected
+ * supplier that returns the command directly at runtime. Does not actually schedule the selected
  * command - rather, the command is run through this command; this ensures that the command will
- * behave as expected if used as part of a CommandGroup.  Requires the requirements of all included
- * commands, again to ensure proper functioning when used in a CommandGroup.  If this is undesired,
+ * behave as expected if used as part of a CommandGroup. Requires the requirements of all included
+ * commands, again to ensure proper functioning when used in a CommandGroup. If this is undesired,
  * consider using {@link ScheduleCommand}.
  *
  * <p>As this command contains multiple component commands within it, it is technically a command
@@ -39,7 +39,7 @@ public class SelectCommand extends CommandBase {
   public SelectCommand(Map<Object, Command> commands, Supplier<Object> selector) {
     requireUngrouped(commands.values());
 
-    CommandGroupBase.registerGroupedCommands(commands.values().toArray(new Command[]{}));
+    CommandGroupBase.registerGroupedCommands(commands.values().toArray(new Command[] {}));
 
     m_commands = requireNonNullParam(commands, "commands", "SelectCommand");
     m_selector = requireNonNullParam(selector, "selector", "SelectCommand");
@@ -66,8 +66,9 @@ public class SelectCommand extends CommandBase {
   public void initialize() {
     if (m_selector != null) {
       if (!m_commands.keySet().contains(m_selector.get())) {
-        m_selectedCommand = new PrintCommand(
-            "SelectCommand selector value does not correspond to" + " any command!");
+        m_selectedCommand =
+            new PrintCommand(
+                "SelectCommand selector value does not correspond to" + " any command!");
         return;
       }
       m_selectedCommand = m_commands.get(m_selector.get());
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java
index 7fcadf21ff..492e3169e1 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java
@@ -18,8 +18,8 @@ public class SequentialCommandGroup extends CommandGroupBase {
   private boolean m_runWhenDisabled = true;
 
   /**
-   * Creates a new SequentialCommandGroup.  The given commands will be run sequentially, with
-   * the CommandGroup finishing when the last command finishes.
+   * Creates a new SequentialCommandGroup. The given commands will be run sequentially, with the
+   * CommandGroup finishing when the last command finishes.
    *
    * @param commands the commands to include in this group.
    */
@@ -74,9 +74,10 @@ public class SequentialCommandGroup extends CommandGroupBase {
 
   @Override
   public void end(boolean interrupted) {
-    if (interrupted && !m_commands.isEmpty() && m_currentCommandIndex > -1
-        && m_currentCommandIndex < m_commands.size()
-    ) {
+    if (interrupted
+        && !m_commands.isEmpty()
+        && m_currentCommandIndex > -1
+        && m_currentCommandIndex < m_commands.size()) {
       m_commands.get(m_currentCommandIndex).end(true);
     }
     m_currentCommandIndex = -1;
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/StartEndCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/StartEndCommand.java
index 523f288ab6..05e46cb949 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/StartEndCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/StartEndCommand.java
@@ -4,26 +4,24 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.function.BooleanSupplier;
-
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
 /**
  * A command that runs a given runnable when it is initialized, and another runnable when it ends.
- * Useful for running and then stopping a motor, or extending and then retracting a solenoid.
- * Has no end condition as-is; either subclass it or use {@link Command#withTimeout(double)} or
- * {@link Command#withInterrupt(BooleanSupplier)} to give it one.
+ * Useful for running and then stopping a motor, or extending and then retracting a solenoid. Has no
+ * end condition as-is; either subclass it or use {@link Command#withTimeout(double)} or {@link
+ * Command#withInterrupt(java.util.function.BooleanSupplier)} to give it one.
  */
 public class StartEndCommand extends CommandBase {
   protected final Runnable m_onInit;
   protected final Runnable m_onEnd;
 
   /**
-   * Creates a new StartEndCommand.  Will run the given runnables when the command starts and when
-   * it ends.
+   * Creates a new StartEndCommand. Will run the given runnables when the command starts and when it
+   * ends.
    *
-   * @param onInit       the Runnable to run on command init
-   * @param onEnd        the Runnable to run on command end
+   * @param onInit the Runnable to run on command init
+   * @param onEnd the Runnable to run on command end
    * @param requirements the subsystems required by this command
    */
   public StartEndCommand(Runnable onInit, Runnable onEnd, Subsystem... requirements) {
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java
index f16a4c31b5..09ef1c86f4 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java
@@ -5,45 +5,43 @@
 package edu.wpi.first.wpilibj2.command;
 
 /**
- * A robot subsystem.  Subsystems are the basic unit of robot organization in the Command-based
+ * A robot subsystem. Subsystems are the basic unit of robot organization in the Command-based
  * framework; they encapsulate low-level hardware objects (motor controllers, sensors, etc) and
- * provide methods through which they can be used by {@link Command}s.  Subsystems are used by the
+ * provide methods through which they can be used by {@link Command}s. Subsystems are used by the
  * {@link CommandScheduler}'s resource management system to ensure multiple robot actions are not
- * "fighting" over the same hardware; Commands that use a subsystem should include that subsystem
- * in their {@link Command#getRequirements()} method, and resources used within a subsystem should
+ * "fighting" over the same hardware; Commands that use a subsystem should include that subsystem in
+ * their {@link Command#getRequirements()} method, and resources used within a subsystem should
  * generally remain encapsulated and not be shared by other parts of the robot.
  *
- * <p>Subsystems must be registered with the scheduler with the
- * {@link CommandScheduler#registerSubsystem(Subsystem...)} method in order for the
- * {@link Subsystem#periodic()} method to be called.  It is recommended that this method be called
- * from the constructor of users' Subsystem implementations.  The {@link SubsystemBase}
- * class offers a simple base for user implementations that handles this.
+ * <p>Subsystems must be registered with the scheduler with the {@link
+ * CommandScheduler#registerSubsystem(Subsystem...)} method in order for the {@link
+ * Subsystem#periodic()} method to be called. It is recommended that this method be called from the
+ * constructor of users' Subsystem implementations. The {@link SubsystemBase} class offers a simple
+ * base for user implementations that handles this.
  */
 public interface Subsystem {
 
   /**
-   * This method is called periodically by the {@link CommandScheduler}.  Useful for updating
-   * subsystem-specific state that you don't want to offload to a {@link Command}.  Teams should
-   * try to be consistent within their own codebases about which responsibilities will be handled
-   * by Commands, and which will be handled here.
+   * This method is called periodically by the {@link CommandScheduler}. Useful for updating
+   * subsystem-specific state that you don't want to offload to a {@link Command}. Teams should try
+   * to be consistent within their own codebases about which responsibilities will be handled by
+   * Commands, and which will be handled here.
    */
-  default void periodic() {
-  }
+  default void periodic() {}
 
   /**
-   * This method is called periodically by the {@link CommandScheduler}.  Useful for updating
+   * This method is called periodically by the {@link CommandScheduler}. Useful for updating
    * subsystem-specific state that needs to be maintained for simulations, such as for updating
    * {@link edu.wpi.first.wpilibj.simulation} classes and setting simulated sensor readings.
    */
-  default void simulationPeriodic() {
-  }
+  default void simulationPeriodic() {}
 
   /**
-   * Sets the default {@link Command} of the subsystem.  The default command will be
-   * automatically scheduled when no other commands are scheduled that require the subsystem.
-   * Default commands should generally not end on their own, i.e. their {@link Command#isFinished()}
-   * method should always return false.  Will automatically register this subsystem with the
-   * {@link CommandScheduler}.
+   * Sets the default {@link Command} of the subsystem. The default command will be automatically
+   * scheduled when no other commands are scheduled that require the subsystem. Default commands
+   * should generally not end on their own, i.e. their {@link Command#isFinished()} method should
+   * always return false. Will automatically register this subsystem with the {@link
+   * CommandScheduler}.
    *
    * @param defaultCommand the default command to associate with this subsystem
    */
@@ -52,8 +50,8 @@ public interface Subsystem {
   }
 
   /**
-   * Gets the default command for this subsystem.  Returns null if no default command is
-   * currently associated with the subsystem.
+   * Gets the default command for this subsystem. Returns null if no default command is currently
+   * associated with the subsystem.
    *
    * @return the default command associated with this subsystem
    */
@@ -62,7 +60,7 @@ public interface Subsystem {
   }
 
   /**
-   * Returns the command currently running on this subsystem.  Returns null if no command is
+   * Returns the command currently running on this subsystem. Returns null if no command is
    * currently scheduled that requires this subsystem.
    *
    * @return the scheduled command currently requiring this subsystem
@@ -72,8 +70,8 @@ public interface Subsystem {
   }
 
   /**
-   * Registers this subsystem with the {@link CommandScheduler}, allowing its
-   * {@link Subsystem#periodic()} method to be called when the scheduler runs.
+   * Registers this subsystem with the {@link CommandScheduler}, allowing its {@link
+   * Subsystem#periodic()} method to be called when the scheduler runs.
    */
   default void register() {
     CommandScheduler.getInstance().registerSubsystem(this);
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java
index 8624c1b7ed..d61ed5baba 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java
@@ -14,9 +14,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
  */
 public abstract class SubsystemBase implements Subsystem, Sendable {
 
-  /**
-   * Constructor.
-   */
+  /** Constructor. */
   public SubsystemBase() {
     String name = this.getClass().getSimpleName();
     name = name.substring(name.lastIndexOf('.') + 1);
@@ -65,8 +63,7 @@ public abstract class SubsystemBase implements Subsystem, Sendable {
   }
 
   /**
-   * Associates a {@link Sendable} with this Subsystem.
-   * Also update the child's name.
+   * Associates a {@link Sendable} with this Subsystem. Also update the child's name.
    *
    * @param name name to give child
    * @param child sendable
@@ -80,10 +77,14 @@ public abstract class SubsystemBase implements Subsystem, Sendable {
     builder.setSmartDashboardType("Subsystem");
 
     builder.addBooleanProperty(".hasDefault", () -> getDefaultCommand() != null, null);
-    builder.addStringProperty(".default",
-        () -> getDefaultCommand() != null ? getDefaultCommand().getName() : "none", null);
+    builder.addStringProperty(
+        ".default",
+        () -> getDefaultCommand() != null ? getDefaultCommand().getName() : "none",
+        null);
     builder.addBooleanProperty(".hasCommand", () -> getCurrentCommand() != null, null);
-    builder.addStringProperty(".command",
-        () -> getCurrentCommand() != null ? getCurrentCommand().getName() : "none", null);
+    builder.addStringProperty(
+        ".command",
+        () -> getCurrentCommand() != null ? getCurrentCommand().getName() : "none",
+        null);
   }
 }
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java
index 9d3b7618b1..106d2d0097 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java
@@ -4,8 +4,7 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.function.Consumer;
-import java.util.function.Supplier;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.controller.HolonomicDriveController;
@@ -16,22 +15,20 @@ import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
 import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
 import edu.wpi.first.wpilibj.trajectory.Trajectory;
-
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import java.util.function.Consumer;
+import java.util.function.Supplier;
 
 /**
- * A command that uses two PID controllers ({@link PIDController}) and a
- * ProfiledPIDController ({@link ProfiledPIDController}) to follow a trajectory
- * {@link Trajectory} with a swerve drive.
+ * A command that uses two PID controllers ({@link PIDController}) and a ProfiledPIDController
+ * ({@link ProfiledPIDController}) to follow a trajectory {@link Trajectory} with a swerve drive.
  *
- * <p>This command outputs the raw desired Swerve Module States ({@link SwerveModuleState})
- * in an array. The desired wheel and module rotation velocities should be taken
- * from those and used in velocity PIDs.
+ * <p>This command outputs the raw desired Swerve Module States ({@link SwerveModuleState}) in an
+ * array. The desired wheel and module rotation velocities should be taken from those and used in
+ * velocity PIDs.
  *
- * <p>The robot angle controller does not follow the angle given by
- * the trajectory but rather goes to the angle given in the final state of the trajectory.
+ * <p>The robot angle controller does not follow the angle given by the trajectory but rather goes
+ * to the angle given in the final state of the trajectory.
  */
-
 @SuppressWarnings("MemberName")
 public class SwerveControllerCommand extends CommandBase {
   private final Timer m_timer = new Timer();
@@ -50,50 +47,44 @@ public class SwerveControllerCommand extends CommandBase {
    * <p>Note: The controllers will *not* set the outputVolts to zero upon completion of the path-
    * this is left to the user, since it is not appropriate for paths with nonstationary endstates.
    *
-   * @param trajectory         The trajectory to follow.
-   * @param pose               A function that supplies the robot pose - use one of
-   *                           the odometry classes to provide this.
-   * @param kinematics         The kinematics for the robot drivetrain.
-   * @param xController        The Trajectory Tracker PID controller
-   *                           for the robot's x position.
-   * @param yController        The Trajectory Tracker PID controller
-   *                           for the robot's y position.
-   * @param thetaController    The Trajectory Tracker PID controller
-   *                           for angle for the robot.
-   * @param desiredRotation    The angle that the drivetrain should be facing. This
-   *                           is sampled at each time step.
-   * @param outputModuleStates The raw output module states from the
-   *                           position controllers.
-   * @param requirements       The subsystems to require.
+   * @param trajectory The trajectory to follow.
+   * @param pose A function that supplies the robot pose - use one of the odometry classes to
+   *     provide this.
+   * @param kinematics The kinematics for the robot drivetrain.
+   * @param xController The Trajectory Tracker PID controller for the robot's x position.
+   * @param yController The Trajectory Tracker PID controller for the robot's y position.
+   * @param thetaController The Trajectory Tracker PID controller for angle for the robot.
+   * @param desiredRotation The angle that the drivetrain should be facing. This is sampled at each
+   *     time step.
+   * @param outputModuleStates The raw output module states from the position controllers.
+   * @param requirements The subsystems to require.
    */
   @SuppressWarnings("ParameterName")
-  public SwerveControllerCommand(Trajectory trajectory,
-                                 Supplier<Pose2d> pose,
-                                 SwerveDriveKinematics kinematics,
-                                 PIDController xController,
-                                 PIDController yController,
-                                 ProfiledPIDController thetaController,
-                                 Supplier<Rotation2d> desiredRotation,
-                                 Consumer<SwerveModuleState[]> outputModuleStates,
-                                 Subsystem... requirements) {
+  public SwerveControllerCommand(
+      Trajectory trajectory,
+      Supplier<Pose2d> pose,
+      SwerveDriveKinematics kinematics,
+      PIDController xController,
+      PIDController yController,
+      ProfiledPIDController thetaController,
+      Supplier<Rotation2d> desiredRotation,
+      Consumer<SwerveModuleState[]> outputModuleStates,
+      Subsystem... requirements) {
     m_trajectory = requireNonNullParam(trajectory, "trajectory", "SwerveControllerCommand");
     m_pose = requireNonNullParam(pose, "pose", "SwerveControllerCommand");
     m_kinematics = requireNonNullParam(kinematics, "kinematics", "SwerveControllerCommand");
 
-    m_controller = new HolonomicDriveController(
-        requireNonNullParam(xController,
-            "xController", "SwerveControllerCommand"),
-        requireNonNullParam(yController,
-            "xController", "SwerveControllerCommand"),
-        requireNonNullParam(thetaController,
-            "thetaController", "SwerveControllerCommand")
-    );
+    m_controller =
+        new HolonomicDriveController(
+            requireNonNullParam(xController, "xController", "SwerveControllerCommand"),
+            requireNonNullParam(yController, "xController", "SwerveControllerCommand"),
+            requireNonNullParam(thetaController, "thetaController", "SwerveControllerCommand"));
 
-    m_outputModuleStates = requireNonNullParam(outputModuleStates,
-        "frontLeftOutput", "SwerveControllerCommand");
+    m_outputModuleStates =
+        requireNonNullParam(outputModuleStates, "frontLeftOutput", "SwerveControllerCommand");
 
-    m_desiredRotation = requireNonNullParam(desiredRotation, "desiredRotation",
-        "SwerveControllerCommand");
+    m_desiredRotation =
+        requireNonNullParam(desiredRotation, "desiredRotation", "SwerveControllerCommand");
 
     addRequirements(requirements);
   }
@@ -106,38 +97,42 @@ public class SwerveControllerCommand extends CommandBase {
    * <p>Note: The controllers will *not* set the outputVolts to zero upon completion of the path-
    * this is left to the user, since it is not appropriate for paths with nonstationary endstates.
    *
-   * <p>Note 2: The final rotation of the robot will be set to the rotation of
-   * the final pose in the trajectory. The robot will not follow the rotations
-   * from the poses at each timestep. If alternate rotation behavior is desired,
-   * the other constructor with a supplier for rotation should be used.
+   * <p>Note 2: The final rotation of the robot will be set to the rotation of the final pose in the
+   * trajectory. The robot will not follow the rotations from the poses at each timestep. If
+   * alternate rotation behavior is desired, the other constructor with a supplier for rotation
+   * should be used.
    *
-   * @param trajectory         The trajectory to follow.
-   * @param pose               A function that supplies the robot pose - use one of
-   *                           the odometry classes to provide this.
-   * @param kinematics         The kinematics for the robot drivetrain.
-   * @param xController        The Trajectory Tracker PID controller
-   *                           for the robot's x position.
-   * @param yController        The Trajectory Tracker PID controller
-   *                           for the robot's y position.
-   * @param thetaController    The Trajectory Tracker PID controller
-   *                           for angle for the robot.
-   * @param outputModuleStates The raw output module states from the
-   *                           position controllers.
-   * @param requirements       The subsystems to require.
+   * @param trajectory The trajectory to follow.
+   * @param pose A function that supplies the robot pose - use one of the odometry classes to
+   *     provide this.
+   * @param kinematics The kinematics for the robot drivetrain.
+   * @param xController The Trajectory Tracker PID controller for the robot's x position.
+   * @param yController The Trajectory Tracker PID controller for the robot's y position.
+   * @param thetaController The Trajectory Tracker PID controller for angle for the robot.
+   * @param outputModuleStates The raw output module states from the position controllers.
+   * @param requirements The subsystems to require.
    */
   @SuppressWarnings("ParameterName")
-  public SwerveControllerCommand(Trajectory trajectory,
-                                 Supplier<Pose2d> pose,
-                                 SwerveDriveKinematics kinematics,
-                                 PIDController xController,
-                                 PIDController yController,
-                                 ProfiledPIDController thetaController,
-                                 Consumer<SwerveModuleState[]> outputModuleStates,
-                                 Subsystem... requirements) {
-    this(trajectory, pose, kinematics, xController, yController, thetaController,
-        () -> trajectory.getStates().get(trajectory.getStates().size() - 1)
-            .poseMeters.getRotation(),
-        outputModuleStates, requirements);
+  public SwerveControllerCommand(
+      Trajectory trajectory,
+      Supplier<Pose2d> pose,
+      SwerveDriveKinematics kinematics,
+      PIDController xController,
+      PIDController yController,
+      ProfiledPIDController thetaController,
+      Consumer<SwerveModuleState[]> outputModuleStates,
+      Subsystem... requirements) {
+    this(
+        trajectory,
+        pose,
+        kinematics,
+        xController,
+        yController,
+        thetaController,
+        () ->
+            trajectory.getStates().get(trajectory.getStates().size() - 1).poseMeters.getRotation(),
+        outputModuleStates,
+        requirements);
   }
 
   @Override
@@ -152,8 +147,8 @@ public class SwerveControllerCommand extends CommandBase {
     double curTime = m_timer.get();
     var desiredState = m_trajectory.sample(curTime);
 
-    var targetChassisSpeeds = m_controller.calculate(m_pose.get(), desiredState,
-        m_desiredRotation.get());
+    var targetChassisSpeeds =
+        m_controller.calculate(m_pose.get(), desiredState, m_desiredRotation.get());
     var targetModuleStates = m_kinematics.toSwerveModuleStates(targetChassisSpeeds);
 
     m_outputModuleStates.accept(targetModuleStates);
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java
index ee42c06d65..90b2011c5c 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java
@@ -4,17 +4,15 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.function.Consumer;
-
-import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
-
 import static edu.wpi.first.wpilibj.trajectory.TrapezoidProfile.State;
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
+import java.util.function.Consumer;
+
 /**
- * A command that runs a {@link TrapezoidProfile}.  Useful for smoothly controlling mechanism
- * motion.
+ * A command that runs a {@link TrapezoidProfile}. Useful for smoothly controlling mechanism motion.
  */
 public class TrapezoidProfileCommand extends CommandBase {
   private final TrapezoidProfile m_profile;
@@ -26,13 +24,12 @@ public class TrapezoidProfileCommand extends CommandBase {
    * Creates a new TrapezoidProfileCommand that will execute the given {@link TrapezoidProfile}.
    * Output will be piped to the provided consumer function.
    *
-   * @param profile      The motion profile to execute.
-   * @param output       The consumer for the profile output.
+   * @param profile The motion profile to execute.
+   * @param output The consumer for the profile output.
    * @param requirements The subsystems required by this command.
    */
-  public TrapezoidProfileCommand(TrapezoidProfile profile,
-                                 Consumer<State> output,
-                                 Subsystem... requirements) {
+  public TrapezoidProfileCommand(
+      TrapezoidProfile profile, Consumer<State> output, Subsystem... requirements) {
     m_profile = requireNonNullParam(profile, "profile", "TrapezoidProfileCommand");
     m_output = requireNonNullParam(output, "output", "TrapezoidProfileCommand");
     addRequirements(requirements);
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java
index 0448b95ef6..330a633ac1 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java
@@ -4,13 +4,13 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
-
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
+import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
+
 /**
- * A subsystem that generates and runs trapezoidal motion profiles automatically.  The user
- * specifies how to use the current state of the motion profile by overriding the `useState` method.
+ * A subsystem that generates and runs trapezoidal motion profiles automatically. The user specifies
+ * how to use the current state of the motion profile by overriding the `useState` method.
  */
 public abstract class TrapezoidProfileSubsystem extends SubsystemBase {
   private final double m_period;
@@ -24,14 +24,13 @@ public abstract class TrapezoidProfileSubsystem extends SubsystemBase {
   /**
    * Creates a new TrapezoidProfileSubsystem.
    *
-   * @param constraints     The constraints (maximum velocity and acceleration) for the profiles.
-   * @param initialPosition The initial position of the controlled mechanism when the subsystem
-   *                        is constructed.
-   * @param period          The period of the main robot loop, in seconds.
+   * @param constraints The constraints (maximum velocity and acceleration) for the profiles.
+   * @param initialPosition The initial position of the controlled mechanism when the subsystem is
+   *     constructed.
+   * @param period The period of the main robot loop, in seconds.
    */
-  public TrapezoidProfileSubsystem(TrapezoidProfile.Constraints constraints,
-                                   double initialPosition,
-                                   double period) {
+  public TrapezoidProfileSubsystem(
+      TrapezoidProfile.Constraints constraints, double initialPosition, double period) {
     m_constraints = requireNonNullParam(constraints, "constraints", "TrapezoidProfileSubsystem");
     m_state = new TrapezoidProfile.State(initialPosition, 0);
     setGoal(initialPosition);
@@ -41,19 +40,19 @@ public abstract class TrapezoidProfileSubsystem extends SubsystemBase {
   /**
    * Creates a new TrapezoidProfileSubsystem.
    *
-   * @param constraints     The constraints (maximum velocity and acceleration) for the profiles.
-   * @param initialPosition The initial position of the controlled mechanism when the subsystem
-   *                        is constructed.
+   * @param constraints The constraints (maximum velocity and acceleration) for the profiles.
+   * @param initialPosition The initial position of the controlled mechanism when the subsystem is
+   *     constructed.
    */
-  public TrapezoidProfileSubsystem(TrapezoidProfile.Constraints constraints,
-                                   double initialPosition) {
+  public TrapezoidProfileSubsystem(
+      TrapezoidProfile.Constraints constraints, double initialPosition) {
     this(constraints, initialPosition, 0.02);
   }
 
   /**
    * Creates a new TrapezoidProfileSubsystem.
    *
-   * @param constraints     The constraints (maximum velocity and acceleration) for the profiles.
+   * @param constraints The constraints (maximum velocity and acceleration) for the profiles.
    */
   public TrapezoidProfileSubsystem(TrapezoidProfile.Constraints constraints) {
     this(constraints, 0, 0.02);
@@ -78,7 +77,7 @@ public abstract class TrapezoidProfileSubsystem extends SubsystemBase {
   }
 
   /**
-   * Sets the goal state for the subsystem.  Goal velocity assumed to be zero.
+   * Sets the goal state for the subsystem. Goal velocity assumed to be zero.
    *
    * @param goal The goal position for the subsystem's motion profile.
    */
@@ -86,16 +85,12 @@ public abstract class TrapezoidProfileSubsystem extends SubsystemBase {
     setGoal(new TrapezoidProfile.State(goal, 0));
   }
 
-  /**
-   * Enable the TrapezoidProfileSubsystem's output.
-   */
+  /** Enable the TrapezoidProfileSubsystem's output. */
   public void enable() {
     m_enabled = true;
   }
 
-  /**
-   * Disable the TrapezoidProfileSubsystem's output.
-   */
+  /** Disable the TrapezoidProfileSubsystem's output. */
   public void disable() {
     m_enabled = false;
   }
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java
index 655e32a56f..0a901b08c1 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java
@@ -8,15 +8,15 @@ import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /**
- * A command that does nothing but takes a specified amount of time to finish.  Useful for
- * CommandGroups.  Can also be subclassed to make a command with an internal timer.
+ * A command that does nothing but takes a specified amount of time to finish. Useful for
+ * CommandGroups. Can also be subclassed to make a command with an internal timer.
  */
 public class WaitCommand extends CommandBase {
   protected Timer m_timer = new Timer();
   private final double m_duration;
 
   /**
-   * Creates a new WaitCommand.  This command will do nothing, and end after the specified duration.
+   * Creates a new WaitCommand. This command will do nothing, and end after the specified duration.
    *
    * @param seconds the time to wait, in seconds
    */
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitUntilCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitUntilCommand.java
index 1f5ebdc8af..92283624ad 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitUntilCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitUntilCommand.java
@@ -4,15 +4,13 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-
-import java.util.function.BooleanSupplier;
-
-import edu.wpi.first.wpilibj.Timer;
-
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
+import edu.wpi.first.wpilibj.Timer;
+import java.util.function.BooleanSupplier;
+
 /**
- * A command that does nothing but ends after a specified match time or condition.  Useful for
+ * A command that does nothing but ends after a specified match time or condition. Useful for
  * CommandGroups.
  */
 public class WaitUntilCommand extends CommandBase {
@@ -30,9 +28,9 @@ public class WaitUntilCommand extends CommandBase {
   /**
    * Creates a new WaitUntilCommand that ends after a given match time.
    *
-   * <p>NOTE: The match timer used for this command is UNOFFICIAL.  Using this command does NOT
+   * <p>NOTE: The match timer used for this command is UNOFFICIAL. Using this command does NOT
    * guarantee that the time at which the action is performed will be judged to be legal by the
-   * referees.  When in doubt, add a safety factor or time the action manually.
+   * referees. When in doubt, add a safety factor or time the action manually.
    *
    * @param time the match time after which to end, in seconds
    */
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Button.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Button.java
index 1f12172996..4185c278b2 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Button.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Button.java
@@ -4,16 +4,15 @@
 
 package edu.wpi.first.wpilibj2.command.button;
 
-import java.util.function.BooleanSupplier;
-
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Subsystem;
+import java.util.function.BooleanSupplier;
 
 /**
  * This class provides an easy way to link commands to OI inputs.
  *
- * <p>It is very easy to link a button to a command. For instance, you could link the trigger
- * button of a joystick to a "score" command.
+ * <p>It is very easy to link a button to a command. For instance, you could link the trigger button
+ * of a joystick to a "score" command.
  *
  * <p>This class represents a subclass of Trigger that is specifically aimed at buttons on an
  * operator interface as a common use case of the more generalized Trigger objects. This is a simple
@@ -24,8 +23,7 @@ public class Button extends Trigger {
    * Default constructor; creates a button that is never pressed (unless {@link Button#get()} is
    * overridden).
    */
-  public Button() {
-  }
+  public Button() {}
 
   /**
    * Creates a new button with the given condition determining whether it is pressed.
@@ -39,7 +37,7 @@ public class Button extends Trigger {
   /**
    * Starts the given command whenever the button is newly pressed.
    *
-   * @param command       the command to start
+   * @param command the command to start
    * @param interruptible whether the command is interruptible
    * @return this button, so calls can be chained
    */
@@ -63,7 +61,7 @@ public class Button extends Trigger {
   /**
    * Runs the given runnable whenever the button is newly pressed.
    *
-   * @param toRun        the runnable to run
+   * @param toRun the runnable to run
    * @param requirements the required subsystems
    * @return this button, so calls can be chained
    */
@@ -75,10 +73,10 @@ public class Button extends Trigger {
   /**
    * Constantly starts the given command while the button is held.
    *
-   * {@link Command#schedule(boolean)} will be called repeatedly while the button is held, and will
-   * be canceled when the button is released.
+   * <p>{@link Command#schedule(boolean)} will be called repeatedly while the button is held, and
+   * will be canceled when the button is released.
    *
-   * @param command       the command to start
+   * @param command the command to start
    * @param interruptible whether the command is interruptible
    * @return this button, so calls can be chained
    */
@@ -90,8 +88,8 @@ public class Button extends Trigger {
   /**
    * Constantly starts the given command while the button is held.
    *
-   * {@link Command#schedule(boolean)} will be called repeatedly while the button is held, and will
-   * be canceled when the button is released.  The command is set to be interruptible.
+   * <p>{@link Command#schedule(boolean)} will be called repeatedly while the button is held, and
+   * will be canceled when the button is released. The command is set to be interruptible.
    *
    * @param command the command to start
    * @return this button, so calls can be chained
@@ -104,7 +102,7 @@ public class Button extends Trigger {
   /**
    * Constantly runs the given runnable while the button is held.
    *
-   * @param toRun        the runnable to run
+   * @param toRun the runnable to run
    * @param requirements the required subsystems
    * @return this button, so calls can be chained
    */
@@ -117,7 +115,7 @@ public class Button extends Trigger {
    * Starts the given command when the button is first pressed, and cancels it when it is released,
    * but does not start it again if it ends or is otherwise interrupted.
    *
-   * @param command       the command to start
+   * @param command the command to start
    * @param interruptible whether the command is interruptible
    * @return this button, so calls can be chained
    */
@@ -128,7 +126,7 @@ public class Button extends Trigger {
 
   /**
    * Starts the given command when the button is first pressed, and cancels it when it is released,
-   * but does not start it again if it ends or is otherwise interrupted.  The command is set to be
+   * but does not start it again if it ends or is otherwise interrupted. The command is set to be
    * interruptible.
    *
    * @param command the command to start
@@ -139,11 +137,10 @@ public class Button extends Trigger {
     return this;
   }
 
-
   /**
    * Starts the command when the button is released.
    *
-   * @param command       the command to start
+   * @param command the command to start
    * @param interruptible whether the command is interruptible
    * @return this button, so calls can be chained
    */
@@ -153,7 +150,7 @@ public class Button extends Trigger {
   }
 
   /**
-   * Starts the command when the button is released.  The command is set to be interruptible.
+   * Starts the command when the button is released. The command is set to be interruptible.
    *
    * @param command the command to start
    * @return this button, so calls can be chained
@@ -166,7 +163,7 @@ public class Button extends Trigger {
   /**
    * Runs the given runnable when the button is released.
    *
-   * @param toRun        the runnable to run
+   * @param toRun the runnable to run
    * @param requirements the required subsystems
    * @return this button, so calls can be chained
    */
@@ -178,7 +175,7 @@ public class Button extends Trigger {
   /**
    * Toggles the command whenever the button is pressed (on then off then on).
    *
-   * @param command       the command to start
+   * @param command the command to start
    * @param interruptible whether the command is interruptible
    */
   public Button toggleWhenPressed(final Command command, boolean interruptible) {
@@ -187,8 +184,8 @@ public class Button extends Trigger {
   }
 
   /**
-   * Toggles the command whenever the button is pressed (on then off then on).  The command is set
-   * to be interruptible.
+   * Toggles the command whenever the button is pressed (on then off then on). The command is set to
+   * be interruptible.
    *
    * @param command the command to start
    * @return this button, so calls can be chained
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/InternalButton.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/InternalButton.java
index 1426779c32..e02f07836c 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/InternalButton.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/InternalButton.java
@@ -12,9 +12,7 @@ public class InternalButton extends Button {
   private boolean m_pressed;
   private boolean m_inverted;
 
-  /**
-   * Creates an InternalButton that is not inverted.
-   */
+  /** Creates an InternalButton that is not inverted. */
   public InternalButton() {
     this(false);
   }
@@ -23,7 +21,7 @@ public class InternalButton extends Button {
    * Creates an InternalButton which is inverted depending on the input.
    *
    * @param inverted if false, then this button is pressed when set to true, otherwise it is pressed
-   *                 when set to false.
+   *     when set to false.
    */
   public InternalButton(boolean inverted) {
     m_pressed = m_inverted = inverted;
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/JoystickButton.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/JoystickButton.java
index b2155b9579..c42ab4f5a4 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/JoystickButton.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/JoystickButton.java
@@ -4,13 +4,11 @@
 
 package edu.wpi.first.wpilibj2.command.button;
 
-import edu.wpi.first.wpilibj.GenericHID;
-
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
-/**
- * A {@link Button} that gets its state from a {@link GenericHID}.
- */
+import edu.wpi.first.wpilibj.GenericHID;
+
+/** A {@link Button} that gets its state from a {@link GenericHID}. */
 public class JoystickButton extends Button {
   private final GenericHID m_joystick;
   private final int m_buttonNumber;
@@ -18,8 +16,7 @@ public class JoystickButton extends Button {
   /**
    * Creates a joystick button for triggering commands.
    *
-   * @param joystick     The GenericHID object that has the button (e.g. Joystick, KinectStick,
-   *                     etc)
+   * @param joystick The GenericHID object that has the button (e.g. Joystick, KinectStick, etc)
    * @param buttonNumber The button number (see {@link GenericHID#getRawButton(int) }
    */
   public JoystickButton(GenericHID joystick, int buttonNumber) {
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/NetworkButton.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/NetworkButton.java
index f8711aa3f9..ec4f81924f 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/NetworkButton.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/NetworkButton.java
@@ -8,9 +8,7 @@ import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
 
-/**
- * A {@link Button} that uses a {@link NetworkTable} boolean field.
- */
+/** A {@link Button} that uses a {@link NetworkTable} boolean field. */
 public class NetworkButton extends Button {
   private final NetworkTableEntry m_entry;
 
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/POVButton.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/POVButton.java
index 677d2766fa..bd0c585b12 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/POVButton.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/POVButton.java
@@ -4,13 +4,11 @@
 
 package edu.wpi.first.wpilibj2.command.button;
 
-import edu.wpi.first.wpilibj.GenericHID;
-
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
-/**
- * A {@link Button} that gets its state from a POV on a {@link GenericHID}.
- */
+import edu.wpi.first.wpilibj.GenericHID;
+
+/** A {@link Button} that gets its state from a POV on a {@link GenericHID}. */
 public class POVButton extends Button {
   private final GenericHID m_joystick;
   private final int m_angle;
@@ -32,8 +30,7 @@ public class POVButton extends Button {
   }
 
   /**
-   * Creates a POV button for triggering commands.
-   * By default, acts on POV 0
+   * Creates a POV button for triggering commands. By default, acts on POV 0
    *
    * @param joystick The GenericHID object that has the POV
    * @param angle The desired angle (e.g. 90, 270)
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java
index 245bb9cb5d..866d701f3c 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java
@@ -4,25 +4,24 @@
 
 package edu.wpi.first.wpilibj2.command.button;
 
-import java.util.function.BooleanSupplier;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.Subsystem;
-
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import java.util.function.BooleanSupplier;
 
 /**
  * This class provides an easy way to link commands to inputs.
  *
- * <p>It is very easy to link a button to a command. For instance, you could link the trigger
- * button of a joystick to a "score" command.
+ * <p>It is very easy to link a button to a command. For instance, you could link the trigger button
+ * of a joystick to a "score" command.
  *
- * <p>It is encouraged that teams write a subclass of Trigger if they want to have something
- * unusual (for instance, if they want to react to the user holding a button while the robot is
- * reading a certain sensor input). For this, they only have to write the {@link Trigger#get()}
- * method to get the full functionality of the Trigger class.
+ * <p>It is encouraged that teams write a subclass of Trigger if they want to have something unusual
+ * (for instance, if they want to react to the user holding a button while the robot is reading a
+ * certain sensor input). For this, they only have to write the {@link Trigger#get()} method to get
+ * the full functionality of the Trigger class.
  */
 public class Trigger {
   private final BooleanSupplier m_isActive;
@@ -37,7 +36,7 @@ public class Trigger {
   }
 
   /**
-   * Creates a new trigger that is always inactive.  Useful only as a no-arg constructor for
+   * Creates a new trigger that is always inactive. Useful only as a no-arg constructor for
    * subclasses that will be overriding {@link Trigger#get()} anyway.
    */
   public Trigger() {
@@ -58,33 +57,35 @@ public class Trigger {
   /**
    * Starts the given command whenever the trigger just becomes active.
    *
-   * @param command       the command to start
+   * @param command the command to start
    * @param interruptible whether the command is interruptible
    * @return this trigger, so calls can be chained
    */
   public Trigger whenActive(final Command command, boolean interruptible) {
     requireNonNullParam(command, "command", "whenActive");
 
-    CommandScheduler.getInstance().addButton(new Runnable() {
-      private boolean m_pressedLast = get();
+    CommandScheduler.getInstance()
+        .addButton(
+            new Runnable() {
+              private boolean m_pressedLast = get();
 
-      @Override
-      public void run() {
-        boolean pressed = get();
+              @Override
+              public void run() {
+                boolean pressed = get();
 
-        if (!m_pressedLast && pressed) {
-          command.schedule(interruptible);
-        }
+                if (!m_pressedLast && pressed) {
+                  command.schedule(interruptible);
+                }
 
-        m_pressedLast = pressed;
-      }
-    });
+                m_pressedLast = pressed;
+              }
+            });
 
     return this;
   }
 
   /**
-   * Starts the given command whenever the trigger just becomes active.  The command is set to be
+   * Starts the given command whenever the trigger just becomes active. The command is set to be
    * interruptible.
    *
    * @param command the command to start
@@ -97,7 +98,7 @@ public class Trigger {
   /**
    * Runs the given runnable whenever the trigger just becomes active.
    *
-   * @param toRun        the runnable to run
+   * @param toRun the runnable to run
    * @param requirements the required subsystems
    * @return this trigger, so calls can be chained
    */
@@ -108,40 +109,42 @@ public class Trigger {
   /**
    * Constantly starts the given command while the button is held.
    *
-   * {@link Command#schedule(boolean)} will be called repeatedly while the trigger is active, and
+   * <p>{@link Command#schedule(boolean)} will be called repeatedly while the trigger is active, and
    * will be canceled when the trigger becomes inactive.
    *
-   * @param command       the command to start
+   * @param command the command to start
    * @param interruptible whether the command is interruptible
    * @return this trigger, so calls can be chained
    */
   public Trigger whileActiveContinuous(final Command command, boolean interruptible) {
     requireNonNullParam(command, "command", "whileActiveContinuous");
 
-    CommandScheduler.getInstance().addButton(new Runnable() {
-      private boolean m_pressedLast = get();
+    CommandScheduler.getInstance()
+        .addButton(
+            new Runnable() {
+              private boolean m_pressedLast = get();
 
-      @Override
-      public void run() {
-        boolean pressed = get();
+              @Override
+              public void run() {
+                boolean pressed = get();
 
-        if (pressed) {
-          command.schedule(interruptible);
-        } else if (m_pressedLast) {
-          command.cancel();
-        }
+                if (pressed) {
+                  command.schedule(interruptible);
+                } else if (m_pressedLast) {
+                  command.cancel();
+                }
 
-        m_pressedLast = pressed;
-      }
-    });
+                m_pressedLast = pressed;
+              }
+            });
     return this;
   }
 
   /**
    * Constantly starts the given command while the button is held.
    *
-   * {@link Command#schedule(boolean)} will be called repeatedly while the trigger is active, and
-   * will be canceled when the trigger becomes inactive.  The command is set to be interruptible.
+   * <p>{@link Command#schedule(boolean)} will be called repeatedly while the trigger is active, and
+   * will be canceled when the trigger becomes inactive. The command is set to be interruptible.
    *
    * @param command the command to start
    * @return this trigger, so calls can be chained
@@ -153,7 +156,7 @@ public class Trigger {
   /**
    * Constantly runs the given runnable while the button is held.
    *
-   * @param toRun        the runnable to run
+   * @param toRun the runnable to run
    * @param requirements the required subsystems
    * @return this trigger, so calls can be chained
    */
@@ -165,35 +168,37 @@ public class Trigger {
    * Starts the given command when the trigger initially becomes active, and ends it when it becomes
    * inactive, but does not re-start it in-between.
    *
-   * @param command       the command to start
+   * @param command the command to start
    * @param interruptible whether the command is interruptible
    * @return this trigger, so calls can be chained
    */
   public Trigger whileActiveOnce(final Command command, boolean interruptible) {
     requireNonNullParam(command, "command", "whileActiveOnce");
 
-    CommandScheduler.getInstance().addButton(new Runnable() {
-      private boolean m_pressedLast = get();
+    CommandScheduler.getInstance()
+        .addButton(
+            new Runnable() {
+              private boolean m_pressedLast = get();
 
-      @Override
-      public void run() {
-        boolean pressed = get();
+              @Override
+              public void run() {
+                boolean pressed = get();
 
-        if (!m_pressedLast && pressed) {
-          command.schedule(interruptible);
-        } else if (m_pressedLast && !pressed) {
-          command.cancel();
-        }
+                if (!m_pressedLast && pressed) {
+                  command.schedule(interruptible);
+                } else if (m_pressedLast && !pressed) {
+                  command.cancel();
+                }
 
-        m_pressedLast = pressed;
-      }
-    });
+                m_pressedLast = pressed;
+              }
+            });
     return this;
   }
 
   /**
    * Starts the given command when the trigger initially becomes active, and ends it when it becomes
-   * inactive, but does not re-start it in-between.  The command is set to be interruptible.
+   * inactive, but does not re-start it in-between. The command is set to be interruptible.
    *
    * @param command the command to start
    * @return this trigger, so calls can be chained
@@ -205,32 +210,34 @@ public class Trigger {
   /**
    * Starts the command when the trigger becomes inactive.
    *
-   * @param command       the command to start
+   * @param command the command to start
    * @param interruptible whether the command is interruptible
    * @return this trigger, so calls can be chained
    */
   public Trigger whenInactive(final Command command, boolean interruptible) {
     requireNonNullParam(command, "command", "whenInactive");
 
-    CommandScheduler.getInstance().addButton(new Runnable() {
-      private boolean m_pressedLast = get();
+    CommandScheduler.getInstance()
+        .addButton(
+            new Runnable() {
+              private boolean m_pressedLast = get();
 
-      @Override
-      public void run() {
-        boolean pressed = get();
+              @Override
+              public void run() {
+                boolean pressed = get();
 
-        if (m_pressedLast && !pressed) {
-          command.schedule(interruptible);
-        }
+                if (m_pressedLast && !pressed) {
+                  command.schedule(interruptible);
+                }
 
-        m_pressedLast = pressed;
-      }
-    });
+                m_pressedLast = pressed;
+              }
+            });
     return this;
   }
 
   /**
-   * Starts the command when the trigger becomes inactive.  The command is set to be interruptible.
+   * Starts the command when the trigger becomes inactive. The command is set to be interruptible.
    *
    * @param command the command to start
    * @return this trigger, so calls can be chained
@@ -242,7 +249,7 @@ public class Trigger {
   /**
    * Runs the given runnable when the trigger becomes inactive.
    *
-   * @param toRun        the runnable to run
+   * @param toRun the runnable to run
    * @param requirements the required subsystems
    * @return this trigger, so calls can be chained
    */
@@ -253,36 +260,38 @@ public class Trigger {
   /**
    * Toggles a command when the trigger becomes active.
    *
-   * @param command       the command to toggle
+   * @param command the command to toggle
    * @param interruptible whether the command is interruptible
    * @return this trigger, so calls can be chained
    */
   public Trigger toggleWhenActive(final Command command, boolean interruptible) {
     requireNonNullParam(command, "command", "toggleWhenActive");
 
-    CommandScheduler.getInstance().addButton(new Runnable() {
-      private boolean m_pressedLast = get();
+    CommandScheduler.getInstance()
+        .addButton(
+            new Runnable() {
+              private boolean m_pressedLast = get();
 
-      @Override
-      public void run() {
-        boolean pressed = get();
+              @Override
+              public void run() {
+                boolean pressed = get();
 
-        if (!m_pressedLast && pressed) {
-          if (command.isScheduled()) {
-            command.cancel();
-          } else {
-            command.schedule(interruptible);
-          }
-        }
+                if (!m_pressedLast && pressed) {
+                  if (command.isScheduled()) {
+                    command.cancel();
+                  } else {
+                    command.schedule(interruptible);
+                  }
+                }
 
-        m_pressedLast = pressed;
-      }
-    });
+                m_pressedLast = pressed;
+              }
+            });
     return this;
   }
 
   /**
-   * Toggles a command when the trigger becomes active.  The command is set to be interruptible.
+   * Toggles a command when the trigger becomes active. The command is set to be interruptible.
    *
    * @param command the command to toggle
    * @return this trigger, so calls can be chained
@@ -300,20 +309,22 @@ public class Trigger {
   public Trigger cancelWhenActive(final Command command) {
     requireNonNullParam(command, "command", "cancelWhenActive");
 
-    CommandScheduler.getInstance().addButton(new Runnable() {
-      private boolean m_pressedLast = get();
+    CommandScheduler.getInstance()
+        .addButton(
+            new Runnable() {
+              private boolean m_pressedLast = get();
 
-      @Override
-      public void run() {
-        boolean pressed = get();
+              @Override
+              public void run() {
+                boolean pressed = get();
 
-        if (!m_pressedLast && pressed) {
-          command.cancel();
-        }
+                if (!m_pressedLast && pressed) {
+                  command.cancel();
+                }
 
-        m_pressedLast = pressed;
-      }
-    });
+                m_pressedLast = pressed;
+              }
+            });
     return this;
   }
 
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/MockHardwareExtension.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/MockHardwareExtension.java
index 30ae253c00..b0ffc88651 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/MockHardwareExtension.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/MockHardwareExtension.java
@@ -4,13 +4,12 @@
 
 package edu.wpi.first.wpilibj2;
 
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.simulation.DriverStationSim;
 import org.junit.jupiter.api.extension.BeforeAllCallback;
 import org.junit.jupiter.api.extension.ExtensionContext;
 import org.junit.jupiter.api.extension.ExtensionContext.Namespace;
 
-import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.simulation.DriverStationSim;
-
 public final class MockHardwareExtension implements BeforeAllCallback {
   private static ExtensionContext getRoot(ExtensionContext context) {
     return context.getParent().map(MockHardwareExtension::getRoot).orElse(context);
@@ -18,10 +17,15 @@ public final class MockHardwareExtension implements BeforeAllCallback {
 
   @Override
   public void beforeAll(ExtensionContext context) {
-    getRoot(context).getStore(Namespace.GLOBAL).getOrComputeIfAbsent("HAL Initialized", key -> {
-      initializeHardware();
-      return true;
-    }, Boolean.class);
+    getRoot(context)
+        .getStore(Namespace.GLOBAL)
+        .getOrComputeIfAbsent(
+            "HAL Initialized",
+            key -> {
+              initializeHardware();
+              return true;
+            },
+            Boolean.class);
   }
 
   private void initializeHardware() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java
index ec701e6819..b2f482c113 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java
@@ -4,14 +4,13 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-import org.junit.jupiter.api.parallel.ResourceLock;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.simulation.SimHooks;
-
-import static org.junit.jupiter.api.Assertions.assertFalse;
-import static org.junit.jupiter.api.Assertions.assertTrue;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.api.parallel.ResourceLock;
 
 class CommandDecoratorTest extends CommandTestBase {
   @Test
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandGroupErrorTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandGroupErrorTest.java
index 9c8dea8ec2..c3136db69f 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandGroupErrorTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandGroupErrorTest.java
@@ -4,11 +4,11 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertThrows;
 
+import org.junit.jupiter.api.Test;
+
 class CommandGroupErrorTest extends CommandTestBase {
   @Test
   void commandInMultipleGroupsTest() {
@@ -20,8 +20,8 @@ class CommandGroupErrorTest extends CommandTestBase {
 
     @SuppressWarnings("PMD.UnusedLocalVariable")
     Command group = new ParallelCommandGroup(command1, command2);
-    assertThrows(IllegalArgumentException.class,
-        () -> new ParallelCommandGroup(command1, command2));
+    assertThrows(
+        IllegalArgumentException.class, () -> new ParallelCommandGroup(command1, command2));
   }
 
   @Test
@@ -35,8 +35,7 @@ class CommandGroupErrorTest extends CommandTestBase {
       @SuppressWarnings("PMD.UnusedLocalVariable")
       Command group = new ParallelCommandGroup(command1, command2);
 
-      assertThrows(IllegalArgumentException.class,
-          () -> scheduler.schedule(command1));
+      assertThrows(IllegalArgumentException.class, () -> scheduler.schedule(command1));
     }
   }
 
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandRequirementsTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandRequirementsTest.java
index 9b33781173..b5058c75a9 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandRequirementsTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandRequirementsTest.java
@@ -4,13 +4,13 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertThrows;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 import static org.mockito.Mockito.verify;
 
+import org.junit.jupiter.api.Test;
+
 class CommandRequirementsTest extends CommandTestBase {
   @Test
   void requirementInterruptTest() {
@@ -63,13 +63,12 @@ class CommandRequirementsTest extends CommandTestBase {
       Subsystem system = new TestSubsystem();
 
       Command missingRequirement = new WaitUntilCommand(() -> false);
-      Command ends = new InstantCommand(() -> {
-      }, system);
+      Command ends = new InstantCommand(() -> {}, system);
 
-      assertThrows(IllegalArgumentException.class,
+      assertThrows(
+          IllegalArgumentException.class,
           () -> scheduler.setDefaultCommand(system, missingRequirement));
-      assertThrows(IllegalArgumentException.class,
-          () -> scheduler.setDefaultCommand(system, ends));
+      assertThrows(IllegalArgumentException.class, () -> scheduler.setDefaultCommand(system, ends));
     }
   }
 }
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandScheduleTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandScheduleTest.java
index cd5fea31a5..a30a6ca667 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandScheduleTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandScheduleTest.java
@@ -4,8 +4,6 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
@@ -13,6 +11,8 @@ import static org.mockito.Mockito.never;
 import static org.mockito.Mockito.times;
 import static org.mockito.Mockito.verify;
 
+import org.junit.jupiter.api.Test;
+
 class CommandScheduleTest extends CommandTestBase {
   @Test
   void instantScheduleTest() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandTestBase.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandTestBase.java
index 69703e0bab..0555932649 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandTestBase.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandTestBase.java
@@ -4,19 +4,15 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.Set;
-
-import org.junit.jupiter.api.BeforeEach;
-
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.simulation.DriverStationSim;
-
 import static org.mockito.Mockito.mock;
 import static org.mockito.Mockito.when;
 
-/**
- * Basic setup for all {@link Command tests}."
- */
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.simulation.DriverStationSim;
+import java.util.Set;
+import org.junit.jupiter.api.BeforeEach;
+
+/** Basic setup for all {@link Command tests}." */
 @SuppressWarnings("PMD.AbstractClassWithoutAbstractMethod")
 public abstract class CommandTestBase {
   @BeforeEach
@@ -44,8 +40,7 @@ public abstract class CommandTestBase {
     }
   }
 
-  public class TestSubsystem extends SubsystemBase {
-  }
+  public class TestSubsystem extends SubsystemBase {}
 
   public class MockCommandHolder {
     private final Command m_mockCommand = mock(Command.class);
@@ -63,7 +58,6 @@ public abstract class CommandTestBase {
     public void setFinished(boolean finished) {
       when(m_mockCommand.isFinished()).thenReturn(finished);
     }
-
   }
 
   public class Counter {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ConditionalCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ConditionalCommandTest.java
index 695b7973b9..ccf4205953 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ConditionalCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ConditionalCommandTest.java
@@ -4,12 +4,12 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.mockito.Mockito.never;
 import static org.mockito.Mockito.verify;
 
+import org.junit.jupiter.api.Test;
+
 class ConditionalCommandTest extends CommandTestBase {
   @Test
   void conditionalCommandTest() {
@@ -52,8 +52,7 @@ class ConditionalCommandTest extends CommandTestBase {
           new ConditionalCommand(command1, command2, () -> true);
 
       scheduler.schedule(conditionalCommand);
-      scheduler.schedule(new InstantCommand(() -> {
-      }, system3));
+      scheduler.schedule(new InstantCommand(() -> {}, system3));
 
       assertFalse(scheduler.isScheduled(conditionalCommand));
 
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/DefaultCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/DefaultCommandTest.java
index c738cf8625..dc910fc701 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/DefaultCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/DefaultCommandTest.java
@@ -4,12 +4,12 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 import static org.mockito.Mockito.verify;
 
+import org.junit.jupiter.api.Test;
+
 class DefaultCommandTest extends CommandTestBase {
   @Test
   void defaultCommandScheduleTest() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/FunctionalCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/FunctionalCommandTest.java
index 1beea19d23..e6a073f4d8 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/FunctionalCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/FunctionalCommandTest.java
@@ -4,11 +4,11 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import org.junit.jupiter.api.Test;
+
 class FunctionalCommandTest extends CommandTestBase {
   @Test
   void functionalCommandScheduleTest() {
@@ -19,8 +19,11 @@ class FunctionalCommandTest extends CommandTestBase {
       ConditionHolder cond4 = new ConditionHolder();
 
       FunctionalCommand command =
-          new FunctionalCommand(() -> cond1.setCondition(true), () -> cond2.setCondition(true),
-              interrupted -> cond3.setCondition(true), cond4::getCondition);
+          new FunctionalCommand(
+              () -> cond1.setCondition(true),
+              () -> cond2.setCondition(true),
+              interrupted -> cond3.setCondition(true),
+              cond4::getCondition);
 
       scheduler.schedule(command);
       scheduler.run();
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/InstantCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/InstantCommandTest.java
index 1b0787ac35..88c55a66e6 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/InstantCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/InstantCommandTest.java
@@ -4,11 +4,11 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import org.junit.jupiter.api.Test;
+
 class InstantCommandTest extends CommandTestBase {
   @Test
   void instantCommandScheduleTest() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java
index 0c66cbb307..8c5489d7ea 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java
@@ -4,12 +4,8 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.ArrayList;
-
-import org.junit.jupiter.api.AfterEach;
-import org.junit.jupiter.api.BeforeEach;
-import org.junit.jupiter.api.Test;
-import org.junit.jupiter.api.parallel.ResourceLock;
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.Timer;
@@ -25,9 +21,11 @@ import edu.wpi.first.wpilibj.simulation.SimHooks;
 import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
 import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
 import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
-
-import static org.junit.jupiter.api.Assertions.assertAll;
-import static org.junit.jupiter.api.Assertions.assertEquals;
+import java.util.ArrayList;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.api.parallel.ResourceLock;
 
 class MecanumControllerCommandTest {
   @BeforeEach
@@ -49,8 +47,8 @@ class MecanumControllerCommandTest {
   private double m_frontRightSpeed;
   private double m_rearRightSpeed;
 
-  private final ProfiledPIDController m_rotController = new ProfiledPIDController(1, 0, 0,
-      new TrapezoidProfile.Constraints(3 * Math.PI, Math.PI));
+  private final ProfiledPIDController m_rotController =
+      new ProfiledPIDController(1, 0, 0, new TrapezoidProfile.Constraints(3 * Math.PI, Math.PI));
 
   private static final double kxTolerance = 1 / 12.0;
   private static final double kyTolerance = 1 / 12.0;
@@ -59,14 +57,16 @@ class MecanumControllerCommandTest {
   private static final double kWheelBase = 0.5;
   private static final double kTrackWidth = 0.5;
 
-  private final MecanumDriveKinematics m_kinematics = new MecanumDriveKinematics(
-      new Translation2d(kWheelBase / 2, kTrackWidth / 2),
-      new Translation2d(kWheelBase / 2, -kTrackWidth / 2),
-      new Translation2d(-kWheelBase / 2, kTrackWidth / 2),
-      new Translation2d(-kWheelBase / 2, -kTrackWidth / 2));
+  private final MecanumDriveKinematics m_kinematics =
+      new MecanumDriveKinematics(
+          new Translation2d(kWheelBase / 2, kTrackWidth / 2),
+          new Translation2d(kWheelBase / 2, -kTrackWidth / 2),
+          new Translation2d(-kWheelBase / 2, kTrackWidth / 2),
+          new Translation2d(-kWheelBase / 2, -kTrackWidth / 2));
 
-  private final MecanumDriveOdometry m_odometry = new MecanumDriveOdometry(m_kinematics,
-      new Rotation2d(0), new Pose2d(0, 0, new Rotation2d(0)));
+  private final MecanumDriveOdometry m_odometry =
+      new MecanumDriveOdometry(
+          m_kinematics, new Rotation2d(0), new Pose2d(0, 0, new Rotation2d(0)));
 
   public void setWheelSpeeds(MecanumDriveWheelSpeeds wheelSpeeds) {
     this.m_frontLeftSpeed = wheelSpeeds.frontLeftMetersPerSecond;
@@ -76,8 +76,8 @@ class MecanumControllerCommandTest {
   }
 
   public MecanumDriveWheelSpeeds getCurrentWheelSpeeds() {
-    return new MecanumDriveWheelSpeeds(m_frontLeftSpeed,
-      m_frontRightSpeed, m_rearLeftSpeed, m_rearRightSpeed);
+    return new MecanumDriveWheelSpeeds(
+        m_frontLeftSpeed, m_frontRightSpeed, m_rearLeftSpeed, m_rearRightSpeed);
   }
 
   public Pose2d getRobotPose() {
@@ -99,15 +99,17 @@ class MecanumControllerCommandTest {
 
     final var endState = trajectory.sample(trajectory.getTotalTimeSeconds());
 
-    final var command = new MecanumControllerCommand(trajectory,
-        this::getRobotPose,
-        m_kinematics,
-        new PIDController(0.6, 0, 0),
-        new PIDController(0.6, 0, 0),
-        m_rotController,
-        8.8,
-        this::setWheelSpeeds,
-        subsystem);
+    final var command =
+        new MecanumControllerCommand(
+            trajectory,
+            this::getRobotPose,
+            m_kinematics,
+            new PIDController(0.6, 0, 0),
+            new PIDController(0.6, 0, 0),
+            m_rotController,
+            8.8,
+            this::setWheelSpeeds,
+            subsystem);
 
     m_timer.reset();
     m_timer.start();
@@ -122,12 +124,12 @@ class MecanumControllerCommandTest {
     command.end(true);
 
     assertAll(
-        () -> assertEquals(endState.poseMeters.getX(),
-          getRobotPose().getX(), kxTolerance),
-        () -> assertEquals(endState.poseMeters.getY(),
-          getRobotPose().getY(), kyTolerance),
-        () -> assertEquals(endState.poseMeters.getRotation().getRadians(),
-          getRobotPose().getRotation().getRadians(), kAngularTolerance)
-    );
+        () -> assertEquals(endState.poseMeters.getX(), getRobotPose().getX(), kxTolerance),
+        () -> assertEquals(endState.poseMeters.getY(), getRobotPose().getY(), kyTolerance),
+        () ->
+            assertEquals(
+                endState.poseMeters.getRotation().getRadians(),
+                getRobotPose().getRotation().getRadians(),
+                kAngularTolerance));
   }
 }
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/NotifierCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/NotifierCommandTest.java
index 8155572fcd..283a3ded22 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/NotifierCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/NotifierCommandTest.java
@@ -4,16 +4,15 @@
 
 package edu.wpi.first.wpilibj2.command;
 
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.simulation.SimHooks;
 import org.junit.jupiter.api.AfterEach;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 import org.junit.jupiter.api.parallel.ResourceLock;
 
-import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.simulation.SimHooks;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
-
 class NotifierCommandTest extends CommandTestBase {
   @BeforeEach
   void setup() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroupTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroupTest.java
index 2ec8e480df..afc32aef69 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroupTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroupTest.java
@@ -4,8 +4,6 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertThrows;
@@ -14,6 +12,8 @@ import static org.mockito.Mockito.never;
 import static org.mockito.Mockito.times;
 import static org.mockito.Mockito.verify;
 
+import org.junit.jupiter.api.Test;
+
 class ParallelCommandGroupTest extends CommandTestBase {
   @Test
   void parallelGroupScheduleTest() {
@@ -123,7 +123,7 @@ class ParallelCommandGroupTest extends CommandTestBase {
     MockCommandHolder command2Holder = new MockCommandHolder(true, system2, system3);
     Command command2 = command2Holder.getMock();
 
-    assertThrows(IllegalArgumentException.class,
-        () -> new ParallelCommandGroup(command1, command2));
+    assertThrows(
+        IllegalArgumentException.class, () -> new ParallelCommandGroup(command1, command2));
   }
 }
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroupTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroupTest.java
index cc7fa08d25..1fe3866794 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroupTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroupTest.java
@@ -4,8 +4,6 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertThrows;
 import static org.junit.jupiter.api.Assertions.assertTrue;
@@ -13,6 +11,8 @@ import static org.mockito.Mockito.never;
 import static org.mockito.Mockito.verify;
 import static org.mockito.internal.verification.VerificationModeFactory.times;
 
+import org.junit.jupiter.api.Test;
+
 class ParallelDeadlineGroupTest extends CommandTestBase {
   @Test
   void parallelDeadlineScheduleTest() {
@@ -83,7 +83,6 @@ class ParallelDeadlineGroupTest extends CommandTestBase {
     }
   }
 
-
   @Test
   void parallelDeadlineRequirementTest() {
     Subsystem system1 = new TestSubsystem();
@@ -120,7 +119,7 @@ class ParallelDeadlineGroupTest extends CommandTestBase {
     MockCommandHolder command2Holder = new MockCommandHolder(true, system2, system3);
     Command command2 = command2Holder.getMock();
 
-    assertThrows(IllegalArgumentException.class,
-        () -> new ParallelDeadlineGroup(command1, command2));
+    assertThrows(
+        IllegalArgumentException.class, () -> new ParallelDeadlineGroup(command1, command2));
   }
 }
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroupTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroupTest.java
index c4e37452f4..3201a52c63 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroupTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroupTest.java
@@ -4,8 +4,6 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertNotNull;
@@ -16,6 +14,8 @@ import static org.mockito.Mockito.reset;
 import static org.mockito.Mockito.times;
 import static org.mockito.Mockito.verify;
 
+import org.junit.jupiter.api.Test;
+
 class ParallelRaceGroupTest extends CommandTestBase {
   @Test
   void parallelRaceScheduleTest() {
@@ -89,7 +89,6 @@ class ParallelRaceGroupTest extends CommandTestBase {
     }
   }
 
-
   @Test
   void parallelRaceRequirementTest() {
     Subsystem system1 = new TestSubsystem();
@@ -202,5 +201,4 @@ class ParallelRaceGroupTest extends CommandTestBase {
       assertFalse(scheduler.isScheduled(group));
     }
   }
-
 }
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/PerpetualCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/PerpetualCommandTest.java
index 2d093f4b81..f9e93a3110 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/PerpetualCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/PerpetualCommandTest.java
@@ -4,10 +4,10 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import org.junit.jupiter.api.Test;
+
 class PerpetualCommandTest extends CommandTestBase {
   @Test
   void perpetualCommandScheduleTest() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/PrintCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/PrintCommandTest.java
index 21e051ba27..6abd94b987 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/PrintCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/PrintCommandTest.java
@@ -4,14 +4,13 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.io.ByteArrayOutputStream;
-import java.io.PrintStream;
-
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 
+import java.io.ByteArrayOutputStream;
+import java.io.PrintStream;
+import org.junit.jupiter.api.Test;
+
 class PrintCommandTest extends CommandTestBase {
   @Test
   void printCommandScheduleTest() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommandTest.java
index 6f4d8be65b..3c346888b2 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommandTest.java
@@ -4,12 +4,12 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 import static org.mockito.Mockito.verify;
 
+import org.junit.jupiter.api.Test;
+
 class ProxyScheduleCommandTest extends CommandTestBase {
   @Test
   void proxyScheduleCommandScheduleTest() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RobotDisabledCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RobotDisabledCommandTest.java
index 9ea8355845..b807c71313 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RobotDisabledCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RobotDisabledCommandTest.java
@@ -4,14 +4,13 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.Map;
-
-import org.junit.jupiter.api.Test;
-
 import static edu.wpi.first.wpilibj2.command.CommandGroupBase.parallel;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import java.util.Map;
+import org.junit.jupiter.api.Test;
+
 class RobotDisabledCommandTest extends CommandTestBase {
   @Test
   void robotDisabledCommandCancelTest() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RunCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RunCommandTest.java
index c417429dcf..92e2d75a31 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RunCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RunCommandTest.java
@@ -4,10 +4,10 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
+import org.junit.jupiter.api.Test;
+
 class RunCommandTest extends CommandTestBase {
   @Test
   void runCommandScheduleTest() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ScheduleCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ScheduleCommandTest.java
index 8add4b2219..c9ae4b2820 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ScheduleCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ScheduleCommandTest.java
@@ -4,11 +4,11 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.mockito.Mockito.verify;
 
+import org.junit.jupiter.api.Test;
+
 class ScheduleCommandTest extends CommandTestBase {
   @Test
   void scheduleCommandScheduleTest() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SchedulerTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SchedulerTest.java
index 118b6be8e0..558ef570dc 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SchedulerTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SchedulerTest.java
@@ -4,11 +4,11 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
+import org.junit.jupiter.api.Test;
+
 class SchedulerTest extends CommandTestBase {
   @Test
   void schedulerLambdaTestNoInterrupt() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SelectCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SelectCommandTest.java
index 4230241422..de40ef8de0 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SelectCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SelectCommandTest.java
@@ -4,15 +4,14 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.Map;
-
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.mockito.Mockito.never;
 import static org.mockito.Mockito.verify;
 
+import java.util.Map;
+import org.junit.jupiter.api.Test;
+
 class SelectCommandTest extends CommandTestBase {
   @Test
   void selectCommandTest() {
@@ -26,10 +25,11 @@ class SelectCommandTest extends CommandTestBase {
       Command command3 = command3Holder.getMock();
 
       SelectCommand selectCommand =
-          new SelectCommand(Map.ofEntries(
-              Map.entry("one", command1),
-              Map.entry("two", command2),
-              Map.entry("three", command3)),
+          new SelectCommand(
+              Map.ofEntries(
+                  Map.entry("one", command1),
+                  Map.entry("two", command2),
+                  Map.entry("three", command3)),
               () -> "one");
 
       scheduler.schedule(selectCommand);
@@ -61,17 +61,17 @@ class SelectCommandTest extends CommandTestBase {
       Command command3 = command3Holder.getMock();
 
       SelectCommand selectCommand =
-          new SelectCommand(Map.ofEntries(
-              Map.entry("one", command1),
-              Map.entry("two", command2),
-              Map.entry("three", command3)),
+          new SelectCommand(
+              Map.ofEntries(
+                  Map.entry("one", command1),
+                  Map.entry("two", command2),
+                  Map.entry("three", command3)),
               () -> "four");
 
       assertDoesNotThrow(() -> scheduler.schedule(selectCommand));
     }
   }
 
-
   @Test
   void selectCommandRequirementTest() {
     Subsystem system1 = new TestSubsystem();
@@ -87,13 +87,16 @@ class SelectCommandTest extends CommandTestBase {
       MockCommandHolder command3Holder = new MockCommandHolder(true, system3, system4);
       Command command3 = command3Holder.getMock();
 
-      SelectCommand selectCommand = new SelectCommand(
-          Map.ofEntries(Map.entry("one", command1), Map.entry("two", command2),
-              Map.entry("three", command3)), () -> "one");
+      SelectCommand selectCommand =
+          new SelectCommand(
+              Map.ofEntries(
+                  Map.entry("one", command1),
+                  Map.entry("two", command2),
+                  Map.entry("three", command3)),
+              () -> "one");
 
       scheduler.schedule(selectCommand);
-      scheduler.schedule(new InstantCommand(() -> {
-      }, system3));
+      scheduler.schedule(new InstantCommand(() -> {}, system3));
 
       assertFalse(scheduler.isScheduled(selectCommand));
 
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroupTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroupTest.java
index d26c3ac4d8..811034c8f4 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroupTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroupTest.java
@@ -4,14 +4,14 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 import static org.mockito.Mockito.never;
 import static org.mockito.Mockito.verify;
 
+import org.junit.jupiter.api.Test;
+
 class SequentialCommandGroupTest extends CommandTestBase {
   @Test
   void sequentialGroupScheduleTest() {
@@ -97,7 +97,6 @@ class SequentialCommandGroupTest extends CommandTestBase {
     }
   }
 
-
   @Test
   void sequentialGroupRequirementTest() {
     Subsystem system1 = new TestSubsystem();
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/StartEndCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/StartEndCommandTest.java
index dc3ded7f28..60c5c44de6 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/StartEndCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/StartEndCommandTest.java
@@ -4,11 +4,11 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import org.junit.jupiter.api.Test;
+
 class StartEndCommandTest extends CommandTestBase {
   @Test
   void startEndCommandScheduleTest() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java
index d71db8dccb..8610cde69b 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java
@@ -4,12 +4,8 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.ArrayList;
-
-import org.junit.jupiter.api.AfterEach;
-import org.junit.jupiter.api.BeforeEach;
-import org.junit.jupiter.api.Test;
-import org.junit.jupiter.api.parallel.ResourceLock;
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.Timer;
@@ -25,9 +21,11 @@ import edu.wpi.first.wpilibj.simulation.SimHooks;
 import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
 import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
 import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
-
-import static org.junit.jupiter.api.Assertions.assertAll;
-import static org.junit.jupiter.api.Assertions.assertEquals;
+import java.util.ArrayList;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.api.parallel.ResourceLock;
 
 class SwerveControllerCommandTest {
   @BeforeEach
@@ -44,14 +42,16 @@ class SwerveControllerCommandTest {
   private final Timer m_timer = new Timer();
   private Rotation2d m_angle = new Rotation2d(0);
 
-  private SwerveModuleState[] m_moduleStates = new SwerveModuleState[]{
-    new SwerveModuleState(0, new Rotation2d(0)),
-    new SwerveModuleState(0, new Rotation2d(0)),
-    new SwerveModuleState(0, new Rotation2d(0)),
-    new SwerveModuleState(0, new Rotation2d(0))};
+  private SwerveModuleState[] m_moduleStates =
+      new SwerveModuleState[] {
+        new SwerveModuleState(0, new Rotation2d(0)),
+        new SwerveModuleState(0, new Rotation2d(0)),
+        new SwerveModuleState(0, new Rotation2d(0)),
+        new SwerveModuleState(0, new Rotation2d(0))
+      };
 
-  private final ProfiledPIDController m_rotController = new ProfiledPIDController(1, 0, 0,
-      new TrapezoidProfile.Constraints(3 * Math.PI, Math.PI));
+  private final ProfiledPIDController m_rotController =
+      new ProfiledPIDController(1, 0, 0, new TrapezoidProfile.Constraints(3 * Math.PI, Math.PI));
 
   private static final double kxTolerance = 1 / 12.0;
   private static final double kyTolerance = 1 / 12.0;
@@ -60,14 +60,15 @@ class SwerveControllerCommandTest {
   private static final double kWheelBase = 0.5;
   private static final double kTrackWidth = 0.5;
 
-  private final SwerveDriveKinematics m_kinematics = new SwerveDriveKinematics(
-      new Translation2d(kWheelBase / 2, kTrackWidth / 2),
-      new Translation2d(kWheelBase / 2, -kTrackWidth / 2),
-      new Translation2d(-kWheelBase / 2, kTrackWidth / 2),
-      new Translation2d(-kWheelBase / 2, -kTrackWidth / 2));
+  private final SwerveDriveKinematics m_kinematics =
+      new SwerveDriveKinematics(
+          new Translation2d(kWheelBase / 2, kTrackWidth / 2),
+          new Translation2d(kWheelBase / 2, -kTrackWidth / 2),
+          new Translation2d(-kWheelBase / 2, kTrackWidth / 2),
+          new Translation2d(-kWheelBase / 2, -kTrackWidth / 2));
 
-  private final SwerveDriveOdometry m_odometry = new SwerveDriveOdometry(m_kinematics,
-      new Rotation2d(0), new Pose2d(0, 0, new Rotation2d(0)));
+  private final SwerveDriveOdometry m_odometry =
+      new SwerveDriveOdometry(m_kinematics, new Rotation2d(0), new Pose2d(0, 0, new Rotation2d(0)));
 
   @SuppressWarnings("PMD.ArrayIsStoredDirectly")
   public void setModuleStates(SwerveModuleState[] moduleStates) {
@@ -93,14 +94,16 @@ class SwerveControllerCommandTest {
 
     final var endState = trajectory.sample(trajectory.getTotalTimeSeconds());
 
-    final var command = new SwerveControllerCommand(trajectory,
-        this::getRobotPose,
-        m_kinematics,
-        new PIDController(0.6, 0, 0),
-        new PIDController(0.6, 0, 0),
-        m_rotController,
-        this::setModuleStates,
-        subsystem);
+    final var command =
+        new SwerveControllerCommand(
+            trajectory,
+            this::getRobotPose,
+            m_kinematics,
+            new PIDController(0.6, 0, 0),
+            new PIDController(0.6, 0, 0),
+            m_rotController,
+            this::setModuleStates,
+            subsystem);
 
     m_timer.reset();
     m_timer.start();
@@ -115,12 +118,12 @@ class SwerveControllerCommandTest {
     command.end(true);
 
     assertAll(
-        () -> assertEquals(endState.poseMeters.getX(),
-          getRobotPose().getX(), kxTolerance),
-        () -> assertEquals(endState.poseMeters.getY(),
-          getRobotPose().getY(), kyTolerance),
-        () -> assertEquals(endState.poseMeters.getRotation().getRadians(),
-          getRobotPose().getRotation().getRadians(), kAngularTolerance)
-    );
+        () -> assertEquals(endState.poseMeters.getX(), getRobotPose().getX(), kxTolerance),
+        () -> assertEquals(endState.poseMeters.getY(), getRobotPose().getY(), kyTolerance),
+        () ->
+            assertEquals(
+                endState.poseMeters.getRotation().getRadians(),
+                getRobotPose().getRotation().getRadians(),
+                kAngularTolerance));
   }
 }
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/WaitCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/WaitCommandTest.java
index 8dc692d16b..8ab4a6d7bb 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/WaitCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/WaitCommandTest.java
@@ -4,14 +4,6 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.AfterEach;
-import org.junit.jupiter.api.BeforeEach;
-import org.junit.jupiter.api.Test;
-import org.junit.jupiter.api.parallel.ResourceLock;
-
-import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.simulation.SimHooks;
-
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 import static org.mockito.ArgumentMatchers.anyDouble;
@@ -19,6 +11,13 @@ import static org.mockito.Mockito.never;
 import static org.mockito.Mockito.verify;
 import static org.mockito.Mockito.when;
 
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.simulation.SimHooks;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.api.parallel.ResourceLock;
+
 class WaitCommandTest extends CommandTestBase {
   @BeforeEach
   void setup() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/WaitUntilCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/WaitUntilCommandTest.java
index b1fdcac890..85539dc4b0 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/WaitUntilCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/WaitUntilCommandTest.java
@@ -4,11 +4,11 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import org.junit.jupiter.api.Test;
+
 class WaitUntilCommandTest extends CommandTestBase {
   @Test
   void waitUntilTest() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/ButtonTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/ButtonTest.java
index d957b922c1..0047740e76 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/ButtonTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/ButtonTest.java
@@ -4,12 +4,6 @@
 
 package edu.wpi.first.wpilibj2.command.button;
 
-import org.junit.jupiter.api.Test;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.CommandScheduler;
-import edu.wpi.first.wpilibj2.command.CommandTestBase;
-
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
@@ -18,6 +12,10 @@ import static org.mockito.Mockito.times;
 import static org.mockito.Mockito.verify;
 import static org.mockito.Mockito.when;
 
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import edu.wpi.first.wpilibj2.command.CommandTestBase;
+import org.junit.jupiter.api.Test;
 
 class ButtonTest extends CommandTestBase {
   @Test
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/NetworkButtonTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/NetworkButtonTest.java
index b4bd993ab9..9502977360 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/NetworkButtonTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/NetworkButtonTest.java
@@ -4,16 +4,15 @@
 
 package edu.wpi.first.wpilibj2.command.button;
 
-import org.junit.jupiter.api.AfterEach;
-import org.junit.jupiter.api.BeforeEach;
-import org.junit.jupiter.api.Test;
+import static org.mockito.Mockito.never;
+import static org.mockito.Mockito.verify;
 
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import edu.wpi.first.wpilibj2.command.CommandTestBase;
-
-import static org.mockito.Mockito.never;
-import static org.mockito.Mockito.verify;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
 
 class NetworkButtonTest extends CommandTestBase {
   @BeforeEach
@@ -32,9 +31,7 @@ class NetworkButtonTest extends CommandTestBase {
     var scheduler = CommandScheduler.getInstance();
     var commandHolder = new MockCommandHolder(true);
     var command = commandHolder.getMock();
-    var entry = NetworkTableInstance.getDefault()
-        .getTable("TestTable")
-        .getEntry("Test");
+    var entry = NetworkTableInstance.getDefault().getTable("TestTable").getEntry("Test");
 
     var button = new NetworkButton("TestTable", "Test");
     entry.setBoolean(false);
diff --git a/wpilibOldCommands/src/dev/java/edu/wpi/first/wpilibj/commands/DevMain.java b/wpilibOldCommands/src/dev/java/edu/wpi/first/wpilibj/commands/DevMain.java
index f68d8f9c81..29dd4fb6a7 100644
--- a/wpilibOldCommands/src/dev/java/edu/wpi/first/wpilibj/commands/DevMain.java
+++ b/wpilibOldCommands/src/dev/java/edu/wpi/first/wpilibj/commands/DevMain.java
@@ -9,9 +9,7 @@ import edu.wpi.first.networktables.NetworkTablesJNI;
 import edu.wpi.first.wpiutil.RuntimeDetector;
 
 public final class DevMain {
-  /**
-   * Main entry point.
-   */
+  /** Main entry point. */
   public static void main(String[] args) {
     System.out.println("Hello World!");
     System.out.println(RuntimeDetector.getPlatformPath());
@@ -19,6 +17,5 @@ public final class DevMain {
     System.out.println(HALUtil.getHALRuntimeType());
   }
 
-  private DevMain() {
-  }
+  private DevMain() {}
 }
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/Button.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/Button.java
index 4a44ee6a94..f674be3be8 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/Button.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/Button.java
@@ -29,7 +29,7 @@ public abstract class Button extends Trigger {
   /**
    * Constantly starts the given command while the button is held.
    *
-   * {@link Command#start()} will be called repeatedly while the button is held, and will be
+   * <p>{@link Command#start()} will be called repeatedly while the button is held, and will be
    * canceled when the button is released.
    *
    * @param command the command to start
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/InternalButton.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/InternalButton.java
index 62669009cf..c77e9aa882 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/InternalButton.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/InternalButton.java
@@ -12,9 +12,7 @@ public class InternalButton extends Button {
   private boolean m_pressed;
   private boolean m_inverted;
 
-  /**
-   * Creates an InternalButton that is not inverted.
-   */
+  /** Creates an InternalButton that is not inverted. */
   public InternalButton() {
     this(false);
   }
@@ -23,7 +21,7 @@ public class InternalButton extends Button {
    * Creates an InternalButton which is inverted depending on the input.
    *
    * @param inverted if false, then this button is pressed when set to true, otherwise it is pressed
-   *                 when set to false.
+   *     when set to false.
    */
   public InternalButton(boolean inverted) {
     m_pressed = m_inverted = inverted;
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/JoystickButton.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/JoystickButton.java
index c3b7d2970a..f7f09e78ed 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/JoystickButton.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/JoystickButton.java
@@ -6,9 +6,7 @@ package edu.wpi.first.wpilibj.buttons;
 
 import edu.wpi.first.wpilibj.GenericHID;
 
-/**
- * A {@link Button} that gets its state from a {@link GenericHID}.
- */
+/** A {@link Button} that gets its state from a {@link GenericHID}. */
 public class JoystickButton extends Button {
   private final GenericHID m_joystick;
   private final int m_buttonNumber;
@@ -16,8 +14,7 @@ public class JoystickButton extends Button {
   /**
    * Create a joystick button for triggering commands.
    *
-   * @param joystick     The GenericHID object that has the button (e.g. Joystick, KinectStick,
-   *                     etc)
+   * @param joystick The GenericHID object that has the button (e.g. Joystick, KinectStick, etc)
    * @param buttonNumber The button number (see {@link GenericHID#getRawButton(int) }
    */
   public JoystickButton(GenericHID joystick, int buttonNumber) {
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/NetworkButton.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/NetworkButton.java
index 17e2ecf185..1351d16413 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/NetworkButton.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/NetworkButton.java
@@ -8,9 +8,7 @@ import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
 
-/**
- * A {@link Button} that uses a {@link NetworkTable} boolean field.
- */
+/** A {@link Button} that uses a {@link NetworkTable} boolean field. */
 public class NetworkButton extends Button {
   private final NetworkTableEntry m_entry;
 
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/POVButton.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/POVButton.java
index fe94e0aacc..73db913312 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/POVButton.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/POVButton.java
@@ -6,9 +6,7 @@ package edu.wpi.first.wpilibj.buttons;
 
 import edu.wpi.first.wpilibj.GenericHID;
 
-/**
- * A {@link Button} that gets its state from a POV on a {@link GenericHID}.
- */
+/** A {@link Button} that gets its state from a POV on a {@link GenericHID}. */
 public class POVButton extends Button {
   private final GenericHID m_joystick;
   private final int m_angle;
@@ -28,8 +26,7 @@ public class POVButton extends Button {
   }
 
   /**
-   * Creates a POV button for triggering commands.
-   * By default, acts on POV 0
+   * Creates a POV button for triggering commands. By default, acts on POV 0
    *
    * @param joystick The GenericHID object that has the POV
    * @param angle The desired angle (e.g. 90, 270)
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/Trigger.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/Trigger.java
index bc56895d58..d5120e9d0f 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/Trigger.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/Trigger.java
@@ -12,8 +12,8 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 /**
  * This class provides an easy way to link commands to inputs.
  *
- * <p>It is very easy to link a button to a command. For instance, you could link the trigger
- * button of a joystick to a "score" command.
+ * <p>It is very easy to link a button to a command. For instance, you could link the trigger button
+ * of a joystick to a "score" command.
  *
  * <p>It is encouraged that teams write a subclass of Trigger if they want to have something unusual
  * (for instance, if they want to react to the user holding a button while the robot is reading a
@@ -66,7 +66,7 @@ public abstract class Trigger implements Sendable {
   /**
    * Constantly starts the given command while the button is held.
    *
-   * {@link Command#start()} will be called repeatedly while the trigger is active, and will be
+   * <p>{@link Command#start()} will be called repeatedly while the trigger is active, and will be
    * canceled when the trigger becomes inactive.
    *
    * @param command the command to start
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Command.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Command.java
index 598aa0894c..d03bf01e0e 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Command.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Command.java
@@ -4,13 +4,12 @@
 
 package edu.wpi.first.wpilibj.command;
 
-import java.util.Enumeration;
-
 import edu.wpi.first.wpilibj.RobotState;
 import edu.wpi.first.wpilibj.Sendable;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import java.util.Enumeration;
 
 /**
  * The Command class is at the very core of the entire command framework. Every command can be
@@ -19,16 +18,16 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
  * execute()} until the {@link Command#isFinished() isFinished()} returns true. Once it does, {@link
  * Command#end() end()} will be called.
  *
- * <p>However, if at any point while it is running {@link Command#cancel() cancel()} is called,
- * then the command will be stopped and {@link Command#interrupted() interrupted()} will be called.
+ * <p>However, if at any point while it is running {@link Command#cancel() cancel()} is called, then
+ * the command will be stopped and {@link Command#interrupted() interrupted()} will be called.
  *
  * <p>If a command uses a {@link Subsystem}, then it should specify that it does so by calling the
  * {@link Command#requires(Subsystem) requires(...)} method in its constructor. Note that a Command
  * may have multiple requirements, and {@link Command#requires(Subsystem) requires(...)} should be
  * called for each one.
  *
- * <p>If a command is running and a new command with shared requirements is started, then one of
- * two things will happen. If the active command is interruptible, then {@link Command#cancel()
+ * <p>If a command is running and a new command with shared requirements is started, then one of two
+ * things will happen. If the active command is interruptible, then {@link Command#cancel()
  * cancel()} will be called and the command will be removed to make way for the new one. If the
  * active command is not interruptible, the other one will not even be started, and the active one
  * will continue functioning.
@@ -38,64 +37,40 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
  * @see IllegalUseOfCommandException
  */
 public abstract class Command implements Sendable, AutoCloseable {
-  /**
-   * The time since this command was initialized.
-   */
+  /** The time since this command was initialized. */
   private double m_startTime = -1;
 
-  /**
-   * The time (in seconds) before this command "times out" (or -1 if no timeout).
-   */
+  /** The time (in seconds) before this command "times out" (or -1 if no timeout). */
   private double m_timeout = -1;
 
-  /**
-   * Whether or not this command has been initialized.
-   */
+  /** Whether or not this command has been initialized. */
   private boolean m_initialized;
 
-  /**
-   * The required subsystems.
-   */
+  /** The required subsystems. */
   private final Set m_requirements = new Set();
 
-  /**
-   * Whether or not it is running.
-   */
+  /** Whether or not it is running. */
   private boolean m_running;
 
-  /**
-   * Whether or not it is interruptible.
-   */
+  /** Whether or not it is interruptible. */
   private boolean m_interruptible = true;
 
-  /**
-   * Whether or not it has been canceled.
-   */
+  /** Whether or not it has been canceled. */
   private boolean m_canceled;
 
-  /**
-   * Whether or not it has been locked.
-   */
+  /** Whether or not it has been locked. */
   private boolean m_locked;
 
-  /**
-   * Whether this command should run when the robot is disabled.
-   */
+  /** Whether this command should run when the robot is disabled. */
   private boolean m_runWhenDisabled;
 
-  /**
-   * Whether or not this command has completed running.
-   */
+  /** Whether or not this command has completed running. */
   private boolean m_completed;
 
-  /**
-   * The {@link CommandGroup} this is in.
-   */
+  /** The {@link CommandGroup} this is in. */
   private CommandGroup m_parent;
 
-  /**
-   * Creates a new command. The name of this command will be set to its class name.
-   */
+  /** Creates a new command. The name of this command will be set to its class name. */
   public Command() {
     String name = getClass().getName();
     SendableRegistry.add(this, name.substring(name.lastIndexOf('.') + 1));
@@ -146,7 +121,7 @@ public abstract class Command implements Sendable, AutoCloseable {
   /**
    * Creates a new command with the given name.
    *
-   * @param name      the name for this command
+   * @param name the name for this command
    * @param subsystem the subsystem that this command requires
    * @throws IllegalArgumentException if name is null
    */
@@ -159,7 +134,7 @@ public abstract class Command implements Sendable, AutoCloseable {
    * Creates a new command with the given timeout and a default name. The default name is the name
    * of the class.
    *
-   * @param timeout   the time (in seconds) before this command "times out"
+   * @param timeout the time (in seconds) before this command "times out"
    * @param subsystem the subsystem that this command requires
    * @throws IllegalArgumentException if given a negative timeout
    * @see Command#isTimedOut() isTimedOut()
@@ -172,7 +147,7 @@ public abstract class Command implements Sendable, AutoCloseable {
   /**
    * Creates a new command with the given name and timeout.
    *
-   * @param name    the name of the command
+   * @param name the name of the command
    * @param timeout the time (in seconds) before this command "times out"
    * @throws IllegalArgumentException if given a negative timeout or name was null.
    * @see Command#isTimedOut() isTimedOut()
@@ -188,8 +163,8 @@ public abstract class Command implements Sendable, AutoCloseable {
   /**
    * Creates a new command with the given name and timeout.
    *
-   * @param name      the name of the command
-   * @param timeout   the time (in seconds) before this command "times out"
+   * @param name the name of the command
+   * @param timeout the time (in seconds) before this command "times out"
    * @param subsystem the subsystem that this command requires
    * @throws IllegalArgumentException if given a negative timeout
    * @throws IllegalArgumentException if given a negative timeout or name was null.
@@ -236,9 +211,9 @@ public abstract class Command implements Sendable, AutoCloseable {
    * <p>Note that the recommended way to call this method is in the constructor.
    *
    * @param subsystem the {@link Subsystem} required
-   * @throws IllegalArgumentException     if subsystem is null
+   * @throws IllegalArgumentException if subsystem is null
    * @throws IllegalUseOfCommandException if this command has started before or if it has been given
-   *                                      to a {@link CommandGroup}
+   *     to a {@link CommandGroup}
    * @see Subsystem
    */
   protected synchronized void requires(Subsystem subsystem) {
@@ -293,30 +268,20 @@ public abstract class Command implements Sendable, AutoCloseable {
     return !isFinished();
   }
 
-  /**
-   * The initialize method is called the first time this Command is run after being started.
-   */
+  /** The initialize method is called the first time this Command is run after being started. */
   protected void initialize() {}
 
-  /**
-   * A shadow method called before {@link Command#initialize() initialize()}.
-   */
+  /** A shadow method called before {@link Command#initialize() initialize()}. */
   @SuppressWarnings("MethodName")
-  void _initialize() {
-  }
+  void _initialize() {}
 
-  /**
-   * The execute method is called repeatedly until this Command either finishes or is canceled.
-   */
+  /** The execute method is called repeatedly until this Command either finishes or is canceled. */
   @SuppressWarnings("MethodName")
   protected void execute() {}
 
-  /**
-   * A shadow method called before {@link Command#execute() execute()}.
-   */
+  /** A shadow method called before {@link Command#execute() execute()}. */
   @SuppressWarnings("MethodName")
-  void _execute() {
-  }
+  void _execute() {}
 
   /**
    * Returns whether this command is finished. If it is, then the command will be removed and {@link
@@ -326,9 +291,8 @@ public abstract class Command implements Sendable, AutoCloseable {
    * method for time-sensitive commands.
    *
    * <p>Returning false will result in the command never ending automatically. It may still be
-   * canceled manually or interrupted by another command. Returning true will result in the
-   * command executing once and finishing immediately. We recommend using {@link InstantCommand}
-   * for this.
+   * canceled manually or interrupted by another command. Returning true will result in the command
+   * executing once and finishing immediately. We recommend using {@link InstantCommand} for this.
    *
    * @return whether this command is finished.
    * @see Command#isTimedOut() isTimedOut()
@@ -341,12 +305,9 @@ public abstract class Command implements Sendable, AutoCloseable {
    */
   protected void end() {}
 
-  /**
-   * A shadow method called after {@link Command#end() end()}.
-   */
+  /** A shadow method called after {@link Command#end() end()}. */
   @SuppressWarnings("MethodName")
-  void _end() {
-  }
+  void _end() {}
 
   /**
    * Called when the command ends because somebody called {@link Command#cancel() cancel()} or
@@ -362,9 +323,7 @@ public abstract class Command implements Sendable, AutoCloseable {
     end();
   }
 
-  /**
-   * A shadow method called after {@link Command#interrupted() interrupted()}.
-   */
+  /** A shadow method called after {@link Command#interrupted() interrupted()}. */
   @SuppressWarnings("MethodName")
   void _interrupted() {}
 
@@ -392,15 +351,13 @@ public abstract class Command implements Sendable, AutoCloseable {
    * Subsystems}) of this command.
    *
    * @return the requirements (as an {@link Enumeration Enumeration} of {@link Subsystem
-   * Subsystems}) of this command
+   *     Subsystems}) of this command
    */
   synchronized Enumeration getRequirements() {
     return m_requirements.getElements();
   }
 
-  /**
-   * Prevents further changes from being made.
-   */
+  /** Prevents further changes from being made. */
   synchronized void lockChanges() {
     m_locked = true;
   }
@@ -412,8 +369,8 @@ public abstract class Command implements Sendable, AutoCloseable {
    */
   synchronized void validate(String message) {
     if (m_locked) {
-      throw new IllegalUseOfCommandException(message
-          + " after being started or being added to a command group");
+      throw new IllegalUseOfCommandException(
+          message + " after being started or being added to a command group");
     }
   }
 
@@ -442,18 +399,18 @@ public abstract class Command implements Sendable, AutoCloseable {
   }
 
   /**
-   * Clears list of subsystem requirements. This is only used by
-   * {@link ConditionalCommand} so canceling the chosen command works properly
-   * in {@link CommandGroup}.
+   * Clears list of subsystem requirements. This is only used by {@link ConditionalCommand} so
+   * canceling the chosen command works properly in {@link CommandGroup}.
    */
   protected void clearRequirements() {
     m_requirements.clear();
   }
 
   /**
-   * Starts up the command. Gets the command ready to start. <p> Note that the command will
-   * eventually start, however it will not necessarily do so immediately, and may in fact be
-   * canceled before initialize is even called. </p>
+   * Starts up the command. Gets the command ready to start.
+   *
+   * <p>Note that the command will eventually start, however it will not necessarily do so
+   * immediately, and may in fact be canceled before initialize is even called.
    *
    * @throws IllegalUseOfCommandException if the command is a part of a CommandGroup
    */
@@ -492,18 +449,21 @@ public abstract class Command implements Sendable, AutoCloseable {
   }
 
   /**
-   * This will cancel the current command. <p> This will cancel the current command eventually. It
-   * can be called multiple times. And it can be called when the command is not running. If the
-   * command is running though, then the command will be marked as canceled and eventually removed.
-   * </p> <p> A command can not be canceled if it is a part of a command group, you must cancel the
-   * command group instead. </p>
+   * This will cancel the current command.
+   *
+   * <p>This will cancel the current command eventually. It can be called multiple times. And it can
+   * be called when the command is not running. If the command is running though, then the command
+   * will be marked as canceled and eventually removed.
+   *
+   * <p>A command can not be canceled if it is a part of a command group, you must cancel the
+   * command group instead.
    *
    * @throws IllegalUseOfCommandException if this command is a part of a command group
    */
   public synchronized void cancel() {
     if (m_parent != null) {
-      throw new IllegalUseOfCommandException("Can not manually cancel a command in a command "
-          + "group");
+      throw new IllegalUseOfCommandException(
+          "Can not manually cancel a command in a command " + "group");
     }
     _cancel();
   }
@@ -650,17 +610,20 @@ public abstract class Command implements Sendable, AutoCloseable {
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("Command");
     builder.addStringProperty(".name", this::getName, null);
-    builder.addBooleanProperty("running", this::isRunning, value -> {
-      if (value) {
-        if (!isRunning()) {
-          start();
-        }
-      } else {
-        if (isRunning()) {
-          cancel();
-        }
-      }
-    });
+    builder.addBooleanProperty(
+        "running",
+        this::isRunning,
+        value -> {
+          if (value) {
+            if (!isRunning()) {
+              start();
+            }
+          } else {
+            if (isRunning()) {
+              cancel();
+            }
+          }
+        });
     builder.addBooleanProperty(".isParented", this::isParented, null);
   }
 }
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/CommandGroup.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/CommandGroup.java
index 96d23d728f..ebdd1f8d18 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/CommandGroup.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/CommandGroup.java
@@ -4,55 +4,48 @@
 
 package edu.wpi.first.wpilibj.command;
 
+import static java.util.Objects.requireNonNull;
+
 import java.util.Enumeration;
 import java.util.Vector;
 
-import static java.util.Objects.requireNonNull;
-
 /**
  * A {@link CommandGroup} is a list of commands which are executed in sequence.
  *
- * <p> Commands in a {@link CommandGroup} are added using the {@link
+ * <p>Commands in a {@link CommandGroup} are added using the {@link
  * CommandGroup#addSequential(Command) addSequential(...)} method and are called sequentially.
  * {@link CommandGroup CommandGroups} are themselves {@link Command commands} and can be given to
- * other {@link CommandGroup CommandGroups}. </p>
+ * other {@link CommandGroup CommandGroups}.
  *
- * <p> {@link CommandGroup CommandGroups} will carry all of the requirements of their {@link Command
+ * <p>{@link CommandGroup CommandGroups} will carry all of the requirements of their {@link Command
  * subcommands}. Additional requirements can be specified by calling {@link
- * CommandGroup#requires(Subsystem) requires(...)} normally in the constructor. </P>
+ * CommandGroup#requires(Subsystem) requires(...)} normally in the constructor.
  *
- * <p> CommandGroups can also execute commands in parallel, simply by adding them using {@link
- * CommandGroup#addParallel(Command) addParallel(...)}. </p>
+ * <p>CommandGroups can also execute commands in parallel, simply by adding them using {@link
+ * CommandGroup#addParallel(Command) addParallel(...)}.
  *
  * @see Command
  * @see Subsystem
  * @see IllegalUseOfCommandException
  */
 public class CommandGroup extends Command {
-  /**
-   * The commands in this group (stored in entries).
-   */
+  /** The commands in this group (stored in entries). */
   @SuppressWarnings({"PMD.LooseCoupling", "PMD.UseArrayListInsteadOfVector"})
   private final Vector<Entry> m_commands = new Vector<>();
   /*
    * Intentionally package private
    */
-  /**
-   * The active children in this group (stored in entries).
-   */
+  /** The active children in this group (stored in entries). */
   @SuppressWarnings({"PMD.LooseCoupling", "PMD.UseArrayListInsteadOfVector"})
   final Vector<Entry> m_children = new Vector<>();
-  /**
-   * The current command, -1 signifies that none have been run.
-   */
+  /** The current command, -1 signifies that none have been run. */
   private int m_currentCommandIndex = -1;
 
   /**
    * Creates a new {@link CommandGroup CommandGroup}. The name of this command will be set to its
    * class name.
    */
-  public CommandGroup() {
-  }
+  public CommandGroup() {}
 
   /**
    * Creates a new {@link CommandGroup CommandGroup} with the given name.
@@ -68,16 +61,16 @@ public class CommandGroup extends Command {
    * Adds a new {@link Command Command} to the group. The {@link Command Command} will be started
    * after all the previously added {@link Command Commands}.
    *
-   * <p> Note that any requirements the given {@link Command Command} has will be added to the
-   * group. For this reason, a {@link Command Command's} requirements can not be changed after being
-   * added to a group. </p>
+   * <p>Note that any requirements the given {@link Command Command} has will be added to the group.
+   * For this reason, a {@link Command Command's} requirements can not be changed after being added
+   * to a group.
    *
-   * <p> It is recommended that this method be called in the constructor. </p>
+   * <p>It is recommended that this method be called in the constructor.
    *
    * @param command The {@link Command Command} to be added
    * @throws IllegalUseOfCommandException if the group has been started before or been given to
-   *                                      another group
-   * @throws IllegalArgumentException     if command is null
+   *     another group
+   * @throws IllegalArgumentException if command is null
    */
   public final synchronized void addSequential(Command command) {
     validate("Can not add new command to command group");
@@ -97,22 +90,22 @@ public class CommandGroup extends Command {
    * Adds a new {@link Command Command} to the group with a given timeout. The {@link Command
    * Command} will be started after all the previously added commands.
    *
-   * <p> Once the {@link Command Command} is started, it will be run until it finishes or the time
+   * <p>Once the {@link Command Command} is started, it will be run until it finishes or the time
    * expires, whichever is sooner. Note that the given {@link Command Command} will have no
-   * knowledge that it is on a timer. </p>
+   * knowledge that it is on a timer.
    *
-   * <p> Note that any requirements the given {@link Command Command} has will be added to the
-   * group. For this reason, a {@link Command Command's} requirements can not be changed after being
-   * added to a group. </p>
+   * <p>Note that any requirements the given {@link Command Command} has will be added to the group.
+   * For this reason, a {@link Command Command's} requirements can not be changed after being added
+   * to a group.
    *
-   * <p> It is recommended that this method be called in the constructor. </p>
+   * <p>It is recommended that this method be called in the constructor.
    *
    * @param command The {@link Command Command} to be added
    * @param timeout The timeout (in seconds)
    * @throws IllegalUseOfCommandException if the group has been started before or been given to
-   *                                      another group or if the {@link Command Command} has been
-   *                                      started before or been given to another group
-   * @throws IllegalArgumentException     if command is null or timeout is negative
+   *     another group or if the {@link Command Command} has been started before or been given to
+   *     another group
+   * @throws IllegalArgumentException if command is null or timeout is negative
    */
   public final synchronized void addSequential(Command command, double timeout) {
     validate("Can not add new command to command group");
@@ -135,22 +128,22 @@ public class CommandGroup extends Command {
    * Adds a new child {@link Command} to the group. The {@link Command} will be started after all
    * the previously added {@link Command Commands}.
    *
-   * <p> Instead of waiting for the child to finish, a {@link CommandGroup} will have it run at the
+   * <p>Instead of waiting for the child to finish, a {@link CommandGroup} will have it run at the
    * same time as the subsequent {@link Command Commands}. The child will run until either it
    * finishes, a new child with conflicting requirements is started, or the main sequence runs a
    * {@link Command} with conflicting requirements. In the latter two cases, the child will be
-   * canceled even if it says it can't be interrupted. </p>
+   * canceled even if it says it can't be interrupted.
    *
-   * <p> Note that any requirements the given {@link Command Command} has will be added to the
-   * group. For this reason, a {@link Command Command's} requirements can not be changed after being
-   * added to a group. </p>
+   * <p>Note that any requirements the given {@link Command Command} has will be added to the group.
+   * For this reason, a {@link Command Command's} requirements can not be changed after being added
+   * to a group.
    *
-   * <p> It is recommended that this method be called in the constructor. </p>
+   * <p>It is recommended that this method be called in the constructor.
    *
    * @param command The command to be added
    * @throws IllegalUseOfCommandException if the group has been started before or been given to
-   *                                      another command group
-   * @throws IllegalArgumentException     if command is null
+   *     another command group
+   * @throws IllegalArgumentException if command is null
    */
   public final synchronized void addParallel(Command command) {
     requireNonNull(command, "Provided command was null");
@@ -168,27 +161,27 @@ public class CommandGroup extends Command {
    * Adds a new child {@link Command} to the group with the given timeout. The {@link Command} will
    * be started after all the previously added {@link Command Commands}.
    *
-   * <p> Once the {@link Command Command} is started, it will run until it finishes, is interrupted,
+   * <p>Once the {@link Command Command} is started, it will run until it finishes, is interrupted,
    * or the time expires, whichever is sooner. Note that the given {@link Command Command} will have
-   * no knowledge that it is on a timer. </p>
+   * no knowledge that it is on a timer.
    *
-   * <p> Instead of waiting for the child to finish, a {@link CommandGroup} will have it run at the
+   * <p>Instead of waiting for the child to finish, a {@link CommandGroup} will have it run at the
    * same time as the subsequent {@link Command Commands}. The child will run until either it
    * finishes, the timeout expires, a new child with conflicting requirements is started, or the
    * main sequence runs a {@link Command} with conflicting requirements. In the latter two cases,
-   * the child will be canceled even if it says it can't be interrupted. </p>
+   * the child will be canceled even if it says it can't be interrupted.
    *
-   * <p> Note that any requirements the given {@link Command Command} has will be added to the
-   * group. For this reason, a {@link Command Command's} requirements can not be changed after being
-   * added to a group. </p>
+   * <p>Note that any requirements the given {@link Command Command} has will be added to the group.
+   * For this reason, a {@link Command Command's} requirements can not be changed after being added
+   * to a group.
    *
-   * <p> It is recommended that this method be called in the constructor. </p>
+   * <p>It is recommended that this method be called in the constructor.
    *
    * @param command The command to be added
    * @param timeout The timeout (in seconds)
    * @throws IllegalUseOfCommandException if the group has been started before or been given to
-   *                                      another command group
-   * @throws IllegalArgumentException     if command is null
+   *     another command group
+   * @throws IllegalArgumentException if command is null
    */
   public final synchronized void addParallel(Command command, double timeout) {
     requireNonNull(command, "Provided command was null");
@@ -309,8 +302,8 @@ public class CommandGroup extends Command {
    * Returns true if all the {@link Command Commands} in this group have been started and have
    * finished.
    *
-   * <p> Teams may override this method, although they should probably reference super.isFinished()
-   * if they do. </p>
+   * <p>Teams may override this method, although they should probably reference super.isFinished()
+   * if they do.
    *
    * @return whether this {@link CommandGroup} is finished
    */
@@ -321,23 +314,19 @@ public class CommandGroup extends Command {
 
   // Can be overwritten by teams
   @Override
-  protected void initialize() {
-  }
+  protected void initialize() {}
 
   // Can be overwritten by teams
   @Override
-  protected void execute() {
-  }
+  protected void execute() {}
 
   // Can be overwritten by teams
   @Override
-  protected void end() {
-  }
+  protected void end() {}
 
   // Can be overwritten by teams
   @Override
-  protected void interrupted() {
-  }
+  protected void interrupted() {}
 
   /**
    * Returns whether or not this group is interruptible. A command group will be uninterruptible if
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/ConditionalCommand.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/ConditionalCommand.java
index d0b7543e05..1e188c2391 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/ConditionalCommand.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/ConditionalCommand.java
@@ -9,44 +9,30 @@ import java.util.Enumeration;
 /**
  * A {@link ConditionalCommand} is a {@link Command} that starts one of two commands.
  *
- * <p>
- * A {@link ConditionalCommand} uses m_condition to determine whether it should run m_onTrue or
+ * <p>A {@link ConditionalCommand} uses m_condition to determine whether it should run m_onTrue or
  * m_onFalse.
- * </p>
  *
- * <p>
- * A {@link ConditionalCommand} adds the proper {@link Command} to the {@link Scheduler} during
+ * <p>A {@link ConditionalCommand} adds the proper {@link Command} to the {@link Scheduler} during
  * {@link ConditionalCommand#initialize()} and then {@link ConditionalCommand#isFinished()} will
  * return true once that {@link Command} has finished executing.
- * </p>
  *
- * <p>
- * If no {@link Command} is specified for m_onFalse, the occurrence of that condition will be a
+ * <p>If no {@link Command} is specified for m_onFalse, the occurrence of that condition will be a
  * no-op.
- * </p>
  *
- * <p>
- * A ConditionalCommand will require the superset of subsystems of the onTrue
- * and onFalse commands.
- * </p>
+ * <p>A ConditionalCommand will require the superset of subsystems of the onTrue and onFalse
+ * commands.
  *
  * @see Command
  * @see Scheduler
  */
 public abstract class ConditionalCommand extends Command {
-  /**
-   * The Command to execute if {@link ConditionalCommand#condition()} returns true.
-   */
+  /** The Command to execute if {@link ConditionalCommand#condition()} returns true. */
   private Command m_onTrue;
 
-  /**
-   * The Command to execute if {@link ConditionalCommand#condition()} returns false.
-   */
+  /** The Command to execute if {@link ConditionalCommand#condition()} returns false. */
   private Command m_onFalse;
 
-  /**
-   * Stores command chosen by condition.
-   */
+  /** Stores command chosen by condition. */
   private Command m_chosenCommand;
 
   private void requireAll() {
@@ -125,9 +111,7 @@ public abstract class ConditionalCommand extends Command {
    */
   protected abstract boolean condition();
 
-  /**
-   * Calls {@link ConditionalCommand#condition()} and runs the proper command.
-   */
+  /** Calls {@link ConditionalCommand#condition()} and runs the proper command. */
   @Override
   protected void _initialize() {
     if (condition()) {
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/IllegalUseOfCommandException.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/IllegalUseOfCommandException.java
index 010f75e8e3..0579fc7219 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/IllegalUseOfCommandException.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/IllegalUseOfCommandException.java
@@ -8,20 +8,16 @@ package edu.wpi.first.wpilibj.command;
  * This exception will be thrown if a command is used illegally. There are several ways for this to
  * happen.
  *
- * <p> Basically, a command becomes "locked" after it is first started or added to a command group.
- * </p>
+ * <p>Basically, a command becomes "locked" after it is first started or added to a command group.
  *
- * <p> This exception should be thrown if (after a command has been locked) its requirements change,
+ * <p>This exception should be thrown if (after a command has been locked) its requirements change,
  * it is put into multiple command groups, it is started from outside its command group, or it adds
- * a new child. </p>
+ * a new child.
  */
 @SuppressWarnings("serial")
 public class IllegalUseOfCommandException extends RuntimeException {
-  /**
-   * Instantiates an {@link IllegalUseOfCommandException}.
-   */
-  public IllegalUseOfCommandException() {
-  }
+  /** Instantiates an {@link IllegalUseOfCommandException}. */
+  public IllegalUseOfCommandException() {}
 
   /**
    * Instantiates an {@link IllegalUseOfCommandException} with the given message.
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/InstantCommand.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/InstantCommand.java
index be65d943e5..d40f626a40 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/InstantCommand.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/InstantCommand.java
@@ -7,14 +7,13 @@ package edu.wpi.first.wpilibj.command;
 /**
  * This command will execute once, then finish immediately afterward.
  *
- * <p>Subclassing {@link InstantCommand} is shorthand for returning true from
- * {@link Command isFinished}.
+ * <p>Subclassing {@link InstantCommand} is shorthand for returning true from {@link Command
+ * isFinished}.
  */
 public class InstantCommand extends Command {
   private Runnable m_func;
 
-  public InstantCommand() {
-  }
+  public InstantCommand() {}
 
   /**
    * Creates a new {@link InstantCommand InstantCommand} with the given name.
@@ -37,7 +36,7 @@ public class InstantCommand extends Command {
   /**
    * Creates a new {@link InstantCommand InstantCommand} with the given name and requirement.
    *
-   * @param name      the name for this command
+   * @param name the name for this command
    * @param subsystem the subsystem this command requires
    */
   public InstantCommand(String name, Subsystem subsystem) {
@@ -68,7 +67,7 @@ public class InstantCommand extends Command {
    * Creates a new {@link InstantCommand InstantCommand}.
    *
    * @param requirement the subsystem this command requires
-   * @param func        the function to run when {@link Command#initialize() initialize()} is run
+   * @param func the function to run when {@link Command#initialize() initialize()} is run
    */
   public InstantCommand(Subsystem requirement, Runnable func) {
     super(requirement);
@@ -78,9 +77,9 @@ public class InstantCommand extends Command {
   /**
    * Creates a new {@link InstantCommand InstantCommand}.
    *
-   * @param name        the name for this command
+   * @param name the name for this command
    * @param requirement the subsystem this command requires
-   * @param func        the function to run when {@link Command#initialize() initialize()} is run
+   * @param func the function to run when {@link Command#initialize() initialize()} is run
    */
   public InstantCommand(String name, Subsystem requirement, Runnable func) {
     super(name, requirement);
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/LinkedListElement.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/LinkedListElement.java
index ec69765206..365667a2ad 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/LinkedListElement.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/LinkedListElement.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.first.wpilibj.command;
 
-/**
- * An element that is in a LinkedList.
- */
+/** An element that is in a LinkedList. */
 class LinkedListElement {
   private LinkedListElement m_next;
   private LinkedListElement m_previous;
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/PIDCommand.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/PIDCommand.java
index 1b55003cc5..5fca479fbc 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/PIDCommand.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/PIDCommand.java
@@ -13,45 +13,39 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 /**
  * This class defines a {@link Command} which interacts heavily with a PID loop.
  *
- * <p> It provides some convenience methods to run an internal {@link PIDController} . It will also
+ * <p>It provides some convenience methods to run an internal {@link PIDController} . It will also
  * start and stop said {@link PIDController} when the {@link PIDCommand} is first initialized and
- * ended/interrupted. </p>
+ * ended/interrupted.
  */
 public abstract class PIDCommand extends Command {
-  /**
-   * The internal {@link PIDController}.
-   */
+  /** The internal {@link PIDController}. */
   private final PIDController m_controller;
-  /**
-   * An output which calls {@link PIDCommand#usePIDOutput(double)}.
-   */
+  /** An output which calls {@link PIDCommand#usePIDOutput(double)}. */
   private final PIDOutput m_output = this::usePIDOutput;
-  /**
-   * A source which calls {@link PIDCommand#returnPIDInput()}.
-   */
-  private final PIDSource m_source = new PIDSource() {
-    @Override
-    public void setPIDSourceType(PIDSourceType pidSource) {
-    }
+  /** A source which calls {@link PIDCommand#returnPIDInput()}. */
+  private final PIDSource m_source =
+      new PIDSource() {
+        @Override
+        public void setPIDSourceType(PIDSourceType pidSource) {}
 
-    @Override
-    public PIDSourceType getPIDSourceType() {
-      return PIDSourceType.kDisplacement;
-    }
+        @Override
+        public PIDSourceType getPIDSourceType() {
+          return PIDSourceType.kDisplacement;
+        }
 
-    @Override
-    public double pidGet() {
-      return returnPIDInput();
-    }
-  };
+        @Override
+        public double pidGet() {
+          return returnPIDInput();
+        }
+      };
 
   /**
    * Instantiates a {@link PIDCommand} that will use the given p, i and d values.
    *
    * @param name the name of the command
-   * @param p    the proportional value
-   * @param i    the integral value
-   * @param d    the derivative value
+   * @param p the proportional value
+   * @param i the integral value
+   * @param d the derivative value
    */
   public PIDCommand(String name, double p, double i, double d) {
     super(name);
@@ -62,10 +56,10 @@ public abstract class PIDCommand extends Command {
    * Instantiates a {@link PIDCommand} that will use the given p, i and d values. It will also space
    * the time between PID loop calculations to be equal to the given period.
    *
-   * @param name   the name
-   * @param p      the proportional value
-   * @param i      the integral value
-   * @param d      the derivative value
+   * @param name the name
+   * @param p the proportional value
+   * @param i the integral value
+   * @param d the derivative value
    * @param period the time (in seconds) between calculations
    */
   public PIDCommand(String name, double p, double i, double d, double period) {
@@ -90,9 +84,9 @@ public abstract class PIDCommand extends Command {
    * class name as its name. It will also space the time between PID loop calculations to be equal
    * to the given period.
    *
-   * @param p      the proportional value
-   * @param i      the integral value
-   * @param d      the derivative value
+   * @param p the proportional value
+   * @param i the integral value
+   * @param d the derivative value
    * @param period the time (in seconds) between calculations
    */
   public PIDCommand(double p, double i, double d, double period) {
@@ -102,10 +96,10 @@ public abstract class PIDCommand extends Command {
   /**
    * Instantiates a {@link PIDCommand} that will use the given p, i and d values.
    *
-   * @param name      the name of the command
-   * @param p         the proportional value
-   * @param i         the integral value
-   * @param d         the derivative value
+   * @param name the name of the command
+   * @param p the proportional value
+   * @param i the integral value
+   * @param d the derivative value
    * @param subsystem the subsystem that this command requires
    */
   public PIDCommand(String name, double p, double i, double d, Subsystem subsystem) {
@@ -117,15 +111,14 @@ public abstract class PIDCommand extends Command {
    * Instantiates a {@link PIDCommand} that will use the given p, i and d values. It will also space
    * the time between PID loop calculations to be equal to the given period.
    *
-   * @param name      the name
-   * @param p         the proportional value
-   * @param i         the integral value
-   * @param d         the derivative value
-   * @param period    the time (in seconds) between calculations
+   * @param name the name
+   * @param p the proportional value
+   * @param i the integral value
+   * @param d the derivative value
+   * @param period the time (in seconds) between calculations
    * @param subsystem the subsystem that this command requires
    */
-  public PIDCommand(String name, double p, double i, double d, double period,
-                    Subsystem subsystem) {
+  public PIDCommand(String name, double p, double i, double d, double period, Subsystem subsystem) {
     super(name, subsystem);
     m_controller = new PIDController(p, i, d, m_source, m_output, period);
   }
@@ -134,9 +127,9 @@ public abstract class PIDCommand extends Command {
    * Instantiates a {@link PIDCommand} that will use the given p, i and d values. It will use the
    * class name as its name.
    *
-   * @param p         the proportional value
-   * @param i         the integral value
-   * @param d         the derivative value
+   * @param p the proportional value
+   * @param i the integral value
+   * @param d the derivative value
    * @param subsystem the subsystem that this command requires
    */
   public PIDCommand(double p, double i, double d, Subsystem subsystem) {
@@ -149,10 +142,10 @@ public abstract class PIDCommand extends Command {
    * class name as its name. It will also space the time between PID loop calculations to be equal
    * to the given period.
    *
-   * @param p         the proportional value
-   * @param i         the integral value
-   * @param d         the derivative value
-   * @param period    the time (in seconds) between calculations
+   * @param p the proportional value
+   * @param i the integral value
+   * @param d the derivative value
+   * @param period the time (in seconds) between calculations
    * @param subsystem the subsystem that this command requires
    */
   public PIDCommand(double p, double i, double d, double period, Subsystem subsystem) {
@@ -253,8 +246,8 @@ public abstract class PIDCommand extends Command {
 
   /**
    * Uses the value that the pid loop calculated. The calculated value is the "output" parameter.
-   * This method is a good time to set motor values, maybe something along the lines of
-   * <code>driveline.tankDrive(output, -output)</code>
+   * This method is a good time to set motor values, maybe something along the lines of <code>
+   * driveline.tankDrive(output, -output)</code>
    *
    * <p>All subclasses of {@link PIDCommand} must override this method.
    *
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/PIDSubsystem.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/PIDSubsystem.java
index 4bce91df25..bf70f91f70 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/PIDSubsystem.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/PIDSubsystem.java
@@ -14,46 +14,39 @@ import edu.wpi.first.wpilibj.PIDSourceType;
  * {@link PIDController} almost constantly (for instance, an elevator which attempts to stay at a
  * constant height).
  *
- * <p>It provides some convenience methods to run an internal {@link PIDController} . It also
- * allows access to the internal {@link PIDController} in order to give total control to the
- * programmer.
+ * <p>It provides some convenience methods to run an internal {@link PIDController} . It also allows
+ * access to the internal {@link PIDController} in order to give total control to the programmer.
  */
 public abstract class PIDSubsystem extends Subsystem {
-  /**
-   * The internal {@link PIDController}.
-   */
+  /** The internal {@link PIDController}. */
   private final PIDController m_controller;
-  /**
-   * An output which calls {@link PIDCommand#usePIDOutput(double)}.
-   */
+  /** An output which calls {@link PIDCommand#usePIDOutput(double)}. */
   private final PIDOutput m_output = this::usePIDOutput;
 
-  /**
-   * A source which calls {@link PIDCommand#returnPIDInput()}.
-   */
-  private final PIDSource m_source = new PIDSource() {
-    @Override
-    public void setPIDSourceType(PIDSourceType pidSource) {
-    }
+  /** A source which calls {@link PIDCommand#returnPIDInput()}. */
+  private final PIDSource m_source =
+      new PIDSource() {
+        @Override
+        public void setPIDSourceType(PIDSourceType pidSource) {}
 
-    @Override
-    public PIDSourceType getPIDSourceType() {
-      return PIDSourceType.kDisplacement;
-    }
+        @Override
+        public PIDSourceType getPIDSourceType() {
+          return PIDSourceType.kDisplacement;
+        }
 
-    @Override
-    public double pidGet() {
-      return returnPIDInput();
-    }
-  };
+        @Override
+        public double pidGet() {
+          return returnPIDInput();
+        }
+      };
 
   /**
    * Instantiates a {@link PIDSubsystem} that will use the given p, i and d values.
    *
    * @param name the name
-   * @param p    the proportional value
-   * @param i    the integral value
-   * @param d    the derivative value
+   * @param p the proportional value
+   * @param i the integral value
+   * @param d the derivative value
    */
   public PIDSubsystem(String name, double p, double i, double d) {
     super(name);
@@ -65,10 +58,10 @@ public abstract class PIDSubsystem extends Subsystem {
    * Instantiates a {@link PIDSubsystem} that will use the given p, i, d, and f values.
    *
    * @param name the name
-   * @param p    the proportional value
-   * @param i    the integral value
-   * @param d    the derivative value
-   * @param f    the feed forward value
+   * @param p the proportional value
+   * @param i the integral value
+   * @param d the derivative value
+   * @param f the feed forward value
    */
   public PIDSubsystem(String name, double p, double i, double d, double f) {
     super(name);
@@ -80,11 +73,11 @@ public abstract class PIDSubsystem extends Subsystem {
    * Instantiates a {@link PIDSubsystem} that will use the given p, i, d, and f values. It will also
    * space the time between PID loop calculations to be equal to the given period.
    *
-   * @param name   the name
-   * @param p      the proportional value
-   * @param i      the integral value
-   * @param d      the derivative value
-   * @param f      the feed forward value
+   * @param name the name
+   * @param p the proportional value
+   * @param i the integral value
+   * @param d the derivative value
+   * @param f the feed forward value
    * @param period the time (in seconds) between calculations
    */
   public PIDSubsystem(String name, double p, double i, double d, double f, double period) {
@@ -111,10 +104,10 @@ public abstract class PIDSubsystem extends Subsystem {
    * the class name as its name. It will also space the time between PID loop calculations to be
    * equal to the given period.
    *
-   * @param p      the proportional value
-   * @param i      the integral value
-   * @param d      the derivative value
-   * @param f      the feed forward coefficient
+   * @param p the proportional value
+   * @param i the integral value
+   * @param d the derivative value
+   * @param f the feed forward coefficient
    * @param period the time (in seconds) between calculations
    */
   public PIDSubsystem(double p, double i, double d, double f, double period) {
@@ -127,9 +120,9 @@ public abstract class PIDSubsystem extends Subsystem {
    * class name as its name. It will also space the time between PID loop calculations to be equal
    * to the given period.
    *
-   * @param p      the proportional value
-   * @param i      the integral value
-   * @param d      the derivative value
+   * @param p the proportional value
+   * @param i the integral value
+   * @param d the derivative value
    * @param period the time (in seconds) between calculations
    */
   public PIDSubsystem(double p, double i, double d, double period) {
@@ -147,7 +140,6 @@ public abstract class PIDSubsystem extends Subsystem {
     return m_controller;
   }
 
-
   /**
    * Adds the given value to the setpoint. If {@link PIDSubsystem#setInputRange(double, double)
    * setInputRange(...)} was used, then the bounds will still be honored by this method.
@@ -240,8 +232,8 @@ public abstract class PIDSubsystem extends Subsystem {
   /**
    * Returns the input for the pid loop.
    *
-   * <p>It returns the input for the pid loop, so if this Subsystem was based off of a gyro, then
-   * it should return the angle of the gyro.
+   * <p>It returns the input for the pid loop, so if this Subsystem was based off of a gyro, then it
+   * should return the angle of the gyro.
    *
    * <p>All subclasses of {@link PIDSubsystem} must override this method.
    *
@@ -251,8 +243,8 @@ public abstract class PIDSubsystem extends Subsystem {
 
   /**
    * Uses the value that the pid loop calculated. The calculated value is the "output" parameter.
-   * This method is a good time to set motor values, maybe something along the lines of
-   * <code>driveline.tankDrive(output, -output)</code>.
+   * This method is a good time to set motor values, maybe something along the lines of <code>
+   * driveline.tankDrive(output, -output)</code>.
    *
    * <p>All subclasses of {@link PIDSubsystem} must override this method.
    *
@@ -260,16 +252,12 @@ public abstract class PIDSubsystem extends Subsystem {
    */
   protected abstract void usePIDOutput(double output);
 
-  /**
-   * Enables the internal {@link PIDController}.
-   */
+  /** Enables the internal {@link PIDController}. */
   public void enable() {
     m_controller.enable();
   }
 
-  /**
-   * Disables the internal {@link PIDController}.
-   */
+  /** Disables the internal {@link PIDController}. */
   public void disable() {
     m_controller.disable();
   }
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/PrintCommand.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/PrintCommand.java
index 6965b3d328..5013b1bfee 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/PrintCommand.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/PrintCommand.java
@@ -10,9 +10,7 @@ package edu.wpi.first.wpilibj.command;
  * it reaches a certain point.
  */
 public class PrintCommand extends InstantCommand {
-  /**
-   * The message to print out.
-   */
+  /** The message to print out. */
   private final String m_message;
 
   /**
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Scheduler.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Scheduler.java
index 59a2e51790..31519960a4 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Scheduler.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Scheduler.java
@@ -4,10 +4,6 @@
 
 package edu.wpi.first.wpilibj.command;
 
-import java.util.Enumeration;
-import java.util.Hashtable;
-import java.util.Vector;
-
 import edu.wpi.first.hal.FRCNetComm.tInstances;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
@@ -17,23 +13,24 @@ import edu.wpi.first.wpilibj.buttons.Trigger.ButtonScheduler;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import java.util.Enumeration;
+import java.util.Hashtable;
+import java.util.Vector;
 
 /**
  * The {@link Scheduler} is a singleton which holds the top-level running commands. It is in charge
  * of both calling the command's {@link Command#run() run()} method and to make sure that there are
  * no two commands with conflicting requirements running.
  *
- * <p> It is fine if teams wish to take control of the {@link Scheduler} themselves, all that needs
+ * <p>It is fine if teams wish to take control of the {@link Scheduler} themselves, all that needs
  * to be done is to call {@link Scheduler#getInstance() Scheduler.getInstance()}.{@link
  * Scheduler#run() run()} often to have {@link Command Commands} function correctly. However, this
- * is already done for you if you use the CommandBased Robot template. </p>
+ * is already done for you if you use the CommandBased Robot template.
  *
  * @see Command
  */
 public final class Scheduler implements Sendable, AutoCloseable {
-  /**
-   * The Singleton Instance.
-   */
+  /** The Singleton Instance. */
   private static Scheduler instance;
 
   /**
@@ -48,34 +45,20 @@ public final class Scheduler implements Sendable, AutoCloseable {
     return instance;
   }
 
-  /**
-   * A hashtable of active {@link Command Commands} to their {@link LinkedListElement}.
-   */
+  /** A hashtable of active {@link Command Commands} to their {@link LinkedListElement}. */
   @SuppressWarnings("PMD.LooseCoupling")
   private final Hashtable<Command, LinkedListElement> m_commandTable = new Hashtable<>();
-  /**
-   * The {@link Set} of all {@link Subsystem Subsystems}.
-   */
+  /** The {@link Set} of all {@link Subsystem Subsystems}. */
   private final Set m_subsystems = new Set();
-  /**
-   * The first {@link Command} in the list.
-   */
+  /** The first {@link Command} in the list. */
   private LinkedListElement m_firstCommand;
-  /**
-   * The last {@link Command} in the list.
-   */
+  /** The last {@link Command} in the list. */
   private LinkedListElement m_lastCommand;
-  /**
-   * Whether or not we are currently adding a command.
-   */
+  /** Whether or not we are currently adding a command. */
   private boolean m_adding;
-  /**
-   * Whether or not we are currently disabled.
-   */
+  /** Whether or not we are currently disabled. */
   private boolean m_disabled;
-  /**
-   * A list of all {@link Command Commands} which need to be added.
-   */
+  /** A list of all {@link Command Commands} which need to be added. */
   @SuppressWarnings({"PMD.LooseCoupling", "PMD.UseArrayListInsteadOfVector"})
   private final Vector<Command> m_additions = new Vector<>();
   /**
@@ -84,21 +67,22 @@ public final class Scheduler implements Sendable, AutoCloseable {
    */
   @SuppressWarnings("PMD.LooseCoupling")
   private Vector<ButtonScheduler> m_buttons;
+
   private boolean m_runningCommandsChanged;
 
-  /**
-   * Instantiates a {@link Scheduler}.
-   */
+  /** Instantiates a {@link Scheduler}. */
   private Scheduler() {
     HAL.report(tResourceType.kResourceType_Command, tInstances.kCommand_Scheduler);
     SendableRegistry.addLW(this, "Scheduler");
-    LiveWindow.setEnabledListener(() -> {
-      disable();
-      removeAll();
-    });
-    LiveWindow.setDisabledListener(() -> {
-      enable();
-    });
+    LiveWindow.setEnabledListener(
+        () -> {
+          disable();
+          removeAll();
+        });
+    LiveWindow.setDisabledListener(
+        () -> {
+          enable();
+        });
   }
 
   @Override
@@ -113,8 +97,8 @@ public final class Scheduler implements Sendable, AutoCloseable {
    * but will instead wait for the proper time in the {@link Scheduler#run()} loop before doing so.
    * The command returns immediately and does nothing if given null.
    *
-   * <p> Adding a {@link Command} to the {@link Scheduler} involves the {@link Scheduler} removing
-   * any {@link Command} which has shared requirements. </p>
+   * <p>Adding a {@link Command} to the {@link Scheduler} involves the {@link Scheduler} removing
+   * any {@link Command} which has shared requirements.
    *
    * @param command the command to add
    */
@@ -202,8 +186,13 @@ public final class Scheduler implements Sendable, AutoCloseable {
    * Runs a single iteration of the loop. This method should be called often in order to have a
    * functioning {@link Command} system. The loop has five stages:
    *
-   * <ol> <li>Poll the Buttons</li> <li>Execute/Remove the Commands</li> <li>Send values to
-   * SmartDashboard</li> <li>Add Commands</li> <li>Add Defaults</li> </ol>
+   * <ol>
+   *   <li>Poll the Buttons
+   *   <li>Execute/Remove the Commands
+   *   <li>Send values to SmartDashboard
+   *   <li>Add Commands
+   *   <li>Add Defaults
+   * </ol>
    */
   @SuppressWarnings({"PMD.CyclomaticComplexity", "PMD.NPathComplexity"})
   public void run() {
@@ -295,9 +284,7 @@ public final class Scheduler implements Sendable, AutoCloseable {
     command.removed();
   }
 
-  /**
-   * Removes all commands.
-   */
+  /** Removes all commands. */
   public void removeAll() {
     // TODO: Confirm that this works with "uninteruptible" commands
     while (m_firstCommand != null) {
@@ -305,16 +292,12 @@ public final class Scheduler implements Sendable, AutoCloseable {
     }
   }
 
-  /**
-   * Disable the command scheduler.
-   */
+  /** Disable the command scheduler. */
   public void disable() {
     m_disabled = true;
   }
 
-  /**
-   * Enable the command scheduler.
-   */
+  /** Enable the command scheduler. */
   public void enable() {
     m_disabled = false;
   }
@@ -325,39 +308,40 @@ public final class Scheduler implements Sendable, AutoCloseable {
     final NetworkTableEntry namesEntry = builder.getEntry("Names");
     final NetworkTableEntry idsEntry = builder.getEntry("Ids");
     final NetworkTableEntry cancelEntry = builder.getEntry("Cancel");
-    builder.setUpdateTable(() -> {
-      if (namesEntry != null && idsEntry != null && cancelEntry != null) {
-        // Get the commands to cancel
-        double[] toCancel = cancelEntry.getDoubleArray(new double[0]);
-        if (toCancel.length > 0) {
-          for (LinkedListElement e = m_firstCommand; e != null; e = e.getNext()) {
-            for (double d : toCancel) {
-              if (e.getData().hashCode() == d) {
-                e.getData().cancel();
+    builder.setUpdateTable(
+        () -> {
+          if (namesEntry != null && idsEntry != null && cancelEntry != null) {
+            // Get the commands to cancel
+            double[] toCancel = cancelEntry.getDoubleArray(new double[0]);
+            if (toCancel.length > 0) {
+              for (LinkedListElement e = m_firstCommand; e != null; e = e.getNext()) {
+                for (double d : toCancel) {
+                  if (e.getData().hashCode() == d) {
+                    e.getData().cancel();
+                  }
+                }
               }
+              cancelEntry.setDoubleArray(new double[0]);
+            }
+
+            if (m_runningCommandsChanged) {
+              // Set the the running commands
+              int number = 0;
+              for (LinkedListElement e = m_firstCommand; e != null; e = e.getNext()) {
+                number++;
+              }
+              String[] commands = new String[number];
+              double[] ids = new double[number];
+              number = 0;
+              for (LinkedListElement e = m_firstCommand; e != null; e = e.getNext()) {
+                commands[number] = e.getData().getName();
+                ids[number] = e.getData().hashCode();
+                number++;
+              }
+              namesEntry.setStringArray(commands);
+              idsEntry.setDoubleArray(ids);
             }
           }
-          cancelEntry.setDoubleArray(new double[0]);
-        }
-
-        if (m_runningCommandsChanged) {
-          // Set the the running commands
-          int number = 0;
-          for (LinkedListElement e = m_firstCommand; e != null; e = e.getNext()) {
-            number++;
-          }
-          String[] commands = new String[number];
-          double[] ids = new double[number];
-          number = 0;
-          for (LinkedListElement e = m_firstCommand; e != null; e = e.getNext()) {
-            commands[number] = e.getData().getName();
-            ids[number] = e.getData().hashCode();
-            number++;
-          }
-          namesEntry.setStringArray(commands);
-          idsEntry.setDoubleArray(ids);
-        }
-      }
-    });
+        });
   }
 }
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Set.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Set.java
index 80cab72cc6..d47f16f0e9 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Set.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Set.java
@@ -8,14 +8,11 @@ import java.util.Enumeration;
 import java.util.Vector;
 
 @SuppressWarnings("all")
-/**
- * A set.
- */
+/** A set. */
 class Set {
   private Vector m_set = new Vector();
 
-  public Set() {
-  }
+  public Set() {}
 
   public void add(Object o) {
     if (m_set.contains(o)) {
@@ -32,7 +29,7 @@ class Set {
   }
 
   public void clear() {
-      m_set.clear();
+    m_set.clear();
   }
 
   public boolean contains(Object o) {
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/StartCommand.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/StartCommand.java
index a55834a130..56b41502b6 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/StartCommand.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/StartCommand.java
@@ -9,9 +9,7 @@ package edu.wpi.first.wpilibj.command;
  * when it is initialized and will finish immediately.
  */
 public class StartCommand extends InstantCommand {
-  /**
-   * The command to fork.
-   */
+  /** The command to fork. */
   private final Command m_commandToFork;
 
   /**
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Subsystem.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Subsystem.java
index 98372fa36a..8f61663293 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Subsystem.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Subsystem.java
@@ -4,40 +4,34 @@
 
 package edu.wpi.first.wpilibj.command;
 
-import java.util.Collections;
-
 import edu.wpi.first.wpilibj.Sendable;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import java.util.Collections;
 
 /**
  * This class defines a major component of the robot.
  *
- * <p> A good example of a subsystem is the driveline, or a claw if the robot has one. </p>
+ * <p>A good example of a subsystem is the driveline, or a claw if the robot has one.
  *
- * <p> All motors should be a part of a subsystem. For instance, all the wheel motors should be a
- * part of some kind of "Driveline" subsystem. </p>
+ * <p>All motors should be a part of a subsystem. For instance, all the wheel motors should be a
+ * part of some kind of "Driveline" subsystem.
  *
- * <p> Subsystems are used within the command system as requirements for {@link Command}. Only one
+ * <p>Subsystems are used within the command system as requirements for {@link Command}. Only one
  * command which requires a subsystem can run at a time. Also, subsystems can have default commands
- * which are started if there is no command running which requires this subsystem. </p>
+ * which are started if there is no command running which requires this subsystem.
  *
  * @see Command
  */
 public abstract class Subsystem implements Sendable, AutoCloseable {
-  /**
-   * Whether or not getDefaultCommand() was called.
-   */
+  /** Whether or not getDefaultCommand() was called. */
   private boolean m_initializedDefaultCommand;
-  /**
-   * The current command.
-   */
+  /** The current command. */
   private Command m_currentCommand;
+
   private boolean m_currentCommandChanged;
 
-  /**
-   * The default command.
-   */
+  /** The default command. */
   private Command m_defaultCommand;
 
   /**
@@ -50,9 +44,7 @@ public abstract class Subsystem implements Sendable, AutoCloseable {
     Scheduler.getInstance().registerSubsystem(this);
   }
 
-  /**
-   * Creates a subsystem. This will set the name to the name of the class.
-   */
+  /** Creates a subsystem. This will set the name to the name of the class. */
   public Subsystem() {
     String name = getClass().getName();
     name = name.substring(name.lastIndexOf('.') + 1);
@@ -73,9 +65,7 @@ public abstract class Subsystem implements Sendable, AutoCloseable {
    */
   protected abstract void initDefaultCommand();
 
-  /**
-   * When the run method of the scheduler is called this method will be called.
-   */
+  /** When the run method of the scheduler is called this method will be called. */
   public void periodic() {
     // Override me!
   }
@@ -84,8 +74,8 @@ public abstract class Subsystem implements Sendable, AutoCloseable {
    * Sets the default command. If this is not called or is called with null, then there will be no
    * default command for the subsystem.
    *
-   * <p> <b>WARNING:</b> This should <b>NOT</b> be called in a constructor if the subsystem is a
-   * singleton. </p>
+   * <p><b>WARNING:</b> This should <b>NOT</b> be called in a constructor if the subsystem is a
+   * singleton.
    *
    * @param command the default command (or null if there should be none)
    * @throws IllegalUseOfCommandException if the command does not require the subsystem
@@ -173,8 +163,7 @@ public abstract class Subsystem implements Sendable, AutoCloseable {
   }
 
   /**
-   * Associate a {@link Sendable} with this Subsystem.
-   * Also update the child's name.
+   * Associate a {@link Sendable} with this Subsystem. Also update the child's name.
    *
    * @param name name to give child
    * @param child sendable
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/TimedCommand.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/TimedCommand.java
index 262d5a2601..36e651b85a 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/TimedCommand.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/TimedCommand.java
@@ -5,14 +5,14 @@
 package edu.wpi.first.wpilibj.command;
 
 /**
- * A {@link TimedCommand} will wait for a timeout before finishing.
- * {@link TimedCommand} is used to execute a command for a given amount of time.
+ * A {@link TimedCommand} will wait for a timeout before finishing. {@link TimedCommand} is used to
+ * execute a command for a given amount of time.
  */
 public class TimedCommand extends Command {
   /**
    * Instantiates a TimedCommand with the given name and timeout.
    *
-   * @param name    the name of the command
+   * @param name the name of the command
    * @param timeout the time the command takes to run (seconds)
    */
   public TimedCommand(String name, double timeout) {
@@ -31,8 +31,8 @@ public class TimedCommand extends Command {
   /**
    * Instantiates a TimedCommand with the given name and timeout.
    *
-   * @param name      the name of the command
-   * @param timeout   the time the command takes to run (seconds)
+   * @param name the name of the command
+   * @param timeout the time the command takes to run (seconds)
    * @param subsystem the subsystem that this command requires
    */
   public TimedCommand(String name, double timeout, Subsystem subsystem) {
@@ -42,16 +42,14 @@ public class TimedCommand extends Command {
   /**
    * Instantiates a TimedCommand with the given timeout.
    *
-   * @param timeout   the time the command takes to run (seconds)
+   * @param timeout the time the command takes to run (seconds)
    * @param subsystem the subsystem that this command requires
    */
   public TimedCommand(double timeout, Subsystem subsystem) {
     super(timeout, subsystem);
   }
 
-  /**
-  * Ends command when timed out.
-  */
+  /** Ends command when timed out. */
   @Override
   protected boolean isFinished() {
     return isTimedOut();
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/WaitCommand.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/WaitCommand.java
index 1ff2fe6631..a541944b1a 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/WaitCommand.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/WaitCommand.java
@@ -23,7 +23,7 @@ public class WaitCommand extends TimedCommand {
   /**
    * Instantiates a {@link WaitCommand} with the given timeout.
    *
-   * @param name    the name of the command
+   * @param name the name of the command
    * @param timeout the time the command takes to run (seconds)
    */
   public WaitCommand(String name, double timeout) {
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/WaitForChildren.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/WaitForChildren.java
index cb9f71cbaa..23e21d35b4 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/WaitForChildren.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/WaitForChildren.java
@@ -9,8 +9,8 @@ package edu.wpi.first.wpilibj.command;
  * If it is not a part of a {@link CommandGroup}, then it will finish immediately. If it is itself
  * an active child, then the {@link CommandGroup} will never end.
  *
- * <p>This class is useful for the situation where you want to allow anything running in parallel
- * to finish, before continuing in the main {@link CommandGroup} sequence.
+ * <p>This class is useful for the situation where you want to allow anything running in parallel to
+ * finish, before continuing in the main {@link CommandGroup} sequence.
  */
 public class WaitForChildren extends Command {
   @Override
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/WaitUntilCommand.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/WaitUntilCommand.java
index 09803681ec..b7226bd7e1 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/WaitUntilCommand.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/WaitUntilCommand.java
@@ -18,9 +18,7 @@ public class WaitUntilCommand extends Command {
     m_time = time;
   }
 
-  /**
-   * Check if we've reached the actual finish time.
-   */
+  /** Check if we've reached the actual finish time. */
   @Override
   public boolean isFinished() {
     return Timer.getMatchTime() >= m_time;
diff --git a/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/MockHardwareExtension.java b/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/MockHardwareExtension.java
index cb6f74677c..cdac72849d 100644
--- a/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/MockHardwareExtension.java
+++ b/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/MockHardwareExtension.java
@@ -4,13 +4,12 @@
 
 package edu.wpi.first.wpilibj;
 
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.simulation.DriverStationSim;
 import org.junit.jupiter.api.extension.BeforeAllCallback;
 import org.junit.jupiter.api.extension.ExtensionContext;
 import org.junit.jupiter.api.extension.ExtensionContext.Namespace;
 
-import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.simulation.DriverStationSim;
-
 public final class MockHardwareExtension implements BeforeAllCallback {
   private static ExtensionContext getRoot(ExtensionContext context) {
     return context.getParent().map(MockHardwareExtension::getRoot).orElse(context);
@@ -18,10 +17,15 @@ public final class MockHardwareExtension implements BeforeAllCallback {
 
   @Override
   public void beforeAll(ExtensionContext context) {
-    getRoot(context).getStore(Namespace.GLOBAL).getOrComputeIfAbsent("HAL Initialized", key -> {
-      initializeHardware();
-      return true;
-    }, Boolean.class);
+    getRoot(context)
+        .getStore(Namespace.GLOBAL)
+        .getOrComputeIfAbsent(
+            "HAL Initialized",
+            key -> {
+              initializeHardware();
+              return true;
+            },
+            Boolean.class);
   }
 
   private void initializeHardware() {
@@ -31,7 +35,5 @@ public final class MockHardwareExtension implements BeforeAllCallback {
     dsSim.setAutonomous(false);
     dsSim.setEnabled(true);
     dsSim.setTest(true);
-
-
   }
 }
diff --git a/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/AbstractCommandTest.java b/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/AbstractCommandTest.java
index 61b9959bcf..5c0977fb49 100644
--- a/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/AbstractCommandTest.java
+++ b/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/AbstractCommandTest.java
@@ -4,15 +4,13 @@
 
 package edu.wpi.first.wpilibj.command;
 
-import org.junit.jupiter.api.BeforeEach;
-
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-/**
- * The basic test for all {@link Command} tests.
- */
+import org.junit.jupiter.api.BeforeEach;
+
+/** The basic test for all {@link Command} tests. */
 public abstract class AbstractCommandTest {
   @BeforeEach
   void commandSetup() {
@@ -35,16 +33,14 @@ public abstract class AbstractCommandTest {
     }
   }
 
-
-  protected void assertCommandState(MockCommand command, int initialize, int execute,
-                                    int isFinished, int end, int interrupted) {
+  protected void assertCommandState(
+      MockCommand command, int initialize, int execute, int isFinished, int end, int interrupted) {
     assertAll(
         () -> assertEquals(initialize, command.getInitializeCount()),
         () -> assertEquals(execute, command.getExecuteCount()),
         () -> assertEquals(isFinished, command.getIsFinishedCount()),
         () -> assertEquals(end, command.getEndCount()),
-        () -> assertEquals(interrupted, command.getInterruptedCount())
-    );
+        () -> assertEquals(interrupted, command.getInterruptedCount()));
   }
 
   protected void sleep(int time) {
diff --git a/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/ButtonTest.java b/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/ButtonTest.java
index e0f66ea463..0569268a47 100644
--- a/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/ButtonTest.java
+++ b/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/ButtonTest.java
@@ -4,12 +4,10 @@
 
 package edu.wpi.first.wpilibj.command;
 
+import edu.wpi.first.wpilibj.buttons.InternalButton;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 
-import edu.wpi.first.wpilibj.buttons.InternalButton;
-
-
 /**
  * Test that covers the {@link edu.wpi.first.wpilibj.buttons.Button} with the {@link Command}
  * library.
@@ -24,9 +22,7 @@ class ButtonTest extends AbstractCommandTest {
     m_button2 = new InternalButton();
   }
 
-  /**
-   * Simple Button Test.
-   */
+  /** Simple Button Test. */
   @Test
   void buttonTest() {
     final MockCommand command1 = new MockCommand();
@@ -109,5 +105,4 @@ class ButtonTest extends AbstractCommandTest {
     assertCommandState(command3, 1, 4, 4, 0, 1);
     assertCommandState(command4, 1, 3, 3, 0, 1);
   }
-
 }
diff --git a/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandParallelGroupTest.java b/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandParallelGroupTest.java
index c35855c102..04a920cc3b 100644
--- a/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandParallelGroupTest.java
+++ b/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandParallelGroupTest.java
@@ -6,13 +6,9 @@ package edu.wpi.first.wpilibj.command;
 
 import org.junit.jupiter.api.Test;
 
-/**
- * Ported from the old CrioTest Classes.
- */
+/** Ported from the old CrioTest Classes. */
 class CommandParallelGroupTest extends AbstractCommandTest {
-  /**
-   * Simple Parallel Command Group With 2 commands one command terminates first.
-   */
+  /** Simple Parallel Command Group With 2 commands one command terminates first. */
   @Test
   void parallelCommandGroupWithTwoCommandsTest() {
     final MockCommand command1 = new MockCommand();
@@ -49,5 +45,4 @@ class CommandParallelGroupTest extends AbstractCommandTest {
       assertCommandState(command2, 1, 5, 5, 1, 0);
     }
   }
-
 }
diff --git a/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandScheduleTest.java b/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandScheduleTest.java
index d6ef5cfca4..5592045fa4 100644
--- a/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandScheduleTest.java
+++ b/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandScheduleTest.java
@@ -6,9 +6,7 @@ package edu.wpi.first.wpilibj.command;
 
 import org.junit.jupiter.api.Test;
 
-/**
- * Ported from the old CrioTest Classes.
- */
+/** Ported from the old CrioTest Classes. */
 class CommandScheduleTest extends AbstractCommandTest {
   /**
    * Simple scheduling of a command and making sure the command is run and successfully terminates.
@@ -32,9 +30,7 @@ class CommandScheduleTest extends AbstractCommandTest {
     assertCommandState(command, 1, 3, 3, 1, 0);
   }
 
-  /**
-   * Simple scheduling of a command and making sure the command is run and cancels correctly.
-   */
+  /** Simple scheduling of a command and making sure the command is run and cancels correctly. */
   @Test
   void runAndCancelTest() {
     final MockCommand command = new MockCommand();
diff --git a/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandSequentialGroupTest.java b/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandSequentialGroupTest.java
index 9da61e75d7..3a299efae1 100644
--- a/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandSequentialGroupTest.java
+++ b/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandSequentialGroupTest.java
@@ -5,12 +5,9 @@
 package edu.wpi.first.wpilibj.command;
 
 import java.util.logging.Logger;
-
 import org.junit.jupiter.api.Test;
 
-/**
- * Ported from the old CrioTest Classes.
- */
+/** Ported from the old CrioTest Classes. */
 class CommandSequentialGroupTest extends AbstractCommandTest {
   private static final Logger logger = Logger.getLogger(CommandSequentialGroupTest.class.getName());
 
@@ -36,7 +33,6 @@ class CommandSequentialGroupTest extends AbstractCommandTest {
       commandGroup.addSequential(command2, 2.0);
       commandGroup.addSequential(command3);
 
-
       assertCommandState(command1, 0, 0, 0, 0, 0);
       assertCommandState(command2, 0, 0, 0, 0, 0);
       assertCommandState(command3, 0, 0, 0, 0, 0);
@@ -87,5 +83,4 @@ class CommandSequentialGroupTest extends AbstractCommandTest {
       assertCommandState(command3, 1, 3, 3, 1, 0);
     }
   }
-
 }
diff --git a/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandSupersedeTest.java b/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandSupersedeTest.java
index c3da1bc485..85f58ea66c 100644
--- a/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandSupersedeTest.java
+++ b/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandSupersedeTest.java
@@ -6,13 +6,9 @@ package edu.wpi.first.wpilibj.command;
 
 import org.junit.jupiter.api.Test;
 
-/**
- * Ported from the old CrioTest Classes.
- */
+/** Ported from the old CrioTest Classes. */
 class CommandSupersedeTest extends AbstractCommandTest {
-  /**
-   * Testing one command superseding another because of dependencies.
-   */
+  /** Testing one command superseding another because of dependencies. */
   @Test
   void oneCommandSupersedingAnotherBecauseOfDependenciesTest() {
     final ASubsystem subsystem = new ASubsystem();
@@ -64,11 +60,12 @@ class CommandSupersedeTest extends AbstractCommandTest {
   void commandFailingSupersedingBecauseFirstCanNotBeInterruptedTest() {
     final ASubsystem subsystem = new ASubsystem();
 
-    final MockCommand command1 = new MockCommand(subsystem) {
-      {
-        setInterruptible(false);
-      }
-    };
+    final MockCommand command1 =
+        new MockCommand(subsystem) {
+          {
+            setInterruptible(false);
+          }
+        };
 
     final MockCommand command2 = new MockCommand(subsystem);
 
diff --git a/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandTimeoutTest.java b/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandTimeoutTest.java
index f1fad57f64..069e0990be 100644
--- a/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandTimeoutTest.java
+++ b/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandTimeoutTest.java
@@ -6,24 +6,20 @@ package edu.wpi.first.wpilibj.command;
 
 import org.junit.jupiter.api.Test;
 
-/**
- * Test a {@link Command} that times out.
- */
+/** Test a {@link Command} that times out. */
 class CommandTimeoutTest extends AbstractCommandTest {
-  /**
-   * Command 2 second Timeout Test.
-   */
+  /** Command 2 second Timeout Test. */
   @Test
   void twoSecondTimeoutTest() {
     final ASubsystem subsystem = new ASubsystem();
 
-
-    final MockCommand command = new MockCommand(subsystem, 2) {
-      @Override
-      public boolean isFinished() {
-        return super.isFinished() || isTimedOut();
-      }
-    };
+    final MockCommand command =
+        new MockCommand(subsystem, 2) {
+          @Override
+          public boolean isFinished() {
+            return super.isFinished() || isTimedOut();
+          }
+        };
 
     command.start();
     assertCommandState(command, 0, 0, 0, 0, 0);
diff --git a/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/ConditionalCommandTest.java b/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/ConditionalCommandTest.java
index efb544abc9..90e6d4d4b9 100644
--- a/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/ConditionalCommandTest.java
+++ b/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/ConditionalCommandTest.java
@@ -4,13 +4,13 @@
 
 package edu.wpi.first.wpilibj.command;
 
-import org.junit.jupiter.api.BeforeEach;
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertSame;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
 class ConditionalCommandTest extends AbstractCommandTest {
   MockConditionalCommand m_command;
   MockConditionalCommand m_commandNull;
@@ -28,9 +28,13 @@ class ConditionalCommandTest extends AbstractCommandTest {
     m_commandNull = new MockConditionalCommand(m_onTrue, null);
   }
 
-  protected void assertConditionalCommandState(MockConditionalCommand command, int initialize,
-                                               int execute, int isFinished, int end,
-                                               int interrupted) {
+  protected void assertConditionalCommandState(
+      MockConditionalCommand command,
+      int initialize,
+      int execute,
+      int isFinished,
+      int end,
+      int interrupted) {
     assertEquals(initialize, command.getInitializeCount());
     assertEquals(execute, command.getExecuteCount());
     assertEquals(isFinished, command.getIsFinishedCount());
@@ -46,11 +50,11 @@ class ConditionalCommandTest extends AbstractCommandTest {
     assertCommandState(m_onTrue, 0, 0, 0, 0, 0);
     assertCommandState(m_onFalse, 0, 0, 0, 0, 0);
     assertConditionalCommandState(m_command, 0, 0, 0, 0, 0);
-    Scheduler.getInstance().run();  // init command and select m_onTrue
+    Scheduler.getInstance().run(); // init command and select m_onTrue
     assertCommandState(m_onTrue, 0, 0, 0, 0, 0);
     assertCommandState(m_onFalse, 0, 0, 0, 0, 0);
     assertConditionalCommandState(m_command, 0, 0, 0, 0, 0);
-    Scheduler.getInstance().run();  // init m_onTrue
+    Scheduler.getInstance().run(); // init m_onTrue
     assertCommandState(m_onTrue, 0, 0, 0, 0, 0);
     assertCommandState(m_onFalse, 0, 0, 0, 0, 0);
     assertConditionalCommandState(m_command, 1, 1, 1, 0, 0);
@@ -84,11 +88,11 @@ class ConditionalCommandTest extends AbstractCommandTest {
     assertCommandState(m_onFalse, 0, 0, 0, 0, 0);
     assertCommandState(m_onTrue, 0, 0, 0, 0, 0);
     assertConditionalCommandState(m_command, 0, 0, 0, 0, 0);
-    Scheduler.getInstance().run();  // init command and select m_onFalse
+    Scheduler.getInstance().run(); // init command and select m_onFalse
     assertCommandState(m_onFalse, 0, 0, 0, 0, 0);
     assertCommandState(m_onTrue, 0, 0, 0, 0, 0);
     assertConditionalCommandState(m_command, 0, 0, 0, 0, 0);
-    Scheduler.getInstance().run();  // init m_onFalse
+    Scheduler.getInstance().run(); // init m_onFalse
     assertCommandState(m_onFalse, 0, 0, 0, 0, 0);
     assertCommandState(m_onTrue, 0, 0, 0, 0, 0);
     assertConditionalCommandState(m_command, 1, 1, 1, 0, 0);
@@ -122,11 +126,11 @@ class ConditionalCommandTest extends AbstractCommandTest {
     assertCommandState(m_onTrue, 0, 0, 0, 0, 0);
     assertCommandState(m_onFalse, 0, 0, 0, 0, 0);
     assertConditionalCommandState(m_command, 0, 0, 0, 0, 0);
-    Scheduler.getInstance().run();  // init command and select m_onTrue
+    Scheduler.getInstance().run(); // init command and select m_onTrue
     assertCommandState(m_onTrue, 0, 0, 0, 0, 0);
     assertCommandState(m_onFalse, 0, 0, 0, 0, 0);
     assertConditionalCommandState(m_command, 0, 0, 0, 0, 0);
-    Scheduler.getInstance().run();  // init m_onTrue
+    Scheduler.getInstance().run(); // init m_onTrue
     assertCommandState(m_onTrue, 0, 0, 0, 0, 0);
     assertCommandState(m_onFalse, 0, 0, 0, 0, 0);
     assertConditionalCommandState(m_command, 1, 1, 1, 0, 0);
@@ -161,11 +165,11 @@ class ConditionalCommandTest extends AbstractCommandTest {
     assertCommandState(m_onTrue, 0, 0, 0, 0, 0);
     assertCommandState(m_onFalse, 0, 0, 0, 0, 0);
     assertConditionalCommandState(m_command, 0, 0, 0, 0, 0);
-    Scheduler.getInstance().run();  // init command and select m_onTrue
+    Scheduler.getInstance().run(); // init command and select m_onTrue
     assertCommandState(m_onTrue, 0, 0, 0, 0, 0);
     assertCommandState(m_onFalse, 0, 0, 0, 0, 0);
     assertConditionalCommandState(m_command, 0, 0, 0, 0, 0);
-    Scheduler.getInstance().run();  // init m_onTrue
+    Scheduler.getInstance().run(); // init m_onTrue
     assertCommandState(m_onTrue, 0, 0, 0, 0, 0);
     assertCommandState(m_onFalse, 0, 0, 0, 0, 0);
     assertConditionalCommandState(m_command, 1, 1, 1, 0, 0);
@@ -196,11 +200,11 @@ class ConditionalCommandTest extends AbstractCommandTest {
     assertCommandState(m_onTrue, 0, 0, 0, 0, 0);
     assertCommandState(m_onFalse, 0, 0, 0, 0, 0);
     assertConditionalCommandState(m_command, 0, 0, 0, 0, 0);
-    Scheduler.getInstance().run();  // init command and select m_onTrue
+    Scheduler.getInstance().run(); // init command and select m_onTrue
     assertCommandState(m_onTrue, 0, 0, 0, 0, 0);
     assertCommandState(m_onFalse, 0, 0, 0, 0, 0);
     assertConditionalCommandState(m_command, 0, 0, 0, 0, 0);
-    Scheduler.getInstance().run();  // init m_onTrue
+    Scheduler.getInstance().run(); // init m_onTrue
     assertCommandState(m_onTrue, 0, 0, 0, 0, 0);
     assertCommandState(m_onFalse, 0, 0, 0, 0, 0);
     assertConditionalCommandState(m_command, 1, 1, 1, 0, 0);
@@ -231,11 +235,11 @@ class ConditionalCommandTest extends AbstractCommandTest {
     assertCommandState(m_onTrue, 0, 0, 0, 0, 0);
     assertCommandState(m_onFalse, 0, 0, 0, 0, 0);
     assertConditionalCommandState(m_command, 0, 0, 0, 0, 0);
-    Scheduler.getInstance().run();  // init command and select m_onTrue
+    Scheduler.getInstance().run(); // init command and select m_onTrue
     assertCommandState(m_onTrue, 0, 0, 0, 0, 0);
     assertCommandState(m_onFalse, 0, 0, 0, 0, 0);
     assertConditionalCommandState(m_command, 0, 0, 0, 0, 0);
-    Scheduler.getInstance().run();  // init m_onTrue
+    Scheduler.getInstance().run(); // init m_onTrue
     assertCommandState(m_onTrue, 0, 0, 0, 0, 0);
     assertCommandState(m_onFalse, 0, 0, 0, 0, 0);
     assertConditionalCommandState(m_command, 1, 1, 1, 0, 0);
@@ -264,11 +268,11 @@ class ConditionalCommandTest extends AbstractCommandTest {
     assertCommandState(m_onTrue, 0, 0, 0, 0, 0);
     assertCommandState(m_onFalse, 0, 0, 0, 0, 0);
     assertConditionalCommandState(m_command, 0, 0, 0, 0, 0);
-    Scheduler.getInstance().run();  // init command and select m_onTrue
+    Scheduler.getInstance().run(); // init command and select m_onTrue
     assertCommandState(m_onTrue, 0, 0, 0, 0, 0);
     assertCommandState(m_onFalse, 0, 0, 0, 0, 0);
     assertConditionalCommandState(m_command, 0, 0, 0, 0, 0);
-    Scheduler.getInstance().run();  // init m_onTrue
+    Scheduler.getInstance().run(); // init m_onTrue
     assertCommandState(m_onTrue, 0, 0, 0, 0, 0);
     assertCommandState(m_onFalse, 0, 0, 0, 0, 0);
     assertConditionalCommandState(m_command, 1, 1, 1, 0, 0);
@@ -300,11 +304,11 @@ class ConditionalCommandTest extends AbstractCommandTest {
     assertCommandState(m_onTrue, 0, 0, 0, 0, 0);
     assertCommandState(m_onFalse, 0, 0, 0, 0, 0);
     assertConditionalCommandState(m_command, 0, 0, 0, 0, 0);
-    Scheduler.getInstance().run();  // init command and select m_onTrue
+    Scheduler.getInstance().run(); // init command and select m_onTrue
     assertCommandState(m_onTrue, 0, 0, 0, 0, 0);
     assertCommandState(m_onFalse, 0, 0, 0, 0, 0);
     assertConditionalCommandState(m_command, 0, 0, 0, 0, 0);
-    Scheduler.getInstance().run();  // init m_onTrue
+    Scheduler.getInstance().run(); // init m_onTrue
     assertCommandState(m_onTrue, 0, 0, 0, 0, 0);
     assertCommandState(m_onFalse, 0, 0, 0, 0, 0);
     assertConditionalCommandState(m_command, 1, 1, 1, 0, 0);
@@ -329,10 +333,10 @@ class ConditionalCommandTest extends AbstractCommandTest {
     Scheduler.getInstance().add(m_commandNull);
     assertCommandState(m_onTrue, 0, 0, 0, 0, 0);
     assertConditionalCommandState(m_commandNull, 0, 0, 0, 0, 0);
-    Scheduler.getInstance().run();  // init command and select m_onFalse
+    Scheduler.getInstance().run(); // init command and select m_onFalse
     assertCommandState(m_onTrue, 0, 0, 0, 0, 0);
     assertConditionalCommandState(m_commandNull, 0, 0, 0, 0, 0);
-    Scheduler.getInstance().run();  // init m_onFalse
+    Scheduler.getInstance().run(); // init m_onFalse
     assertCommandState(m_onTrue, 0, 0, 0, 0, 0);
     assertConditionalCommandState(m_commandNull, 1, 1, 1, 1, 0);
     Scheduler.getInstance().run();
diff --git a/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/DefaultCommandTest.java b/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/DefaultCommandTest.java
index e6eb837532..698c0e60fc 100644
--- a/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/DefaultCommandTest.java
+++ b/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/DefaultCommandTest.java
@@ -6,18 +6,13 @@ package edu.wpi.first.wpilibj.command;
 
 import org.junit.jupiter.api.Test;
 
-/**
- * Tests the {@link Command} library.
- */
+/** Tests the {@link Command} library. */
 public class DefaultCommandTest extends AbstractCommandTest {
-  /**
-   * Testing of default commands where the interrupting command ends itself.
-   */
+  /** Testing of default commands where the interrupting command ends itself. */
   @Test
   void defaultCommandWhereTheInteruptingCommandEndsItselfTest() {
     final ASubsystem subsystem = new ASubsystem();
 
-
     final MockCommand defaultCommand = new MockCommand(subsystem);
 
     final MockCommand anotherCommand = new MockCommand(subsystem);
@@ -58,10 +53,7 @@ public class DefaultCommandTest extends AbstractCommandTest {
     assertCommandState(anotherCommand, 1, 3, 3, 1, 0);
   }
 
-
-  /**
-   * Testing of default commands where the interrupting command is canceled.
-   */
+  /** Testing of default commands where the interrupting command is canceled. */
   @Test
   void defaultCommandsInterruptingCommandCanceledTest() {
     final ASubsystem subsystem = new ASubsystem();
@@ -104,5 +96,4 @@ public class DefaultCommandTest extends AbstractCommandTest {
     assertCommandState(defaultCommand, 2, 5, 5, 0, 1);
     assertCommandState(anotherCommand, 1, 2, 2, 0, 1);
   }
-
 }
diff --git a/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/MockCommand.java b/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/MockCommand.java
index 4579261772..5d1715be43 100644
--- a/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/MockCommand.java
+++ b/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/MockCommand.java
@@ -56,31 +56,22 @@ public class MockCommand extends Command {
     ++m_interruptedCount;
   }
 
-
-  /**
-   * How many times the initialize method has been called.
-   */
+  /** How many times the initialize method has been called. */
   public int getInitializeCount() {
     return m_initializeCount;
   }
 
-  /**
-   * If the initialize method has been called at least once.
-   */
+  /** If the initialize method has been called at least once. */
   public boolean hasInitialized() {
     return getInitializeCount() > 0;
   }
 
-  /**
-   * How many time the execute method has been called.
-   */
+  /** How many time the execute method has been called. */
   public int getExecuteCount() {
     return m_executeCount;
   }
 
-  /**
-   * How many times the isFinished method has been called.
-   */
+  /** How many times the isFinished method has been called. */
   public int getIsFinishedCount() {
     return m_isFinishedCount;
   }
@@ -103,37 +94,27 @@ public class MockCommand extends Command {
     m_hasFinished = hasFinished;
   }
 
-  /**
-   * How many times the end method has been called.
-   */
+  /** How many times the end method has been called. */
   public int getEndCount() {
     return m_endCount;
   }
 
-  /**
-   * If the end method has been called at least once.
-   */
+  /** If the end method has been called at least once. */
   public boolean hasEnd() {
     return getEndCount() > 0;
   }
 
-  /**
-   * How many times the interrupted method has been called.
-   */
+  /** How many times the interrupted method has been called. */
   public int getInterruptedCount() {
     return m_interruptedCount;
   }
 
-  /**
-   * If the interrupted method has been called at least once.
-   */
+  /** If the interrupted method has been called at least once. */
   public boolean hasInterrupted() {
     return getInterruptedCount() > 0;
   }
 
-  /**
-   * Reset internal counters.
-   */
+  /** Reset internal counters. */
   public void resetCounters() {
     m_initializeCount = 0;
     m_executeCount = 0;
@@ -142,5 +123,4 @@ public class MockCommand extends Command {
     m_endCount = 0;
     m_interruptedCount = 0;
   }
-
 }
diff --git a/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/MockConditionalCommand.java b/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/MockConditionalCommand.java
index f2d0f11f78..8ac2aee9f7 100644
--- a/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/MockConditionalCommand.java
+++ b/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/MockConditionalCommand.java
@@ -51,66 +51,47 @@ public class MockConditionalCommand extends ConditionalCommand {
     ++m_interruptedCount;
   }
 
-
-  /**
-   * How many times the initialize method has been called.
-   */
+  /** How many times the initialize method has been called. */
   public int getInitializeCount() {
     return m_initializeCount;
   }
 
-  /**
-   * If the initialize method has been called at least once.
-   */
+  /** If the initialize method has been called at least once. */
   public boolean hasInitialized() {
     return getInitializeCount() > 0;
   }
 
-  /**
-   * How many time the execute method has been called.
-   */
+  /** How many time the execute method has been called. */
   public int getExecuteCount() {
     return m_executeCount;
   }
 
-  /**
-   * How many times the isFinished method has been called.
-   */
+  /** How many times the isFinished method has been called. */
   public int getIsFinishedCount() {
     return m_isFinishedCount;
   }
 
-  /**
-   * How many times the end method has been called.
-   */
+  /** How many times the end method has been called. */
   public int getEndCount() {
     return m_endCount;
   }
 
-  /**
-   * If the end method has been called at least once.
-   */
+  /** If the end method has been called at least once. */
   public boolean hasEnd() {
     return getEndCount() > 0;
   }
 
-  /**
-   * How many times the interrupted method has been called.
-   */
+  /** How many times the interrupted method has been called. */
   public int getInterruptedCount() {
     return m_interruptedCount;
   }
 
-  /**
-   * If the interrupted method has been called at least once.
-   */
+  /** If the interrupted method has been called at least once. */
   public boolean hasInterrupted() {
     return getInterruptedCount() > 0;
   }
 
-  /**
-   * Reset internal counters.
-   */
+  /** Reset internal counters. */
   public void resetCounters() {
     m_condition = false;
     m_initializeCount = 0;
diff --git a/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/MockSubsystem.java b/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/MockSubsystem.java
index 90c668646c..e2b1bf778c 100644
--- a/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/MockSubsystem.java
+++ b/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/MockSubsystem.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.first.wpilibj.command;
 
-/**
- * A class to simulate a simple subsystem.
- */
+/** A class to simulate a simple subsystem. */
 public class MockSubsystem extends Subsystem {
   @Override
   protected void initDefaultCommand() {}
diff --git a/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTabTest.java b/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTabTest.java
index b8623e20c3..27558d3829 100644
--- a/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTabTest.java
+++ b/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTabTest.java
@@ -4,24 +4,22 @@
 
 package edu.wpi.first.wpilibj.shuffleboard;
 
-import java.util.HashMap;
-import java.util.Map;
-
-import org.junit.jupiter.api.AfterEach;
-import org.junit.jupiter.api.BeforeEach;
-import org.junit.jupiter.api.Test;
-
-import edu.wpi.first.networktables.NetworkTableEntry;
-import edu.wpi.first.networktables.NetworkTableInstance;
-import edu.wpi.first.wpilibj.Sendable;
-import edu.wpi.first.wpilibj.command.InstantCommand;
-
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertArrayEquals;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertThrows;
 
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj.Sendable;
+import edu.wpi.first.wpilibj.command.InstantCommand;
+import java.util.HashMap;
+import java.util.Map;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
 public class ShuffleboardTabTest {
   private NetworkTableInstance m_ntInstance;
   private ShuffleboardTab m_tab;
@@ -63,7 +61,6 @@ public class ShuffleboardTabTest {
         () -> assertEquals(1.0, entry.getValue().getDouble()));
   }
 
-
   @Test
   void testAddBoolean() {
     NetworkTableEntry entry = m_tab.add("Bool", false).getEntry();
@@ -84,47 +81,51 @@ public class ShuffleboardTabTest {
   void testAddNamedSendableWithProperties() {
     Sendable sendable = new InstantCommand("Command");
     String widgetType = "Command Widget";
-    m_tab.add(sendable)
-        .withWidget(widgetType)
-        .withProperties(mapOf("foo", 1234, "bar", "baz"));
+    m_tab.add(sendable).withWidget(widgetType).withProperties(mapOf("foo", 1234, "bar", "baz"));
 
     m_instance.update();
     String meta = "/Shuffleboard/.metadata/Tab/Command";
 
     assertAll(
-        () -> assertEquals(1234,
-                           m_ntInstance.getEntry(meta + "/Properties/foo").getDouble(-1),
-                           "Property 'foo' not set correctly"),
-        () -> assertEquals("baz",
-                           m_ntInstance.getEntry(meta + "/Properties/bar").getString(null),
-                           "Property 'bar' not set correctly"),
-        () -> assertEquals(widgetType,
-                           m_ntInstance.getEntry(meta + "/PreferredComponent").getString(null),
-                           "Preferred component not set correctly"));
+        () ->
+            assertEquals(
+                1234,
+                m_ntInstance.getEntry(meta + "/Properties/foo").getDouble(-1),
+                "Property 'foo' not set correctly"),
+        () ->
+            assertEquals(
+                "baz",
+                m_ntInstance.getEntry(meta + "/Properties/bar").getString(null),
+                "Property 'bar' not set correctly"),
+        () ->
+            assertEquals(
+                widgetType,
+                m_ntInstance.getEntry(meta + "/PreferredComponent").getString(null),
+                "Preferred component not set correctly"));
   }
 
   @Test
   void testAddNumberArray() {
-    NetworkTableEntry entry = m_tab.add("DoubleArray", new double[]{1, 2, 3}).getEntry();
+    NetworkTableEntry entry = m_tab.add("DoubleArray", new double[] {1, 2, 3}).getEntry();
     assertAll(
         () -> assertEquals("/Shuffleboard/Tab/DoubleArray", entry.getName()),
-        () -> assertArrayEquals(new double[]{1, 2, 3}, entry.getValue().getDoubleArray()));
+        () -> assertArrayEquals(new double[] {1, 2, 3}, entry.getValue().getDoubleArray()));
   }
 
   @Test
   void testAddBooleanArray() {
-    NetworkTableEntry entry = m_tab.add("BoolArray", new boolean[]{true, false}).getEntry();
+    NetworkTableEntry entry = m_tab.add("BoolArray", new boolean[] {true, false}).getEntry();
     assertAll(
         () -> assertEquals("/Shuffleboard/Tab/BoolArray", entry.getName()),
-        () -> assertArrayEquals(new boolean[]{true, false}, entry.getValue().getBooleanArray()));
+        () -> assertArrayEquals(new boolean[] {true, false}, entry.getValue().getBooleanArray()));
   }
 
   @Test
   void testAddStringArray() {
-    NetworkTableEntry entry = m_tab.add("StringArray", new String[]{"foo", "bar"}).getEntry();
+    NetworkTableEntry entry = m_tab.add("StringArray", new String[] {"foo", "bar"}).getEntry();
     assertAll(
         () -> assertEquals("/Shuffleboard/Tab/StringArray", entry.getName()),
-        () -> assertArrayEquals(new String[]{"foo", "bar"}, entry.getValue().getStringArray()));
+        () -> assertArrayEquals(new String[] {"foo", "bar"}, entry.getValue().getStringArray()));
   }
 
   @Test
@@ -133,9 +134,7 @@ public class ShuffleboardTabTest {
     assertThrows(IllegalArgumentException.class, () -> m_tab.add("foo", "baz"));
   }
 
-  /**
-   * Stub for Java 9 {@code Map.of()}.
-   */
+  /** Stub for Java 9 {@code Map.of()}. */
   @SuppressWarnings({"unchecked", "PMD"})
   private static <K, V> Map<K, V> mapOf(Object... entries) {
     Map<K, V> map = new HashMap<>();
@@ -144,5 +143,4 @@ public class ShuffleboardTabTest {
     }
     return map;
   }
-
 }
diff --git a/wpilibj/src/dev/java/edu/wpi/first/wpilibj/DevMain.java b/wpilibj/src/dev/java/edu/wpi/first/wpilibj/DevMain.java
index 4f9006dd36..995a2e2385 100644
--- a/wpilibj/src/dev/java/edu/wpi/first/wpilibj/DevMain.java
+++ b/wpilibj/src/dev/java/edu/wpi/first/wpilibj/DevMain.java
@@ -9,9 +9,7 @@ import edu.wpi.first.networktables.NetworkTablesJNI;
 import edu.wpi.first.wpiutil.RuntimeDetector;
 
 public final class DevMain {
-  /**
-   * Main entry point.
-   */
+  /** Main entry point. */
   public static void main(String[] args) {
     System.out.println("Hello World!");
     System.out.println(RuntimeDetector.getPlatformPath());
@@ -19,6 +17,5 @@ public final class DevMain {
     System.out.println(HALUtil.getHALRuntimeType());
   }
 
-  private DevMain() {
-  }
+  private DevMain() {}
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
index 092a7721ab..90cb114a6d 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
@@ -4,9 +4,6 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.nio.ByteBuffer;
-import java.nio.ByteOrder;
-
 import edu.wpi.first.hal.FRCNetComm.tInstances;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
@@ -17,10 +14,10 @@ import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.wpilibj.interfaces.Accelerometer;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
 
-/**
- * ADXL345 I2C Accelerometer.
- */
+/** ADXL345 I2C Accelerometer. */
 @SuppressWarnings({"TypeName", "PMD.UnusedPrivateField"})
 public class ADXL345_I2C implements Accelerometer, Sendable, AutoCloseable {
   private static final byte kAddress = 0x1D;
@@ -44,9 +41,7 @@ public class ADXL345_I2C implements Accelerometer, Sendable, AutoCloseable {
     kY((byte) 0x02),
     kZ((byte) 0x04);
 
-    /**
-     * The integer value representing this enumeration.
-     */
+    /** The integer value representing this enumeration. */
     @SuppressWarnings("MemberName")
     public final byte value;
 
@@ -73,7 +68,7 @@ public class ADXL345_I2C implements Accelerometer, Sendable, AutoCloseable {
   /**
    * Constructs the ADXL345 Accelerometer with I2C address 0x1D.
    *
-   * @param port  The I2C port the accelerometer is attached to
+   * @param port The I2C port the accelerometer is attached to
    * @param range The range (+ or -) that the accelerometer will measure.
    */
   public ADXL345_I2C(I2C.Port port, Range range) {
@@ -83,8 +78,8 @@ public class ADXL345_I2C implements Accelerometer, Sendable, AutoCloseable {
   /**
    * Constructs the ADXL345 Accelerometer over I2C.
    *
-   * @param port          The I2C port the accelerometer is attached to
-   * @param range         The range (+ or -) that the accelerometer will measure.
+   * @param port The I2C port the accelerometer is attached to
+   * @param range The range (+ or -) that the accelerometer will measure.
    * @param deviceAddress I2C address of the accelerometer (0x1D or 0x53)
    */
   public ADXL345_I2C(I2C.Port port, Range range, int deviceAddress) {
@@ -93,8 +88,13 @@ public class ADXL345_I2C implements Accelerometer, Sendable, AutoCloseable {
     // simulation
     m_simDevice = SimDevice.create("Accel:ADXL345_I2C", port.value, deviceAddress);
     if (m_simDevice != null) {
-      m_simRange = m_simDevice.createEnumDouble("range", SimDevice.Direction.kOutput,
-          new String[] {"2G", "4G", "8G", "16G"}, new double[] {2.0, 4.0, 8.0, 16.0}, 0);
+      m_simRange =
+          m_simDevice.createEnumDouble(
+              "range",
+              SimDevice.Direction.kOutput,
+              new String[] {"2G", "4G", "8G", "16G"},
+              new double[] {2.0, 4.0, 8.0, 16.0},
+              0);
       m_simX = m_simDevice.createDouble("x", SimDevice.Direction.kInput, 0.0);
       m_simY = m_simDevice.createDouble("y", SimDevice.Direction.kInput, 0.0);
       m_simZ = m_simDevice.createDouble("z", SimDevice.Direction.kInput, 0.0);
@@ -220,11 +220,12 @@ public class ADXL345_I2C implements Accelerometer, Sendable, AutoCloseable {
     NetworkTableEntry entryX = builder.getEntry("X");
     NetworkTableEntry entryY = builder.getEntry("Y");
     NetworkTableEntry entryZ = builder.getEntry("Z");
-    builder.setUpdateTable(() -> {
-      AllAxes data = getAccelerations();
-      entryX.setDouble(data.XAxis);
-      entryY.setDouble(data.YAxis);
-      entryZ.setDouble(data.ZAxis);
-    });
+    builder.setUpdateTable(
+        () -> {
+          AllAxes data = getAccelerations();
+          entryX.setDouble(data.XAxis);
+          entryY.setDouble(data.YAxis);
+          entryZ.setDouble(data.ZAxis);
+        });
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
index a630736c67..48397c6321 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
@@ -4,9 +4,6 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.nio.ByteBuffer;
-import java.nio.ByteOrder;
-
 import edu.wpi.first.hal.FRCNetComm.tInstances;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
@@ -17,10 +14,10 @@ import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.wpilibj.interfaces.Accelerometer;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
 
-/**
- * ADXL345 SPI Accelerometer.
- */
+/** ADXL345 SPI Accelerometer. */
 @SuppressWarnings({"TypeName", "PMD.UnusedPrivateField"})
 public class ADXL345_SPI implements Accelerometer, Sendable, AutoCloseable {
   private static final int kPowerCtlRegister = 0x2D;
@@ -47,9 +44,7 @@ public class ADXL345_SPI implements Accelerometer, Sendable, AutoCloseable {
     kY((byte) 0x02),
     kZ((byte) 0x04);
 
-    /**
-     * The integer value representing this enumeration.
-     */
+    /** The integer value representing this enumeration. */
     public final byte value;
 
     Axes(byte value) {
@@ -75,7 +70,7 @@ public class ADXL345_SPI implements Accelerometer, Sendable, AutoCloseable {
   /**
    * Constructor.
    *
-   * @param port  The SPI port that the accelerometer is connected to
+   * @param port The SPI port that the accelerometer is connected to
    * @param range The range (+ or -) that the accelerometer will measure.
    */
   public ADXL345_SPI(SPI.Port port, Range range) {
@@ -83,8 +78,13 @@ public class ADXL345_SPI implements Accelerometer, Sendable, AutoCloseable {
     // simulation
     m_simDevice = SimDevice.create("Accel:ADXL345_SPI", port.value);
     if (m_simDevice != null) {
-      m_simRange = m_simDevice.createEnumDouble("range", SimDevice.Direction.kOutput,
-          new String[] {"2G", "4G", "8G", "16G"}, new double[] {2.0, 4.0, 8.0, 16.0}, 0);
+      m_simRange =
+          m_simDevice.createEnumDouble(
+              "range",
+              SimDevice.Direction.kOutput,
+              new String[] {"2G", "4G", "8G", "16G"},
+              new double[] {2.0, 4.0, 8.0, 16.0},
+              0);
       m_simX = m_simDevice.createDouble("x", SimDevice.Direction.kInput, 0.0);
       m_simY = m_simDevice.createDouble("y", SimDevice.Direction.kInput, 0.0);
       m_simZ = m_simDevice.createDouble("z", SimDevice.Direction.kInput, 0.0);
@@ -151,7 +151,7 @@ public class ADXL345_SPI implements Accelerometer, Sendable, AutoCloseable {
     }
 
     // Specify the data format to read
-    byte[] commands = new byte[]{kDataFormatRegister, (byte) (kDataFormat_FullRes | value)};
+    byte[] commands = new byte[] {kDataFormatRegister, (byte) (kDataFormat_FullRes | value)};
     m_spi.write(commands, commands.length);
 
     if (m_simRange != null) {
@@ -191,8 +191,8 @@ public class ADXL345_SPI implements Accelerometer, Sendable, AutoCloseable {
       return m_simZ.get();
     }
     ByteBuffer transferBuffer = ByteBuffer.allocate(3);
-    transferBuffer.put(0,
-        (byte) ((kAddress_Read | kAddress_MultiByte | kDataRegister) + axis.value));
+    transferBuffer.put(
+        0, (byte) ((kAddress_Read | kAddress_MultiByte | kDataRegister) + axis.value));
     m_spi.transaction(transferBuffer, transferBuffer, 3);
     // Sensor is little endian
     transferBuffer.order(ByteOrder.LITTLE_ENDIAN);
@@ -234,11 +234,12 @@ public class ADXL345_SPI implements Accelerometer, Sendable, AutoCloseable {
     NetworkTableEntry entryX = builder.getEntry("X");
     NetworkTableEntry entryY = builder.getEntry("Y");
     NetworkTableEntry entryZ = builder.getEntry("Z");
-    builder.setUpdateTable(() -> {
-      AllAxes data = getAccelerations();
-      entryX.setDouble(data.XAxis);
-      entryY.setDouble(data.YAxis);
-      entryZ.setDouble(data.ZAxis);
-    });
+    builder.setUpdateTable(
+        () -> {
+          AllAxes data = getAccelerations();
+          entryX.setDouble(data.XAxis);
+          entryY.setDouble(data.YAxis);
+          entryZ.setDouble(data.ZAxis);
+        });
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL362.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL362.java
index 64d3cbe5e8..68c66690c0 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL362.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL362.java
@@ -4,9 +4,6 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.nio.ByteBuffer;
-import java.nio.ByteOrder;
-
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.SimDevice;
@@ -16,6 +13,8 @@ import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.wpilibj.interfaces.Accelerometer;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
 
 /**
  * ADXL362 SPI Accelerometer.
@@ -71,7 +70,7 @@ public class ADXL362 implements Accelerometer, Sendable, AutoCloseable {
   private double m_gsPerLSB;
 
   /**
-   * Constructor.  Uses the onboard CS1.
+   * Constructor. Uses the onboard CS1.
    *
    * @param range The range (+ or -) that the accelerometer will measure.
    */
@@ -82,7 +81,7 @@ public class ADXL362 implements Accelerometer, Sendable, AutoCloseable {
   /**
    * Constructor.
    *
-   * @param port  The SPI port that the accelerometer is connected to
+   * @param port The SPI port that the accelerometer is connected to
    * @param range The range (+ or -) that the accelerometer will measure.
    */
   public ADXL362(SPI.Port port, Range range) {
@@ -91,8 +90,13 @@ public class ADXL362 implements Accelerometer, Sendable, AutoCloseable {
     // simulation
     m_simDevice = SimDevice.create("Accel:ADXL362", port.value);
     if (m_simDevice != null) {
-      m_simRange = m_simDevice.createEnumDouble("range", SimDevice.Direction.kOutput,
-          new String[] {"2G", "4G", "8G", "16G"}, new double[] {2.0, 4.0, 8.0, 16.0}, 0);
+      m_simRange =
+          m_simDevice.createEnumDouble(
+              "range",
+              SimDevice.Direction.kOutput,
+              new String[] {"2G", "4G", "8G", "16G"},
+              new double[] {2.0, 4.0, 8.0, 16.0},
+              0);
       m_simX = m_simDevice.createDouble("x", SimDevice.Direction.kInput, 0.0);
       m_simY = m_simDevice.createDouble("y", SimDevice.Direction.kInput, 0.0);
       m_simZ = m_simDevice.createDouble("z", SimDevice.Direction.kInput, 0.0);
@@ -160,18 +164,17 @@ public class ADXL362 implements Accelerometer, Sendable, AutoCloseable {
         m_gsPerLSB = 0.002;
         break;
       case k8G:
-      case k16G:  // 16G not supported; treat as 8G
+      case k16G: // 16G not supported; treat as 8G
         value = kFilterCtl_Range8G;
         m_gsPerLSB = 0.004;
         break;
       default:
         throw new IllegalArgumentException(range + " unsupported");
-
     }
 
     // Specify the data format to read
-    byte[] commands = new byte[]{kRegWrite, kFilterCtlRegister, (byte) (kFilterCtl_ODR_100Hz
-        | value)};
+    byte[] commands =
+        new byte[] {kRegWrite, kFilterCtlRegister, (byte) (kFilterCtl_ODR_100Hz | value)};
     m_spi.write(commands, commands.length);
 
     if (m_simRange != null) {
@@ -179,7 +182,6 @@ public class ADXL362 implements Accelerometer, Sendable, AutoCloseable {
     }
   }
 
-
   @Override
   public double getX() {
     return getAcceleration(Axes.kX);
@@ -259,11 +261,12 @@ public class ADXL362 implements Accelerometer, Sendable, AutoCloseable {
     NetworkTableEntry entryX = builder.getEntry("X");
     NetworkTableEntry entryY = builder.getEntry("Y");
     NetworkTableEntry entryZ = builder.getEntry("Z");
-    builder.setUpdateTable(() -> {
-      AllAxes data = getAccelerations();
-      entryX.setDouble(data.XAxis);
-      entryY.setDouble(data.YAxis);
-      entryZ.setDouble(data.ZAxis);
-    });
+    builder.setUpdateTable(
+        () -> {
+          AllAxes data = getAccelerations();
+          entryX.setDouble(data.XAxis);
+          entryY.setDouble(data.YAxis);
+          entryZ.setDouble(data.ZAxis);
+        });
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java
index 2596d9e437..14480d6455 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java
@@ -4,9 +4,6 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.nio.ByteBuffer;
-import java.nio.ByteOrder;
-
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.SimBoolean;
@@ -14,6 +11,8 @@ import edu.wpi.first.hal.SimDevice;
 import edu.wpi.first.hal.SimDouble;
 import edu.wpi.first.wpilibj.interfaces.Gyro;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
 
 /**
  * Use a rate gyro to return the robots heading relative to a starting position. The Gyro class
@@ -49,9 +48,7 @@ public class ADXRS450_Gyro extends GyroBase implements Gyro, PIDSource, Sendable
   private SimDouble m_simAngle;
   private SimDouble m_simRate;
 
-  /**
-   * Constructor.  Uses the onboard CS0.
-   */
+  /** Constructor. Uses the onboard CS0. */
   public ADXRS450_Gyro() {
     this(SPI.Port.kOnboardCS0);
   }
@@ -84,13 +81,12 @@ public class ADXRS450_Gyro extends GyroBase implements Gyro, PIDSource, Sendable
       if ((readRegister(kPIDRegister) & 0xff00) != 0x5200) {
         m_spi.close();
         m_spi = null;
-        DriverStation.reportError("could not find ADXRS450 gyro on SPI port " + port.value,
-            false);
+        DriverStation.reportError("could not find ADXRS450 gyro on SPI port " + port.value, false);
         return;
       }
 
-      m_spi.initAccumulator(kSamplePeriod, 0x20000000, 4, 0x0c00000e, 0x04000000, 10, 16,
-          true, true);
+      m_spi.initAccumulator(
+          kSamplePeriod, 0x20000000, 4, 0x0c00000e, 0x04000000, 10, 16, true, true);
 
       calibrate();
     }
@@ -161,7 +157,7 @@ public class ADXRS450_Gyro extends GyroBase implements Gyro, PIDSource, Sendable
     m_spi.read(false, buf, 4);
 
     if ((buf.get(0) & 0xe0) == 0) {
-      return 0;  // error, return 0
+      return 0; // error, return 0
     }
     return (buf.getInt(0) >> 5) & 0xffff;
   }
@@ -179,9 +175,7 @@ public class ADXRS450_Gyro extends GyroBase implements Gyro, PIDSource, Sendable
     }
   }
 
-  /**
-   * Delete (free) the spi port used for the gyro and stop accumulating.
-   */
+  /** Delete (free) the spi port used for the gyro and stop accumulating. */
   @Override
   public void close() {
     SendableRegistry.remove(this);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AddressableLED.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AddressableLED.java
index 0c7a6742d5..f4b367ad02 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AddressableLED.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AddressableLED.java
@@ -55,8 +55,8 @@ public class AddressableLED implements AutoCloseable {
   /**
    * Sets the led output data.
    *
-   * <p>If the output is enabled, this will start writing the next data cycle.
-   * It is safe to call, even while output is enabled.
+   * <p>If the output is enabled, this will start writing the next data cycle. It is safe to call,
+   * even while output is enabled.
    *
    * @param buffer the buffer to write
    */
@@ -74,10 +74,16 @@ public class AddressableLED implements AutoCloseable {
    * @param lowTime1NanoSeconds low time for 1 bit
    * @param highTime1NanoSeconds high time for 1 bit
    */
-  public void setBitTiming(int lowTime0NanoSeconds, int highTime0NanoSeconds,
-      int lowTime1NanoSeconds, int highTime1NanoSeconds) {
-    AddressableLEDJNI.setBitTiming(m_handle, lowTime0NanoSeconds,
-        highTime0NanoSeconds, lowTime1NanoSeconds,
+  public void setBitTiming(
+      int lowTime0NanoSeconds,
+      int highTime0NanoSeconds,
+      int lowTime1NanoSeconds,
+      int highTime1NanoSeconds) {
+    AddressableLEDJNI.setBitTiming(
+        m_handle,
+        lowTime0NanoSeconds,
+        highTime0NanoSeconds,
+        lowTime1NanoSeconds,
         highTime1NanoSeconds);
   }
 
@@ -101,9 +107,7 @@ public class AddressableLED implements AutoCloseable {
     AddressableLEDJNI.start(m_handle);
   }
 
-  /**
-   * Stops the output.
-   */
+  /** Stops the output. */
   public void stop() {
     AddressableLEDJNI.stop(m_handle);
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AddressableLEDBuffer.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AddressableLEDBuffer.java
index 8cfe18490c..c9659a131a 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AddressableLEDBuffer.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AddressableLEDBuffer.java
@@ -7,9 +7,7 @@ package edu.wpi.first.wpilibj;
 import edu.wpi.first.wpilibj.util.Color;
 import edu.wpi.first.wpilibj.util.Color8Bit;
 
-/**
- * Buffer storage for Addressable LEDs.
- */
+/** Buffer storage for Addressable LEDs. */
 public class AddressableLEDBuffer {
   byte[] m_buffer;
 
@@ -26,9 +24,9 @@ public class AddressableLEDBuffer {
    * Sets a specific led in the buffer.
    *
    * @param index the index to write
-   * @param r     the r value [0-255]
-   * @param g     the g value [0-255]
-   * @param b     the b value [0-255]
+   * @param r the r value [0-255]
+   * @param g the g value [0-255]
+   * @param b the b value [0-255]
    */
   @SuppressWarnings("ParameterName")
   public void setRGB(int index, int r, int g, int b) {
@@ -42,9 +40,9 @@ public class AddressableLEDBuffer {
    * Sets a specific led in the buffer.
    *
    * @param index the index to write
-   * @param h     the h value [0-180]
-   * @param s     the s value [0-255]
-   * @param v     the v value [0-255]
+   * @param h the h value [0-180]
+   * @param s the s value [0-255]
+   * @param v the v value [0-255]
    */
   @SuppressWarnings("ParameterName")
   public void setHSV(final int index, final int h, final int s, final int v) {
@@ -89,10 +87,7 @@ public class AddressableLEDBuffer {
    * @param color The color of the LED
    */
   public void setLED(int index, Color color) {
-    setRGB(index,
-        (int) (color.red * 255),
-        (int) (color.green * 255),
-        (int) (color.blue * 255));
+    setRGB(index, (int) (color.red * 255), (int) (color.green * 255), (int) (color.blue * 255));
   }
 
   /**
@@ -121,8 +116,8 @@ public class AddressableLEDBuffer {
    * @return the LED color at the specified index
    */
   public Color8Bit getLED8Bit(int index) {
-    return new Color8Bit(m_buffer[index * 4 + 2] & 0xFF, m_buffer[index * 4 + 1] & 0xFF,
-                         m_buffer[index * 4] & 0xFF);
+    return new Color8Bit(
+        m_buffer[index * 4 + 2] & 0xFF, m_buffer[index * 4 + 1] & 0xFF, m_buffer[index * 4] & 0xFF);
   }
 
   /**
@@ -132,9 +127,9 @@ public class AddressableLEDBuffer {
    * @return the LED color at the specified index
    */
   public Color getLED(int index) {
-    return new Color((m_buffer[index * 4 + 2] & 0xFF) / 255.0,
-                     (m_buffer[index * 4 + 1] & 0xFF) / 255.0,
-                     (m_buffer[index * 4] & 0xFF) / 255.0);
+    return new Color(
+        (m_buffer[index * 4 + 2] & 0xFF) / 255.0,
+        (m_buffer[index * 4 + 1] & 0xFF) / 255.0,
+        (m_buffer[index * 4] & 0xFF) / 255.0);
   }
-
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java
index 071d1b6c17..960518cb63 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java
@@ -4,13 +4,13 @@
 
 package edu.wpi.first.wpilibj;
 
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
-
 /**
  * Handle operation of an analog accelerometer. The accelerometer reads acceleration directly
  * through the sensor. Many sensors have multiple axis and can be treated as multiple devices. Each
@@ -23,12 +23,9 @@ public class AnalogAccelerometer implements PIDSource, Sendable, AutoCloseable {
   private final boolean m_allocatedChannel;
   protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
 
-  /**
-   * Common initialization.
-   */
+  /** Common initialization. */
   private void initAccelerometer() {
-    HAL.report(tResourceType.kResourceType_Accelerometer,
-                                   m_analogChannel.getChannel() + 1);
+    HAL.report(tResourceType.kResourceType_Accelerometer, m_analogChannel.getChannel() + 1);
     SendableRegistry.addLW(this, "Accelerometer", m_analogChannel.getChannel());
   }
 
@@ -50,7 +47,7 @@ public class AnalogAccelerometer implements PIDSource, Sendable, AutoCloseable {
    * read as an analog channel as well as through the Accelerometer class.
    *
    * @param channel The existing AnalogInput object for the analog input the accelerometer is
-   *                connected to
+   *     connected to
    */
   public AnalogAccelerometer(final AnalogInput channel) {
     this(channel, false);
@@ -63,9 +60,7 @@ public class AnalogAccelerometer implements PIDSource, Sendable, AutoCloseable {
     initAccelerometer();
   }
 
-  /**
-   * Delete the analog components used for the accelerometer.
-   */
+  /** Delete the analog components used for the accelerometer. */
   @Override
   public void close() {
     SendableRegistry.remove(this);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogEncoder.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogEncoder.java
index 8940addd21..df7492d5d5 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogEncoder.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogEncoder.java
@@ -10,9 +10,7 @@ import edu.wpi.first.wpilibj.AnalogTriggerOutput.AnalogTriggerType;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
-/**
- * Class for supporting continuous analog encoders, such as the US Digital MA3.
- */
+/** Class for supporting continuous analog encoders, such as the US Digital MA3. */
 public class AnalogEncoder implements Sendable, AutoCloseable {
   private final AnalogInput m_analogInput;
   private AnalogTrigger m_analogTrigger;
@@ -86,9 +84,9 @@ public class AnalogEncoder implements Sendable, AutoCloseable {
   /**
    * Get the offset of position relative to the last reset.
    *
-   * <p>getPositionInRotation() - getPositionOffset() will give an encoder absolute
-   * position relative to the last reset. This could potentially be negative,
-   * which needs to be accounted for.
+   * <p>getPositionInRotation() - getPositionOffset() will give an encoder absolute position
+   * relative to the last reset. This could potentially be negative, which needs to be accounted
+   * for.
    *
    * @return the position offset
    */
@@ -97,11 +95,10 @@ public class AnalogEncoder implements Sendable, AutoCloseable {
   }
 
   /**
-   * Set the distance per rotation of the encoder. This sets the multiplier used
-   * to determine the distance driven based on the rotation value from the
-   * encoder. Set this value based on the how far the mechanism travels in 1
-   * rotation of the encoder, and factor in gearing reductions following the
-   * encoder shaft. This distance can be in any units you like, linear or angular.
+   * Set the distance per rotation of the encoder. This sets the multiplier used to determine the
+   * distance driven based on the rotation value from the encoder. Set this value based on the how
+   * far the mechanism travels in 1 rotation of the encoder, and factor in gearing reductions
+   * following the encoder shaft. This distance can be in any units you like, linear or angular.
    *
    * @param distancePerRotation the distance per rotation of the encoder
    */
@@ -112,16 +109,15 @@ public class AnalogEncoder implements Sendable, AutoCloseable {
   /**
    * Get the distance per rotation for this encoder.
    *
-   * @return The scale factor that will be used to convert rotation to useful
-   *         units.
+   * @return The scale factor that will be used to convert rotation to useful units.
    */
   public double getDistancePerRotation() {
     return m_distancePerRotation;
   }
 
   /**
-   * Get the distance the sensor has driven since the last reset as scaled by the
-   * value from {@link #setDistancePerRotation(double)}.
+   * Get the distance the sensor has driven since the last reset as scaled by the value from {@link
+   * #setDistancePerRotation(double)}.
    *
    * @return The distance driven since the last reset
    */
@@ -138,9 +134,7 @@ public class AnalogEncoder implements Sendable, AutoCloseable {
     return m_analogInput.getChannel();
   }
 
-  /**
-   * Reset the Encoder distance to zero.
-   */
+  /** Reset the Encoder distance to zero. */
   public void reset() {
     m_counter.reset();
     m_positionOffset = m_analogInput.getVoltage();
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogGyro.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogGyro.java
index 4762adf9d5..a51e6e895d 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogGyro.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogGyro.java
@@ -4,14 +4,14 @@
 
 package edu.wpi.first.wpilibj;
 
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
 import edu.wpi.first.hal.AnalogGyroJNI;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.interfaces.Gyro;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
-
 /**
  * Use a rate gyro to return the robots heading relative to a starting position. The Gyro class
  * tracks the robots heading based on the starting position. As the robot rotates the new heading is
@@ -28,9 +28,7 @@ public class AnalogGyro extends GyroBase implements Gyro, PIDSource, Sendable, A
 
   private int m_gyroHandle;
 
-  /**
-   * Initialize the gyro. Calibration is handled by calibrate().
-   */
+  /** Initialize the gyro. Calibration is handled by calibrate(). */
   public void initGyro() {
     if (m_gyroHandle == 0) {
       m_gyroHandle = AnalogGyroJNI.initializeAnalogGyro(m_analog.m_port);
@@ -51,7 +49,7 @@ public class AnalogGyro extends GyroBase implements Gyro, PIDSource, Sendable, A
    * Gyro constructor using the channel number.
    *
    * @param channel The analog channel the gyro is connected to. Gyros can only be used on on-board
-   *                channels 0-1.
+   *     channels 0-1.
    */
   public AnalogGyro(int channel) {
     this(new AnalogInput(channel));
@@ -64,7 +62,7 @@ public class AnalogGyro extends GyroBase implements Gyro, PIDSource, Sendable, A
    * channel needs to be shared.
    *
    * @param channel The AnalogInput object that the gyro is connected to. Gyros can only be used on
-   *                on-board channels 0-1.
+   *     on-board channels 0-1.
    */
   public AnalogGyro(AnalogInput channel) {
     requireNonNullParam(channel, "channel", "AnalogGyro");
@@ -79,9 +77,9 @@ public class AnalogGyro extends GyroBase implements Gyro, PIDSource, Sendable, A
    * offset values. Bypasses calibration.
    *
    * @param channel The analog channel the gyro is connected to. Gyros can only be used on on-board
-   *                channels 0-1.
-   * @param center  Preset uncalibrated value to use as the accumulator center value.
-   * @param offset  Preset uncalibrated value to use as the gyro offset.
+   *     channels 0-1.
+   * @param center Preset uncalibrated value to use as the accumulator center value.
+   * @param offset Preset uncalibrated value to use as the gyro offset.
    */
   public AnalogGyro(int channel, int center, double offset) {
     this(new AnalogInput(channel), center, offset);
@@ -94,17 +92,18 @@ public class AnalogGyro extends GyroBase implements Gyro, PIDSource, Sendable, A
    * the center and offset values. Bypasses calibration.
    *
    * @param channel The analog channel the gyro is connected to. Gyros can only be used on on-board
-   *                channels 0-1.
-   * @param center  Preset uncalibrated value to use as the accumulator center value.
-   * @param offset  Preset uncalibrated value to use as the gyro offset.
+   *     channels 0-1.
+   * @param center Preset uncalibrated value to use as the accumulator center value.
+   * @param offset Preset uncalibrated value to use as the gyro offset.
    */
   public AnalogGyro(AnalogInput channel, int center, double offset) {
     requireNonNullParam(channel, "channel", "AnalogGyro");
 
     m_analog = channel;
     initGyro();
-    AnalogGyroJNI.setAnalogGyroParameters(m_gyroHandle, kDefaultVoltsPerDegreePerSecond,
-                                          offset, center);
+    AnalogGyroJNI.setAnalogGyroParameters(
+        m_gyroHandle, kDefaultVoltsPerDegreePerSecond,
+        offset, center);
     reset();
   }
 
@@ -113,9 +112,7 @@ public class AnalogGyro extends GyroBase implements Gyro, PIDSource, Sendable, A
     AnalogGyroJNI.resetAnalogGyro(m_gyroHandle);
   }
 
-  /**
-   * Delete (free) the accumulator and the analog components used for the gyro.
-   */
+  /** Delete (free) the accumulator and the analog components used for the gyro. */
   @Override
   public void close() {
     SendableRegistry.remove(this);
@@ -170,8 +167,7 @@ public class AnalogGyro extends GyroBase implements Gyro, PIDSource, Sendable, A
    * @param voltsPerDegreePerSecond The sensitivity in Volts/degree/second.
    */
   public void setSensitivity(double voltsPerDegreePerSecond) {
-    AnalogGyroJNI.setAnalogGyroVoltsPerDegreePerSecond(m_gyroHandle,
-                                                       voltsPerDegreePerSecond);
+    AnalogGyroJNI.setAnalogGyroVoltsPerDegreePerSecond(m_gyroHandle, voltsPerDegreePerSecond);
   }
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java
index a5f2eec42d..ccec9604c0 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java
@@ -180,13 +180,16 @@ public class AnalogInput implements PIDSource, Sendable, AutoCloseable {
     return AnalogJNI.getAnalogOversampleBits(m_port);
   }
 
-  /**
-   * Initialize the accumulator.
-   */
+  /** Initialize the accumulator. */
   public void initAccumulator() {
     if (!isAccumulatorChannel()) {
-      throw new AllocationException("Accumulators are only available on slot " + kAccumulatorSlot
-          + " on channels " + kAccumulatorChannels[0] + ", " + kAccumulatorChannels[1]);
+      throw new AllocationException(
+          "Accumulators are only available on slot "
+              + kAccumulatorSlot
+              + " on channels "
+              + kAccumulatorChannels[0]
+              + ", "
+              + kAccumulatorChannels[1]);
     }
     m_accumulatorOffset = 0;
     AnalogJNI.initAccumulator(m_port);
@@ -203,9 +206,7 @@ public class AnalogInput implements PIDSource, Sendable, AutoCloseable {
     m_accumulatorOffset = initialValue;
   }
 
-  /**
-   * Resets the accumulator to the initial value.
-   */
+  /** Resets the accumulator to the initial value. */
   public void resetAccumulator() {
     AnalogJNI.resetAccumulator(m_port);
 
@@ -215,7 +216,6 @@ public class AnalogInput implements PIDSource, Sendable, AutoCloseable {
     final double overSamples = 1 << getOversampleBits();
     final double averageSamples = 1 << getAverageBits();
     Timer.delay(sampleTime * overSamples * averageSamples);
-
   }
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogOutput.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogOutput.java
index 169d2af184..908aea64e0 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogOutput.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogOutput.java
@@ -10,9 +10,7 @@ import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
-/**
- * Analog output class.
- */
+/** Analog output class. */
 public class AnalogOutput implements Sendable, AutoCloseable {
   private int m_port;
   private int m_channel;
@@ -41,9 +39,7 @@ public class AnalogOutput implements Sendable, AutoCloseable {
     m_channel = 0;
   }
 
-  /**
-   * Get the channel of this AnalogOutput.
-   */
+  /** Get the channel of this AnalogOutput. */
   public int getChannel() {
     return m_channel;
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java
index 4976d4b424..34ea6d1ac9 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java
@@ -26,13 +26,13 @@ public class AnalogPotentiometer implements Potentiometer, Sendable, AutoCloseab
    * <p>Use the fullRange and offset values so that the output produces meaningful values. I.E: you
    * have a 270 degree potentiometer and you want the output to be degrees with the halfway point as
    * 0 degrees. The fullRange value is 270.0(degrees) and the offset is -135.0 since the halfway
-   * point after scaling is 135 degrees. This will calculate the result from the fullRange times
-   * the fraction of the supply voltage, plus the offset.
+   * point after scaling is 135 degrees. This will calculate the result from the fullRange times the
+   * fraction of the supply voltage, plus the offset.
    *
-   * @param channel   The analog input channel this potentiometer is plugged into. 0-3 are
-   *                  on-board and 4-7 are on the MXP port.
+   * @param channel The analog input channel this potentiometer is plugged into. 0-3 are on-board
+   *     and 4-7 are on the MXP port.
    * @param fullRange The scaling to multiply the fraction by to get a meaningful unit.
-   * @param offset    The offset to add to the scaled value for controlling the zero value
+   * @param offset The offset to add to the scaled value for controlling the zero value
    */
   public AnalogPotentiometer(final int channel, double fullRange, double offset) {
     this(new AnalogInput(channel), fullRange, offset);
@@ -44,16 +44,15 @@ public class AnalogPotentiometer implements Potentiometer, Sendable, AutoCloseab
    * AnalogPotentiometer constructor.
    *
    * <p>Use the fullRange and offset values so that the output produces meaningful values. I.E: you
-   * have a 270 degree potentiometer and you want the output to be degrees with the halfway point
-   * as 0 degrees. The fullRange value is 270.0(degrees) and the offset is -135.0 since the halfway
-   * point after scaling is 135 degrees. This will calculate the result from the fullRange times
-   * the fraction of the supply voltage, plus the offset.
+   * have a 270 degree potentiometer and you want the output to be degrees with the halfway point as
+   * 0 degrees. The fullRange value is 270.0(degrees) and the offset is -135.0 since the halfway
+   * point after scaling is 135 degrees. This will calculate the result from the fullRange times the
+   * fraction of the supply voltage, plus the offset.
    *
-   * @param input     The {@link AnalogInput} this potentiometer is plugged into.
-   * @param fullRange The angular value (in desired units) representing the full
-   *                  0-5V range of the input.
-   * @param offset    The angular value (in desired units) representing the
-   *                  angular output at 0V.
+   * @param input The {@link AnalogInput} this potentiometer is plugged into.
+   * @param fullRange The angular value (in desired units) representing the full 0-5V range of the
+   *     input.
+   * @param offset The angular value (in desired units) representing the angular output at 0V.
    */
   public AnalogPotentiometer(final AnalogInput input, double fullRange, double offset) {
     SendableRegistry.addLW(this, "AnalogPotentiometer", input.getChannel());
@@ -67,13 +66,13 @@ public class AnalogPotentiometer implements Potentiometer, Sendable, AutoCloseab
   /**
    * AnalogPotentiometer constructor.
    *
-   * <p>Use the scale value so that the output produces meaningful values. I.E: you
-   * have a 270 degree potentiometer and you want the output to be degrees with the starting point
-   * as 0 degrees. The scale value is 270.0(degrees).
+   * <p>Use the scale value so that the output produces meaningful values. I.E: you have a 270
+   * degree potentiometer and you want the output to be degrees with the starting point as 0
+   * degrees. The scale value is 270.0(degrees).
    *
-   * @param channel The analog input channel this potentiometer is plugged into. 0-3 are
-   *                on-board and 4-7 are on the MXP port.
-   * @param scale   The scaling to multiply the voltage by to get a meaningful unit.
+   * @param channel The analog input channel this potentiometer is plugged into. 0-3 are on-board
+   *     and 4-7 are on the MXP port.
+   * @param scale The scaling to multiply the voltage by to get a meaningful unit.
    */
   public AnalogPotentiometer(final int channel, double scale) {
     this(channel, scale, 0);
@@ -98,8 +97,8 @@ public class AnalogPotentiometer implements Potentiometer, Sendable, AutoCloseab
    *
    * <p>The potentiometer will return a value between 0 and 1.0.
    *
-   * @param channel The analog input channel this potentiometer is plugged into. 0-3 are
-   *                  on-board and 4-7 are on the MXP port.
+   * @param channel The analog input channel this potentiometer is plugged into. 0-3 are on-board
+   *     and 4-7 are on the MXP port.
    */
   public AnalogPotentiometer(final int channel) {
     this(channel, 1, 0);
@@ -126,8 +125,8 @@ public class AnalogPotentiometer implements Potentiometer, Sendable, AutoCloseab
     if (m_analogInput == null) {
       return m_offset;
     }
-    return (m_analogInput.getAverageVoltage() / RobotController.getVoltage5V())
-        * m_fullRange + m_offset;
+    return (m_analogInput.getAverageVoltage() / RobotController.getVoltage5V()) * m_fullRange
+        + m_offset;
   }
 
   @Override
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java
index 9208740783..4e370e476b 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java
@@ -12,14 +12,9 @@ import edu.wpi.first.wpilibj.AnalogTriggerOutput.AnalogTriggerType;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
-
-/**
- * Class for creating and configuring Analog Triggers.
- */
+/** Class for creating and configuring Analog Triggers. */
 public class AnalogTrigger implements Sendable, AutoCloseable {
-  /**
-   * Exceptions dealing with improper operation of the Analog trigger.
-   */
+  /** Exceptions dealing with improper operation of the Analog trigger. */
   @SuppressWarnings("serial")
   public static class AnalogTriggerException extends RuntimeException {
     /**
@@ -30,13 +25,11 @@ public class AnalogTrigger implements Sendable, AutoCloseable {
     public AnalogTriggerException(String message) {
       super(message);
     }
-
   }
 
-  /**
-   * Where the analog trigger is attached.
-   */
+  /** Where the analog trigger is attached. */
   protected int m_port;
+
   protected AnalogInput m_analogInput;
   protected DutyCycle m_dutyCycle;
   protected boolean m_ownsAnalog;
@@ -159,8 +152,7 @@ public class AnalogTrigger implements Sendable, AutoCloseable {
   }
 
   /**
-   * Return the index of the analog trigger. This is the FPGA index of this analog trigger
-   * instance.
+   * Return the index of the analog trigger. This is the FPGA index of this analog trigger instance.
    *
    * @return The index of the analog trigger.
    */
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java
index 2544b6642f..2681f8a9b2 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java
@@ -4,13 +4,13 @@
 
 package edu.wpi.first.wpilibj;
 
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
 import edu.wpi.first.hal.AnalogJNI;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
-
 /**
  * Class to represent a specific output from an analog trigger. This class is used to get the
  * current output value and also as a DigitalSource to provide routing of an output to digital
@@ -38,9 +38,7 @@ import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
  * limited.
  */
 public class AnalogTriggerOutput extends DigitalSource implements Sendable {
-  /**
-   * Exceptions dealing with improper operation of the Analog trigger output.
-   */
+  /** Exceptions dealing with improper operation of the Analog trigger output. */
   @SuppressWarnings("serial")
   public static class AnalogTriggerOutputException extends RuntimeException {
     /**
@@ -62,7 +60,7 @@ public class AnalogTriggerOutput extends DigitalSource implements Sendable {
    * <p>Because this class derives from DigitalSource, it can be passed into routing functions for
    * Counter, Encoder, etc.
    *
-   * @param trigger    The trigger for which this is an output.
+   * @param trigger The trigger for which this is an output.
    * @param outputType An enum that specifies the output on the trigger to represent.
    */
   public AnalogTriggerOutput(AnalogTrigger trigger, final AnalogTriggerType outputType) {
@@ -71,8 +69,10 @@ public class AnalogTriggerOutput extends DigitalSource implements Sendable {
 
     m_trigger = trigger;
     m_outputType = outputType;
-    HAL.report(tResourceType.kResourceType_AnalogTriggerOutput,
-        trigger.getIndex() + 1, outputType.value + 1);
+    HAL.report(
+        tResourceType.kResourceType_AnalogTriggerOutput,
+        trigger.getIndex() + 1,
+        outputType.value + 1);
   }
 
   /**
@@ -104,11 +104,10 @@ public class AnalogTriggerOutput extends DigitalSource implements Sendable {
     return true;
   }
 
-  /**
-   * Defines the state in which the AnalogTrigger triggers.
-   */
+  /** Defines the state in which the AnalogTrigger triggers. */
   public enum AnalogTriggerType {
-    kInWindow(AnalogJNI.AnalogTriggerType.kInWindow), kState(AnalogJNI.AnalogTriggerType.kState),
+    kInWindow(AnalogJNI.AnalogTriggerType.kInWindow),
+    kState(AnalogJNI.AnalogTriggerType.kState),
     kRisingPulse(AnalogJNI.AnalogTriggerType.kRisingPulse),
     kFallingPulse(AnalogJNI.AnalogTriggerType.kFallingPulse);
 
@@ -120,6 +119,5 @@ public class AnalogTriggerOutput extends DigitalSource implements Sendable {
   }
 
   @Override
-  public void initSendable(SendableBuilder builder) {
-  }
+  public void initSendable(SendableBuilder builder) {}
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java
index 9f5315c48f..4c9bb145be 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java
@@ -28,9 +28,7 @@ public class BuiltInAccelerometer implements Accelerometer, Sendable, AutoClosea
     SendableRegistry.addLW(this, "BuiltInAccel", 0);
   }
 
-  /**
-   * Constructor. The accelerometer will measure +/-8 g-forces
-   */
+  /** Constructor. The accelerometer will measure +/-8 g-forces */
   public BuiltInAccelerometer() {
     this(Range.k8G);
   }
@@ -57,7 +55,6 @@ public class BuiltInAccelerometer implements Accelerometer, Sendable, AutoClosea
       case k16G:
       default:
         throw new IllegalArgumentException(range + " range not supported (use k2G, k4G, or k8G)");
-
     }
 
     AccelerometerJNI.setAccelerometerActive(true);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/CAN.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/CAN.java
index 7146718a91..032647ce84 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/CAN.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/CAN.java
@@ -4,23 +4,21 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.io.Closeable;
-
 import edu.wpi.first.hal.CANAPIJNI;
 import edu.wpi.first.hal.CANData;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
+import java.io.Closeable;
 
 /**
- * High level class for interfacing with CAN devices conforming to
- * the standard CAN spec.
+ * High level class for interfacing with CAN devices conforming to the standard CAN spec.
  *
- * <p>No packets that can be sent gets blocked by the RoboRIO, so all methods
- * work identically in all robot modes.
+ * <p>No packets that can be sent gets blocked by the RoboRIO, so all methods work identically in
+ * all robot modes.
  *
- * <p>All methods are thread safe, however the CANData object passed into the
- * read methods and the byte[] passed into the write methods need to not
- * be modified for the duration of their respective calls.
+ * <p>All methods are thread safe, however the CANData object passed into the read methods and the
+ * byte[] passed into the write methods need to not be modified for the duration of their respective
+ * calls.
  */
 public class CAN implements Closeable {
   public static final int kTeamManufacturer = 8;
@@ -29,9 +27,8 @@ public class CAN implements Closeable {
   private final int m_handle;
 
   /**
-   * Create a new CAN communication interface with the specific device ID.
-   * This uses the team manufacturer and device types.
-   * The device ID is 6 bits (0-63).
+   * Create a new CAN communication interface with the specific device ID. This uses the team
+   * manufacturer and device types. The device ID is 6 bits (0-63).
    *
    * @param deviceId The device id
    */
@@ -41,22 +38,19 @@ public class CAN implements Closeable {
   }
 
   /**
-   * Create a new CAN communication interface with a specific device ID,
-   * manufacturer and device type. The device ID is 6 bits, the
-   * manufacturer is 8 bits, and the device type is 5 bits.
+   * Create a new CAN communication interface with a specific device ID, manufacturer and device
+   * type. The device ID is 6 bits, the manufacturer is 8 bits, and the device type is 5 bits.
    *
-   * @param deviceId           The device ID
+   * @param deviceId The device ID
    * @param deviceManufacturer The device manufacturer
-   * @param deviceType         The device type
+   * @param deviceType The device type
    */
   public CAN(int deviceId, int deviceManufacturer, int deviceType) {
     m_handle = CANAPIJNI.initializeCAN(deviceManufacturer, deviceId, deviceType);
     HAL.report(tResourceType.kResourceType_CAN, deviceId + 1);
   }
 
-  /**
-   * Closes the CAN communication.
-   */
+  /** Closes the CAN communication. */
   @Override
   public void close() {
     if (m_handle != 0) {
@@ -75,8 +69,8 @@ public class CAN implements Closeable {
   }
 
   /**
-   * Write a repeating packet to the CAN device with a specific ID. This ID is 10 bits.
-   * The RoboRIO will automatically repeat the packet at the specified interval
+   * Write a repeating packet to the CAN device with a specific ID. This ID is 10 bits. The RoboRIO
+   * will automatically repeat the packet at the specified interval
    *
    * @param data The data to write (8 bytes max)
    * @param apiId The API ID to write.
@@ -87,8 +81,8 @@ public class CAN implements Closeable {
   }
 
   /**
-   * Write an RTR frame to the CAN device with a specific ID. This ID is 10 bits.
-   * The length by spec must match what is returned by the responding device
+   * Write an RTR frame to the CAN device with a specific ID. This ID is 10 bits. The length by spec
+   * must match what is returned by the responding device
    *
    * @param length The length to request (0 to 8)
    * @param apiId The API ID to write.
@@ -108,8 +102,8 @@ public class CAN implements Closeable {
   }
 
   /**
-   * Write a repeating packet to the CAN device with a specific ID. This ID is 10 bits.
-   * The RoboRIO will automatically repeat the packet at the specified interval
+   * Write a repeating packet to the CAN device with a specific ID. This ID is 10 bits. The RoboRIO
+   * will automatically repeat the packet at the specified interval
    *
    * @param data The data to write (8 bytes max)
    * @param apiId The API ID to write.
@@ -120,8 +114,8 @@ public class CAN implements Closeable {
   }
 
   /**
-   * Write an RTR frame to the CAN device with a specific ID. This ID is 10 bits.
-   * The length by spec must match what is returned by the responding device
+   * Write an RTR frame to the CAN device with a specific ID. This ID is 10 bits. The length by spec
+   * must match what is returned by the responding device
    *
    * @param length The length to request (0 to 8)
    * @param apiId The API ID to write.
@@ -140,8 +134,8 @@ public class CAN implements Closeable {
   }
 
   /**
-   * Read a new CAN packet. This will only return properly once per packet
-   * received. Multiple calls without receiving another packet will return false.
+   * Read a new CAN packet. This will only return properly once per packet received. Multiple calls
+   * without receiving another packet will return false.
    *
    * @param apiId The API ID to read.
    * @param data Storage for the received data.
@@ -152,8 +146,8 @@ public class CAN implements Closeable {
   }
 
   /**
-   * Read a CAN packet. The will continuously return the last packet received,
-   * without accounting for packet age.
+   * Read a CAN packet. The will continuously return the last packet received, without accounting
+   * for packet age.
    *
    * @param apiId The API ID to read.
    * @param data Storage for the received data.
@@ -164,8 +158,8 @@ public class CAN implements Closeable {
   }
 
   /**
-   * Read a CAN packet. The will return the last packet received until the
-   * packet is older then the requested timeout. Then it will return false.
+   * Read a CAN packet. The will return the last packet received until the packet is older then the
+   * requested timeout. Then it will return false.
    *
    * @param apiId The API ID to read.
    * @param timeoutMs The timeout time for the packet
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/CameraServer.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/CameraServer.java
index 769d1570ee..890cc5a582 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/CameraServer.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/CameraServer.java
@@ -4,12 +4,6 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.Hashtable;
-import java.util.Map;
-import java.util.concurrent.atomic.AtomicInteger;
-
 import edu.wpi.cscore.AxisCamera;
 import edu.wpi.cscore.CameraServerJNI;
 import edu.wpi.cscore.CvSink;
@@ -29,10 +23,15 @@ import edu.wpi.first.networktables.EntryListenerFlags;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.Hashtable;
+import java.util.Map;
+import java.util.concurrent.atomic.AtomicInteger;
 
 /**
- * Singleton class for creating and keeping camera servers.
- * Also publishes camera information to NetworkTables.
+ * Singleton class for creating and keeping camera servers. Also publishes camera information to
+ * NetworkTables.
  *
  * @deprecated Replaced with edu.wpi.first.cameraserver.CameraServer
  */
@@ -40,19 +39,14 @@ import edu.wpi.first.networktables.NetworkTableInstance;
 public final class CameraServer {
   public static final int kBasePort = 1181;
 
-  @Deprecated
-  public static final int kSize640x480 = 0;
-  @Deprecated
-  public static final int kSize320x240 = 1;
-  @Deprecated
-  public static final int kSize160x120 = 2;
+  @Deprecated public static final int kSize640x480 = 0;
+  @Deprecated public static final int kSize320x240 = 1;
+  @Deprecated public static final int kSize160x120 = 2;
 
   private static final String kPublishName = "/CameraPublisher";
   private static CameraServer server;
 
-  /**
-   * Get the CameraServer instance.
-   */
+  /** Get the CameraServer instance. */
   public static synchronized CameraServer getInstance() {
     if (server == null) {
       server = new CameraServer();
@@ -64,10 +58,10 @@ public final class CameraServer {
   private String m_primarySourceName;
   private final Map<String, VideoSource> m_sources;
   private final Map<String, VideoSink> m_sinks;
-  private final Map<Integer, NetworkTable> m_tables;  // indexed by source handle
+  private final Map<Integer, NetworkTable> m_tables; // indexed by source handle
   private final NetworkTable m_publishTable;
-  private final VideoListener m_videoListener; //NOPMD
-  private final int m_tableListener; //NOPMD
+  private final VideoListener m_videoListener; // NOPMD
+  private final int m_tableListener; // NOPMD
   private int m_nextPort;
   private String[] m_addresses;
 
@@ -76,14 +70,15 @@ public final class CameraServer {
     switch (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))) {
       case kUsb:
         return "usb:" + CameraServerJNI.getUsbCameraPath(source);
-      case kHttp: {
-        String[] urls = CameraServerJNI.getHttpCameraUrls(source);
-        if (urls.length > 0) {
-          return "ip:" + urls[0];
-        } else {
-          return "ip:";
+      case kHttp:
+        {
+          String[] urls = CameraServerJNI.getHttpCameraUrls(source);
+          if (urls.length > 0) {
+            return "ip:" + urls[0];
+          } else {
+            return "ip:";
+          }
         }
-      }
       case kCv:
         // FIXME: Should be "cv:", but LabVIEW dashboard requires "usb:".
         // https://github.com/wpilibsuite/allwpilib/issues/407
@@ -119,7 +114,7 @@ public final class CameraServer {
       values.add(makeStreamValue(CameraServerJNI.getHostname() + ".local", port));
       for (String addr : m_addresses) {
         if ("127.0.0.1".equals(addr)) {
-          continue;  // ignore localhost
+          continue; // ignore localhost
         }
         values.add(makeStreamValue(addr, port));
       }
@@ -132,7 +127,7 @@ public final class CameraServer {
   private synchronized String[] getSourceStreamValues(int source) {
     // Ignore all but HttpCamera
     if (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))
-            != VideoSource.Kind.kHttp) {
+        != VideoSource.Kind.kHttp) {
       return new String[0];
     }
 
@@ -150,7 +145,7 @@ public final class CameraServer {
         int sinkSource = CameraServerJNI.getSinkSource(sink);
         if (source == sinkSource
             && VideoSink.getKindFromInt(CameraServerJNI.getSinkKind(sink))
-            == VideoSink.Kind.kMjpeg) {
+                == VideoSink.Kind.kMjpeg) {
           // Add USB-only passthrough
           String[] finalValues = Arrays.copyOf(values, values.length + 1);
           int port = CameraServerJNI.getMjpegServerPort(sink);
@@ -228,8 +223,14 @@ public final class CameraServer {
   /// The returned string is "{width}x{height} {format} {fps} fps".
   @SuppressWarnings("MissingJavadocMethod")
   private static String videoModeToString(VideoMode mode) {
-    return mode.width + "x" + mode.height + " " + pixelFormatToString(mode.pixelFormat)
-        + " " + mode.fps + " fps";
+    return mode.width
+        + "x"
+        + mode.height
+        + " "
+        + pixelFormatToString(mode.pixelFormat)
+        + " "
+        + mode.fps
+        + " fps";
   }
 
   @SuppressWarnings("MissingJavadocMethod")
@@ -268,14 +269,18 @@ public final class CameraServer {
         case kEnum:
           if (isNew) {
             entry.setDefaultDouble(event.value);
-            table.getEntry(infoName + "/min").setDouble(
-                CameraServerJNI.getPropertyMin(event.propertyHandle));
-            table.getEntry(infoName + "/max").setDouble(
-                CameraServerJNI.getPropertyMax(event.propertyHandle));
-            table.getEntry(infoName + "/step").setDouble(
-                CameraServerJNI.getPropertyStep(event.propertyHandle));
-            table.getEntry(infoName + "/default").setDouble(
-                CameraServerJNI.getPropertyDefault(event.propertyHandle));
+            table
+                .getEntry(infoName + "/min")
+                .setDouble(CameraServerJNI.getPropertyMin(event.propertyHandle));
+            table
+                .getEntry(infoName + "/max")
+                .setDouble(CameraServerJNI.getPropertyMax(event.propertyHandle));
+            table
+                .getEntry(infoName + "/step")
+                .setDouble(CameraServerJNI.getPropertyStep(event.propertyHandle));
+            table
+                .getEntry(infoName + "/default")
+                .setDouble(CameraServerJNI.getPropertyDefault(event.propertyHandle));
           } else {
             entry.setDouble(event.value);
           }
@@ -295,8 +300,12 @@ public final class CameraServer {
     }
   }
 
-  @SuppressWarnings({"MissingJavadocMethod", "PMD.UnusedLocalVariable", "PMD.ExcessiveMethodLength",
-      "PMD.NPathComplexity"})
+  @SuppressWarnings({
+    "MissingJavadocMethod",
+    "PMD.UnusedLocalVariable",
+    "PMD.ExcessiveMethodLength",
+    "PMD.NPathComplexity"
+  })
   private CameraServer() {
     m_defaultUsbDevice = new AtomicInteger();
     m_sources = new Hashtable<>();
@@ -318,176 +327,204 @@ public final class CameraServer {
     // - "PropertyInfo/{Property}" - Property supporting information
 
     // Listener for video events
-    m_videoListener = new VideoListener(event -> {
-      switch (event.kind) {
-        case kSourceCreated: {
-          // Create subtable for the camera
-          NetworkTable table = m_publishTable.getSubTable(event.name);
-          m_tables.put(event.sourceHandle, table);
-          table.getEntry("source").setString(makeSourceValue(event.sourceHandle));
-          table.getEntry("description").setString(
-              CameraServerJNI.getSourceDescription(event.sourceHandle));
-          table.getEntry("connected").setBoolean(
-              CameraServerJNI.isSourceConnected(event.sourceHandle));
-          table.getEntry("streams").setStringArray(getSourceStreamValues(event.sourceHandle));
-          try {
-            VideoMode mode = CameraServerJNI.getSourceVideoMode(event.sourceHandle);
-            table.getEntry("mode").setDefaultString(videoModeToString(mode));
-            table.getEntry("modes").setStringArray(getSourceModeValues(event.sourceHandle));
-          } catch (VideoException ignored) {
-            // Do nothing. Let the other event handlers update this if there is an error.
-          }
-          break;
-        }
-        case kSourceDestroyed: {
-          NetworkTable table = m_tables.get(event.sourceHandle);
-          if (table != null) {
-            table.getEntry("source").setString("");
-            table.getEntry("streams").setStringArray(new String[0]);
-            table.getEntry("modes").setStringArray(new String[0]);
-          }
-          break;
-        }
-        case kSourceConnected: {
-          NetworkTable table = m_tables.get(event.sourceHandle);
-          if (table != null) {
-            // update the description too (as it may have changed)
-            table.getEntry("description").setString(
-                CameraServerJNI.getSourceDescription(event.sourceHandle));
-            table.getEntry("connected").setBoolean(true);
-          }
-          break;
-        }
-        case kSourceDisconnected: {
-          NetworkTable table = m_tables.get(event.sourceHandle);
-          if (table != null) {
-            table.getEntry("connected").setBoolean(false);
-          }
-          break;
-        }
-        case kSourceVideoModesUpdated: {
-          NetworkTable table = m_tables.get(event.sourceHandle);
-          if (table != null) {
-            table.getEntry("modes").setStringArray(getSourceModeValues(event.sourceHandle));
-          }
-          break;
-        }
-        case kSourceVideoModeChanged: {
-          NetworkTable table = m_tables.get(event.sourceHandle);
-          if (table != null) {
-            table.getEntry("mode").setString(videoModeToString(event.mode));
-          }
-          break;
-        }
-        case kSourcePropertyCreated: {
-          NetworkTable table = m_tables.get(event.sourceHandle);
-          if (table != null) {
-            putSourcePropertyValue(table, event, true);
-          }
-          break;
-        }
-        case kSourcePropertyValueUpdated: {
-          NetworkTable table = m_tables.get(event.sourceHandle);
-          if (table != null) {
-            putSourcePropertyValue(table, event, false);
-          }
-          break;
-        }
-        case kSourcePropertyChoicesUpdated: {
-          NetworkTable table = m_tables.get(event.sourceHandle);
-          if (table != null) {
-            try {
-              String[] choices = CameraServerJNI.getEnumPropertyChoices(event.propertyHandle);
-              table.getEntry("PropertyInfo/" + event.name + "/choices").setStringArray(choices);
-            } catch (VideoException ignored) {
-              // ignore
-            }
-          }
-          break;
-        }
-        case kSinkSourceChanged:
-        case kSinkCreated:
-        case kSinkDestroyed:
-        case kNetworkInterfacesChanged: {
-          m_addresses = CameraServerJNI.getNetworkInterfaces();
-          updateStreamValues();
-          break;
-        }
-        default:
-          break;
-      }
-    }, 0x4fff, true);
+    m_videoListener =
+        new VideoListener(
+            event -> {
+              switch (event.kind) {
+                case kSourceCreated:
+                  {
+                    // Create subtable for the camera
+                    NetworkTable table = m_publishTable.getSubTable(event.name);
+                    m_tables.put(event.sourceHandle, table);
+                    table.getEntry("source").setString(makeSourceValue(event.sourceHandle));
+                    table
+                        .getEntry("description")
+                        .setString(CameraServerJNI.getSourceDescription(event.sourceHandle));
+                    table
+                        .getEntry("connected")
+                        .setBoolean(CameraServerJNI.isSourceConnected(event.sourceHandle));
+                    table
+                        .getEntry("streams")
+                        .setStringArray(getSourceStreamValues(event.sourceHandle));
+                    try {
+                      VideoMode mode = CameraServerJNI.getSourceVideoMode(event.sourceHandle);
+                      table.getEntry("mode").setDefaultString(videoModeToString(mode));
+                      table
+                          .getEntry("modes")
+                          .setStringArray(getSourceModeValues(event.sourceHandle));
+                    } catch (VideoException ignored) {
+                      // Do nothing. Let the other event handlers update this if there is an error.
+                    }
+                    break;
+                  }
+                case kSourceDestroyed:
+                  {
+                    NetworkTable table = m_tables.get(event.sourceHandle);
+                    if (table != null) {
+                      table.getEntry("source").setString("");
+                      table.getEntry("streams").setStringArray(new String[0]);
+                      table.getEntry("modes").setStringArray(new String[0]);
+                    }
+                    break;
+                  }
+                case kSourceConnected:
+                  {
+                    NetworkTable table = m_tables.get(event.sourceHandle);
+                    if (table != null) {
+                      // update the description too (as it may have changed)
+                      table
+                          .getEntry("description")
+                          .setString(CameraServerJNI.getSourceDescription(event.sourceHandle));
+                      table.getEntry("connected").setBoolean(true);
+                    }
+                    break;
+                  }
+                case kSourceDisconnected:
+                  {
+                    NetworkTable table = m_tables.get(event.sourceHandle);
+                    if (table != null) {
+                      table.getEntry("connected").setBoolean(false);
+                    }
+                    break;
+                  }
+                case kSourceVideoModesUpdated:
+                  {
+                    NetworkTable table = m_tables.get(event.sourceHandle);
+                    if (table != null) {
+                      table
+                          .getEntry("modes")
+                          .setStringArray(getSourceModeValues(event.sourceHandle));
+                    }
+                    break;
+                  }
+                case kSourceVideoModeChanged:
+                  {
+                    NetworkTable table = m_tables.get(event.sourceHandle);
+                    if (table != null) {
+                      table.getEntry("mode").setString(videoModeToString(event.mode));
+                    }
+                    break;
+                  }
+                case kSourcePropertyCreated:
+                  {
+                    NetworkTable table = m_tables.get(event.sourceHandle);
+                    if (table != null) {
+                      putSourcePropertyValue(table, event, true);
+                    }
+                    break;
+                  }
+                case kSourcePropertyValueUpdated:
+                  {
+                    NetworkTable table = m_tables.get(event.sourceHandle);
+                    if (table != null) {
+                      putSourcePropertyValue(table, event, false);
+                    }
+                    break;
+                  }
+                case kSourcePropertyChoicesUpdated:
+                  {
+                    NetworkTable table = m_tables.get(event.sourceHandle);
+                    if (table != null) {
+                      try {
+                        String[] choices =
+                            CameraServerJNI.getEnumPropertyChoices(event.propertyHandle);
+                        table
+                            .getEntry("PropertyInfo/" + event.name + "/choices")
+                            .setStringArray(choices);
+                      } catch (VideoException ignored) {
+                        // ignore
+                      }
+                    }
+                    break;
+                  }
+                case kSinkSourceChanged:
+                case kSinkCreated:
+                case kSinkDestroyed:
+                case kNetworkInterfacesChanged:
+                  {
+                    m_addresses = CameraServerJNI.getNetworkInterfaces();
+                    updateStreamValues();
+                    break;
+                  }
+                default:
+                  break;
+              }
+            },
+            0x4fff,
+            true);
 
     // Listener for NetworkTable events
     // We don't currently support changing settings via NT due to
     // synchronization issues, so just update to current setting if someone
     // else tries to change it.
-    m_tableListener = NetworkTableInstance.getDefault().addEntryListener(kPublishName + "/",
-      event -> {
-        String relativeKey = event.name.substring(kPublishName.length() + 1);
+    m_tableListener =
+        NetworkTableInstance.getDefault()
+            .addEntryListener(
+                kPublishName + "/",
+                event -> {
+                  String relativeKey = event.name.substring(kPublishName.length() + 1);
 
-        // get source (sourceName/...)
-        int subKeyIndex = relativeKey.indexOf('/');
-        if (subKeyIndex == -1) {
-          return;
-        }
-        String sourceName = relativeKey.substring(0, subKeyIndex);
-        VideoSource source = m_sources.get(sourceName);
-        if (source == null) {
-          return;
-        }
+                  // get source (sourceName/...)
+                  int subKeyIndex = relativeKey.indexOf('/');
+                  if (subKeyIndex == -1) {
+                    return;
+                  }
+                  String sourceName = relativeKey.substring(0, subKeyIndex);
+                  VideoSource source = m_sources.get(sourceName);
+                  if (source == null) {
+                    return;
+                  }
 
-        // get subkey
-        relativeKey = relativeKey.substring(subKeyIndex + 1);
+                  // get subkey
+                  relativeKey = relativeKey.substring(subKeyIndex + 1);
 
-        // handle standard names
-        String propName;
-        if ("mode".equals(relativeKey)) {
-          // reset to current mode
-          event.getEntry().setString(videoModeToString(source.getVideoMode()));
-          return;
-        } else if (relativeKey.startsWith("Property/")) {
-          propName = relativeKey.substring(9);
-        } else if (relativeKey.startsWith("RawProperty/")) {
-          propName = relativeKey.substring(12);
-        } else {
-          return;  // ignore
-        }
+                  // handle standard names
+                  String propName;
+                  if ("mode".equals(relativeKey)) {
+                    // reset to current mode
+                    event.getEntry().setString(videoModeToString(source.getVideoMode()));
+                    return;
+                  } else if (relativeKey.startsWith("Property/")) {
+                    propName = relativeKey.substring(9);
+                  } else if (relativeKey.startsWith("RawProperty/")) {
+                    propName = relativeKey.substring(12);
+                  } else {
+                    return; // ignore
+                  }
 
-        // everything else is a property
-        VideoProperty property = source.getProperty(propName);
-        switch (property.getKind()) {
-          case kNone:
-            return;
-          case kBoolean:
-            // reset to current setting
-            event.getEntry().setBoolean(property.get() != 0);
-            return;
-          case kInteger:
-          case kEnum:
-            // reset to current setting
-            event.getEntry().setDouble(property.get());
-            return;
-          case kString:
-            // reset to current setting
-            event.getEntry().setString(property.getString());
-            return;
-          default:
-            return;
-        }
-      }, EntryListenerFlags.kImmediate | EntryListenerFlags.kUpdate);
+                  // everything else is a property
+                  VideoProperty property = source.getProperty(propName);
+                  switch (property.getKind()) {
+                    case kNone:
+                      return;
+                    case kBoolean:
+                      // reset to current setting
+                      event.getEntry().setBoolean(property.get() != 0);
+                      return;
+                    case kInteger:
+                    case kEnum:
+                      // reset to current setting
+                      event.getEntry().setDouble(property.get());
+                      return;
+                    case kString:
+                      // reset to current setting
+                      event.getEntry().setString(property.getString());
+                      return;
+                    default:
+                      return;
+                  }
+                },
+                EntryListenerFlags.kImmediate | EntryListenerFlags.kUpdate);
   }
 
   /**
    * Start automatically capturing images to send to the dashboard.
    *
-   * <p>You should call this method to see a camera feed on the dashboard.
-   * If you also want to perform vision processing on the roboRIO, use
-   * getVideo() to get access to the camera images.
+   * <p>You should call this method to see a camera feed on the dashboard. If you also want to
+   * perform vision processing on the roboRIO, use getVideo() to get access to the camera images.
    *
-   * <p>The first time this overload is called, it calls
-   * {@link #startAutomaticCapture(int)} with device 0, creating a camera
-   * named "USB Camera 0".  Subsequent calls increment the device number
+   * <p>The first time this overload is called, it calls {@link #startAutomaticCapture(int)} with
+   * device 0, creating a camera named "USB Camera 0". Subsequent calls increment the device number
    * (e.g. 1, 2, etc).
    */
   public UsbCamera startAutomaticCapture() {
@@ -499,8 +536,8 @@ public final class CameraServer {
   /**
    * Start automatically capturing images to send to the dashboard.
    *
-   * <p>This overload calls {@link #startAutomaticCapture(String, int)} with
-   * a name of "USB Camera {dev}".
+   * <p>This overload calls {@link #startAutomaticCapture(String, int)} with a name of "USB Camera
+   * {dev}".
    *
    * @param dev The device number of the camera interface
    */
@@ -538,8 +575,7 @@ public final class CameraServer {
   }
 
   /**
-   * Start automatically capturing images to send to the dashboard from
-   * an existing camera.
+   * Start automatically capturing images to send to the dashboard from an existing camera.
    *
    * @param camera Camera
    */
@@ -552,8 +588,7 @@ public final class CameraServer {
   /**
    * Adds an Axis IP camera.
    *
-   * <p>This overload calls {@link #addAxisCamera(String, String)} with
-   * name "Axis Camera".
+   * <p>This overload calls {@link #addAxisCamera(String, String)} with name "Axis Camera".
    *
    * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
    */
@@ -564,8 +599,7 @@ public final class CameraServer {
   /**
    * Adds an Axis IP camera.
    *
-   * <p>This overload calls {@link #addAxisCamera(String, String[])} with
-   * name "Axis Camera".
+   * <p>This overload calls {@link #addAxisCamera(String, String[])} with name "Axis Camera".
    *
    * @param hosts Array of Camera host IPs/DNS names
    */
@@ -602,11 +636,11 @@ public final class CameraServer {
   }
 
   /**
-   * Get OpenCV access to the primary camera feed.  This allows you to
-   * get images from the camera for image processing on the roboRIO.
+   * Get OpenCV access to the primary camera feed. This allows you to get images from the camera for
+   * image processing on the roboRIO.
    *
-   * <p>This is only valid to call after a camera feed has been added
-   * with startAutomaticCapture() or addServer().
+   * <p>This is only valid to call after a camera feed has been added with startAutomaticCapture()
+   * or addServer().
    */
   public CvSink getVideo() {
     VideoSource source;
@@ -623,8 +657,8 @@ public final class CameraServer {
   }
 
   /**
-   * Get OpenCV access to the specified camera.  This allows you to get
-   * images from the camera for image processing on the roboRIO.
+   * Get OpenCV access to the specified camera. This allows you to get images from the camera for
+   * image processing on the roboRIO.
    *
    * @param camera Camera (e.g. as returned by startAutomaticCapture).
    */
@@ -649,8 +683,8 @@ public final class CameraServer {
   }
 
   /**
-   * Get OpenCV access to the specified camera.  This allows you to get
-   * images from the camera for image processing on the roboRIO.
+   * Get OpenCV access to the specified camera. This allows you to get images from the camera for
+   * image processing on the roboRIO.
    *
    * @param name Camera name
    */
@@ -666,8 +700,8 @@ public final class CameraServer {
   }
 
   /**
-   * Create a MJPEG stream with OpenCV input. This can be called to pass custom
-   * annotated images to the dashboard.
+   * Create a MJPEG stream with OpenCV input. This can be called to pass custom annotated images to
+   * the dashboard.
    *
    * @param name Name to give the stream
    * @param width Width of the image being sent
@@ -729,8 +763,8 @@ public final class CameraServer {
   /**
    * Get server for the primary camera feed.
    *
-   * <p>This is only valid to call after a camera feed has been added
-   * with startAutomaticCapture() or addServer().
+   * <p>This is only valid to call after a camera feed has been added with startAutomaticCapture()
+   * or addServer().
    */
   public VideoSink getServer() {
     synchronized (this) {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java
index 08b049af75..77901fcfb1 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java
@@ -26,7 +26,7 @@ public class Compressor implements Sendable, AutoCloseable {
   private byte m_module;
 
   /**
-   * Makes a new instance of the compressor using the provided CAN device ID.  Use this constructor
+   * Makes a new instance of the compressor using the provided CAN device ID. Use this constructor
    * when you have more than one PCM.
    *
    * @param module The PCM CAN device ID (0 - 62 inclusive)
@@ -133,8 +133,7 @@ public class Compressor implements Sendable, AutoCloseable {
   }
 
   /**
-   * If PCM sticky fault is set : Compressor is disabled due to compressor current being too
-   * high.
+   * If PCM sticky fault is set : Compressor is disabled due to compressor current being too high.
    *
    * @return true if PCM sticky fault is set.
    */
@@ -184,8 +183,8 @@ public class Compressor implements Sendable, AutoCloseable {
    * Clear ALL sticky faults inside PCM that Compressor is wired to.
    *
    * <p>If a sticky fault is set, then it will be persistently cleared. The compressor might
-   * momentarily disable while the flags are being cleared. Doo not call this method too
-   * frequently, otherwise normal compressor functionality may be prevented.
+   * momentarily disable while the flags are being cleared. Doo not call this method too frequently,
+   * otherwise normal compressor functionality may be prevented.
    *
    * <p>If no sticky faults are set then this call will have no effect.
    */
@@ -205,13 +204,16 @@ public class Compressor implements Sendable, AutoCloseable {
   @Override
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("Compressor");
-    builder.addBooleanProperty("Enabled", this::enabled, value -> {
-      if (value) {
-        start();
-      } else {
-        stop();
-      }
-    });
+    builder.addBooleanProperty(
+        "Enabled",
+        this::enabled,
+        value -> {
+          if (value) {
+            start();
+          } else {
+            stop();
+          }
+        });
     builder.addBooleanProperty("Pressure switch", this::getPressureSwitchValue, null);
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Controller.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Controller.java
index e684b75bea..886050b003 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Controller.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Controller.java
@@ -13,9 +13,7 @@ package edu.wpi.first.wpilibj;
  */
 @Deprecated(since = "2020", forRemoval = true)
 public interface Controller {
-  /**
-   * Allows the control loop to run.
-   */
+  /** Allows the control loop to run. */
   void enable();
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java
index a2004a6bca..7cc082192f 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java
@@ -4,8 +4,8 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.nio.ByteBuffer;
-import java.nio.ByteOrder;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import static java.util.Objects.requireNonNull;
 
 import edu.wpi.first.hal.CounterJNI;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
@@ -13,40 +13,29 @@ import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.AnalogTriggerOutput.AnalogTriggerType;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
-
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
-import static java.util.Objects.requireNonNull;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
 
 /**
  * Class for counting the number of ticks on a digital input channel.
  *
  * <p>This is a general purpose class for counting repetitive events. It can return the number of
- * counts, the period of the most recent cycle, and detect when the signal being counted has
- * stopped by supplying a maximum cycle time.
+ * counts, the period of the most recent cycle, and detect when the signal being counted has stopped
+ * by supplying a maximum cycle time.
  *
  * <p>All counters will immediately start counting - reset() them if you need them to be zeroed
  * before use.
  */
 public class Counter implements CounterBase, PIDSource, Sendable, AutoCloseable {
-  /**
-   * Mode determines how and what the counter counts.
-   */
+  /** Mode determines how and what the counter counts. */
   public enum Mode {
-    /**
-     * mode: two pulse.
-     */
+    /** mode: two pulse. */
     kTwoPulse(0),
-    /**
-     * mode: semi period.
-     */
+    /** mode: semi period. */
     kSemiperiod(1),
-    /**
-     * mode: pulse length.
-     */
+    /** mode: pulse length. */
     kPulseLength(2),
-    /**
-     * mode: external direction.
-     */
+    /** mode: external direction. */
     kExternalDirection(3);
 
     public final int value;
@@ -65,9 +54,7 @@ public class Counter implements CounterBase, PIDSource, Sendable, AutoCloseable
   private PIDSourceType m_pidSource;
   private double m_distancePerPulse; // distance of travel for each tick
 
-  /**
-   * Create an instance of a counter with the given mode.
-   */
+  /** Create an instance of a counter with the given mode. */
   public Counter(final Mode mode) {
     ByteBuffer index = ByteBuffer.allocateDirect(4);
     // set the byte order
@@ -131,12 +118,15 @@ public class Counter implements CounterBase, PIDSource, Sendable, AutoCloseable
    * <p>The counter will start counting immediately.
    *
    * @param encodingType which edges to count
-   * @param upSource     first source to count
-   * @param downSource   second source for direction
-   * @param inverted     true to invert the count
+   * @param upSource first source to count
+   * @param downSource second source for direction
+   * @param inverted true to invert the count
    */
-  public Counter(EncodingType encodingType, DigitalSource upSource, DigitalSource downSource,
-                 boolean inverted) {
+  public Counter(
+      EncodingType encodingType,
+      DigitalSource upSource,
+      DigitalSource downSource,
+      boolean inverted) {
     this(Mode.kExternalDirection);
 
     requireNonNullParam(encodingType, "encodingType", "Counter");
@@ -225,15 +215,15 @@ public class Counter implements CounterBase, PIDSource, Sendable, AutoCloseable
       m_allocatedUpSource = false;
     }
     m_upSource = source;
-    CounterJNI.setCounterUpSource(m_counter, source.getPortHandleForRouting(),
-        source.getAnalogTriggerTypeForRouting());
+    CounterJNI.setCounterUpSource(
+        m_counter, source.getPortHandleForRouting(), source.getAnalogTriggerTypeForRouting());
   }
 
   /**
    * Set the up counting source to be an analog trigger.
    *
    * @param analogTrigger The analog trigger object that is used for the Up Source
-   * @param triggerType   The analog trigger output that will trigger the counter.
+   * @param triggerType The analog trigger output that will trigger the counter.
    */
   public void setUpSource(AnalogTrigger analogTrigger, AnalogTriggerType triggerType) {
     requireNonNullParam(analogTrigger, "analogTrigger", "setUpSource");
@@ -247,7 +237,7 @@ public class Counter implements CounterBase, PIDSource, Sendable, AutoCloseable
    * Set the edge sensitivity on an up counting source. Set the up source to either detect rising
    * edges or falling edges.
    *
-   * @param risingEdge  true to count rising edge
+   * @param risingEdge true to count rising edge
    * @param fallingEdge true to count falling edge
    */
   public void setUpSourceEdge(boolean risingEdge, boolean fallingEdge) {
@@ -257,9 +247,7 @@ public class Counter implements CounterBase, PIDSource, Sendable, AutoCloseable
     CounterJNI.setCounterUpSourceEdge(m_counter, risingEdge, fallingEdge);
   }
 
-  /**
-   * Disable the up counting source to the counter.
-   */
+  /** Disable the up counting source to the counter. */
   public void clearUpSource() {
     if (m_upSource != null && m_allocatedUpSource) {
       m_upSource.close();
@@ -294,8 +282,8 @@ public class Counter implements CounterBase, PIDSource, Sendable, AutoCloseable
       m_downSource.close();
       m_allocatedDownSource = false;
     }
-    CounterJNI.setCounterDownSource(m_counter, source.getPortHandleForRouting(),
-        source.getAnalogTriggerTypeForRouting());
+    CounterJNI.setCounterDownSource(
+        m_counter, source.getPortHandleForRouting(), source.getAnalogTriggerTypeForRouting());
     m_downSource = source;
   }
 
@@ -303,7 +291,7 @@ public class Counter implements CounterBase, PIDSource, Sendable, AutoCloseable
    * Set the down counting source to be an analog trigger.
    *
    * @param analogTrigger The analog trigger object that is used for the Down Source
-   * @param triggerType   The analog trigger output that will trigger the counter.
+   * @param triggerType The analog trigger output that will trigger the counter.
    */
   public void setDownSource(AnalogTrigger analogTrigger, AnalogTriggerType triggerType) {
     requireNonNullParam(analogTrigger, "analogTrigger", "setDownSource");
@@ -317,7 +305,7 @@ public class Counter implements CounterBase, PIDSource, Sendable, AutoCloseable
    * Set the edge sensitivity on a down counting source. Set the down source to either detect rising
    * edges or falling edges.
    *
-   * @param risingEdge  true to count the rising edge
+   * @param risingEdge true to count the rising edge
    * @param fallingEdge true to count the falling edge
    */
   public void setDownSourceEdge(boolean risingEdge, boolean fallingEdge) {
@@ -326,9 +314,7 @@ public class Counter implements CounterBase, PIDSource, Sendable, AutoCloseable
     CounterJNI.setCounterDownSourceEdge(m_counter, risingEdge, fallingEdge);
   }
 
-  /**
-   * Disable the down counting source to the counter.
-   */
+  /** Disable the down counting source to the counter. */
   public void clearDownSource() {
     if (m_downSource != null && m_allocatedDownSource) {
       m_downSource.close();
@@ -369,7 +355,7 @@ public class Counter implements CounterBase, PIDSource, Sendable, AutoCloseable
    * is most useful for direction sensitive gear tooth sensors.
    *
    * @param threshold The pulse length beyond which the counter counts the opposite direction. Units
-   *                  are seconds.
+   *     are seconds.
    */
   public void setPulseLengthMode(double threshold) {
     CounterJNI.setCounterPulseLengthMode(m_counter, threshold);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/CounterBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/CounterBase.java
index 302c1f3e3a..735b893048 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/CounterBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/CounterBase.java
@@ -13,21 +13,13 @@ package edu.wpi.first.wpilibj;
  * before use.
  */
 public interface CounterBase {
-  /**
-   * The number of edges for the counterbase to increment or decrement on.
-   */
+  /** The number of edges for the counterbase to increment or decrement on. */
   enum EncodingType {
-    /**
-     * Count only the rising edge.
-     */
+    /** Count only the rising edge. */
     k1X(0),
-    /**
-     * Count both the rising and falling edge.
-     */
+    /** Count both the rising and falling edge. */
     k2X(1),
-    /**
-     * Count rising and falling on both channels.
-     */
+    /** Count rising and falling on both channels. */
     k4X(2);
 
     public final int value;
@@ -44,9 +36,7 @@ public interface CounterBase {
    */
   int get();
 
-  /**
-   * Reset the count to zero.
-   */
+  /** Reset the count to zero. */
   void reset();
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DMC60.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DMC60.java
index b39ad9eef7..dfe37bfb15 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DMC60.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DMC60.java
@@ -12,25 +12,25 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
  * Digilent DMC 60 Speed Controller.
  *
  * <p>Note that the DMC uses the following bounds for PWM values. These values should work
- * reasonably well for most controllers, 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 DMC 60 User Manual
- * available from Digilent.
+ * reasonably well for most controllers, 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 DMC 60 User Manual available from
+ * Digilent.
  *
- * <p><ul>
- * <li>2.004ms = full "forward"
- * <li>1.520ms = the "high end" of the deadband range
- * <li>1.500ms = center of the deadband range (off)
- * <li>1.480ms = the "low end" of the deadband range
- * <li>0.997ms = full "reverse"
+ * <ul>
+ *   <li>2.004ms = full "forward"
+ *   <li>1.520ms = the "high end" of the deadband range
+ *   <li>1.500ms = center of the deadband range (off)
+ *   <li>1.480ms = the "low end" of the deadband range
+ *   <li>0.997ms = full "reverse"
  * </ul>
  */
 public class DMC60 extends PWMSpeedController {
   /**
    * Constructor.
    *
-   * @param channel The PWM channel that the DMC60 is attached to. 0-9 are
-   *        on-board, 10-19 are on the MXP port
+   * @param channel The PWM channel that the DMC60 is attached to. 0-9 are on-board, 10-19 are on
+   *     the MXP port
    */
   public DMC60(final int channel) {
     super(channel);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java
index 4c12931650..aacb981dc6 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java
@@ -4,14 +4,13 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.util.concurrent.locks.Lock;
-import java.util.concurrent.locks.ReentrantLock;
-
 import edu.wpi.first.hal.DigitalGlitchFilterJNI;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import java.util.concurrent.locks.Lock;
+import java.util.concurrent.locks.ReentrantLock;
 
 /**
  * Class to enable glitch filtering on a set of digital inputs. This class will manage adding and
@@ -19,9 +18,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
  * that an input must remain high or low before it is classified as high or low.
  */
 public class DigitalGlitchFilter implements Sendable, AutoCloseable {
-  /**
-   * Configures the Digital Glitch Filter to its default settings.
-   */
+  /** Configures the Digital Glitch Filter to its default settings. */
   public DigitalGlitchFilter() {
     synchronized (m_mutex) {
       int index = 0;
@@ -31,8 +28,7 @@ public class DigitalGlitchFilter implements Sendable, AutoCloseable {
       if (index != m_filterAllocated.length) {
         m_channelIndex = index;
         m_filterAllocated[index] = true;
-        HAL.report(tResourceType.kResourceType_DigitalGlitchFilter,
-            m_channelIndex + 1, 0);
+        HAL.report(tResourceType.kResourceType_DigitalGlitchFilter, m_channelIndex + 1, 0);
         SendableRegistry.addLW(this, "DigitalGlitchFilter", index);
       }
     }
@@ -59,8 +55,8 @@ public class DigitalGlitchFilter implements Sendable, AutoCloseable {
 
       int selected = DigitalGlitchFilterJNI.getFilterSelect(input.getPortHandleForRouting());
       if (selected != channelIndex) {
-        throw new IllegalStateException("DigitalGlitchFilterJNI.setFilterSelect("
-            + channelIndex + ") failed -> " + selected);
+        throw new IllegalStateException(
+            "DigitalGlitchFilterJNI.setFilterSelect(" + channelIndex + ") failed -> " + selected);
       }
     }
   }
@@ -140,8 +136,7 @@ public class DigitalGlitchFilter implements Sendable, AutoCloseable {
    * @param nanoseconds The number of nanoseconds.
    */
   public void setPeriodNanoSeconds(long nanoseconds) {
-    int fpgaCycles = (int) (nanoseconds * SensorUtil.kSystemClockTicksPerMicrosecond / 4
-        / 1000);
+    int fpgaCycles = (int) (nanoseconds * SensorUtil.kSystemClockTicksPerMicrosecond / 4 / 1000);
     setPeriodCycles(fpgaCycles);
   }
 
@@ -164,14 +159,12 @@ public class DigitalGlitchFilter implements Sendable, AutoCloseable {
   public long getPeriodNanoSeconds() {
     int fpgaCycles = getPeriodCycles();
 
-    return (long) fpgaCycles * 1000L
-        / (long) (SensorUtil.kSystemClockTicksPerMicrosecond / 4);
+    return (long) fpgaCycles * 1000L / (long) (SensorUtil.kSystemClockTicksPerMicrosecond / 4);
   }
 
   @Override
   @SuppressWarnings("PMD.UnusedFormalParameter")
-  public void initSendable(SendableBuilder builder) {
-  }
+  public void initSendable(SendableBuilder builder) {}
 
   private int m_channelIndex = -1;
   private static final Lock m_mutex = new ReentrantLock(true);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java
index 2ed10a609b..b005dff264 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java
@@ -23,11 +23,10 @@ public class DigitalOutput extends DigitalSource implements Sendable, AutoClosea
   private int m_handle;
 
   /**
-   * Create an instance of a digital output. Create an instance of a digital output given a
-   * channel.
+   * Create an instance of a digital output. Create an instance of a digital output given a channel.
    *
    * @param channel the DIO channel to use for the digital output. 0-9 are on-board, 10-25 are on
-   *                the MXP
+   *     the MXP
    */
   public DigitalOutput(int channel) {
     SensorUtil.checkDigitalChannel(channel);
@@ -150,8 +149,7 @@ public class DigitalOutput extends DigitalSource implements Sendable, AutoClosea
    * Change the duty-cycle that is being generated on the line.
    *
    * <p>The resolution of the duty cycle is 8-bit for low frequencies (1kHz or less) but is reduced
-   * the
-   * higher the frequency of the PWM signal is.
+   * the higher the frequency of the PWM signal is.
    *
    * @param dutyCycle The duty-cycle to change to. [0..1]
    */
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java
index 54c45cd447..b8519c75f8 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java
@@ -18,9 +18,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
  * controlled by two separate channels.
  */
 public class DoubleSolenoid extends SolenoidBase implements Sendable, AutoCloseable {
-  /**
-   * Possible values for a DoubleSolenoid.
-   */
+  /** Possible values for a DoubleSolenoid. */
   public enum Value {
     kOff,
     kForward,
@@ -45,12 +43,12 @@ public class DoubleSolenoid extends SolenoidBase implements Sendable, AutoClosea
   /**
    * Constructor.
    *
-   * @param moduleNumber   The module number of the solenoid module to use.
+   * @param moduleNumber The module number of the solenoid module to use.
    * @param forwardChannel The forward channel on the module to control (0..7).
    * @param reverseChannel The reverse channel on the module to control (0..7).
    */
-  public DoubleSolenoid(final int moduleNumber, final int forwardChannel,
-                        final int reverseChannel) {
+  public DoubleSolenoid(
+      final int moduleNumber, final int forwardChannel, final int reverseChannel) {
     super(moduleNumber);
 
     SensorUtil.checkSolenoidModule(m_moduleNumber);
@@ -74,10 +72,8 @@ public class DoubleSolenoid extends SolenoidBase implements Sendable, AutoClosea
     m_forwardMask = (byte) (1 << forwardChannel);
     m_reverseMask = (byte) (1 << reverseChannel);
 
-    HAL.report(tResourceType.kResourceType_Solenoid, forwardChannel + 1,
-                                   m_moduleNumber + 1);
-    HAL.report(tResourceType.kResourceType_Solenoid, reverseChannel + 1,
-                                   m_moduleNumber + 1);
+    HAL.report(tResourceType.kResourceType_Solenoid, forwardChannel + 1, m_moduleNumber + 1);
+    HAL.report(tResourceType.kResourceType_Solenoid, reverseChannel + 1, m_moduleNumber + 1);
     SendableRegistry.addLW(this, "DoubleSolenoid", m_moduleNumber, forwardChannel);
   }
 
@@ -112,7 +108,6 @@ public class DoubleSolenoid extends SolenoidBase implements Sendable, AutoClosea
         break;
       default:
         throw new AssertionError("Illegal value: " + value);
-
     }
 
     SolenoidJNI.setSolenoid(m_forwardHandle, forward);
@@ -182,14 +177,17 @@ public class DoubleSolenoid extends SolenoidBase implements Sendable, AutoClosea
     builder.setSmartDashboardType("Double Solenoid");
     builder.setActuator(true);
     builder.setSafeState(() -> set(Value.kOff));
-    builder.addStringProperty("Value", () -> get().name().substring(1), value -> {
-      if ("Forward".equals(value)) {
-        set(Value.kForward);
-      } else if ("Reverse".equals(value)) {
-        set(Value.kReverse);
-      } else {
-        set(Value.kOff);
-      }
-    });
+    builder.addStringProperty(
+        "Value",
+        () -> get().name().substring(1),
+        value -> {
+          if ("Forward".equals(value)) {
+            set(Value.kForward);
+          } else if ("Reverse".equals(value)) {
+            set(Value.kReverse);
+          } else {
+            set(Value.kOff);
+          }
+        });
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
index 559b769dc6..3ffe6f0151 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
@@ -4,12 +4,6 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.nio.ByteBuffer;
-import java.util.concurrent.TimeUnit;
-import java.util.concurrent.locks.Condition;
-import java.util.concurrent.locks.Lock;
-import java.util.concurrent.locks.ReentrantLock;
-
 import edu.wpi.first.hal.AllianceStationID;
 import edu.wpi.first.hal.ControlWord;
 import edu.wpi.first.hal.HAL;
@@ -17,16 +11,22 @@ import edu.wpi.first.hal.MatchInfoData;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import java.nio.ByteBuffer;
+import java.util.concurrent.TimeUnit;
+import java.util.concurrent.locks.Condition;
+import java.util.concurrent.locks.Lock;
+import java.util.concurrent.locks.ReentrantLock;
 
-/**
- * Provide access to the network communication data to / from the Driver Station.
- */
-@SuppressWarnings({"PMD.CyclomaticComplexity", "PMD.ExcessiveClassLength",
-                   "PMD.ExcessivePublicCount", "PMD.GodClass", "PMD.TooManyFields"})
+/** Provide access to the network communication data to / from the Driver Station. */
+@SuppressWarnings({
+  "PMD.CyclomaticComplexity",
+  "PMD.ExcessiveClassLength",
+  "PMD.ExcessivePublicCount",
+  "PMD.GodClass",
+  "PMD.TooManyFields"
+})
 public class DriverStation {
-  /**
-   * Number of Joystick Ports.
-   */
+  /** Number of Joystick Ports. */
   public static final int kJoystickPorts = 6;
 
   private static class HALJoystickButtons {
@@ -55,15 +55,18 @@ public class DriverStation {
     }
   }
 
-  /**
-   * The robot alliance that the robot is a part of.
-   */
+  /** The robot alliance that the robot is a part of. */
   public enum Alliance {
-    Red, Blue, Invalid
+    Red,
+    Blue,
+    Invalid
   }
 
   public enum MatchType {
-    None, Practice, Qualification, Elimination
+    None,
+    Practice,
+    Qualification,
+    Elimination
   }
 
   private static final double JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL = 1.0;
@@ -85,39 +88,55 @@ public class DriverStation {
   private static class MatchDataSender {
     @SuppressWarnings("MemberName")
     NetworkTable table;
+
     @SuppressWarnings("MemberName")
     NetworkTableEntry typeMetadata;
+
     @SuppressWarnings("MemberName")
     NetworkTableEntry gameSpecificMessage;
+
     @SuppressWarnings("MemberName")
     NetworkTableEntry eventName;
+
     @SuppressWarnings("MemberName")
     NetworkTableEntry matchNumber;
+
     @SuppressWarnings("MemberName")
     NetworkTableEntry replayNumber;
+
     @SuppressWarnings("MemberName")
     NetworkTableEntry matchType;
+
     @SuppressWarnings("MemberName")
     NetworkTableEntry alliance;
+
     @SuppressWarnings("MemberName")
     NetworkTableEntry station;
+
     @SuppressWarnings("MemberName")
     NetworkTableEntry controlWord;
 
     @SuppressWarnings("MemberName")
     boolean oldIsRedAlliance = true;
+
     @SuppressWarnings("MemberName")
     int oldStationNumber = 1;
+
     @SuppressWarnings("MemberName")
     String oldEventName = "";
+
     @SuppressWarnings("MemberName")
     String oldGameSpecificMessage = "";
+
     @SuppressWarnings("MemberName")
     int oldMatchNumber;
+
     @SuppressWarnings("MemberName")
     int oldReplayNumber;
+
     @SuppressWarnings("MemberName")
     int oldMatchType;
+
     @SuppressWarnings("MemberName")
     int oldControlWord;
 
@@ -251,6 +270,7 @@ public class DriverStation {
   // Internal Driver Station thread
   @SuppressWarnings("PMD.SingularField")
   private final Thread m_thread;
+
   private volatile boolean m_threadKeepAlive = true;
 
   private final ReentrantLock m_cacheDataMutex = new ReentrantLock();
@@ -317,16 +337,13 @@ public class DriverStation {
     m_thread.start();
   }
 
-  /**
-   * Kill the thread.
-   */
+  /** Kill the thread. */
   public void release() {
     m_threadKeepAlive = false;
   }
 
   /**
-   * Report error to Driver Station. Optionally appends Stack trace
-   * to error message.
+   * Report error to Driver Station. Optionally appends Stack trace to error message.
    *
    * @param printTrace If true, append stack trace to error string
    */
@@ -335,8 +352,7 @@ public class DriverStation {
   }
 
   /**
-   * Report error to Driver Station. Appends provided stack trace
-   * to error message.
+   * Report error to Driver Station. Appends provided stack trace to error message.
    *
    * @param stackTrace The stack trace to append
    */
@@ -345,8 +361,7 @@ public class DriverStation {
   }
 
   /**
-   * Report warning to Driver Station. Optionally appends Stack
-   * trace to warning message.
+   * Report warning to Driver Station. Optionally appends Stack trace to warning message.
    *
    * @param printTrace If true, append stack trace to warning string
    */
@@ -355,8 +370,7 @@ public class DriverStation {
   }
 
   /**
-   * Report warning to Driver Station. Appends provided stack
-   * trace to warning message.
+   * Report warning to Driver Station. Appends provided stack trace to warning message.
    *
    * @param stackTrace The stack trace to append
    */
@@ -364,18 +378,22 @@ public class DriverStation {
     reportErrorImpl(false, 1, error, stackTrace);
   }
 
-  private static void reportErrorImpl(boolean isError, int code, String error, boolean
-      printTrace) {
+  private static void reportErrorImpl(boolean isError, int code, String error, boolean printTrace) {
     reportErrorImpl(isError, code, error, printTrace, Thread.currentThread().getStackTrace(), 3);
   }
 
-  private static void reportErrorImpl(boolean isError, int code, String error,
-      StackTraceElement[] stackTrace) {
+  private static void reportErrorImpl(
+      boolean isError, int code, String error, StackTraceElement[] stackTrace) {
     reportErrorImpl(isError, code, error, true, stackTrace, 0);
   }
 
-  private static void reportErrorImpl(boolean isError, int code, String error,
-      boolean printTrace, StackTraceElement[] stackTrace, int stackTraceFirst) {
+  private static void reportErrorImpl(
+      boolean isError,
+      int code,
+      String error,
+      boolean printTrace,
+      StackTraceElement[] stackTrace,
+      int stackTraceFirst) {
     String locString;
     if (stackTrace.length >= stackTraceFirst + 1) {
       locString = stackTrace[stackTraceFirst].toString();
@@ -401,7 +419,7 @@ public class DriverStation {
   /**
    * The state of one joystick button. Button indexes begin at 1.
    *
-   * @param stick  The joystick to read.
+   * @param stick The joystick to read.
    * @param button The button index, beginning at 1.
    * @return The state of the joystick button.
    */
@@ -423,15 +441,19 @@ public class DriverStation {
       m_cacheDataMutex.unlock();
     }
 
-    reportJoystickUnpluggedWarning("Joystick Button " + button + " on port " + stick
-        + " not available, check if controller is plugged in");
+    reportJoystickUnpluggedWarning(
+        "Joystick Button "
+            + button
+            + " on port "
+            + stick
+            + " not available, check if controller is plugged in");
     return false;
   }
 
   /**
    * Whether one joystick button was pressed since the last check. Button indexes begin at 1.
    *
-   * @param stick  The joystick to read.
+   * @param stick The joystick to read.
    * @param button The button index, beginning at 1.
    * @return Whether the joystick button was pressed since the last check.
    */
@@ -459,16 +481,19 @@ public class DriverStation {
       m_cacheDataMutex.unlock();
     }
 
-    reportJoystickUnpluggedWarning("Joystick Button " + button + " on port " + stick
-        + " not available, check if controller is plugged in");
+    reportJoystickUnpluggedWarning(
+        "Joystick Button "
+            + button
+            + " on port "
+            + stick
+            + " not available, check if controller is plugged in");
     return false;
   }
 
   /**
-   * Whether one joystick button was released since the last check. Button indexes
-   * begin at 1.
+   * Whether one joystick button was released since the last check. Button indexes begin at 1.
    *
-   * @param stick  The joystick to read.
+   * @param stick The joystick to read.
    * @param button The button index, beginning at 1.
    * @return Whether the joystick button was released since the last check.
    */
@@ -496,8 +521,12 @@ public class DriverStation {
       m_cacheDataMutex.unlock();
     }
 
-    reportJoystickUnpluggedWarning("Joystick Button " + button + " on port " + stick
-        + " not available, check if controller is plugged in");
+    reportJoystickUnpluggedWarning(
+        "Joystick Button "
+            + button
+            + " on port "
+            + stick
+            + " not available, check if controller is plugged in");
     return false;
   }
 
@@ -506,7 +535,7 @@ public class DriverStation {
    * to the specified port.
    *
    * @param stick The joystick to read.
-   * @param axis  The analog axis value to read from the joystick.
+   * @param axis The analog axis value to read from the joystick.
    * @return The value of the axis on the joystick.
    */
   public double getStickAxis(int stick, int axis) {
@@ -526,8 +555,12 @@ public class DriverStation {
       m_cacheDataMutex.unlock();
     }
 
-    reportJoystickUnpluggedWarning("Joystick axis " + axis + " on port " + stick
-        + " not available, check if controller is plugged in");
+    reportJoystickUnpluggedWarning(
+        "Joystick axis "
+            + axis
+            + " on port "
+            + stick
+            + " not available, check if controller is plugged in");
     return 0.0;
   }
 
@@ -553,8 +586,12 @@ public class DriverStation {
       m_cacheDataMutex.unlock();
     }
 
-    reportJoystickUnpluggedWarning("Joystick POV " + pov + " on port " + stick
-        + " not available, check if controller is plugged in");
+    reportJoystickUnpluggedWarning(
+        "Joystick POV "
+            + pov
+            + " on port "
+            + stick
+            + " not available, check if controller is plugged in");
     return -1;
   }
 
@@ -694,16 +731,16 @@ public class DriverStation {
   /**
    * Returns if a joystick is connected to the Driver Station.
    *
-   * <p>This makes a best effort guess by looking at the reported number of axis,
-   * buttons, and POVs attached.
+   * <p>This makes a best effort guess by looking at the reported number of axis, buttons, and POVs
+   * attached.
    *
    * @param stick The joystick port number
    * @return true if a joystick is connected
    */
   public boolean isJoystickConnected(int stick) {
     return getStickAxisCount(stick) > 0
-      || getStickButtonCount(stick) > 0
-      || getStickPOVCount(stick) > 0;
+        || getStickButtonCount(stick) > 0
+        || getStickPOVCount(stick) > 0;
   }
 
   /**
@@ -784,7 +821,8 @@ public class DriverStation {
   public boolean isOperatorControlEnabled() {
     synchronized (m_controlWordMutex) {
       updateControlWord(false);
-      return !m_controlWordCache.getAutonomous() && !m_controlWordCache.getTest()
+      return !m_controlWordCache.getAutonomous()
+          && !m_controlWordCache.getTest()
           && m_controlWordCache.getEnabled();
     }
   }
@@ -985,8 +1023,8 @@ public class DriverStation {
   /**
    * Wait for new data from the driver station.
    *
-   * <p>Checks if new control data has arrived since the last waitForData call
-   * on the current thread. If new data has not arrived, returns immediately.
+   * <p>Checks if new control data has arrived since the last waitForData call on the current
+   * thread. If new data has not arrived, returns immediately.
    */
   public void waitForData() {
     waitForData(0);
@@ -996,8 +1034,8 @@ public class DriverStation {
    * Wait for new data or for timeout, which ever comes first. If timeout is 0, wait for new data
    * only.
    *
-   * <p>Checks if new control data has arrived since the last waitForData call
-   * on the current thread. If new data has not arrived, returns immediately.
+   * <p>Checks if new control data has arrived since the last waitForData call on the current
+   * thread. If new data has not arrived, returns immediately.
    *
    * @param timeout The maximum time in seconds to wait.
    * @return true if there is new data, otherwise false
@@ -1017,8 +1055,8 @@ public class DriverStation {
           long now = RobotController.getFPGATime();
           if (now < startTime + timeoutMicros) {
             // We still have time to wait
-            boolean signaled = m_waitForDataCond.await(startTime + timeoutMicros - now,
-                                                TimeUnit.MICROSECONDS);
+            boolean signaled =
+                m_waitForDataCond.await(startTime + timeoutMicros - now, TimeUnit.MICROSECONDS);
             if (!signaled) {
               // Return false if a timeout happened
               return false;
@@ -1046,8 +1084,8 @@ public class DriverStation {
    * Return the approximate match time. The FMS does not send an official match time to the robots,
    * but does send an approximate match time. The value will count down the time remaining in the
    * current period (auto or teleop). Warning: This is not an official time (so it cannot be used to
-   * dispute ref calls or guarantee that a function will trigger before the match ends) The
-   * Practice Match function of the DS approximates the behavior seen on the field.
+   * dispute ref calls or guarantee that a function will trigger before the match ends) The Practice
+   * Match function of the DS approximates the behavior seen on the field.
    *
    * @return Time remaining in current match period (auto or teleop) in seconds
    */
@@ -1099,9 +1137,7 @@ public class DriverStation {
     m_userInTest = entering;
   }
 
-  /**
-   * Forces waitForData() to return immediately.
-   */
+  /** Forces waitForData() to return immediately. */
   public void wakeupWaitForData() {
     m_waitForDataMutex.lock();
     m_waitForDataCount++;
@@ -1110,9 +1146,9 @@ public class DriverStation {
   }
 
   /**
-   * Allows the user to specify whether they want joystick connection warnings
-   * to be printed to the console. This setting is ignored when the FMS is
-   * connected -- warnings will always be on in that scenario.
+   * Allows the user to specify whether they want joystick connection warnings to be printed to the
+   * console. This setting is ignored when the FMS is connected -- warnings will always be on in
+   * that scenario.
    *
    * @param silence Whether warning messages should be silenced.
    */
@@ -1121,8 +1157,8 @@ public class DriverStation {
   }
 
   /**
-   * Returns whether joystick connection warnings are silenced. This will
-   * always return false when connected to the FMS.
+   * Returns whether joystick connection warnings are silenced. This will always return false when
+   * connected to the FMS.
    *
    * @return Whether joystick connection warnings are silenced.
    */
@@ -1213,9 +1249,7 @@ public class DriverStation {
     }
   }
 
-  /**
-   * Provides the service routine for the DS polling m_thread.
-   */
+  /** Provides the service routine for the DS polling m_thread. */
   private void run() {
     int safetyCounter = 0;
     while (m_threadKeepAlive) {
@@ -1247,8 +1281,8 @@ public class DriverStation {
   }
 
   /**
-   * Updates the data in the control word cache. Updates if the force parameter is set, or if
-   * 50ms have passed since the last update.
+   * Updates the data in the control word cache. Updates if the force parameter is set, or if 50ms
+   * have passed since the last update.
    *
    * @param force True to force an update to the cache, otherwise update if 50ms have passed.
    */
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycle.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycle.java
index 870572d3a3..3e41b37507 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycle.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycle.java
@@ -13,13 +13,11 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 /**
  * Class to read a duty cycle PWM input.
  *
- * <p>PWM input signals are specified with a frequency and a ratio of high to low
- * in that frequency. There are 8 of these in the roboRIO, and they can be
- * attached to any {@link DigitalSource}.
- *
- * <p>These can be combined as the input of an AnalogTrigger to a Counter in order
- * to implement rollover checking.
+ * <p>PWM input signals are specified with a frequency and a ratio of high to low in that frequency.
+ * There are 8 of these in the roboRIO, and they can be attached to any {@link DigitalSource}.
  *
+ * <p>These can be combined as the input of an AnalogTrigger to a Counter in order to implement
+ * rollover checking.
  */
 public class DutyCycle implements Sendable, AutoCloseable {
   // Explicitly package private
@@ -35,8 +33,10 @@ public class DutyCycle implements Sendable, AutoCloseable {
    * @param digitalSource The DigitalSource to use.
    */
   public DutyCycle(DigitalSource digitalSource) {
-    m_handle = DutyCycleJNI.initialize(digitalSource.getPortHandleForRouting(),
-        digitalSource.getAnalogTriggerTypeForRouting());
+    m_handle =
+        DutyCycleJNI.initialize(
+            digitalSource.getPortHandleForRouting(),
+            digitalSource.getAnalogTriggerTypeForRouting());
 
     m_source = digitalSource;
     int index = getFPGAIndex();
@@ -44,9 +44,7 @@ public class DutyCycle implements Sendable, AutoCloseable {
     SendableRegistry.addLW(this, "Duty Cycle", index);
   }
 
-  /**
-   * Close the DutyCycle and free all resources.
-   */
+  /** Close the DutyCycle and free all resources. */
   @Override
   public void close() {
     DutyCycleJNI.free(m_handle);
@@ -75,8 +73,7 @@ public class DutyCycle implements Sendable, AutoCloseable {
   /**
    * Get the raw output ratio of the duty cycle signal.
    *
-   * <p>0 means always low, an output equal to getOutputScaleFactor() means always
-   * high.
+   * <p>0 means always low, an output equal to getOutputScaleFactor() means always high.
    *
    * @return output ratio in raw units
    */
@@ -87,9 +84,8 @@ public class DutyCycle implements Sendable, AutoCloseable {
   /**
    * Get the scale factor of the output.
    *
-   * <p>An output equal to this value is always high, and then linearly scales down
-   * to 0. Divide the result of getOutputRaw by this in order to get the
-   * percentage between 0 and 1.
+   * <p>An output equal to this value is always high, and then linearly scales down to 0. Divide the
+   * result of getOutputRaw by this in order to get the percentage between 0 and 1.
    *
    * @return the output scale factor
    */
@@ -116,6 +112,5 @@ public class DutyCycle implements Sendable, AutoCloseable {
     builder.setSmartDashboardType("Duty Cycle");
     builder.addDoubleProperty("Frequency", this::getFrequency, null);
     builder.addDoubleProperty("Output", this::getOutput, null);
-
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
index 8953ac8949..d7cfa36361 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
@@ -12,9 +12,8 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /**
- * Class for supporting duty cycle/PWM encoders, such as the US Digital MA3 with
- * PWM Output, the CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag
- * Encoder.
+ * Class for supporting duty cycle/PWM encoders, such as the US Digital MA3 with PWM Output, the
+ * CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag Encoder.
  */
 public class DutyCycleEncoder implements Sendable, AutoCloseable {
   private final DutyCycle m_dutyCycle;
@@ -70,8 +69,8 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
 
     if (m_simDevice != null) {
       m_simPosition = m_simDevice.createDouble("position", SimDevice.Direction.kInput, 0.0);
-      m_simDistancePerRotation = m_simDevice.createDouble("distance_per_rot",
-          SimDevice.Direction.kOutput, 1.0);
+      m_simDistancePerRotation =
+          m_simDevice.createDouble("distance_per_rot", SimDevice.Direction.kOutput, 1.0);
       m_simIsConnected = m_simDevice.createBoolean("connected", SimDevice.Direction.kInput, true);
     } else {
       m_counter = new Counter();
@@ -119,9 +118,9 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
   /**
    * Get the offset of position relative to the last reset.
    *
-   * <p>getPositionInRotation() - getPositionOffset() will give an encoder absolute
-   * position relative to the last reset. This could potentially be negative,
-   * which needs to be accounted for.
+   * <p>getPositionInRotation() - getPositionOffset() will give an encoder absolute position
+   * relative to the last reset. This could potentially be negative, which needs to be accounted
+   * for.
    *
    * @return the position offset
    */
@@ -130,11 +129,10 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
   }
 
   /**
-   * Set the distance per rotation of the encoder. This sets the multiplier used
-   * to determine the distance driven based on the rotation value from the
-   * encoder. Set this value based on the how far the mechanism travels in 1
-   * rotation of the encoder, and factor in gearing reductions following the
-   * encoder shaft. This distance can be in any units you like, linear or angular.
+   * Set the distance per rotation of the encoder. This sets the multiplier used to determine the
+   * distance driven based on the rotation value from the encoder. Set this value based on the how
+   * far the mechanism travels in 1 rotation of the encoder, and factor in gearing reductions
+   * following the encoder shaft. This distance can be in any units you like, linear or angular.
    *
    * @param distancePerRotation the distance per rotation of the encoder
    */
@@ -145,16 +143,15 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
   /**
    * Get the distance per rotation for this encoder.
    *
-   * @return The scale factor that will be used to convert rotation to useful
-   *         units.
+   * @return The scale factor that will be used to convert rotation to useful units.
    */
   public double getDistancePerRotation() {
     return m_distancePerRotation;
   }
 
   /**
-   * Get the distance the sensor has driven since the last reset as scaled by the
-   * value from {@link #setDistancePerRotation(double)}.
+   * Get the distance the sensor has driven since the last reset as scaled by the value from {@link
+   * #setDistancePerRotation(double)}.
    *
    * @return The distance driven since the last reset
    */
@@ -171,9 +168,7 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
     return m_dutyCycle.getFrequency();
   }
 
-  /**
-   * Reset the Encoder distance to zero.
-   */
+  /** Reset the Encoder distance to zero. */
   public void reset() {
     if (m_counter != null) {
       m_counter.reset();
@@ -184,9 +179,9 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
   /**
    * Get if the sensor is connected
    *
-   * <p>This uses the duty cycle frequency to determine if the sensor is connected.
-   * By default, a value of 100 Hz is used as the threshold, and this value can be
-   * changed with {@link #setConnectedFrequencyThreshold(int)}.
+   * <p>This uses the duty cycle frequency to determine if the sensor is connected. By default, a
+   * value of 100 Hz is used as the threshold, and this value can be changed with {@link
+   * #setConnectedFrequencyThreshold(int)}.
    *
    * @return true if the sensor is connected
    */
@@ -198,8 +193,7 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
   }
 
   /**
-   * Change the frequency threshold for detecting connection used by
-   * {@link #isConnected()}.
+   * Change the frequency threshold for detecting connection used by {@link #isConnected()}.
    *
    * @param frequency the minimum frequency in Hz.
    */
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java
index 7c421c48c1..019eaa5d93 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java
@@ -4,6 +4,8 @@
 
 package edu.wpi.first.wpilibj;
 
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
 import edu.wpi.first.hal.EncoderJNI;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
@@ -12,8 +14,6 @@ import edu.wpi.first.hal.util.AllocationException;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
-
 /**
  * Class to read quadrature encoders.
  *
@@ -29,7 +29,10 @@ import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
  */
 public class Encoder implements CounterBase, PIDSource, Sendable, AutoCloseable {
   public enum IndexingType {
-    kResetWhileHigh(0), kResetWhileLow(1), kResetOnFallingEdge(2), kResetOnRisingEdge(3);
+    kResetWhileHigh(0),
+    kResetWhileLow(1),
+    kResetOnFallingEdge(2),
+    kResetOnRisingEdge(3);
 
     public final int value;
 
@@ -38,18 +41,13 @@ public class Encoder implements CounterBase, PIDSource, Sendable, AutoCloseable
     }
   }
 
-  /**
-   * The a source.
-   */
+  /** The a source. */
   protected DigitalSource m_aSource; // the A phase of the quad encoder
-  /**
-   * The b source.
-   */
+  /** The b source. */
   protected DigitalSource m_bSource; // the B phase of the quad encoder
-  /**
-   * The index source.
-   */
+  /** The index source. */
   protected DigitalSource m_indexSource; // Index on some encoders
+
   private boolean m_allocatedA;
   private boolean m_allocatedB;
   private boolean m_allocatedI;
@@ -57,7 +55,6 @@ public class Encoder implements CounterBase, PIDSource, Sendable, AutoCloseable
 
   private int m_encoder; // the HAL encoder object
 
-
   /**
    * Common initialization code for Encoders. This code allocates resources for Encoders and is
    * common to all constructors.
@@ -67,9 +64,14 @@ public class Encoder implements CounterBase, PIDSource, Sendable, AutoCloseable
    * @param reverseDirection If true, counts down instead of up (this is all relative)
    */
   private void initEncoder(boolean reverseDirection, final EncodingType type) {
-    m_encoder = EncoderJNI.initializeEncoder(m_aSource.getPortHandleForRouting(),
-        m_aSource.getAnalogTriggerTypeForRouting(), m_bSource.getPortHandleForRouting(),
-        m_bSource.getAnalogTriggerTypeForRouting(), reverseDirection, type.value);
+    m_encoder =
+        EncoderJNI.initializeEncoder(
+            m_aSource.getPortHandleForRouting(),
+            m_aSource.getAnalogTriggerTypeForRouting(),
+            m_bSource.getPortHandleForRouting(),
+            m_bSource.getAnalogTriggerTypeForRouting(),
+            reverseDirection,
+            type.value);
 
     m_pidSource = PIDSourceType.kDisplacement;
 
@@ -83,10 +85,10 @@ public class Encoder implements CounterBase, PIDSource, Sendable, AutoCloseable
    *
    * <p>The encoder will start counting immediately.
    *
-   * @param channelA         The a channel DIO channel. 0-9 are on-board, 10-25 are on the MXP port
-   * @param channelB         The b channel DIO channel. 0-9 are on-board, 10-25 are on the MXP port
+   * @param channelA The a channel DIO channel. 0-9 are on-board, 10-25 are on the MXP port
+   * @param channelB The b channel DIO channel. 0-9 are on-board, 10-25 are on the MXP port
    * @param reverseDirection represents the orientation of the encoder and inverts the output values
-   *                         if necessary so forward represents positive values.
+   *     if necessary so forward represents positive values.
    */
   public Encoder(final int channelA, final int channelB, boolean reverseDirection) {
     this(channelA, channelB, reverseDirection, EncodingType.k4X);
@@ -109,19 +111,21 @@ public class Encoder implements CounterBase, PIDSource, Sendable, AutoCloseable
    *
    * <p>The encoder will start counting immediately.
    *
-   * @param channelA         The a channel digital input channel.
-   * @param channelB         The b channel digital input channel.
+   * @param channelA The a channel digital input channel.
+   * @param channelB The b channel digital input channel.
    * @param reverseDirection represents the orientation of the encoder and inverts the output values
-   *                         if necessary so forward represents positive values.
-   * @param encodingType     either k1X, k2X, or k4X to indicate 1X, 2X or 4X decoding. If 4X is
-   *                         selected, then an encoder FPGA object is used and the returned counts
-   *                         will be 4x the encoder spec'd value since all rising and falling edges
-   *                         are counted. If 1X or 2X are selected then a m_counter object will be
-   *                         used and the returned value will either exactly match the spec'd count
-   *                         or be double (2x) the spec'd count.
+   *     if necessary so forward represents positive values.
+   * @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X decoding. If 4X is
+   *     selected, then an encoder FPGA object is used and the returned counts will be 4x the
+   *     encoder spec'd value since all rising and falling edges are counted. If 1X or 2X are
+   *     selected then a m_counter object will be used and the returned value will either exactly
+   *     match the spec'd count or be double (2x) the spec'd count.
    */
-  public Encoder(final int channelA, final int channelB, boolean reverseDirection,
-                 final EncodingType encodingType) {
+  public Encoder(
+      final int channelA,
+      final int channelB,
+      boolean reverseDirection,
+      final EncodingType encodingType) {
     requireNonNullParam(encodingType, "encodingType", "Encoder");
 
     m_allocatedA = true;
@@ -140,14 +144,14 @@ public class Encoder implements CounterBase, PIDSource, Sendable, AutoCloseable
    *
    * <p>The encoder will start counting immediately.
    *
-   * @param channelA         The a channel digital input channel.
-   * @param channelB         The b channel digital input channel.
-   * @param indexChannel     The index channel digital input channel.
+   * @param channelA The a channel digital input channel.
+   * @param channelB The b channel digital input channel.
+   * @param indexChannel The index channel digital input channel.
    * @param reverseDirection represents the orientation of the encoder and inverts the output values
-   *                         if necessary so forward represents positive values.
+   *     if necessary so forward represents positive values.
    */
-  public Encoder(final int channelA, final int channelB, final int indexChannel,
-                 boolean reverseDirection) {
+  public Encoder(
+      final int channelA, final int channelB, final int indexChannel, boolean reverseDirection) {
     this(channelA, channelB, reverseDirection);
     m_allocatedI = true;
     m_indexSource = new DigitalInput(indexChannel);
@@ -161,8 +165,8 @@ public class Encoder implements CounterBase, PIDSource, Sendable, AutoCloseable
    *
    * <p>The encoder will start counting immediately.
    *
-   * @param channelA     The a channel digital input channel.
-   * @param channelB     The b channel digital input channel.
+   * @param channelA The a channel digital input channel.
+   * @param channelB The b channel digital input channel.
    * @param indexChannel The index channel digital input channel.
    */
   public Encoder(final int channelA, final int channelB, final int indexChannel) {
@@ -176,10 +180,10 @@ public class Encoder implements CounterBase, PIDSource, Sendable, AutoCloseable
    *
    * <p>The encoder will start counting immediately.
    *
-   * @param sourceA          The source that should be used for the a channel.
-   * @param sourceB          the source that should be used for the b channel.
+   * @param sourceA The source that should be used for the a channel.
+   * @param sourceB the source that should be used for the b channel.
    * @param reverseDirection represents the orientation of the encoder and inverts the output values
-   *                         if necessary so forward represents positive values.
+   *     if necessary so forward represents positive values.
    */
   public Encoder(DigitalSource sourceA, DigitalSource sourceB, boolean reverseDirection) {
     this(sourceA, sourceB, reverseDirection, EncodingType.k4X);
@@ -206,19 +210,21 @@ public class Encoder implements CounterBase, PIDSource, Sendable, AutoCloseable
    *
    * <p>The encoder will start counting immediately.
    *
-   * @param sourceA          The source that should be used for the a channel.
-   * @param sourceB          the source that should be used for the b channel.
+   * @param sourceA The source that should be used for the a channel.
+   * @param sourceB the source that should be used for the b channel.
    * @param reverseDirection represents the orientation of the encoder and inverts the output values
-   *                         if necessary so forward represents positive values.
-   * @param encodingType     either k1X, k2X, or k4X to indicate 1X, 2X or 4X decoding. If 4X is
-   *                         selected, then an encoder FPGA object is used and the returned counts
-   *                         will be 4x the encoder spec'd value since all rising and falling edges
-   *                         are counted. If 1X or 2X are selected then a m_counter object will be
-   *                         used and the returned value will either exactly match the spec'd count
-   *                         or be double (2x) the spec'd count.
+   *     if necessary so forward represents positive values.
+   * @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X decoding. If 4X is
+   *     selected, then an encoder FPGA object is used and the returned counts will be 4x the
+   *     encoder spec'd value since all rising and falling edges are counted. If 1X or 2X are
+   *     selected then a m_counter object will be used and the returned value will either exactly
+   *     match the spec'd count or be double (2x) the spec'd count.
    */
-  public Encoder(DigitalSource sourceA, DigitalSource sourceB, boolean reverseDirection,
-                 final EncodingType encodingType) {
+  public Encoder(
+      DigitalSource sourceA,
+      DigitalSource sourceB,
+      boolean reverseDirection,
+      final EncodingType encodingType) {
     requireNonNullParam(sourceA, "sourceA", "Encoder");
     requireNonNullParam(sourceB, "sourceB", "Encoder");
     requireNonNullParam(encodingType, "encodingType", "Encoder");
@@ -238,14 +244,17 @@ public class Encoder implements CounterBase, PIDSource, Sendable, AutoCloseable
    *
    * <p>The encoder will start counting immediately.
    *
-   * @param sourceA          The source that should be used for the a channel.
-   * @param sourceB          the source that should be used for the b channel.
-   * @param indexSource      the source that should be used for the index channel.
+   * @param sourceA The source that should be used for the a channel.
+   * @param sourceB the source that should be used for the b channel.
+   * @param indexSource the source that should be used for the index channel.
    * @param reverseDirection represents the orientation of the encoder and inverts the output values
-   *                         if necessary so forward represents positive values.
+   *     if necessary so forward represents positive values.
    */
-  public Encoder(DigitalSource sourceA, DigitalSource sourceB, DigitalSource indexSource,
-                 boolean reverseDirection) {
+  public Encoder(
+      DigitalSource sourceA,
+      DigitalSource sourceB,
+      DigitalSource indexSource,
+      boolean reverseDirection) {
     this(sourceA, sourceB, reverseDirection);
     m_allocatedI = false;
     m_indexSource = indexSource;
@@ -259,8 +268,8 @@ public class Encoder implements CounterBase, PIDSource, Sendable, AutoCloseable
    *
    * <p>The encoder will start counting immediately.
    *
-   * @param sourceA     The source that should be used for the a channel.
-   * @param sourceB     the source that should be used for the b channel.
+   * @param sourceA The source that should be used for the a channel.
+   * @param sourceB the source that should be used for the b channel.
    * @param indexSource the source that should be used for the index channel.
    */
   public Encoder(DigitalSource sourceA, DigitalSource sourceB, DigitalSource indexSource) {
@@ -330,9 +339,7 @@ public class Encoder implements CounterBase, PIDSource, Sendable, AutoCloseable
     return EncoderJNI.getEncoder(m_encoder);
   }
 
-  /**
-   * Reset the Encoder distance to zero. Resets the current count to zero on the encoder.
-   */
+  /** Reset the Encoder distance to zero. Resets the current count to zero on the encoder. */
   @Override
   public void reset() {
     EncoderJNI.resetEncoder(m_encoder);
@@ -361,7 +368,7 @@ public class Encoder implements CounterBase, PIDSource, Sendable, AutoCloseable
    * compensates for the decoding type.
    *
    * @param maxPeriod The maximum time between rising and falling edges before the FPGA will report
-   *                  the device stopped. This is expressed in seconds.
+   *     the device stopped. This is expressed in seconds.
    */
   @Override
   public void setMaxPeriod(double maxPeriod) {
@@ -414,7 +421,7 @@ public class Encoder implements CounterBase, PIDSource, Sendable, AutoCloseable
    * Set the minimum rate of the device before the hardware reports it stopped.
    *
    * @param minRate The minimum rate. The units are in distance per second as scaled by the value
-   *                from setDistancePerPulse().
+   *     from setDistancePerPulse().
    */
   public void setMinRate(double minRate) {
     EncoderJNI.setEncoderMinRate(m_encoder, minRate);
@@ -532,7 +539,7 @@ public class Encoder implements CounterBase, PIDSource, Sendable, AutoCloseable
    * resets.
    *
    * @param channel A DIO channel to set as the encoder index
-   * @param type    The state that will cause the encoder to reset
+   * @param type The state that will cause the encoder to reset
    */
   public void setIndexSource(int channel, IndexingType type) {
     if (m_allocatedI) {
@@ -549,11 +556,14 @@ public class Encoder implements CounterBase, PIDSource, Sendable, AutoCloseable
    * resets.
    *
    * @param source A digital source to set as the encoder index
-   * @param type   The state that will cause the encoder to reset
+   * @param type The state that will cause the encoder to reset
    */
   public void setIndexSource(DigitalSource source, IndexingType type) {
-    EncoderJNI.setEncoderIndexSource(m_encoder, source.getPortHandleForRouting(),
-        source.getAnalogTriggerTypeForRouting(), type.value);
+    EncoderJNI.setEncoderIndexSource(
+        m_encoder,
+        source.getPortHandleForRouting(),
+        source.getAnalogTriggerTypeForRouting(),
+        type.value);
   }
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Filesystem.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Filesystem.java
index 8b3f698023..98230dbbe5 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Filesystem.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Filesystem.java
@@ -7,18 +7,18 @@ package edu.wpi.first.wpilibj;
 import java.io.File;
 
 /**
- * Class for interacting with the Filesystem, particularly, interacting with
- * FRC-related paths on the system, such as the launch and deploy directories.
+ * Class for interacting with the Filesystem, particularly, interacting with FRC-related paths on
+ * the system, such as the launch and deploy directories.
  *
- * <p>This class is primarily used for obtaining resources in src/main/deploy, and
- * the RoboRIO path /home/lvuser in a simulation-compatible way.</p>
+ * <p>This class is primarily used for obtaining resources in src/main/deploy, and the RoboRIO path
+ * /home/lvuser in a simulation-compatible way.
  */
 public final class Filesystem {
   private Filesystem() {}
 
   /**
-   * Obtains the current working path that the program was launched with.
-   * This is analogous to the `pwd` command on unix.
+   * Obtains the current working path that the program was launched with. This is analogous to the
+   * `pwd` command on unix.
    *
    * @return The current working directory (launch directory)
    */
@@ -27,9 +27,8 @@ public final class Filesystem {
   }
 
   /**
-   * Obtains the operating directory of the program. On the roboRIO, this is
-   * /home/lvuser. In simulation, it is where the simulation was launched from
-   * (`pwd`).
+   * Obtains the operating directory of the program. On the roboRIO, this is /home/lvuser. In
+   * simulation, it is where the simulation was launched from (`pwd`).
    *
    * @return The operating directory
    */
@@ -42,10 +41,10 @@ public final class Filesystem {
   }
 
   /**
-   * Obtains the deploy directory of the program, which is the remote location
-   * src/main/deploy is deployed to by default. On the roboRIO, this is
-   * /home/lvuser/deploy. In simulation, it is where the simulation was launched
-   * from, in the subdirectory "src/main/deploy" (`pwd`/src/main/deploy).
+   * Obtains the deploy directory of the program, which is the remote location src/main/deploy is
+   * deployed to by default. On the roboRIO, this is /home/lvuser/deploy. In simulation, it is where
+   * the simulation was launched from, in the subdirectory "src/main/deploy"
+   * (`pwd`/src/main/deploy).
    *
    * @return The deploy directory
    */
@@ -53,8 +52,8 @@ public final class Filesystem {
     if (RobotBase.isReal()) {
       return new File(getOperatingDirectory(), "deploy");
     } else {
-      return new File(getOperatingDirectory(), "src" + File.separator + "main"
-          + File.separator + "deploy");
+      return new File(
+          getOperatingDirectory(), "src" + File.separator + "main" + File.separator + "deploy");
     }
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/GearTooth.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/GearTooth.java
index 025e9ef23d..15a999c4b0 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/GearTooth.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/GearTooth.java
@@ -15,15 +15,13 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
  * timing in the FPGA to sense direction.
  *
  * @deprecated The only sensor this works with is no longer available and no teams use it according
- *             to FMS usage reporting.
+ *     to FMS usage reporting.
  */
 @Deprecated(since = "2020", forRemoval = true)
 public class GearTooth extends Counter {
   private static final double kGearToothThreshold = 55e-6;
 
-  /**
-   * Common code called by the constructors.
-   */
+  /** Common code called by the constructors. */
   public void enableDirectionSensing(boolean directionSensitive) {
     if (directionSensitive) {
       setPulseLengthMode(kGearToothThreshold);
@@ -44,10 +42,10 @@ public class GearTooth extends Counter {
   /**
    * Construct a GearTooth sensor given a channel.
    *
-   * @param channel            The DIO channel that the sensor is connected to. 0-9 are on-board,
-   *                           10-25 are on the MXP port
+   * @param channel The DIO channel that the sensor is connected to. 0-9 are on-board, 10-25 are on
+   *     the MXP port
    * @param directionSensitive True to enable the pulse length decoding in hardware to specify count
-   *                           direction.
+   *     direction.
    */
   public GearTooth(final int channel, boolean directionSensitive) {
     super(channel);
@@ -64,9 +62,9 @@ public class GearTooth extends Counter {
    * Construct a GearTooth sensor given a digital input. This should be used when sharing digital
    * inputs.
    *
-   * @param source             An existing DigitalSource object (such as a DigitalInput)
+   * @param source An existing DigitalSource object (such as a DigitalInput)
    * @param directionSensitive True to enable the pulse length decoding in hardware to specify count
-   *                           direction.
+   *     direction.
    */
   public GearTooth(DigitalSource source, boolean directionSensitive) {
     super(source);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
index 54f3bc8395..9bd871d57b 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
@@ -4,20 +4,16 @@
 
 package edu.wpi.first.wpilibj;
 
+import edu.wpi.first.hal.HAL;
 import java.util.HashMap;
 import java.util.Map;
 
-import edu.wpi.first.hal.HAL;
-
-/**
- * GenericHID Interface.
- */
+/** GenericHID Interface. */
 public abstract class GenericHID {
-  /**
-   * Represents a rumble output on the JoyStick.
-   */
+  /** Represents a rumble output on the JoyStick. */
   public enum RumbleType {
-    kLeftRumble, kRightRumble
+    kLeftRumble,
+    kRightRumble
   }
 
   public enum HIDType {
@@ -40,6 +36,7 @@ public abstract class GenericHID {
     kHID1stPerson(24);
 
     public final int value;
+
     @SuppressWarnings("PMD.UseConcurrentHashMap")
     private static final Map<Integer, HIDType> map = new HashMap<>();
 
@@ -58,11 +55,10 @@ public abstract class GenericHID {
     }
   }
 
-  /**
-   * Which hand the Human Interface Device is associated with.
-   */
+  /** Which hand the Human Interface Device is associated with. */
   public enum Hand {
-    kLeft(0), kRight(1);
+    kLeft(0),
+    kRight(1);
 
     public final int value;
 
@@ -122,8 +118,8 @@ public abstract class GenericHID {
    * <p>The buttons are returned in a single 16 bit value with one bit representing the state of
    * each button. The appropriate button is returned as a boolean value.
    *
-   * <p>This method returns true if the button is being held down at the time
-   * that this method is being called.
+   * <p>This method returns true if the button is being held down at the time that this method is
+   * being called.
    *
    * @param button The button number to be read (starting at 1)
    * @return The state of the button.
@@ -133,12 +129,11 @@ public abstract class GenericHID {
   }
 
   /**
-   * Whether the button was pressed since the last check. Button indexes begin at
-   * 1.
+   * Whether the button was pressed since the last check. Button indexes begin at 1.
    *
-   * <p>This method returns true if the button went from not pressed to held down
-   * since the last time this method was called. This is useful if you only
-   * want to call a function once when you press the button.
+   * <p>This method returns true if the button went from not pressed to held down since the last
+   * time this method was called. This is useful if you only want to call a function once when you
+   * press the button.
    *
    * @param button The button index, beginning at 1.
    * @return Whether the button was pressed since the last check.
@@ -148,12 +143,11 @@ public abstract class GenericHID {
   }
 
   /**
-   * Whether the button was released since the last check. Button indexes begin at
-   * 1.
+   * Whether the button was released since the last check. Button indexes begin at 1.
    *
-   * <p>This method returns true if the button went from held down to not pressed
-   * since the last time this method was called. This is useful if you only
-   * want to call a function once when you release the button.
+   * <p>This method returns true if the button went from held down to not pressed since the last
+   * time this method was called. This is useful if you only want to call a function once when you
+   * release the button.
    *
    * @param button The button index, beginning at 1.
    * @return Whether the button was released since the last check.
@@ -198,16 +192,12 @@ public abstract class GenericHID {
     return m_ds.getStickAxisCount(m_port);
   }
 
-  /**
-   * For the current HID, return the number of POVs.
-   */
+  /** For the current HID, return the number of POVs. */
   public int getPOVCount() {
     return m_ds.getStickPOVCount(m_port);
   }
 
-  /**
-   * For the current HID, return the number of buttons.
-   */
+  /** For the current HID, return the number of buttons. */
   public int getButtonCount() {
     return m_ds.getStickButtonCount(m_port);
   }
@@ -261,7 +251,7 @@ public abstract class GenericHID {
    * Set a single HID output value for the HID.
    *
    * @param outputNumber The index of the output to set (1-32)
-   * @param value        The value to set the output to
+   * @param value The value to set the output to
    */
   public void setOutput(int outputNumber, boolean value) {
     m_outputs = (m_outputs & ~(1 << (outputNumber - 1))) | ((value ? 1 : 0) << (outputNumber - 1));
@@ -282,7 +272,7 @@ public abstract class GenericHID {
    * Set the rumble output for the HID. The DS currently supports 2 rumble values, left rumble and
    * right rumble.
    *
-   * @param type  Which rumble value to set
+   * @param type Which rumble value to set
    * @param value The normalized value (0 to 1) to set the rumble to
    */
   public void setRumble(RumbleType type, double value) {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/GyroBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/GyroBase.java
index 01b1ad6783..4b180d5c92 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/GyroBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/GyroBase.java
@@ -7,9 +7,7 @@ package edu.wpi.first.wpilibj;
 import edu.wpi.first.wpilibj.interfaces.Gyro;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 
-/**
- * GyroBase is the common base class for Gyro implementations such as AnalogGyro.
- */
+/** GyroBase is the common base class for Gyro implementations such as AnalogGyro. */
 public abstract class GyroBase implements Gyro, PIDSource, Sendable {
   private PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/I2C.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/I2C.java
index 4aae4d08d3..44331e458c 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/I2C.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/I2C.java
@@ -4,14 +4,13 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.nio.ByteBuffer;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.I2CJNI;
 import edu.wpi.first.hal.util.BoundaryException;
-
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import java.nio.ByteBuffer;
 
 /**
  * I2C bus interface class.
@@ -22,7 +21,8 @@ import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 @SuppressWarnings("PMD.GodClass")
 public class I2C implements AutoCloseable {
   public enum Port {
-    kOnboard(0), kMXP(1);
+    kOnboard(0),
+    kMXP(1);
 
     public final int value;
 
@@ -37,7 +37,7 @@ public class I2C implements AutoCloseable {
   /**
    * Constructor.
    *
-   * @param port          The I2C port the device is connected to.
+   * @param port The I2C port the device is connected to.
    * @param deviceAddress The address of the device on the I2C bus.
    */
   public I2C(Port port, int deviceAddress) {
@@ -58,18 +58,18 @@ public class I2C implements AutoCloseable {
    * Generic transaction.
    *
    * <p>This is a lower-level interface to the I2C hardware giving you more control over each
-   * transaction. If you intend to write multiple bytes in the same transaction and do not
-   * plan to receive anything back, use writeBulk() instead. Calling this with a receiveSize
-   * of 0 will result in an error.
+   * transaction. If you intend to write multiple bytes in the same transaction and do not plan to
+   * receive anything back, use writeBulk() instead. Calling this with a receiveSize of 0 will
+   * result in an error.
    *
-   * @param dataToSend   Buffer of data to send as part of the transaction.
-   * @param sendSize     Number of bytes to send as part of the transaction.
+   * @param dataToSend Buffer of data to send as part of the transaction.
+   * @param sendSize Number of bytes to send as part of the transaction.
    * @param dataReceived Buffer to read data into.
-   * @param receiveSize  Number of bytes to read from the device.
+   * @param receiveSize Number of bytes to read from the device.
    * @return Transfer Aborted... false for success, true for aborted.
    */
-  public synchronized boolean transaction(byte[] dataToSend, int sendSize,
-                                          byte[] dataReceived, int receiveSize) {
+  public synchronized boolean transaction(
+      byte[] dataToSend, int sendSize, byte[] dataReceived, int receiveSize) {
     if (dataToSend.length < sendSize) {
       throw new IllegalArgumentException("dataToSend is too small, must be at least " + sendSize);
     }
@@ -77,8 +77,14 @@ public class I2C implements AutoCloseable {
       throw new IllegalArgumentException(
           "dataReceived is too small, must be at least " + receiveSize);
     }
-    return I2CJNI.i2CTransactionB(m_port, (byte) m_deviceAddress, dataToSend,
-                                  (byte) sendSize, dataReceived, (byte) receiveSize) < 0;
+    return I2CJNI.i2CTransactionB(
+            m_port,
+            (byte) m_deviceAddress,
+            dataToSend,
+            (byte) sendSize,
+            dataReceived,
+            (byte) receiveSize)
+        < 0;
   }
 
   /**
@@ -87,15 +93,15 @@ public class I2C implements AutoCloseable {
    * <p>This is a lower-level interface to the I2C hardware giving you more control over each
    * transaction.
    *
-   * @param dataToSend   Buffer of data to send as part of the transaction.
-   * @param sendSize     Number of bytes to send as part of the transaction.
+   * @param dataToSend Buffer of data to send as part of the transaction.
+   * @param sendSize Number of bytes to send as part of the transaction.
    * @param dataReceived Buffer to read data into.
-   * @param receiveSize  Number of bytes to read from the device.
+   * @param receiveSize Number of bytes to read from the device.
    * @return Transfer Aborted... false for success, true for aborted.
    */
   @SuppressWarnings({"PMD.CyclomaticComplexity", "ByteBufferBackingArray"})
-  public synchronized boolean transaction(ByteBuffer dataToSend, int sendSize,
-                                          ByteBuffer dataReceived, int receiveSize) {
+  public synchronized boolean transaction(
+      ByteBuffer dataToSend, int sendSize, ByteBuffer dataReceived, int receiveSize) {
     if (dataToSend.hasArray() && dataReceived.hasArray()) {
       return transaction(dataToSend.array(), sendSize, dataReceived.array(), receiveSize);
     }
@@ -113,8 +119,14 @@ public class I2C implements AutoCloseable {
           "dataReceived is too small, must be at least " + receiveSize);
     }
 
-    return I2CJNI.i2CTransaction(m_port, (byte) m_deviceAddress, dataToSend,
-                                 (byte) sendSize, dataReceived, (byte) receiveSize) < 0;
+    return I2CJNI.i2CTransaction(
+            m_port,
+            (byte) m_deviceAddress,
+            dataToSend,
+            (byte) sendSize,
+            dataReceived,
+            (byte) receiveSize)
+        < 0;
   }
 
   /**
@@ -135,15 +147,14 @@ public class I2C implements AutoCloseable {
    * <p>Write a single byte to a register on a device and wait until the transaction is complete.
    *
    * @param registerAddress The address of the register on the device to be written.
-   * @param data            The byte to write to the register on the device.
+   * @param data The byte to write to the register on the device.
    * @return Transfer Aborted... false for success, true for aborted.
    */
   public synchronized boolean write(int registerAddress, int data) {
     byte[] buffer = new byte[2];
     buffer[0] = (byte) registerAddress;
     buffer[1] = (byte) data;
-    return I2CJNI.i2CWriteB(m_port, (byte) m_deviceAddress, buffer,
-                            (byte) buffer.length) < 0;
+    return I2CJNI.i2CWriteB(m_port, (byte) m_deviceAddress, buffer, (byte) buffer.length) < 0;
   }
 
   /**
@@ -169,8 +180,7 @@ public class I2C implements AutoCloseable {
    */
   public synchronized boolean writeBulk(byte[] data, int size) {
     if (data.length < size) {
-      throw new IllegalArgumentException(
-          "buffer is too small, must be at least " + size);
+      throw new IllegalArgumentException("buffer is too small, must be at least " + size);
     }
     return I2CJNI.i2CWriteB(m_port, (byte) m_deviceAddress, data, (byte) size) < 0;
   }
@@ -193,8 +203,7 @@ public class I2C implements AutoCloseable {
       throw new IllegalArgumentException("must be a direct buffer");
     }
     if (data.capacity() < size) {
-      throw new IllegalArgumentException(
-          "buffer is too small, must be at least " + size);
+      throw new IllegalArgumentException("buffer is too small, must be at least " + size);
     }
 
     return I2CJNI.i2CWrite(m_port, (byte) m_deviceAddress, data, (byte) size) < 0;
@@ -207,8 +216,8 @@ public class I2C implements AutoCloseable {
    * internally allowing you to read consecutive registers on a device in a single transaction.
    *
    * @param registerAddress The register to read first in the transaction.
-   * @param count           The number of bytes to read in the transaction.
-   * @param buffer          A pointer to the array of bytes to store the data read from the device.
+   * @param count The number of bytes to read in the transaction.
+   * @param buffer A pointer to the array of bytes to store the data read from the device.
    * @return Transfer Aborted... false for success, true for aborted.
    */
   public boolean read(int registerAddress, int count, byte[] buffer) {
@@ -236,8 +245,8 @@ public class I2C implements AutoCloseable {
    * internally allowing you to read consecutive registers on a device in a single transaction.
    *
    * @param registerAddress The register to read first in the transaction.
-   * @param count           The number of bytes to read in the transaction.
-   * @param buffer          A buffer to store the data read from the device.
+   * @param count The number of bytes to read in the transaction.
+   * @param buffer A buffer to store the data read from the device.
    * @return Transfer Aborted... false for success, true for aborted.
    */
   @SuppressWarnings("ByteBufferBackingArray")
@@ -273,7 +282,7 @@ public class I2C implements AutoCloseable {
    * <p>Read bytes from a device. This method does not write any data to prompt the device.
    *
    * @param buffer A pointer to the array of bytes to store the data read from the device.
-   * @param count  The number of bytes to read in the transaction.
+   * @param count The number of bytes to read in the transaction.
    * @return Transfer Aborted... false for success, true for aborted.
    */
   public boolean readOnly(byte[] buffer, int count) {
@@ -285,8 +294,7 @@ public class I2C implements AutoCloseable {
       throw new IllegalArgumentException("buffer is too small, must be at least " + count);
     }
 
-    return I2CJNI.i2CReadB(m_port, (byte) m_deviceAddress, buffer,
-                           (byte) count) < 0;
+    return I2CJNI.i2CReadB(m_port, (byte) m_deviceAddress, buffer, (byte) count) < 0;
   }
 
   /**
@@ -295,14 +303,13 @@ public class I2C implements AutoCloseable {
    * <p>Read bytes from a device. This method does not write any data to prompt the device.
    *
    * @param buffer A pointer to the array of bytes to store the data read from the device.
-   * @param count  The number of bytes to read in the transaction.
+   * @param count The number of bytes to read in the transaction.
    * @return Transfer Aborted... false for success, true for aborted.
    */
   @SuppressWarnings("ByteBufferBackingArray")
   public boolean readOnly(ByteBuffer buffer, int count) {
     if (count < 1) {
-      throw new BoundaryException("Value must be at least 1, " + count
-          + " given");
+      throw new BoundaryException("Value must be at least 1, " + count + " given");
     }
 
     if (buffer.hasArray()) {
@@ -316,8 +323,7 @@ public class I2C implements AutoCloseable {
       throw new IllegalArgumentException("buffer is too small, must be at least " + count);
     }
 
-    return I2CJNI.i2CRead(m_port, (byte) m_deviceAddress, buffer, (byte) count)
-        < 0;
+    return I2CJNI.i2CRead(m_port, (byte) m_deviceAddress, buffer, (byte) count) < 0;
   }
 
   /*
@@ -339,13 +345,12 @@ public class I2C implements AutoCloseable {
    * expected value.
    *
    * @param registerAddress The base register to start reading from the device.
-   * @param count           The size of the field to be verified.
-   * @param expected        A buffer containing the values expected from the device.
+   * @param count The size of the field to be verified.
+   * @param expected A buffer containing the values expected from the device.
    * @return true if the sensor was verified to be connected
    * @pre The device must support and be configured to use register auto-increment.
    */
-  public boolean verifySensor(int registerAddress, int count,
-                              byte[] expected) {
+  public boolean verifySensor(int registerAddress, int count, byte[] expected) {
     // TODO: Make use of all 7 read bytes
     byte[] dataToSend = new byte[1];
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/InterruptHandlerFunction.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/InterruptHandlerFunction.java
index deab35310d..4f3fc1f992 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/InterruptHandlerFunction.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/InterruptHandlerFunction.java
@@ -6,13 +6,12 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.InterruptJNI.InterruptJNIHandlerFunction;
 
-
 /**
  * It is recommended that you use this class in conjunction with classes from {@link
  * java.util.concurrent.atomic} as these objects are all thread safe.
  *
  * @param <T> The type of the parameter that should be returned to the the method {@link
- *            #interruptFired(int, Object)}
+ *     #interruptFired(int, Object)}
  */
 public abstract class InterruptHandlerFunction<T> {
   /**
@@ -34,12 +33,10 @@ public abstract class InterruptHandlerFunction<T> {
    * This method is run every time an interrupt is fired.
    *
    * @param interruptAssertedMask Interrupt Mask
-   * @param param                 The parameter provided by overriding the {@link
-   *                              #overridableParameter()} method.
+   * @param param The parameter provided by overriding the {@link #overridableParameter()} method.
    */
   public abstract void interruptFired(int interruptAssertedMask, T param);
 
-
   /**
    * Override this method if you would like to pass a specific parameter to the {@link
    * #interruptFired(int, Object)} when it is fired by the interrupt. This method is called once
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java
index 2134b14591..2a345ad0dd 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java
@@ -4,19 +4,18 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.util.function.Consumer;
-
 import edu.wpi.first.hal.InterruptJNI;
 import edu.wpi.first.hal.util.AllocationException;
+import java.util.function.Consumer;
 
-
-/**
- * Base for sensors to be used with interrupts.
- */
+/** Base for sensors to be used with interrupts. */
 public abstract class InterruptableSensorBase implements AutoCloseable {
   @SuppressWarnings("MissingJavadocMethod")
   public enum WaitResult {
-    kTimeout(0x0), kRisingEdge(0x1), kFallingEdge(0x100), kBoth(0x101);
+    kTimeout(0x0),
+    kRisingEdge(0x1),
+    kFallingEdge(0x100),
+    kBoth(0x101);
 
     public final int value;
 
@@ -37,19 +36,13 @@ public abstract class InterruptableSensorBase implements AutoCloseable {
     }
   }
 
-  /**
-   * The interrupt resource.
-   */
+  /** The interrupt resource. */
   protected int m_interrupt = InterruptJNI.HalInvalidHandle;
 
-  /**
-   * Flags if the interrupt being allocated is synchronous.
-   */
+  /** Flags if the interrupt being allocated is synchronous. */
   protected boolean m_isSynchronousInterrupt;
 
-  /**
-   * Create a new InterrupatableSensorBase.
-   */
+  /** Create a new InterrupatableSensorBase. */
   public InterruptableSensorBase() {
     m_interrupt = 0;
   }
@@ -79,9 +72,8 @@ public abstract class InterruptableSensorBase implements AutoCloseable {
    * Request one of the 8 interrupts asynchronously on this digital input.
    *
    * @param handler The {@link Consumer} that will be called whenever there is an interrupt on this
-   *                device. Request interrupts in synchronous mode where the user program interrupt
-   *                handler will be called when an interrupt occurs. The default is interrupt on
-   *                rising edges only.
+   *     device. Request interrupts in synchronous mode where the user program interrupt handler
+   *     will be called when an interrupt occurs. The default is interrupt on rising edges only.
    */
   public void requestInterrupts(Consumer<WaitResult> handler) {
     if (m_interrupt != 0) {
@@ -92,26 +84,29 @@ public abstract class InterruptableSensorBase implements AutoCloseable {
 
     assert m_interrupt != 0;
 
-    InterruptJNI.requestInterrupts(m_interrupt, getPortHandleForRouting(),
-        getAnalogTriggerTypeForRouting());
+    InterruptJNI.requestInterrupts(
+        m_interrupt, getPortHandleForRouting(), getAnalogTriggerTypeForRouting());
     setUpSourceEdge(true, false);
-    InterruptJNI.attachInterruptHandler(m_interrupt, (mask, obj) -> {
-      // Rising edge result is the interrupt bit set in the byte 0xFF
-      // Falling edge result is the interrupt bit set in the byte 0xFF00
-      boolean rising = (mask & 0xFF) != 0;
-      boolean falling = (mask & 0xFF00) != 0;
-      handler.accept(WaitResult.getValue(rising, falling));
-    }, null);
+    InterruptJNI.attachInterruptHandler(
+        m_interrupt,
+        (mask, obj) -> {
+          // Rising edge result is the interrupt bit set in the byte 0xFF
+          // Falling edge result is the interrupt bit set in the byte 0xFF00
+          boolean rising = (mask & 0xFF) != 0;
+          boolean falling = (mask & 0xFF00) != 0;
+          handler.accept(WaitResult.getValue(rising, falling));
+        },
+        null);
   }
 
   /**
    * Request one of the 8 interrupts asynchronously on this digital input.
    *
    * @param handler The {@link InterruptHandlerFunction} that contains the method {@link
-   *                InterruptHandlerFunction#interruptFired(int, Object)} that will be called
-   *                whenever there is an interrupt on this device. Request interrupts in synchronous
-   *                mode where the user program interrupt handler will be called when an interrupt
-   *                occurs. The default is interrupt on rising edges only.
+   *     InterruptHandlerFunction#interruptFired(int, Object)} that will be called whenever there is
+   *     an interrupt on this device. Request interrupts in synchronous mode where the user program
+   *     interrupt handler will be called when an interrupt occurs. The default is interrupt on
+   *     rising edges only.
    */
   public void requestInterrupts(InterruptHandlerFunction<?> handler) {
     if (m_interrupt != 0) {
@@ -122,11 +117,11 @@ public abstract class InterruptableSensorBase implements AutoCloseable {
 
     assert m_interrupt != 0;
 
-    InterruptJNI.requestInterrupts(m_interrupt, getPortHandleForRouting(),
-        getAnalogTriggerTypeForRouting());
+    InterruptJNI.requestInterrupts(
+        m_interrupt, getPortHandleForRouting(), getAnalogTriggerTypeForRouting());
     setUpSourceEdge(true, false);
-    InterruptJNI.attachInterruptHandler(m_interrupt, handler.m_function,
-        handler.overridableParameter());
+    InterruptJNI.attachInterruptHandler(
+        m_interrupt, handler.m_function, handler.overridableParameter());
   }
 
   /**
@@ -143,17 +138,16 @@ public abstract class InterruptableSensorBase implements AutoCloseable {
 
     assert m_interrupt != 0;
 
-    InterruptJNI.requestInterrupts(m_interrupt, getPortHandleForRouting(),
-        getAnalogTriggerTypeForRouting());
+    InterruptJNI.requestInterrupts(
+        m_interrupt, getPortHandleForRouting(), getAnalogTriggerTypeForRouting());
     setUpSourceEdge(true, false);
-
   }
 
   /**
    * Allocate the interrupt.
    *
    * @param watcher true if the interrupt should be in synchronous mode where the user program will
-   *                have to explicitly wait for the interrupt to occur.
+   *     have to explicitly wait for the interrupt to occur.
    */
   protected void allocateInterrupts(boolean watcher) {
     m_isSynchronousInterrupt = watcher;
@@ -176,9 +170,9 @@ public abstract class InterruptableSensorBase implements AutoCloseable {
   /**
    * In synchronous mode, wait for the defined interrupt to occur.
    *
-   * @param timeout        Timeout in seconds
+   * @param timeout Timeout in seconds
    * @param ignorePrevious If true, ignore interrupts that happened before waitForInterrupt was
-   *                       called.
+   *     called.
    * @return Result of the wait.
    */
   public WaitResult waitForInterrupt(double timeout, boolean ignorePrevious) {
@@ -221,9 +215,7 @@ public abstract class InterruptableSensorBase implements AutoCloseable {
     InterruptJNI.enableInterrupts(m_interrupt);
   }
 
-  /**
-   * Disable Interrupts without without deallocating structures.
-   */
+  /** Disable Interrupts without without deallocating structures. */
   public void disableInterrupts() {
     if (m_interrupt == 0) {
       throw new IllegalStateException("The interrupt is not allocated.");
@@ -265,13 +257,12 @@ public abstract class InterruptableSensorBase implements AutoCloseable {
   /**
    * Set which edge to trigger interrupts on.
    *
-   * @param risingEdge  true to interrupt on rising edge
+   * @param risingEdge true to interrupt on rising edge
    * @param fallingEdge true to interrupt on falling edge
    */
   public void setUpSourceEdge(boolean risingEdge, boolean fallingEdge) {
     if (m_interrupt != 0) {
-      InterruptJNI.setInterruptUpSourceEdge(m_interrupt, risingEdge,
-          fallingEdge);
+      InterruptJNI.setInterruptUpSourceEdge(m_interrupt, risingEdge, fallingEdge);
     } else {
       throw new IllegalArgumentException("You must call RequestInterrupts before setUpSourceEdge");
     }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobot.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobot.java
index 1612f02211..ba3cb2c40a 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobot.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobot.java
@@ -24,18 +24,14 @@ public class IterativeRobot extends IterativeRobotBase {
   private static final double kPacketPeriod = 0.02;
   private volatile boolean m_exit;
 
-  /**
-   * Create a new IterativeRobot.
-   */
+  /** Create a new IterativeRobot. */
   public IterativeRobot() {
     super(kPacketPeriod);
 
     HAL.report(tResourceType.kResourceType_Framework, tInstances.kFramework_Iterative);
   }
 
-  /**
-   * Provide an alternate "main loop" via startCompetition().
-   */
+  /** Provide an alternate "main loop" via startCompetition(). */
   @Override
   public void startCompetition() {
     robotInit();
@@ -59,9 +55,7 @@ public class IterativeRobot extends IterativeRobotBase {
     }
   }
 
-  /**
-   * Ends the main loop in startCompetition().
-   */
+  /** Ends the main loop in startCompetition(). */
   @Override
   public void endCompetition() {
     m_exit = true;
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
index 1416895676..1fc3d964a2 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
@@ -22,23 +22,14 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  *
  * <p>robotInit() -- provide for initialization at robot power-on
  *
- * <p>init() functions -- each of the following functions is called once when the
- * appropriate mode is entered:
- *   - disabledInit()   -- called each and every time disabled is entered from
- *                         another mode
- *   - autonomousInit() -- called each and every time autonomous is entered from
- *                         another mode
- *   - teleopInit()     -- called each and every time teleop is entered from
- *                         another mode
- *   - testInit()       -- called each and every time test is entered from
- *                         another mode
+ * <p>init() functions -- each of the following functions is called once when the appropriate mode
+ * is entered: - disabledInit() -- called each and every time disabled is entered from another mode
+ * - autonomousInit() -- called each and every time autonomous is entered from another mode -
+ * teleopInit() -- called each and every time teleop is entered from another mode - testInit() --
+ * called each and every time test is entered from another mode
  *
- * <p>periodic() functions -- each of these functions is called on an interval:
- *   - robotPeriodic()
- *   - disabledPeriodic()
- *   - autonomousPeriodic()
- *   - teleopPeriodic()
- *   - testPeriodic()
+ * <p>periodic() functions -- each of these functions is called on an interval: - robotPeriodic() -
+ * disabledPeriodic() - autonomousPeriodic() - teleopPeriodic() - testPeriodic()
  */
 public abstract class IterativeRobotBase extends RobotBase {
   protected double m_period;
@@ -65,9 +56,7 @@ public abstract class IterativeRobotBase extends RobotBase {
     m_watchdog = new Watchdog(period, this::printLoopOverrunMessage);
   }
 
-  /**
-   * Provide an alternate "main loop" via startCompetition().
-   */
+  /** Provide an alternate "main loop" via startCompetition(). */
   @Override
   public abstract void startCompetition();
 
@@ -90,10 +79,9 @@ public abstract class IterativeRobotBase extends RobotBase {
   /**
    * Robot-wide simulation initialization code should go here.
    *
-   * <p>Users should override this method for default Robot-wide simulation
-   * related initialization which will be called when the robot is first
-   * started. It will be called exactly one time after RobotInit is called
-   * only when the robot is in simulation.
+   * <p>Users should override this method for default Robot-wide simulation related initialization
+   * which will be called when the robot is first started. It will be called exactly one time after
+   * RobotInit is called only when the robot is in simulation.
    */
   public void simulationInit() {
     System.out.println("Default simulationInit() method... Override me!");
@@ -144,9 +132,7 @@ public abstract class IterativeRobotBase extends RobotBase {
 
   private boolean m_rpFirstRun = true;
 
-  /**
-   * Periodic code for all robot modes should go here.
-   */
+  /** Periodic code for all robot modes should go here. */
   public void robotPeriodic() {
     if (m_rpFirstRun) {
       System.out.println("Default robotPeriodic() method... Override me!");
@@ -170,9 +156,7 @@ public abstract class IterativeRobotBase extends RobotBase {
 
   private boolean m_dpFirstRun = true;
 
-  /**
-   * Periodic code for disabled mode should go here.
-   */
+  /** Periodic code for disabled mode should go here. */
   public void disabledPeriodic() {
     if (m_dpFirstRun) {
       System.out.println("Default disabledPeriodic() method... Override me!");
@@ -182,9 +166,7 @@ public abstract class IterativeRobotBase extends RobotBase {
 
   private boolean m_apFirstRun = true;
 
-  /**
-   * Periodic code for autonomous mode should go here.
-   */
+  /** Periodic code for autonomous mode should go here. */
   public void autonomousPeriodic() {
     if (m_apFirstRun) {
       System.out.println("Default autonomousPeriodic() method... Override me!");
@@ -194,9 +176,7 @@ public abstract class IterativeRobotBase extends RobotBase {
 
   private boolean m_tpFirstRun = true;
 
-  /**
-   * Periodic code for teleop mode should go here.
-   */
+  /** Periodic code for teleop mode should go here. */
   public void teleopPeriodic() {
     if (m_tpFirstRun) {
       System.out.println("Default teleopPeriodic() method... Override me!");
@@ -206,9 +186,7 @@ public abstract class IterativeRobotBase extends RobotBase {
 
   private boolean m_tmpFirstRun = true;
 
-  /**
-   * Periodic code for test mode should go here.
-   */
+  /** Periodic code for test mode should go here. */
   @SuppressWarnings("PMD.JUnit4TestShouldUseTestAnnotation")
   public void testPeriodic() {
     if (m_tmpFirstRun) {
@@ -218,8 +196,7 @@ public abstract class IterativeRobotBase extends RobotBase {
   }
 
   /**
-   * Enables or disables flushing NetworkTables every loop iteration.
-   * By default, this is disabled.
+   * Enables or disables flushing NetworkTables every loop iteration. By default, this is disabled.
    *
    * @param enabled True to enable, false to disable
    */
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Jaguar.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Jaguar.java
index c5a901afe9..388b286144 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Jaguar.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Jaguar.java
@@ -12,17 +12,16 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
  * Texas Instruments / Vex Robotics Jaguar Speed Controller as a PWM device.
  *
  * <p>Note that the Jaguar uses the following bounds for PWM values. These values should work
- * reasonably well for most controllers, 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 Jaguar User Manual
- * available from Vex.
+ * reasonably well for most controllers, 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 Jaguar User Manual available from Vex.
  *
- * <p><ul>
- * <li>2.310ms = full "forward"
- * <li>1.550ms = the "high end" of the deadband range
- * <li>1.507ms = center of the deadband range (off)
- * <li>1.454ms = the "low end" of the deadband range
- * <li>0.697ms = full "reverse"
+ * <ul>
+ *   <li>2.310ms = full "forward"
+ *   <li>1.550ms = the "high end" of the deadband range
+ *   <li>1.507ms = center of the deadband range (off)
+ *   <li>1.454ms = the "low end" of the deadband range
+ *   <li>0.697ms = full "reverse"
  * </ul>
  */
 public class Jaguar extends PWMSpeedController {
@@ -30,7 +29,7 @@ public class Jaguar extends PWMSpeedController {
    * Constructor.
    *
    * @param channel The PWM channel that the Jaguar is attached to. 0-9 are on-board, 10-19 are on
-   *                the MXP port
+   *     the MXP port
    */
   public Jaguar(final int channel) {
     super(channel);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java
index 5433c1d1ae..a014a32e68 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java
@@ -21,11 +21,13 @@ public class Joystick extends GenericHID {
   public static final byte kDefaultTwistChannel = 2;
   public static final byte kDefaultThrottleChannel = 3;
 
-  /**
-   * Represents an analog axis on a joystick.
-   */
+  /** Represents an analog axis on a joystick. */
   public enum AxisType {
-    kX(0), kY(1), kZ(2), kTwist(3), kThrottle(4);
+    kX(0),
+    kY(1),
+    kZ(2),
+    kTwist(3),
+    kThrottle(4);
 
     public final int value;
 
@@ -34,11 +36,10 @@ public class Joystick extends GenericHID {
     }
   }
 
-  /**
-   * Represents a digital button on a joystick.
-   */
+  /** Represents a digital button on a joystick. */
   public enum ButtonType {
-    kTrigger(1), kTop(2);
+    kTrigger(1),
+    kTop(2);
 
     public final int value;
 
@@ -47,11 +48,10 @@ public class Joystick extends GenericHID {
     }
   }
 
-  /**
-   * Represents a digital button on a joystick.
-   */
+  /** Represents a digital button on a joystick. */
   private enum Button {
-    kTrigger(1), kTop(2);
+    kTrigger(1),
+    kTop(2);
 
     public final int value;
 
@@ -60,11 +60,14 @@ public class Joystick extends GenericHID {
     }
   }
 
-  /**
-   * Represents an analog axis on a joystick.
-   */
+  /** Represents an analog axis on a joystick. */
   private enum Axis {
-    kX(0), kY(1), kZ(2), kTwist(3), kThrottle(4), kNumAxes(5);
+    kX(0),
+    kY(1),
+    kZ(2),
+    kTwist(3),
+    kThrottle(4),
+    kNumAxes(5);
 
     public final int value;
 
@@ -76,8 +79,7 @@ public class Joystick extends GenericHID {
   private final byte[] m_axes = new byte[Axis.kNumAxes.value];
 
   /**
-   * Construct an instance of a joystick. The joystick index is the USB port on the drivers
-   * station.
+   * Construct an instance of a joystick. The joystick index is the USB port on the drivers station.
    *
    * @param port The port on the Driver Station that the joystick is plugged into.
    */
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/MotorSafety.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/MotorSafety.java
index 548f3d3183..4e7693649d 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/MotorSafety.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/MotorSafety.java
@@ -8,8 +8,8 @@ import java.util.LinkedHashSet;
 import java.util.Set;
 
 /**
- * This base class runs a watchdog timer and calls the subclass's StopMotor()
- * function if the timeout expires.
+ * This base class runs a watchdog timer and calls the subclass's StopMotor() function if the
+ * timeout expires.
  *
  * <p>The subclass should call feed() whenever the motor value is updated.
  */
@@ -23,9 +23,7 @@ public abstract class MotorSafety {
   private static final Set<MotorSafety> m_instanceList = new LinkedHashSet<>();
   private static final Object m_listMutex = new Object();
 
-  /**
-   * MotorSafety constructor.
-   */
+  /** MotorSafety constructor. */
   public MotorSafety() {
     synchronized (m_listMutex) {
       m_instanceList.add(this);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/NidecBrushless.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/NidecBrushless.java
index 9a99378ee9..c051d314b7 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/NidecBrushless.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/NidecBrushless.java
@@ -9,11 +9,9 @@ import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
-/**
- * Nidec Brushless Motor.
- */
-public class NidecBrushless extends MotorSafety implements SpeedController, Sendable,
-    AutoCloseable {
+/** Nidec Brushless Motor. */
+public class NidecBrushless extends MotorSafety
+    implements SpeedController, Sendable, AutoCloseable {
   private boolean m_isInverted;
   private final DigitalOutput m_dio;
   private final PWM m_pwm;
@@ -23,10 +21,10 @@ public class NidecBrushless extends MotorSafety implements SpeedController, Send
   /**
    * Constructor.
    *
-   * @param pwmChannel The PWM channel that the Nidec Brushless controller is attached to.
-   *                   0-9 are on-board, 10-19 are on the MXP port
-   * @param dioChannel The DIO channel that the Nidec Brushless controller is attached to.
-   *                   0-9 are on-board, 10-25 are on the MXP port
+   * @param pwmChannel The PWM channel that the Nidec Brushless controller is attached to. 0-9 are
+   *     on-board, 10-19 are on the MXP port
+   * @param dioChannel The DIO channel that the Nidec Brushless controller is attached to. 0-9 are
+   *     on-board, 10-25 are on the MXP port
    */
   public NidecBrushless(final int pwmChannel, final int dioChannel) {
     setSafetyEnabled(false);
@@ -116,10 +114,7 @@ public class NidecBrushless extends MotorSafety implements SpeedController, Send
     return "Nidec " + getChannel();
   }
 
-  /**
-   * Disable the motor.  The enable() function must be called to re-enable
-   * the motor.
-   */
+  /** Disable the motor. The enable() function must be called to re-enable the motor. */
   @Override
   public void disable() {
     m_disabled = true;
@@ -128,8 +123,8 @@ public class NidecBrushless extends MotorSafety implements SpeedController, Send
   }
 
   /**
-   * Re-enable the motor after disable() has been called.  The set()
-   * function must be called to set a new motor speed.
+   * Re-enable the motor after disable() has been called. The set() function must be called to set a
+   * new motor speed.
    */
   public void enable() {
     m_disabled = false;
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Notifier.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Notifier.java
index 9e719a1594..ead2102b6f 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Notifier.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Notifier.java
@@ -4,12 +4,11 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.util.concurrent.atomic.AtomicInteger;
-import java.util.concurrent.locks.ReentrantLock;
+import static java.util.Objects.requireNonNull;
 
 import edu.wpi.first.hal.NotifierJNI;
-
-import static java.util.Objects.requireNonNull;
+import java.util.concurrent.atomic.AtomicInteger;
+import java.util.concurrent.locks.ReentrantLock;
 
 public class Notifier implements AutoCloseable {
   // The thread waiting on the HAL alarm.
@@ -70,9 +69,7 @@ public class Notifier implements AutoCloseable {
     NotifierJNI.updateNotifierAlarm(notifier, triggerTime);
   }
 
-  /**
-   * Update the alarm hardware to reflect the next alarm.
-   */
+  /** Update the alarm hardware to reflect the next alarm. */
   private void updateAlarm() {
     updateAlarm((long) (m_expirationTime * 1e6));
   }
@@ -80,8 +77,8 @@ public class Notifier implements AutoCloseable {
   /**
    * Create a Notifier for timer event notification.
    *
-   * @param run The handler that is called at the notification time which is set
-   *            using StartSingle or StartPeriodic.
+   * @param run The handler that is called at the notification time which is set using StartSingle
+   *     or StartPeriodic.
    */
   public Notifier(Runnable run) {
     requireNonNull(run);
@@ -89,54 +86,59 @@ public class Notifier implements AutoCloseable {
     m_handler = run;
     m_notifier.set(NotifierJNI.initializeNotifier());
 
-    m_thread = new Thread(() -> {
-      while (!Thread.interrupted()) {
-        int notifier = m_notifier.get();
-        if (notifier == 0) {
-          break;
-        }
-        long curTime = NotifierJNI.waitForNotifierAlarm(notifier);
-        if (curTime == 0) {
-          break;
-        }
+    m_thread =
+        new Thread(
+            () -> {
+              while (!Thread.interrupted()) {
+                int notifier = m_notifier.get();
+                if (notifier == 0) {
+                  break;
+                }
+                long curTime = NotifierJNI.waitForNotifierAlarm(notifier);
+                if (curTime == 0) {
+                  break;
+                }
 
-        Runnable handler = null;
-        m_processLock.lock();
-        try {
-          handler = m_handler;
-          if (m_periodic) {
-            m_expirationTime += m_period;
-            updateAlarm();
-          } else {
-            // need to update the alarm to cause it to wait again
-            updateAlarm((long) -1);
-          }
-        } finally {
-          m_processLock.unlock();
-        }
+                Runnable handler = null;
+                m_processLock.lock();
+                try {
+                  handler = m_handler;
+                  if (m_periodic) {
+                    m_expirationTime += m_period;
+                    updateAlarm();
+                  } else {
+                    // need to update the alarm to cause it to wait again
+                    updateAlarm((long) -1);
+                  }
+                } finally {
+                  m_processLock.unlock();
+                }
 
-        if (handler != null) {
-          handler.run();
-        }
-      }
-    });
+                if (handler != null) {
+                  handler.run();
+                }
+              }
+            });
     m_thread.setName("Notifier");
     m_thread.setDaemon(true);
-    m_thread.setUncaughtExceptionHandler((thread, error) -> {
-      Throwable cause = error.getCause();
-      if (cause != null) {
-        error = cause;
-      }
-      DriverStation.reportError("Unhandled exception: " + error.toString(), error.getStackTrace());
-      DriverStation.reportError(
-          "The loopFunc() method (or methods called by it) should have handled "
-              + "the exception above.", false);
-    });
+    m_thread.setUncaughtExceptionHandler(
+        (thread, error) -> {
+          Throwable cause = error.getCause();
+          if (cause != null) {
+            error = cause;
+          }
+          DriverStation.reportError(
+              "Unhandled exception: " + error.toString(), error.getStackTrace());
+          DriverStation.reportError(
+              "The loopFunc() method (or methods called by it) should have handled "
+                  + "the exception above.",
+              false);
+        });
     m_thread.start();
   }
 
   /**
-   * Sets the name of the notifier.  Used for debugging purposes only.
+   * Sets the name of the notifier. Used for debugging purposes only.
    *
    * @param name Name
    */
@@ -160,8 +162,8 @@ public class Notifier implements AutoCloseable {
   }
 
   /**
-   * Register for single event notification. A timer event is queued for a single
-   * event after the specified delay.
+   * Register for single event notification. A timer event is queued for a single event after the
+   * specified delay.
    *
    * @param delay Seconds to wait before the handler is called.
    */
@@ -178,12 +180,12 @@ public class Notifier implements AutoCloseable {
   }
 
   /**
-   * Register for periodic event notification. A timer event is queued for
-   * periodic event notification. Each time the interrupt occurs, the event will
-   * be immediately requeued for the same time interval.
+   * Register for periodic event notification. A timer event is queued for periodic event
+   * notification. Each time the interrupt occurs, the event will be immediately requeued for the
+   * same time interval.
    *
-   * @param period Period in seconds to call the handler starting one period after
-   *               the call to this method.
+   * @param period Period in seconds to call the handler starting one period after the call to this
+   *     method.
    */
   public void startPeriodic(double period) {
     m_processLock.lock();
@@ -198,10 +200,9 @@ public class Notifier implements AutoCloseable {
   }
 
   /**
-   * Stop timer events from occurring. Stop any repeating timer events from
-   * occurring. This will also remove any single notification events from the
-   * queue. If a timer-based call to the registered handler is in progress, this
-   * function will block until the handler call is complete.
+   * Stop timer events from occurring. Stop any repeating timer events from occurring. This will
+   * also remove any single notification events from the queue. If a timer-based call to the
+   * registered handler is in progress, this function will block until the handler call is complete.
    */
   public void stop() {
     m_processLock.lock();
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDBase.java
index eeaa33aa07..7116077bc5 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDBase.java
@@ -4,15 +4,14 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.util.concurrent.locks.ReentrantLock;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.util.BoundaryException;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
-
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import java.util.concurrent.locks.ReentrantLock;
 
 /**
  * Class implements a PID Control Loop.
@@ -80,8 +79,10 @@ public class PIDBase implements PIDInterface, PIDOutput, Sendable, AutoCloseable
 
   private double m_setpoint;
   private double m_prevSetpoint;
+
   @SuppressWarnings("PMD.UnusedPrivateField")
   private double m_error;
+
   private double m_result;
 
   private LinearFilter m_filter;
@@ -106,9 +107,7 @@ public class PIDBase implements PIDInterface, PIDOutput, Sendable, AutoCloseable
     boolean onTarget();
   }
 
-  /**
-   * Used internally for when Tolerance hasn't been set.
-   */
+  /** Used internally for when Tolerance hasn't been set. */
   public static class NullTolerance implements Tolerance {
     @Override
     public boolean onTarget() {
@@ -145,16 +144,15 @@ public class PIDBase implements PIDInterface, PIDOutput, Sendable, AutoCloseable
   /**
    * Allocate a PID object with the given constants for P, I, D, and F.
    *
-   * @param Kp     the proportional coefficient
-   * @param Ki     the integral coefficient
-   * @param Kd     the derivative coefficient
-   * @param Kf     the feed forward term
+   * @param Kp the proportional coefficient
+   * @param Ki the integral coefficient
+   * @param Kd the derivative coefficient
+   * @param Kf the feed forward term
    * @param source The PIDSource object that is used to get values
    * @param output The PIDOutput object that is set to the output percentage
    */
   @SuppressWarnings("ParameterName")
-  public PIDBase(double Kp, double Ki, double Kd, double Kf, PIDSource source,
-                 PIDOutput output) {
+  public PIDBase(double Kp, double Ki, double Kd, double Kf, PIDSource source, PIDOutput output) {
     requireNonNullParam(source, "PIDSource", "PIDBase");
     requireNonNullParam(output, "output", "PIDBase");
 
@@ -180,9 +178,9 @@ public class PIDBase implements PIDInterface, PIDOutput, Sendable, AutoCloseable
   /**
    * Allocate a PID object with the given constants for P, I, and D.
    *
-   * @param Kp     the proportional coefficient
-   * @param Ki     the integral coefficient
-   * @param Kd     the derivative coefficient
+   * @param Kp the proportional coefficient
+   * @param Ki the integral coefficient
+   * @param Kd the derivative coefficient
    * @param source the PIDSource object that is used to get values
    * @param output the PIDOutput object that is set to the output percentage
    */
@@ -255,19 +253,16 @@ public class PIDBase implements PIDInterface, PIDOutput, Sendable, AutoCloseable
 
       if (pidSourceType.equals(PIDSourceType.kRate)) {
         if (P != 0) {
-          totalError = clamp(totalError + error, minimumOutput / P,
-              maximumOutput / P);
+          totalError = clamp(totalError + error, minimumOutput / P, maximumOutput / P);
         }
 
         result = P * totalError + D * error + feedForward;
       } else {
         if (I != 0) {
-          totalError = clamp(totalError + error, minimumOutput / I,
-              maximumOutput / I);
+          totalError = clamp(totalError + error, minimumOutput / I, maximumOutput / I);
         }
 
-        result = P * error + I * totalError + D * (error - prevError)
-            + feedForward;
+        result = P * error + I * totalError + D * (error - prevError) + feedForward;
       }
 
       result = clamp(result, minimumOutput, maximumOutput);
@@ -308,9 +303,9 @@ public class PIDBase implements PIDInterface, PIDOutput, Sendable, AutoCloseable
    * Calculate the feed forward term.
    *
    * <p>Both of the provided feed forward calculations are velocity feed forwards. If a different
-   * feed forward calculation is desired, the user can override this function and provide his or
-   * her own. This function  does no synchronization because the PIDController class only calls it
-   * in synchronized code, so be careful if calling it oneself.
+   * feed forward calculation is desired, the user can override this function and provide his or her
+   * own. This function does no synchronization because the PIDController class only calls it in
+   * synchronized code, so be careful if calling it oneself.
    *
    * <p>If a velocity PID controller is being used, the F term should be set to 1 over the maximum
    * setpoint for the output. If a position PID controller is being used, the F term should be set
@@ -649,7 +644,7 @@ public class PIDBase implements PIDInterface, PIDOutput, Sendable, AutoCloseable
    * used for the onTarget() function.
    *
    * @deprecated Use getError(), which is now already filtered.
-   * @return     the current average of the error
+   * @return the current average of the error
    */
   @Deprecated
   public double getAvgError() {
@@ -685,9 +680,9 @@ public class PIDBase implements PIDInterface, PIDOutput, Sendable, AutoCloseable
    * object. Use it by creating the type of tolerance that you want to use: setTolerance(new
    * PIDController.AbsoluteTolerance(0.1))
    *
-   * @deprecated      Use setPercentTolerance() instead.
+   * @deprecated Use setPercentTolerance() instead.
    * @param tolerance A tolerance object of the right type, e.g. PercentTolerance or
-   *                  AbsoluteTolerance
+   *     AbsoluteTolerance
    */
   @Deprecated
   public void setTolerance(Tolerance tolerance) {
@@ -730,7 +725,7 @@ public class PIDBase implements PIDInterface, PIDOutput, Sendable, AutoCloseable
    * erroneous measurements when the mechanism is on target. However, the mechanism will not
    * register as on target for at least the specified bufLength cycles.
    *
-   * @deprecated      Use a LinearFilter as the input.
+   * @deprecated Use a LinearFilter as the input.
    * @param bufLength Number of previous cycles to average.
    */
   @Deprecated
@@ -758,9 +753,7 @@ public class PIDBase implements PIDInterface, PIDOutput, Sendable, AutoCloseable
     }
   }
 
-  /**
-   * Reset the previous error, the integral term, and disable the controller.
-   */
+  /** Reset the previous error, the integral term, and disable the controller. */
   @Override
   public void reset() {
     m_thisMutex.lock();
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDController.java
index aa96ca08a2..f11e3dbfc2 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDController.java
@@ -25,20 +25,24 @@ public class PIDController extends PIDBase implements Controller, AutoCloseable
   /**
    * Allocate a PID object with the given constants for P, I, D, and F.
    *
-   * @param Kp     the proportional coefficient
-   * @param Ki     the integral coefficient
-   * @param Kd     the derivative coefficient
-   * @param Kf     the feed forward term
+   * @param Kp the proportional coefficient
+   * @param Ki the integral coefficient
+   * @param Kd the derivative coefficient
+   * @param Kf the feed forward term
    * @param source The PIDSource object that is used to get values
    * @param output The PIDOutput object that is set to the output percentage
-   * @param period the loop time for doing calculations in seconds.
-   *               This particularly affects calculations of
-   *               the integral and differential terms.
-   *               The default is 0.05 (50ms).
+   * @param period the loop time for doing calculations in seconds. This particularly affects
+   *     calculations of the integral and differential terms. The default is 0.05 (50ms).
    */
   @SuppressWarnings("ParameterName")
-  public PIDController(double Kp, double Ki, double Kd, double Kf, PIDSource source,
-                       PIDOutput output, double period) {
+  public PIDController(
+      double Kp,
+      double Ki,
+      double Kd,
+      double Kf,
+      PIDSource source,
+      PIDOutput output,
+      double period) {
     super(Kp, Ki, Kd, Kf, source, output);
     m_controlLoop.startPeriodic(period);
   }
@@ -46,28 +50,26 @@ public class PIDController extends PIDBase implements Controller, AutoCloseable
   /**
    * Allocate a PID object with the given constants for P, I, D and period.
    *
-   * @param Kp     the proportional coefficient
-   * @param Ki     the integral coefficient
-   * @param Kd     the derivative coefficient
+   * @param Kp the proportional coefficient
+   * @param Ki the integral coefficient
+   * @param Kd the derivative coefficient
    * @param source the PIDSource object that is used to get values
    * @param output the PIDOutput object that is set to the output percentage
-   * @param period the loop time for doing calculations in seconds.
-   *               This particularly affects calculations of
-   *               the integral and differential terms.
-   *               The default is 0.05 (50ms).
+   * @param period the loop time for doing calculations in seconds. This particularly affects
+   *     calculations of the integral and differential terms. The default is 0.05 (50ms).
    */
   @SuppressWarnings("ParameterName")
-  public PIDController(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output,
-                       double period) {
+  public PIDController(
+      double Kp, double Ki, double Kd, PIDSource source, PIDOutput output, double period) {
     this(Kp, Ki, Kd, 0.0, source, output, period);
   }
 
   /**
    * Allocate a PID object with the given constants for P, I, D, using a 50ms period.
    *
-   * @param Kp     the proportional coefficient
-   * @param Ki     the integral coefficient
-   * @param Kd     the derivative coefficient
+   * @param Kp the proportional coefficient
+   * @param Ki the integral coefficient
+   * @param Kd the derivative coefficient
    * @param source The PIDSource object that is used to get values
    * @param output The PIDOutput object that is set to the output percentage
    */
@@ -79,16 +81,16 @@ public class PIDController extends PIDBase implements Controller, AutoCloseable
   /**
    * Allocate a PID object with the given constants for P, I, D, using a 50ms period.
    *
-   * @param Kp     the proportional coefficient
-   * @param Ki     the integral coefficient
-   * @param Kd     the derivative coefficient
-   * @param Kf     the feed forward term
+   * @param Kp the proportional coefficient
+   * @param Ki the integral coefficient
+   * @param Kd the derivative coefficient
+   * @param Kf the feed forward term
    * @param source The PIDSource object that is used to get values
    * @param output The PIDOutput object that is set to the output percentage
    */
   @SuppressWarnings("ParameterName")
-  public PIDController(double Kp, double Ki, double Kd, double Kf, PIDSource source,
-                       PIDOutput output) {
+  public PIDController(
+      double Kp, double Ki, double Kd, double Kf, PIDSource source, PIDOutput output) {
     this(Kp, Ki, Kd, Kf, source, output, kDefaultPeriod);
   }
 
@@ -105,9 +107,7 @@ public class PIDController extends PIDBase implements Controller, AutoCloseable
     }
   }
 
-  /**
-   * Begin running the PIDController.
-   */
+  /** Begin running the PIDController. */
   @Override
   public void enable() {
     m_thisMutex.lock();
@@ -118,9 +118,7 @@ public class PIDController extends PIDBase implements Controller, AutoCloseable
     }
   }
 
-  /**
-   * Stop running the PIDController, this sets the output to zero before stopping.
-   */
+  /** Stop running the PIDController, this sets the output to zero before stopping. */
   @Override
   public void disable() {
     // Ensures m_enabled check and pidWrite() call occur atomically
@@ -139,9 +137,7 @@ public class PIDController extends PIDBase implements Controller, AutoCloseable
     }
   }
 
-  /**
-   * Set the enabled state of the PIDController.
-   */
+  /** Set the enabled state of the PIDController. */
   public void setEnabled(boolean enable) {
     if (enable) {
       enable();
@@ -150,9 +146,7 @@ public class PIDController extends PIDBase implements Controller, AutoCloseable
     }
   }
 
-  /**
-   * Return true if PIDController is enabled.
-   */
+  /** Return true if PIDController is enabled. */
   public boolean isEnabled() {
     m_thisMutex.lock();
     try {
@@ -162,9 +156,7 @@ public class PIDController extends PIDBase implements Controller, AutoCloseable
     }
   }
 
-  /**
-   * Reset the previous error, the integral term, and disable the controller.
-   */
+  /** Reset the previous error, the integral term, and disable the controller. */
   @Override
   public void reset() {
     disable();
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDSourceType.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDSourceType.java
index 6b5cf8abc8..4018ba61d0 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDSourceType.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDSourceType.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.first.wpilibj;
 
-/**
- * A description for the type of output value to provide to a PIDController.
- */
+/** A description for the type of output value to provide to a PIDController. */
 @Deprecated(since = "2020", forRemoval = true)
 public enum PIDSourceType {
   kDisplacement,
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java
index 4ce9615091..ddfb39ec9a 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java
@@ -24,21 +24,13 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
  * width (currently .5ms) - 0 = disabled (i.e. PWM output is held low)
  */
 public class PWM extends MotorSafety implements Sendable, AutoCloseable {
-  /**
-   * Represents the amount to multiply the minimum servo-pulse pwm period by.
-   */
+  /** Represents the amount to multiply the minimum servo-pulse pwm period by. */
   public enum PeriodMultiplier {
-    /**
-     * Period Multiplier: don't skip pulses. PWM pulses occur every 5.005 ms
-     */
+    /** Period Multiplier: don't skip pulses. PWM pulses occur every 5.005 ms */
     k1X,
-    /**
-     * Period Multiplier: skip every other pulse. PWM pulses occur every 10.010 ms
-     */
+    /** Period Multiplier: skip every other pulse. PWM pulses occur every 10.010 ms */
     k2X,
-    /**
-     * Period Multiplier: skip three out of four pulses. PWM pulses occur every 20.020 ms
-     */
+    /** Period Multiplier: skip three out of four pulses. PWM pulses occur every 20.020 ms */
     k4X
   }
 
@@ -68,9 +60,7 @@ public class PWM extends MotorSafety implements Sendable, AutoCloseable {
     setSafetyEnabled(false);
   }
 
-  /**
-   * Free the resource associated with the PWM channel and set the value to 0.
-   */
+  /** Free the resource associated with the PWM channel and set the value to 0. */
   @Override
   public void close() {
     SendableRegistry.remove(this);
@@ -96,8 +86,7 @@ public class PWM extends MotorSafety implements Sendable, AutoCloseable {
    * Optionally eliminate the deadband from a speed controller.
    *
    * @param eliminateDeadband If true, set the motor curve on the Jaguar to eliminate the deadband
-   *                          in the middle of the range. Otherwise, keep the full range without
-   *                          modifying any values.
+   *     in the middle of the range. Otherwise, keep the full range without modifying any values.
    */
   public void enableDeadbandElimination(boolean eliminateDeadband) {
     PWMJNI.setPWMEliminateDeadband(m_handle, eliminateDeadband);
@@ -108,21 +97,21 @@ public class PWM extends MotorSafety implements Sendable, AutoCloseable {
    * type of controller. The values determine the upper and lower speeds as well as the deadband
    * bracket.
    *
-   * @param max         The max PWM pulse width in ms
+   * @param max The max PWM pulse width in ms
    * @param deadbandMax The high end of the deadband range pulse width in ms
-   * @param center      The center (off) pulse width in ms
+   * @param center The center (off) pulse width in ms
    * @param deadbandMin The low end of the deadband pulse width in ms
-   * @param min         The minimum pulse width in ms
+   * @param min The minimum pulse width in ms
    */
-  public void setBounds(double max, double deadbandMax, double center, double deadbandMin,
-                           double min) {
+  public void setBounds(
+      double max, double deadbandMax, double center, double deadbandMin, double min) {
     PWMJNI.setPWMConfig(m_handle, max, deadbandMax, center, deadbandMin, min);
   }
 
   /**
    * Gets the bounds on the PWM pulse widths. This Gets the bounds on the PWM values for a
-   * particular type of controller. The values determine the upper and lower speeds as well
-   * as the deadband bracket.
+   * particular type of controller. The values determine the upper and lower speeds as well as the
+   * deadband bracket.
    */
   public PWMConfigDataResult getRawBounds() {
     return PWMJNI.getPWMConfigRaw(m_handle);
@@ -216,10 +205,7 @@ public class PWM extends MotorSafety implements Sendable, AutoCloseable {
     return PWMJNI.getPWMRaw(m_handle);
   }
 
-  /**
-   * Temporarily disables the PWM output. The next set call will reenable
-   * the output.
-   */
+  /** Temporarily disables the PWM output. The next set call will reenable the output. */
   public void setDisabled() {
     PWMJNI.setPWMDisabled(m_handle);
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSparkMax.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSparkMax.java
index 74bbb677f2..72a4303949 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSparkMax.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSparkMax.java
@@ -11,25 +11,22 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 /**
  * REV Robotics SPARK MAX Speed Controller with PWM control.
  *
- * <P>Note that the SPARK MAX uses the following bounds for PWM values. These values should work
- * reasonably well for most controllers, 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 SPARK MAX User Manual
- * available from REV Robotics.
+ * <p>Note that the SPARK MAX uses the following bounds for PWM values. These values should work
+ * reasonably well for most controllers, 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 SPARK MAX User Manual available from
+ * REV Robotics.
  *
- * <p><ul>
- * <li> 2.003ms = full "forward"
- * <li> 1.550ms = the "high end" of the deadband range
- * <li> 1.500ms = center of the deadband range (off)
- * <li> 1.460ms = the "low end" of the deadband range
- * <li> 0.999ms = full "reverse"
+ * <ul>
+ *   <li>2.003ms = full "forward"
+ *   <li>1.550ms = the "high end" of the deadband range
+ *   <li>1.500ms = center of the deadband range (off)
+ *   <li>1.460ms = the "low end" of the deadband range
+ *   <li>0.999ms = full "reverse"
  * </ul>
  */
 public class PWMSparkMax extends PWMSpeedController {
-  /**
-   * Common initialization code called by all constructors.
-   *
-   */
+  /** Common initialization code called by all constructors. */
   public PWMSparkMax(final int channel) {
     super(channel);
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSpeedController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSpeedController.java
index c60d88aceb..ea4b7aaf8c 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSpeedController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSpeedController.java
@@ -6,9 +6,7 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 
-/**
- * Common base class for all PWM Speed Controllers.
- */
+/** Common base class for all PWM Speed Controllers. */
 public abstract class PWMSpeedController extends PWM implements SpeedController {
   private boolean m_isInverted;
 
@@ -16,7 +14,7 @@ public abstract class PWMSpeedController extends PWM implements SpeedController
    * Constructor.
    *
    * @param channel The PWM channel that the controller is attached to. 0-9 are on-board, 10-19 are
-   *                on the MXP port
+   *     on the MXP port
    */
   protected PWMSpeedController(int channel) {
     super(channel);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonFX.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonFX.java
index 40345e7bf2..d970f5d3e7 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonFX.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonFX.java
@@ -12,25 +12,25 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
  * Cross the Road Electronics (CTRE) Talon FX Speed Controller with PWM control.
  *
  * <p>Note that the TalonFX uses the following bounds for PWM values. These values should work
- * reasonably well for most controllers, 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 TalonFX User Manual
- * available from CTRE.
+ * reasonably well for most controllers, 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 TalonFX User Manual available from
+ * CTRE.
  *
- * <p><ul>
- * <li>2.004ms = full "forward"
- * <li>1.520ms = the "high end" of the deadband range
- * <li>1.500ms = center of the deadband range (off)
- * <li>1.480ms = the "low end" of the deadband range
- * <li>0.997ms = full "reverse"
+ * <ul>
+ *   <li>2.004ms = full "forward"
+ *   <li>1.520ms = the "high end" of the deadband range
+ *   <li>1.500ms = center of the deadband range (off)
+ *   <li>1.480ms = the "low end" of the deadband range
+ *   <li>0.997ms = full "reverse"
  * </ul>
  */
 public class PWMTalonFX extends PWMSpeedController {
   /**
    * Constructor for a TalonFX connected via PWM.
    *
-   * @param channel The PWM channel that the Talon FX is attached to. 0-9 are on-board, 10-19 are
-   *                on the MXP port
+   * @param channel The PWM channel that the Talon FX is attached to. 0-9 are on-board, 10-19 are on
+   *     the MXP port
    */
   public PWMTalonFX(final int channel) {
     super(channel);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonSRX.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonSRX.java
index 69da3ee3dd..5bf5fc620c 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonSRX.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonSRX.java
@@ -12,17 +12,17 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
  * Cross the Road Electronics (CTRE) Talon SRX Speed Controller with PWM control.
  *
  * <p>Note that the TalonSRX uses the following bounds for PWM values. These values should work
- * reasonably well for most controllers, 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 TalonSRX User Manual
- * available from CTRE.
+ * reasonably well for most controllers, 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 TalonSRX User Manual available from
+ * CTRE.
  *
- * <p><ul>
- * <li>2.004ms = full "forward"
- * <li>1.520ms = the "high end" of the deadband range
- * <li>1.500ms = center of the deadband range (off)
- * <li>1.480ms = the "low end" of the deadband range
- * <li>0.997ms = full "reverse"
+ * <ul>
+ *   <li>2.004ms = full "forward"
+ *   <li>1.520ms = the "high end" of the deadband range
+ *   <li>1.500ms = center of the deadband range (off)
+ *   <li>1.480ms = the "low end" of the deadband range
+ *   <li>0.997ms = full "reverse"
  * </ul>
  */
 public class PWMTalonSRX extends PWMSpeedController {
@@ -30,7 +30,7 @@ public class PWMTalonSRX extends PWMSpeedController {
    * Constructor for a TalonSRX connected via PWM.
    *
    * @param channel The PWM channel that the Talon SRX is attached to. 0-9 are on-board, 10-19 are
-   *                on the MXP port
+   *     on the MXP port
    */
   public PWMTalonSRX(final int channel) {
     super(channel);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVenom.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVenom.java
index 651cf9663b..cdf07754ec 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVenom.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVenom.java
@@ -12,24 +12,24 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
  * Playing with Fusion Venom Smart Motor with PWM control.
  *
  * <p>Note that the Venom uses the following bounds for PWM values. These values should work
- * reasonably well for most controllers, but if users experience issues such as asymmetric
- * behavior around the deadband or inability to saturate the controller in either direction,
- * calibration is recommended.
+ * reasonably well for most controllers, but if users experience issues such as asymmetric behavior
+ * around the deadband or inability to saturate the controller in either direction, calibration is
+ * recommended.
  *
- * <p><ul>
- * <li>2.004ms = full "forward"
- * <li>1.520ms = the "high end" of the deadband range
- * <li>1.500ms = center of the deadband range (off)
- * <li>1.480ms = the "low end" of the deadband range
- * <li>0.997ms = full "reverse"
+ * <ul>
+ *   <li>2.004ms = full "forward"
+ *   <li>1.520ms = the "high end" of the deadband range
+ *   <li>1.500ms = center of the deadband range (off)
+ *   <li>1.480ms = the "low end" of the deadband range
+ *   <li>0.997ms = full "reverse"
  * </ul>
  */
 public class PWMVenom extends PWMSpeedController {
   /**
    * Constructor for a Venom connected via PWM.
    *
-   * @param channel The PWM channel that the Venom is attached to. 0-9 are on-board, 10-19 are
-   *                on the MXP port
+   * @param channel The PWM channel that the Venom is attached to. 0-9 are on-board, 10-19 are on
+   *     the MXP port
    */
   public PWMVenom(final int channel) {
     super(channel);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVictorSPX.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVictorSPX.java
index 7a29df6315..976eb67fc3 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVictorSPX.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVictorSPX.java
@@ -11,18 +11,18 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 /**
  * Cross the Road Electronics (CTRE) Victor SPX Speed Controller with PWM control.
  *
- * <p>Note that the Victor SPX uses the following bounds for PWM values. These values should
- * work reasonably well for most controllers, 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 SPX User
- * Manual available from CTRE.
+ * <p>Note that the Victor SPX uses the following bounds for PWM values. These values should work
+ * reasonably well for most controllers, 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 SPX User Manual available from
+ * CTRE.
  *
- * <p><ul>
- * <li>2.004ms = full "forward"
- * <li>1.520ms = the "high end" of the deadband range
- * <li>1.500ms = center of the deadband range (off)
- * <li>1.480ms = the "low end" of the deadband range
- * <li>0.997ms = full "reverse"
+ * <ul>
+ *   <li>2.004ms = full "forward"
+ *   <li>1.520ms = the "high end" of the deadband range
+ *   <li>1.500ms = center of the deadband range (off)
+ *   <li>1.480ms = the "low end" of the deadband range
+ *   <li>0.997ms = full "reverse"
  * </ul>
  */
 public class PWMVictorSPX extends PWMSpeedController {
@@ -30,7 +30,7 @@ public class PWMVictorSPX extends PWMSpeedController {
    * Constructor for a Victor SPX connected via PWM.
    *
    * @param channel The PWM channel that the PWMVictorSPX is attached to. 0-9 are on-board, 10-19
-   *                are on the MXP port
+   *     are on the MXP port
    */
   public PWMVictorSPX(final int channel) {
     super(channel);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistributionPanel.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistributionPanel.java
index 60399d2a9b..05067c4c32 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistributionPanel.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistributionPanel.java
@@ -32,9 +32,7 @@ public class PowerDistributionPanel implements Sendable, AutoCloseable {
     SendableRegistry.addLW(this, "PowerDistributionPanel", module);
   }
 
-  /**
-   * Constructor.  Uses the default CAN ID (0).
-   */
+  /** Constructor. Uses the default CAN ID (0). */
   public PowerDistributionPanel() {
     this(0);
   }
@@ -102,23 +100,17 @@ public class PowerDistributionPanel implements Sendable, AutoCloseable {
     return PDPJNI.getPDPTotalEnergy(m_handle);
   }
 
-  /**
-   * Reset the total energy to 0.
-   */
+  /** Reset the total energy to 0. */
   public void resetTotalEnergy() {
     PDPJNI.resetPDPTotalEnergy(m_handle);
   }
 
-  /**
-   * Clear all PDP sticky faults.
-   */
+  /** Clear all PDP sticky faults. */
   public void clearStickyFaults() {
     PDPJNI.clearPDPStickyFaults(m_handle);
   }
 
-  /**
-   * Gets module number (CAN ID).
-   */
+  /** Gets module number (CAN ID). */
   public int getModule() {
     return m_module;
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java
index 1afd0f7615..018b0b24fd 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java
@@ -4,7 +4,7 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.util.Collection;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
@@ -12,34 +12,27 @@ import edu.wpi.first.networktables.EntryListenerFlags;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
-
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import java.util.Collection;
 
 /**
  * The preferences class provides a relatively simple way to save important values to the roboRIO to
  * access the next time the roboRIO is booted.
  *
- * <p> This class loads and saves from a file inside the roboRIO. The user can not access the file
+ * <p>This class loads and saves from a file inside the roboRIO. The user can not access the file
  * directly, but may modify values at specific fields which will then be automatically saved to the
- * file by the NetworkTables server. </p>
+ * file by the NetworkTables server.
  *
- * <p> This class is thread safe. </p>
+ * <p>This class is thread safe.
  *
- * <p> This will also interact with {@link NetworkTable} by creating a table called "Preferences"
- * with all the key-value pairs. </p>
+ * <p>This will also interact with {@link NetworkTable} by creating a table called "Preferences"
+ * with all the key-value pairs.
  */
 public final class Preferences {
-  /**
-   * The Preferences table name.
-   */
+  /** The Preferences table name. */
   private static final String TABLE_NAME = "Preferences";
-  /**
-   * The singleton instance.
-   */
+  /** The singleton instance. */
   private static Preferences instance;
-  /**
-   * The network table.
-   */
+  /** The network table. */
   private final NetworkTable m_table;
 
   /**
@@ -54,9 +47,7 @@ public final class Preferences {
     return instance;
   }
 
-  /**
-   * Creates a preference class.
-   */
+  /** Creates a preference class. */
   private Preferences() {
     m_table = NetworkTableInstance.getDefault().getTable(TABLE_NAME);
     m_table.getEntry(".type").setString("RobotPreferences");
@@ -70,6 +61,7 @@ public final class Preferences {
 
   /**
    * Gets the preferences keys.
+   *
    * @return a collection of the keys
    */
   public Collection<String> getKeys() {
@@ -79,7 +71,7 @@ public final class Preferences {
   /**
    * Puts the given string into the preferences table.
    *
-   * @param key   the key
+   * @param key the key
    * @param value the value
    * @throws NullPointerException if value is null
    */
@@ -94,7 +86,7 @@ public final class Preferences {
   /**
    * Puts the given string into the preferences table if it doesn't already exist.
    *
-   * @param key   The key
+   * @param key The key
    * @param value The value
    */
   public void initString(String key, String value) {
@@ -105,7 +97,7 @@ public final class Preferences {
   /**
    * Puts the given int into the preferences table.
    *
-   * @param key   the key
+   * @param key the key
    * @param value the value
    */
   public void putInt(String key, int value) {
@@ -117,7 +109,7 @@ public final class Preferences {
   /**
    * Puts the given int into the preferences table if it doesn't already exist.
    *
-   * @param key   The key
+   * @param key The key
    * @param value The value
    */
   public void initInt(String key, int value) {
@@ -128,7 +120,7 @@ public final class Preferences {
   /**
    * Puts the given double into the preferences table.
    *
-   * @param key   the key
+   * @param key the key
    * @param value the value
    */
   public void putDouble(String key, double value) {
@@ -140,7 +132,7 @@ public final class Preferences {
   /**
    * Puts the given double into the preferences table if it doesn't already exist.
    *
-   * @param key   The key
+   * @param key The key
    * @param value The value
    */
   public void initDouble(String key, double value) {
@@ -151,7 +143,7 @@ public final class Preferences {
   /**
    * Puts the given float into the preferences table.
    *
-   * @param key   the key
+   * @param key the key
    * @param value the value
    */
   public void putFloat(String key, float value) {
@@ -163,7 +155,7 @@ public final class Preferences {
   /**
    * Puts the given float into the preferences table if it doesn't already exist.
    *
-   * @param key   The key
+   * @param key The key
    * @param value The value
    */
   public void initFloat(String key, float value) {
@@ -174,7 +166,7 @@ public final class Preferences {
   /**
    * Puts the given boolean into the preferences table.
    *
-   * @param key   the key
+   * @param key the key
    * @param value the value
    */
   public void putBoolean(String key, boolean value) {
@@ -186,7 +178,7 @@ public final class Preferences {
   /**
    * Puts the given boolean into the preferences table if it doesn't already exist.
    *
-   * @param key   The key
+   * @param key The key
    * @param value The value
    */
   public void initBoolean(String key, boolean value) {
@@ -197,7 +189,7 @@ public final class Preferences {
   /**
    * Puts the given long into the preferences table.
    *
-   * @param key   the key
+   * @param key the key
    * @param value the value
    */
   public void putLong(String key, long value) {
@@ -209,7 +201,7 @@ public final class Preferences {
   /**
    * Puts the given long into the preferences table if it doesn't already exist.
    *
-   * @param key   The key
+   * @param key The key
    * @param value The value
    */
   public void initLong(String key, long value) {
@@ -236,9 +228,7 @@ public final class Preferences {
     m_table.delete(key);
   }
 
-  /**
-   * Remove all preferences.
-   */
+  /** Remove all preferences. */
   public void removeAll() {
     for (String key : m_table.getKeys()) {
       if (!".type".equals(key)) {
@@ -251,7 +241,7 @@ public final class Preferences {
    * Returns the string at the given key. If this table does not have a value for that position,
    * then the given backup value will be returned.
    *
-   * @param key    the key
+   * @param key the key
    * @param backup the value to return if none exists in the table
    * @return either the value in the table, or the backup
    */
@@ -263,7 +253,7 @@ public final class Preferences {
    * Returns the int at the given key. If this table does not have a value for that position, then
    * the given backup value will be returned.
    *
-   * @param key    the key
+   * @param key the key
    * @param backup the value to return if none exists in the table
    * @return either the value in the table, or the backup
    */
@@ -275,7 +265,7 @@ public final class Preferences {
    * Returns the double at the given key. If this table does not have a value for that position,
    * then the given backup value will be returned.
    *
-   * @param key    the key
+   * @param key the key
    * @param backup the value to return if none exists in the table
    * @return either the value in the table, or the backup
    */
@@ -287,7 +277,7 @@ public final class Preferences {
    * Returns the boolean at the given key. If this table does not have a value for that position,
    * then the given backup value will be returned.
    *
-   * @param key    the key
+   * @param key the key
    * @param backup the value to return if none exists in the table
    * @return either the value in the table, or the backup
    */
@@ -299,7 +289,7 @@ public final class Preferences {
    * Returns the float at the given key. If this table does not have a value for that position, then
    * the given backup value will be returned.
    *
-   * @param key    the key
+   * @param key the key
    * @param backup the value to return if none exists in the table
    * @return either the value in the table, or the backup
    */
@@ -311,7 +301,7 @@ public final class Preferences {
    * Returns the long at the given key. If this table does not have a value for that position, then
    * the given backup value will be returned.
    *
-   * @param key    the key
+   * @param key the key
    * @param backup the value to return if none exists in the table
    * @return either the value in the table, or the backup
    */
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Relay.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Relay.java
index 29470d4bd3..6e231d0665 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Relay.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Relay.java
@@ -4,8 +4,7 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.util.Arrays;
-import java.util.Optional;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
@@ -13,17 +12,17 @@ import edu.wpi.first.hal.RelayJNI;
 import edu.wpi.first.hal.util.UncleanStatusException;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
-
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import java.util.Arrays;
+import java.util.Optional;
 
 /**
  * Class for VEX Robotics Spike style relay outputs. Relays are intended to be connected to Spikes
  * or similar relays. The relay channels controls a pair of channels that are either both off, one
- * on, the other on, or both on. This translates into two Spike outputs at 0v, one at 12v and one
- * at 0v, one at 0v and the other at 12v, or two Spike outputs at 12V. This allows off, full
- * forward, or full reverse control of motors without variable speed. It also allows the two
- * channels (forward and reverse) to be used independently for something that does not care about
- * voltage polarity (like a solenoid).
+ * on, the other on, or both on. This translates into two Spike outputs at 0v, one at 12v and one at
+ * 0v, one at 0v and the other at 12v, or two Spike outputs at 12V. This allows off, full forward,
+ * or full reverse control of motors without variable speed. It also allows the two channels
+ * (forward and reverse) to be used independently for something that does not care about voltage
+ * polarity (like a solenoid).
  */
 public class Relay extends MotorSafety implements Sendable, AutoCloseable {
   /**
@@ -42,9 +41,7 @@ public class Relay extends MotorSafety implements Sendable, AutoCloseable {
     }
   }
 
-  /**
-   * The state to drive a Relay to.
-   */
+  /** The state to drive a Relay to. */
   public enum Value {
     kOff("Off"),
     kOn("On"),
@@ -66,22 +63,13 @@ public class Relay extends MotorSafety implements Sendable, AutoCloseable {
     }
   }
 
-  /**
-   * The Direction(s) that a relay is configured to operate in.
-   */
+  /** The Direction(s) that a relay is configured to operate in. */
   public enum Direction {
-    /**
-     * direction: both directions are valid.
-     */
-
+    /** direction: both directions are valid. */
     kBoth,
-    /**
-     * direction: Only forward is valid.
-     */
+    /** direction: Only forward is valid. */
     kForward,
-    /**
-     * direction: only reverse is valid.
-     */
+    /** direction: only reverse is valid. */
     kReverse
   }
 
@@ -196,8 +184,8 @@ public class Relay extends MotorSafety implements Sendable, AutoCloseable {
         break;
       case kForward:
         if (m_direction == Direction.kReverse) {
-          throw new InvalidValueException("A relay configured for reverse cannot be set to "
-              + "forward");
+          throw new InvalidValueException(
+              "A relay configured for reverse cannot be set to " + "forward");
         }
         if (m_direction == Direction.kBoth || m_direction == Direction.kForward) {
           RelayJNI.setRelay(m_forwardHandle, true);
@@ -208,8 +196,8 @@ public class Relay extends MotorSafety implements Sendable, AutoCloseable {
         break;
       case kReverse:
         if (m_direction == Direction.kForward) {
-          throw new InvalidValueException("A relay configured for forward cannot be set to "
-              + "reverse");
+          throw new InvalidValueException(
+              "A relay configured for forward cannot be set to " + "reverse");
         }
         if (m_direction == Direction.kBoth) {
           RelayJNI.setRelay(m_forwardHandle, false);
@@ -307,7 +295,9 @@ public class Relay extends MotorSafety implements Sendable, AutoCloseable {
     builder.setSmartDashboardType("Relay");
     builder.setActuator(true);
     builder.setSafeState(() -> set(Value.kOff));
-    builder.addStringProperty("Value", () -> get().getPrettyValue(),
+    builder.addStringProperty(
+        "Value",
+        () -> get().getPrettyValue(),
         value -> set(Value.getValueOf(value).orElse(Value.kOff)));
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Resource.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Resource.java
index 6965019664..09137d62cd 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Resource.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Resource.java
@@ -26,9 +26,7 @@ public final class Resource {
   private final int m_size;
   private final Resource m_nextResource;
 
-  /**
-   * Clears all allocated resources.
-   */
+  /** Clears all allocated resources. */
   public static void restartProgram() {
     for (Resource r = Resource.resourceList; r != null; r = r.m_nextResource) {
       for (int i = 0; i < r.m_size; i++) {
@@ -39,8 +37,8 @@ public final class Resource {
 
   /**
    * Allocate storage for a new instance of Resource. Allocate a bool array of values that will get
-   * initialized to indicate that no resources have been allocated yet. The indices of the
-   * resources are 0..size-1.
+   * initialized to indicate that no resources have been allocated yet. The indices of the resources
+   * are 0..size-1.
    *
    * @param size The number of blocks to allocate
    */
@@ -103,5 +101,4 @@ public final class Resource {
     }
     m_numAllocated[index] = false;
   }
-
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
index 78af1102d3..cf57de6c8b 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
@@ -4,14 +4,6 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.io.File;
-import java.io.IOException;
-import java.io.OutputStream;
-import java.nio.charset.StandardCharsets;
-import java.nio.file.Files;
-import java.util.concurrent.locks.ReentrantLock;
-import java.util.function.Supplier;
-
 import edu.wpi.cscore.CameraServerJNI;
 import edu.wpi.first.cameraserver.CameraServerShared;
 import edu.wpi.first.cameraserver.CameraServerSharedStore;
@@ -26,6 +18,13 @@ import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.util.WPILibVersion;
+import java.io.File;
+import java.io.IOException;
+import java.io.OutputStream;
+import java.nio.charset.StandardCharsets;
+import java.nio.file.Files;
+import java.util.concurrent.locks.ReentrantLock;
+import java.util.function.Supplier;
 
 /**
  * Implement a Robot Program framework. The RobotBase class is intended to be subclassed by a user
@@ -35,94 +34,93 @@ import edu.wpi.first.wpilibj.util.WPILibVersion;
  * might be spawned as a task, then killed at the end of the Autonomous period.
  */
 public abstract class RobotBase implements AutoCloseable {
-  /**
-   * The ID of the main Java thread.
-   */
+  /** The ID of the main Java thread. */
   // This is usually 1, but it is best to make sure
   private static long m_threadId = -1;
 
   private static void setupCameraServerShared() {
-    CameraServerShared shared = new CameraServerShared() {
+    CameraServerShared shared =
+        new CameraServerShared() {
 
-      @Override
-      public void reportVideoServer(int id) {
-        HAL.report(tResourceType.kResourceType_PCVideoServer, id + 1);
-      }
+          @Override
+          public void reportVideoServer(int id) {
+            HAL.report(tResourceType.kResourceType_PCVideoServer, id + 1);
+          }
 
-      @Override
-      public void reportUsbCamera(int id) {
-        HAL.report(tResourceType.kResourceType_UsbCamera, id + 1);
-      }
+          @Override
+          public void reportUsbCamera(int id) {
+            HAL.report(tResourceType.kResourceType_UsbCamera, id + 1);
+          }
 
-      @Override
-      public void reportDriverStationError(String error) {
-        DriverStation.reportError(error, true);
-      }
+          @Override
+          public void reportDriverStationError(String error) {
+            DriverStation.reportError(error, true);
+          }
 
-      @Override
-      public void reportAxisCamera(int id) {
-        HAL.report(tResourceType.kResourceType_AxisCamera, id + 1);
-      }
+          @Override
+          public void reportAxisCamera(int id) {
+            HAL.report(tResourceType.kResourceType_AxisCamera, id + 1);
+          }
 
-      @Override
-      public Long getRobotMainThreadId() {
-        return RobotBase.getMainThreadId();
-      }
+          @Override
+          public Long getRobotMainThreadId() {
+            return RobotBase.getMainThreadId();
+          }
 
-      @Override
-      public boolean isRoboRIO() {
-        return RobotBase.isReal();
-      }
-    };
+          @Override
+          public boolean isRoboRIO() {
+            return RobotBase.isReal();
+          }
+        };
 
     CameraServerSharedStore.setCameraServerShared(shared);
   }
 
   private static void setupMathShared() {
-    MathSharedStore.setMathShared(new MathShared() {
-      @Override
-      public void reportError(String error, StackTraceElement[] stackTrace) {
-        DriverStation.reportError(error, stackTrace);
-      }
+    MathSharedStore.setMathShared(
+        new MathShared() {
+          @Override
+          public void reportError(String error, StackTraceElement[] stackTrace) {
+            DriverStation.reportError(error, stackTrace);
+          }
 
-      @Override
-      public void reportUsage(MathUsageId id, int count) {
-        switch (id) {
-          case kKinematics_DifferentialDrive:
-            HAL.report(tResourceType.kResourceType_Kinematics,
-                tInstances.kKinematics_DifferentialDrive);
-            break;
-          case kKinematics_MecanumDrive:
-            HAL.report(tResourceType.kResourceType_Kinematics,
-                tInstances.kKinematics_MecanumDrive);
-            break;
-          case kKinematics_SwerveDrive:
-            HAL.report(tResourceType.kResourceType_Kinematics,
-                tInstances.kKinematics_SwerveDrive);
-            break;
-          case kTrajectory_TrapezoidProfile:
-            HAL.report(tResourceType.kResourceType_TrapezoidProfile, count);
-            break;
-          case kFilter_Linear:
-            HAL.report(tResourceType.kResourceType_LinearFilter, count);
-            break;
-          case kOdometry_DifferentialDrive:
-            HAL.report(tResourceType.kResourceType_Odometry,
-                tInstances.kOdometry_DifferentialDrive);
-            break;
-          case kOdometry_SwerveDrive:
-            HAL.report(tResourceType.kResourceType_Odometry,
-                tInstances.kOdometry_SwerveDrive);
-            break;
-          case kOdometry_MecanumDrive:
-            HAL.report(tResourceType.kResourceType_Odometry,
-                tInstances.kOdometry_MecanumDrive);
-            break;
-          default:
-            break;
-        }
-      }
-    });
+          @Override
+          public void reportUsage(MathUsageId id, int count) {
+            switch (id) {
+              case kKinematics_DifferentialDrive:
+                HAL.report(
+                    tResourceType.kResourceType_Kinematics,
+                    tInstances.kKinematics_DifferentialDrive);
+                break;
+              case kKinematics_MecanumDrive:
+                HAL.report(
+                    tResourceType.kResourceType_Kinematics, tInstances.kKinematics_MecanumDrive);
+                break;
+              case kKinematics_SwerveDrive:
+                HAL.report(
+                    tResourceType.kResourceType_Kinematics, tInstances.kKinematics_SwerveDrive);
+                break;
+              case kTrajectory_TrapezoidProfile:
+                HAL.report(tResourceType.kResourceType_TrapezoidProfile, count);
+                break;
+              case kFilter_Linear:
+                HAL.report(tResourceType.kResourceType_LinearFilter, count);
+                break;
+              case kOdometry_DifferentialDrive:
+                HAL.report(
+                    tResourceType.kResourceType_Odometry, tInstances.kOdometry_DifferentialDrive);
+                break;
+              case kOdometry_SwerveDrive:
+                HAL.report(tResourceType.kResourceType_Odometry, tInstances.kOdometry_SwerveDrive);
+                break;
+              case kOdometry_MecanumDrive:
+                HAL.report(tResourceType.kResourceType_Odometry, tInstances.kOdometry_MecanumDrive);
+                break;
+              default:
+                break;
+            }
+          }
+        });
   }
 
   protected final DriverStation m_ds;
@@ -133,8 +131,7 @@ public abstract class RobotBase implements AutoCloseable {
    * completion before Autonomous is entered.
    *
    * <p>This must be used to ensure that the communications code starts. In the future it would be
-   * nice
-   * to put this code into it's own task that loads on boot so ensure that it runs.
+   * nice to put this code into it's own task that loads on boot so ensure that it runs.
    */
   protected RobotBase() {
     final NetworkTableInstance inst = NetworkTableInstance.getDefault();
@@ -159,8 +156,7 @@ public abstract class RobotBase implements AutoCloseable {
   }
 
   @Override
-  public void close() {
-  }
+  public void close() {}
 
   /**
    * Get if the robot is a simulation.
@@ -199,8 +195,7 @@ public abstract class RobotBase implements AutoCloseable {
   }
 
   /**
-   * Determine if the robot is currently in Autonomous mode as determined by the field
-   * controls.
+   * Determine if the robot is currently in Autonomous mode as determined by the field controls.
    *
    * @return True if the robot is currently operating Autonomously.
    */
@@ -209,8 +204,8 @@ public abstract class RobotBase implements AutoCloseable {
   }
 
   /**
-   * Determine if the robot is current in Autonomous mode and enabled as determined by
-   * the field controls.
+   * Determine if the robot is current in Autonomous mode and enabled as determined by the field
+   * controls.
    *
    * @return True if the robot is currently operating autonomously while enabled.
    */
@@ -219,8 +214,7 @@ public abstract class RobotBase implements AutoCloseable {
   }
 
   /**
-   * Determine if the robot is currently in Test mode as determined by the driver
-   * station.
+   * Determine if the robot is currently in Test mode as determined by the driver station.
    *
    * @return True if the robot is currently operating in Test mode.
    */
@@ -239,8 +233,8 @@ public abstract class RobotBase implements AutoCloseable {
   }
 
   /**
-   * Determine if the robot is current in Operator Control mode and enabled as determined by
-   * the field controls.
+   * Determine if the robot is current in Operator Control mode and enabled as determined by the
+   * field controls.
    *
    * @return True if the robot is currently operating in Tele-Op mode while enabled.
    */
@@ -257,14 +251,10 @@ public abstract class RobotBase implements AutoCloseable {
     return m_ds.isNewControlData();
   }
 
-  /**
-   * Provide an alternate "main loop" via startCompetition().
-   */
+  /** Provide an alternate "main loop" via startCompetition(). */
   public abstract void startCompetition();
 
-  /**
-   * Ends the main loop in startCompetition().
-   */
+  /** Ends the main loop in startCompetition(). */
   public abstract void endCompetition();
 
   @SuppressWarnings("MissingJavadocMethod")
@@ -286,11 +276,11 @@ public abstract class RobotBase implements AutoCloseable {
   private static RobotBase m_robotCopy;
   private static boolean m_suppressExitWarning;
 
-  /**
-   * Run the robot main loop.
-   */
-  @SuppressWarnings({"PMD.AvoidInstantiatingObjectsInLoops", "PMD.AvoidCatchingThrowable",
-                     "PMD.CyclomaticComplexity", "PMD.NPathComplexity"})
+  /** Run the robot main loop. */
+  @SuppressWarnings({
+    "PMD.AvoidInstantiatingObjectsInLoops", "PMD.AvoidCatchingThrowable",
+    "PMD.CyclomaticComplexity", "PMD.NPathComplexity"
+  })
   private static <T extends RobotBase> void runRobot(Supplier<T> robotSupplier) {
     System.out.println("********** Robot program starting **********");
 
@@ -307,8 +297,9 @@ public abstract class RobotBase implements AutoCloseable {
       if (elements.length > 0) {
         robotName = elements[0].getClassName();
       }
-      DriverStation.reportError("Unhandled exception instantiating robot " + robotName + " "
-          + throwable.toString(), elements);
+      DriverStation.reportError(
+          "Unhandled exception instantiating robot " + robotName + " " + throwable.toString(),
+          elements);
       DriverStation.reportWarning("Robots should not quit, but yours did!", false);
       DriverStation.reportError("Could not instantiate robot " + robotName + "!", false);
       return;
@@ -334,8 +325,8 @@ public abstract class RobotBase implements AutoCloseable {
         }
 
       } 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.toString(), ex.getStackTrace());
       }
     }
 
@@ -347,8 +338,8 @@ public abstract class RobotBase implements AutoCloseable {
       if (cause != null) {
         throwable = cause;
       }
-      DriverStation.reportError("Unhandled exception: " + throwable.toString(),
-          throwable.getStackTrace());
+      DriverStation.reportError(
+          "Unhandled exception: " + throwable.toString(), throwable.getStackTrace());
       errorOnExit = true;
     } finally {
       m_runMutex.lock();
@@ -360,7 +351,8 @@ public abstract class RobotBase implements AutoCloseable {
         if (errorOnExit) {
           DriverStation.reportError(
               "The startCompetition() method (or methods called by it) should have "
-                  + "handled the exception above.", false);
+                  + "handled the exception above.",
+              false);
         } else {
           DriverStation.reportError("Unexpected return from startCompetition() method.", false);
         }
@@ -368,18 +360,14 @@ public abstract class RobotBase implements AutoCloseable {
     }
   }
 
-  /**
-   * Suppress the "Robots should not quit" message.
-   */
+  /** Suppress the "Robots should not quit" message. */
   public static void suppressExitWarning(boolean value) {
     m_runMutex.lock();
     m_suppressExitWarning = value;
     m_runMutex.unlock();
   }
 
-  /**
-   * Starting point for the applications.
-   */
+  /** Starting point for the applications. */
   public static <T extends RobotBase> void startRobot(Supplier<T> robotSupplier) {
     if (!HAL.initialize(500, 0)) {
       throw new IllegalStateException("Failed to initialize. Terminating");
@@ -389,14 +377,17 @@ public abstract class RobotBase implements AutoCloseable {
     // Needed because all the OpenCV JNI functions don't have built in loading
     CameraServerJNI.enumerateSinks();
 
-    HAL.report(tResourceType.kResourceType_Language, tInstances.kLanguage_Java, 0,
-        WPILibVersion.Version);
+    HAL.report(
+        tResourceType.kResourceType_Language, tInstances.kLanguage_Java, 0, WPILibVersion.Version);
 
     if (HAL.hasMain()) {
-      Thread thread = new Thread(() -> {
-        runRobot(robotSupplier);
-        HAL.exitMain();
-      }, "robot main");
+      Thread thread =
+          new Thread(
+              () -> {
+                runRobot(robotSupplier);
+                HAL.exitMain();
+              },
+              "robot main");
       thread.setDaemon(true);
       thread.start();
       HAL.runMain();
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotController.java
index cae477d928..5f8db65f48 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotController.java
@@ -10,17 +10,14 @@ import edu.wpi.first.hal.PowerJNI;
 import edu.wpi.first.hal.can.CANJNI;
 import edu.wpi.first.hal.can.CANStatus;
 
-/**
- * Contains functions for roboRIO functionality.
- */
+/** Contains functions for roboRIO functionality. */
 public final class RobotController {
   private RobotController() {
     throw new UnsupportedOperationException("This is a utility class!");
   }
 
   /**
-   * Return the FPGA Version number. For now, expect this to be the current
-   * year.
+   * Return the FPGA Version number. For now, expect this to be the current year.
    *
    * @return FPGA Version number.
    */
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotDrive.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotDrive.java
index 0025d05fd4..d038ac3d04 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotDrive.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotDrive.java
@@ -4,12 +4,12 @@
 
 package edu.wpi.first.wpilibj;
 
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
 import edu.wpi.first.hal.FRCNetComm.tInstances;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
-
 /**
  * Utility class for handling Robot drive based on a definition of the motor configuration. The
  * robot drive class handles basic driving for a robot. Currently, 2 and 4 motor tank and mecanum
@@ -18,17 +18,18 @@ import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
  * function (intended for hand created drive code, such as autonomous) or with the Tank/Arcade
  * functions intended to be used for Operator Control driving.
  *
- * @deprecated Use {@link edu.wpi.first.wpilibj.drive.DifferentialDrive}
- *             or {@link edu.wpi.first.wpilibj.drive.MecanumDrive} classes instead.
+ * @deprecated Use {@link edu.wpi.first.wpilibj.drive.DifferentialDrive} or {@link
+ *     edu.wpi.first.wpilibj.drive.MecanumDrive} classes instead.
  */
 @Deprecated
 @SuppressWarnings("PMD.GodClass")
 public class RobotDrive extends MotorSafety implements AutoCloseable {
-  /**
-   * The location of a motor on the robot for the purpose of driving.
-   */
+  /** The location of a motor on the robot for the purpose of driving. */
   public enum MotorType {
-    kFrontLeft(0), kFrontRight(1), kRearLeft(2), kRearRight(3);
+    kFrontLeft(0),
+    kFrontRight(1),
+    kRearLeft(2),
+    kRearRight(3);
 
     public final int value;
 
@@ -59,7 +60,7 @@ public class RobotDrive extends MotorSafety implements AutoCloseable {
    * a two wheel drive system where the left and right motor pwm channels are specified in the call.
    * This call assumes Talons for controlling the motors.
    *
-   * @param leftMotorChannel  The PWM channel number that drives the left motor.
+   * @param leftMotorChannel The PWM channel number that drives the left motor.
    * @param rightMotorChannel The PWM channel number that drives the right motor.
    */
   public RobotDrive(final int leftMotorChannel, final int rightMotorChannel) {
@@ -79,13 +80,16 @@ public class RobotDrive extends MotorSafety implements AutoCloseable {
    * a four wheel drive system where all four motor pwm channels are specified in the call. This
    * call assumes Talons for controlling the motors.
    *
-   * @param frontLeftMotor  Front left motor channel number
-   * @param rearLeftMotor   Rear Left motor channel number
+   * @param frontLeftMotor Front left motor channel number
+   * @param rearLeftMotor Rear Left motor channel number
    * @param frontRightMotor Front right motor channel number
-   * @param rearRightMotor  Rear Right motor channel number
+   * @param rearRightMotor Rear Right motor channel number
    */
-  public RobotDrive(final int frontLeftMotor, final int rearLeftMotor, final int frontRightMotor,
-                    final int rearRightMotor) {
+  public RobotDrive(
+      final int frontLeftMotor,
+      final int rearLeftMotor,
+      final int frontRightMotor,
+      final int rearRightMotor) {
     m_sensitivity = kDefaultSensitivity;
     m_maxOutput = kDefaultMaxOutput;
     m_rearLeftMotor = new Talon(rearLeftMotor);
@@ -103,7 +107,7 @@ public class RobotDrive extends MotorSafety implements AutoCloseable {
    * subclasses of the SpeedController objects, for example, versions with ramping or reshaping of
    * the curve to suit motor bias or dead-band elimination.
    *
-   * @param leftMotor  The left SpeedController object used to drive the robot.
+   * @param leftMotor The left SpeedController object used to drive the robot.
    * @param rightMotor the right SpeedController object used to drive the robot.
    */
   public RobotDrive(SpeedController leftMotor, SpeedController rightMotor) {
@@ -125,13 +129,16 @@ public class RobotDrive extends MotorSafety implements AutoCloseable {
    * Constructor for RobotDrive with 4 motors specified as SpeedController objects. Speed controller
    * input version of RobotDrive (see previous comments).
    *
-   * @param frontLeftMotor  The front left SpeedController object used to drive the robot
-   * @param rearLeftMotor   The back left SpeedController object used to drive the robot.
+   * @param frontLeftMotor The front left SpeedController object used to drive the robot
+   * @param rearLeftMotor The back left SpeedController object used to drive the robot.
    * @param frontRightMotor The front right SpeedController object used to drive the robot.
-   * @param rearRightMotor  The back right SpeedController object used to drive the robot.
+   * @param rearRightMotor The back right SpeedController object used to drive the robot.
    */
-  public RobotDrive(SpeedController frontLeftMotor, SpeedController rearLeftMotor,
-                    SpeedController frontRightMotor, SpeedController rearRightMotor) {
+  public RobotDrive(
+      SpeedController frontLeftMotor,
+      SpeedController rearLeftMotor,
+      SpeedController frontRightMotor,
+      SpeedController rearRightMotor) {
     m_frontLeftMotor = requireNonNullParam(frontLeftMotor, "frontLeftMotor", "RobotDrive");
     m_rearLeftMotor = requireNonNullParam(rearLeftMotor, "rearLeftMotor", "RobotDrive");
     m_frontRightMotor = requireNonNullParam(frontRightMotor, "frontRightMotor", "RobotDrive");
@@ -154,19 +161,20 @@ public class RobotDrive extends MotorSafety implements AutoCloseable {
    * <p>This function will most likely be used in an autonomous routine.
    *
    * @param outputMagnitude The speed setting for the outside wheel in a turn, forward or backwards,
-   *                        +1 to -1.
-   * @param curve           The rate of turn, constant for different forward speeds. Set {@literal
-   *                        curve < 0 for left turn or curve > 0 for right turn.} Set curve =
-   *                        e^(-r/w) to get a turn radius r for wheelbase w of your robot.
-   *                        Conversely, turn radius r = -ln(curve)*w for a given value of curve and
-   *                        wheelbase w.
+   *     +1 to -1.
+   * @param curve The rate of turn, constant for different forward speeds. Set {@literal curve < 0
+   *     for left turn or curve > 0 for right turn.} Set curve = e^(-r/w) to get a turn radius r for
+   *     wheelbase w of your robot. Conversely, turn radius r = -ln(curve)*w for a given value of
+   *     curve and wheelbase w.
    */
   public void drive(double outputMagnitude, double curve) {
     final double leftOutput;
     final double rightOutput;
 
     if (!kArcadeRatioCurve_Reported) {
-      HAL.report(tResourceType.kResourceType_RobotDrive, tInstances.kRobotDrive_ArcadeRatioCurve,
+      HAL.report(
+          tResourceType.kResourceType_RobotDrive,
+          tInstances.kRobotDrive_ArcadeRatioCurve,
           getNumMotors());
       kArcadeRatioCurve_Reported = true;
     }
@@ -198,7 +206,7 @@ public class RobotDrive extends MotorSafety implements AutoCloseable {
    * inputs. The Y-axis will be selected from each Joystick object. The calculated values will be
    * squared to decrease sensitivity at low speeds.
    *
-   * @param leftStick  The joystick to control the left side of the robot.
+   * @param leftStick The joystick to control the left side of the robot.
    * @param rightStick The joystick to control the right side of the robot.
    */
   public void tankDrive(GenericHID leftStick, GenericHID rightStick) {
@@ -212,8 +220,8 @@ public class RobotDrive extends MotorSafety implements AutoCloseable {
    * Provide tank steering using the stored robot configuration. drive the robot using two joystick
    * inputs. The Y-axis will be selected from each Joystick object.
    *
-   * @param leftStick     The joystick to control the left side of the robot.
-   * @param rightStick    The joystick to control the right side of the robot.
+   * @param leftStick The joystick to control the left side of the robot.
+   * @param rightStick The joystick to control the right side of the robot.
    * @param squaredInputs Setting this parameter to true decreases the sensitivity at lower speeds
    */
   public void tankDrive(GenericHID leftStick, GenericHID rightStick, boolean squaredInputs) {
@@ -228,13 +236,13 @@ public class RobotDrive extends MotorSafety implements AutoCloseable {
    * axis to be used on each Joystick object for the left and right sides of the robot. The
    * calculated values will be squared to decrease sensitivity at low speeds.
    *
-   * @param leftStick  The Joystick object to use for the left side of the robot.
-   * @param leftAxis   The axis to select on the left side Joystick object.
+   * @param leftStick The Joystick object to use for the left side of the robot.
+   * @param leftAxis The axis to select on the left side Joystick object.
    * @param rightStick The Joystick object to use for the right side of the robot.
-   * @param rightAxis  The axis to select on the right side Joystick object.
+   * @param rightAxis The axis to select on the right side Joystick object.
    */
-  public void tankDrive(GenericHID leftStick, final int leftAxis, GenericHID rightStick,
-                        final int rightAxis) {
+  public void tankDrive(
+      GenericHID leftStick, final int leftAxis, GenericHID rightStick, final int rightAxis) {
     requireNonNullParam(leftStick, "leftStick", "tankDrive");
     requireNonNullParam(rightStick, "rightStick", "tankDrive");
 
@@ -245,14 +253,18 @@ public class RobotDrive extends MotorSafety implements AutoCloseable {
    * Provide tank steering using the stored robot configuration. This function lets you pick the
    * axis to be used on each Joystick object for the left and right sides of the robot.
    *
-   * @param leftStick     The Joystick object to use for the left side of the robot.
-   * @param leftAxis      The axis to select on the left side Joystick object.
-   * @param rightStick    The Joystick object to use for the right side of the robot.
-   * @param rightAxis     The axis to select on the right side Joystick object.
+   * @param leftStick The Joystick object to use for the left side of the robot.
+   * @param leftAxis The axis to select on the left side Joystick object.
+   * @param rightStick The Joystick object to use for the right side of the robot.
+   * @param rightAxis The axis to select on the right side Joystick object.
    * @param squaredInputs Setting this parameter to true decreases the sensitivity at lower speeds
    */
-  public void tankDrive(GenericHID leftStick, final int leftAxis, GenericHID rightStick,
-                        final int rightAxis, boolean squaredInputs) {
+  public void tankDrive(
+      GenericHID leftStick,
+      final int leftAxis,
+      GenericHID rightStick,
+      final int rightAxis,
+      boolean squaredInputs) {
     requireNonNullParam(leftStick, "leftStick", "tankDrive");
     requireNonNullParam(rightStick, "rightStick", "tankDrive");
 
@@ -263,14 +275,14 @@ public class RobotDrive extends MotorSafety implements AutoCloseable {
    * Provide tank steering using the stored robot configuration. This function lets you directly
    * provide joystick values from any source.
    *
-   * @param leftValue     The value of the left stick.
-   * @param rightValue    The value of the right stick.
+   * @param leftValue The value of the left stick.
+   * @param rightValue The value of the right stick.
    * @param squaredInputs Setting this parameter to true decreases the sensitivity at lower speeds
    */
   public void tankDrive(double leftValue, double rightValue, boolean squaredInputs) {
     if (!kTank_Reported) {
-      HAL.report(tResourceType.kResourceType_RobotDrive, tInstances.kRobotDrive_Tank,
-          getNumMotors());
+      HAL.report(
+          tResourceType.kResourceType_RobotDrive, tInstances.kRobotDrive_Tank, getNumMotors());
       kTank_Reported = true;
     }
 
@@ -291,7 +303,7 @@ public class RobotDrive extends MotorSafety implements AutoCloseable {
    * provide joystick values from any source. The calculated values will be squared to decrease
    * sensitivity at low speeds.
    *
-   * @param leftValue  The value of the left stick.
+   * @param leftValue The value of the left stick.
    * @param rightValue The value of the right stick.
    */
   public void tankDrive(double leftValue, double rightValue) {
@@ -303,9 +315,8 @@ public class RobotDrive extends MotorSafety implements AutoCloseable {
    * axis for the move value and the X axis for the rotate value. (Should add more information here
    * regarding the way that arcade drive works.)
    *
-   * @param stick         The joystick to use for Arcade single-stick driving. The Y-axis will be
-   *                      selected for forwards/backwards and the X-axis will be selected for
-   *                      rotation rate.
+   * @param stick The joystick to use for Arcade single-stick driving. The Y-axis will be selected
+   *     for forwards/backwards and the X-axis will be selected for rotation rate.
    * @param squaredInputs If true, the sensitivity will be decreased for small values
    */
   public void arcadeDrive(GenericHID stick, boolean squaredInputs) {
@@ -320,7 +331,7 @@ public class RobotDrive extends MotorSafety implements AutoCloseable {
    * sensitivity at low speeds.
    *
    * @param stick The joystick to use for Arcade single-stick driving. The Y-axis will be selected
-   *              for forwards/backwards and the X-axis will be selected for rotation rate.
+   *     for forwards/backwards and the X-axis will be selected for rotation rate.
    */
   public void arcadeDrive(GenericHID stick) {
     arcadeDrive(stick, true);
@@ -330,16 +341,20 @@ public class RobotDrive extends MotorSafety implements AutoCloseable {
    * Arcade drive implements single stick driving. Given two joystick instances and two axis,
    * compute the values to send to either two or four motors.
    *
-   * @param moveStick     The Joystick object that represents the forward/backward direction
-   * @param moveAxis      The axis on the moveStick object to use for forwards/backwards (typically
-   *                      Y_AXIS)
-   * @param rotateStick   The Joystick object that represents the rotation value
-   * @param rotateAxis    The axis on the rotation object to use for the rotate right/left
-   *                      (typically X_AXIS)
+   * @param moveStick The Joystick object that represents the forward/backward direction
+   * @param moveAxis The axis on the moveStick object to use for forwards/backwards (typically
+   *     Y_AXIS)
+   * @param rotateStick The Joystick object that represents the rotation value
+   * @param rotateAxis The axis on the rotation object to use for the rotate right/left (typically
+   *     X_AXIS)
    * @param squaredInputs Setting this parameter to true decreases the sensitivity at lower speeds
    */
-  public void arcadeDrive(GenericHID moveStick, final int moveAxis, GenericHID rotateStick,
-                          final int rotateAxis, boolean squaredInputs) {
+  public void arcadeDrive(
+      GenericHID moveStick,
+      final int moveAxis,
+      GenericHID rotateStick,
+      final int rotateAxis,
+      boolean squaredInputs) {
     double moveValue = moveStick.getRawAxis(moveAxis);
     double rotateValue = rotateStick.getRawAxis(rotateAxis);
 
@@ -348,33 +363,35 @@ public class RobotDrive extends MotorSafety implements AutoCloseable {
 
   /**
    * Arcade drive implements single stick driving. Given two joystick instances and two axis,
-   * compute the values to send to either two or four motors. The calculated values will be
-   * squared to decrease sensitivity at low speeds.
+   * compute the values to send to either two or four motors. The calculated values will be squared
+   * to decrease sensitivity at low speeds.
    *
-   * @param moveStick   The Joystick object that represents the forward/backward direction
-   * @param moveAxis    The axis on the moveStick object to use for forwards/backwards (typically
-   *                    Y_AXIS)
+   * @param moveStick The Joystick object that represents the forward/backward direction
+   * @param moveAxis The axis on the moveStick object to use for forwards/backwards (typically
+   *     Y_AXIS)
    * @param rotateStick The Joystick object that represents the rotation value
-   * @param rotateAxis  The axis on the rotation object to use for the rotate right/left (typically
-   *                    X_AXIS)
+   * @param rotateAxis The axis on the rotation object to use for the rotate right/left (typically
+   *     X_AXIS)
    */
-  public void arcadeDrive(GenericHID moveStick, final int moveAxis, GenericHID rotateStick,
-                          final int rotateAxis) {
+  public void arcadeDrive(
+      GenericHID moveStick, final int moveAxis, GenericHID rotateStick, final int rotateAxis) {
     arcadeDrive(moveStick, moveAxis, rotateStick, rotateAxis, true);
   }
 
   /**
-   * Arcade drive implements single stick driving. This function lets you directly provide
-   * joystick values from any source.
+   * Arcade drive implements single stick driving. This function lets you directly provide joystick
+   * values from any source.
    *
-   * @param moveValue     The value to use for forwards/backwards
-   * @param rotateValue   The value to use for the rotate right/left
+   * @param moveValue The value to use for forwards/backwards
+   * @param rotateValue The value to use for the rotate right/left
    * @param squaredInputs If set, decreases the sensitivity at low speeds
    */
   public void arcadeDrive(double moveValue, double rotateValue, boolean squaredInputs) {
     // local variables to hold the computed PWM values for the motors
     if (!kArcadeStandard_Reported) {
-      HAL.report(tResourceType.kResourceType_RobotDrive, tInstances.kRobotDrive_ArcadeStandard,
+      HAL.report(
+          tResourceType.kResourceType_RobotDrive,
+          tInstances.kRobotDrive_ArcadeStandard,
           getNumMotors());
       kArcadeStandard_Reported = true;
     }
@@ -416,11 +433,11 @@ public class RobotDrive extends MotorSafety implements AutoCloseable {
   }
 
   /**
-   * Arcade drive implements single stick driving. This function lets you directly provide
-   * joystick values from any source. The calculated values will be squared to decrease
-   * sensitivity at low speeds.
+   * Arcade drive implements single stick driving. This function lets you directly provide joystick
+   * values from any source. The calculated values will be squared to decrease sensitivity at low
+   * speeds.
    *
-   * @param moveValue   The value to use for forwards/backwards
+   * @param moveValue The value to use for forwards/backwards
    * @param rotateValue The value to use for the rotate right/left
    */
   public void arcadeDrive(double moveValue, double rotateValue) {
@@ -436,17 +453,19 @@ public class RobotDrive extends MotorSafety implements AutoCloseable {
    *
    * <p>This is designed to be directly driven by joystick axes.
    *
-   * @param x         The speed that the robot should drive in the X direction. [-1.0..1.0]
-   * @param y         The speed that the robot should drive in the Y direction. This input is
-   *                  inverted to match the forward == -1.0 that joysticks produce. [-1.0..1.0]
-   * @param rotation  The rate of rotation for the robot that is completely independent of the
-   *                  translation. [-1.0..1.0]
+   * @param x The speed that the robot should drive in the X direction. [-1.0..1.0]
+   * @param y The speed that the robot should drive in the Y direction. This input is inverted to
+   *     match the forward == -1.0 that joysticks produce. [-1.0..1.0]
+   * @param rotation The rate of rotation for the robot that is completely independent of the
+   *     translation. [-1.0..1.0]
    * @param gyroAngle The current angle reading from the gyro. Use this to implement field-oriented
-   *                  controls.
+   *     controls.
    */
   public void mecanumDrive_Cartesian(double x, double y, double rotation, double gyroAngle) {
     if (!kMecanumCartesian_Reported) {
-      HAL.report(tResourceType.kResourceType_RobotDrive, tInstances.kRobotDrive_MecanumCartesian,
+      HAL.report(
+          tResourceType.kResourceType_RobotDrive,
+          tInstances.kRobotDrive_MecanumCartesian,
           getNumMotors());
       kMecanumCartesian_Reported = true;
     }
@@ -480,14 +499,16 @@ public class RobotDrive extends MotorSafety implements AutoCloseable {
    * top, the roller axles should form an X across the robot.
    *
    * @param magnitude The speed that the robot should drive in a given direction. [-1.0..1.0]
-   * @param direction The angle the robot should drive in degrees. The direction and magnitude
-   *                  are independent of the rotation rate. [-180.0..180.0]
-   * @param rotation  The rate of rotation for the robot that is completely independent of the
-   *                  magnitude or direction. [-1.0..1.0]
+   * @param direction The angle the robot should drive in degrees. The direction and magnitude are
+   *     independent of the rotation rate. [-180.0..180.0]
+   * @param rotation The rate of rotation for the robot that is completely independent of the
+   *     magnitude or direction. [-1.0..1.0]
    */
   public void mecanumDrive_Polar(double magnitude, double direction, double rotation) {
     if (!kMecanumPolar_Reported) {
-      HAL.report(tResourceType.kResourceType_RobotDrive, tInstances.kRobotDrive_MecanumPolar,
+      HAL.report(
+          tResourceType.kResourceType_RobotDrive,
+          tInstances.kRobotDrive_MecanumPolar,
           getNumMotors());
       kMecanumPolar_Reported = true;
     }
@@ -521,9 +542,9 @@ public class RobotDrive extends MotorSafety implements AutoCloseable {
    *
    * @param magnitude The speed that the robot should drive in a given direction. [-1.0..1.0]
    * @param direction The direction the robot should drive. The direction and maginitude are
-   *                  independent of the rotation rate.
-   * @param rotation  The rate of rotation for the robot that is completely independent of the
-   *                  magnitute or direction. [-1.0..1.0]
+   *     independent of the rotation rate.
+   * @param rotation The rate of rotation for the robot that is completely independent of the
+   *     magnitute or direction. [-1.0..1.0]
    */
   void holonomicDrive(double magnitude, double direction, double rotation) {
     mecanumDrive_Polar(magnitude, direction, rotation);
@@ -531,10 +552,10 @@ public class RobotDrive extends MotorSafety implements AutoCloseable {
 
   /**
    * Set the speed of the right and left motors. This is used once an appropriate drive setup
-   * function is called such as twoWheelDrive(). The motors are set to "leftSpeed" and
-   * "rightSpeed" and includes flipping the direction of one side for opposing motors.
+   * function is called such as twoWheelDrive(). The motors are set to "leftSpeed" and "rightSpeed"
+   * and includes flipping the direction of one side for opposing motors.
    *
-   * @param leftOutput  The speed to send to the left side of the robot.
+   * @param leftOutput The speed to send to the left side of the robot.
    * @param rightOutput The speed to send to the right side of the robot.
    */
   public void setLeftRightMotorOutputs(double leftOutput, double rightOutput) {
@@ -552,9 +573,7 @@ public class RobotDrive extends MotorSafety implements AutoCloseable {
     feed();
   }
 
-  /**
-   * Limit motor values to the -1.0 to +1.0 range.
-   */
+  /** Limit motor values to the -1.0 to +1.0 range. */
   protected static double limit(double number) {
     if (number > 1.0) {
       return 1.0;
@@ -565,9 +584,7 @@ public class RobotDrive extends MotorSafety implements AutoCloseable {
     return number;
   }
 
-  /**
-   * Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0.
-   */
+  /** Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0. */
   protected static void normalize(double[] wheelSpeeds) {
     double maxMagnitude = Math.abs(wheelSpeeds[0]);
     for (int i = 1; i < kMaxNumberOfMotors; i++) {
@@ -583,9 +600,7 @@ public class RobotDrive extends MotorSafety implements AutoCloseable {
     }
   }
 
-  /**
-   * Rotate a vector in Cartesian space.
-   */
+  /** Rotate a vector in Cartesian space. */
   protected static double[] rotateVector(double x, double y, double angle) {
     double cosA = Math.cos(angle * (Math.PI / 180.0));
     double sinA = Math.sin(angle * (Math.PI / 180.0));
@@ -600,7 +615,7 @@ public class RobotDrive extends MotorSafety implements AutoCloseable {
    * drive code would normally run it. Motors that are direct drive would be inverted, the drive
    * code assumes that the motors are geared with one reversal.
    *
-   * @param motor      The motor index to invert.
+   * @param motor The motor index to invert.
    * @param isInverted True if the motor should be inverted when operated.
    */
   public void setInvertedMotor(MotorType motor, boolean isInverted) {
@@ -643,9 +658,7 @@ public class RobotDrive extends MotorSafety implements AutoCloseable {
     m_maxOutput = maxOutput;
   }
 
-  /**
-   * Free the speed controllers if they were allocated locally.
-   */
+  /** Free the speed controllers if they were allocated locally. */
   @Override
   public void close() {
     if (m_allocatedSpeedControllers) {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java
index efe12cc0ef..c2778d8a67 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java
@@ -30,6 +30,5 @@ public final class RobotState {
     return DriverStation.getInstance().isTest();
   }
 
-  private RobotState() {
-  }
+  private RobotState() {}
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SD540.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SD540.java
index 923d6316cc..58867334a5 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SD540.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SD540.java
@@ -12,23 +12,21 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
  * Mindsensors SD540 Speed Controller.
  *
  * <p>Note that the SD540 uses the following bounds for PWM values. These values should work
- * reasonably well for most controllers, 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 SD540 User Manual
- * available from Mindsensors.
+ * reasonably well for most controllers, 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 SD540 User Manual available from
+ * Mindsensors.
  *
- * <p><ul>
- * <li>2.05ms = full "forward"
- * <li>1.55ms = the "high end" of the deadband range
- * <li>1.50ms = center of the deadband range (off)
- * <li>1.44ms = the "low end" of the deadband range
- * <li>0.94ms = full "reverse"
+ * <ul>
+ *   <li>2.05ms = full "forward"
+ *   <li>1.55ms = the "high end" of the deadband range
+ *   <li>1.50ms = center of the deadband range (off)
+ *   <li>1.44ms = the "low end" of the deadband range
+ *   <li>0.94ms = full "reverse"
  * </ul>
  */
 public class SD540 extends PWMSpeedController {
-  /**
-   * Common initialization code called by all constructors.
-   */
+  /** Common initialization code called by all constructors. */
   protected void initSD540() {
     setBounds(2.05, 1.55, 1.50, 1.44, 0.94);
     setPeriodMultiplier(PeriodMultiplier.k1X);
@@ -43,7 +41,7 @@ public class SD540 extends PWMSpeedController {
    * Constructor.
    *
    * @param channel The PWM channel that the SD540 is attached to. 0-9 are on-board, 10-19 are on
-   *                the MXP port
+   *     the MXP port
    */
   public SD540(final int channel) {
     super(channel);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java
index 0caf7aa43c..217d9b332d 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java
@@ -4,22 +4,23 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.nio.ByteBuffer;
-import java.nio.ByteOrder;
-import java.nio.IntBuffer;
-
 import edu.wpi.first.hal.AccumulatorResult;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.SPIJNI;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.nio.IntBuffer;
 
-/**
- * Represents a SPI bus port.
- */
+/** Represents a SPI bus port. */
 @SuppressWarnings("PMD.CyclomaticComplexity")
 public class SPI implements AutoCloseable {
   public enum Port {
-    kOnboardCS0(0), kOnboardCS1(1), kOnboardCS2(2), kOnboardCS3(3), kMXP(4);
+    kOnboardCS0(0),
+    kOnboardCS1(1),
+    kOnboardCS2(2),
+    kOnboardCS3(3),
+    kMXP(4);
 
     public final int value;
 
@@ -122,6 +123,7 @@ public class SPI implements AutoCloseable {
   /**
    * Configure that the data is stable on the falling edge and the data changes on the rising edge.
    * Note this gets reversed is setClockActiveLow is set.
+   *
    * @deprecated use {@link #setSampleDataOnTrailingEdge()} in most cases.
    */
   @Deprecated
@@ -133,6 +135,7 @@ public class SPI implements AutoCloseable {
   /**
    * Configure that the data is stable on the rising edge and the data changes on the falling edge.
    * Note this gets reversed is setClockActiveLow is set.
+   *
    * @deprecated use {@link #setSampleDataOnLeadingEdge()} in most cases.
    */
   @Deprecated
@@ -141,18 +144,12 @@ public class SPI implements AutoCloseable {
     SPIJNI.spiSetOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh);
   }
 
-
-
-  /**
-   * Configure the chip select line to be active high.
-   */
+  /** Configure the chip select line to be active high. */
   public final void setChipSelectActiveHigh() {
     SPIJNI.spiSetChipSelectActiveHigh(m_port);
   }
 
-  /**
-   * Configure the chip select line to be active low.
-   */
+  /** Configure the chip select line to be active low. */
   public final void setChipSelectActiveLow() {
     SPIJNI.spiSetChipSelectActiveLow(m_port);
   }
@@ -200,8 +197,8 @@ public class SPI implements AutoCloseable {
    * <p>If the receive FIFO is empty, there is no active transfer, and initiate is false, errors.
    *
    * @param initiate If true, this function pushes "0" into the transmit buffer and initiates a
-   *                 transfer. If false, this function assumes that data is already in the receive
-   *                 FIFO from a previous write.
+   *     transfer. If false, this function assumes that data is already in the receive FIFO from a
+   *     previous write.
    */
   public int read(boolean initiate, byte[] dataReceived, int size) {
     if (dataReceived.length < size) {
@@ -217,11 +214,11 @@ public class SPI implements AutoCloseable {
    *
    * <p>If the receive FIFO is empty, there is no active transfer, and initiate is false, errors.
    *
-   * @param initiate     If true, this function pushes "0" into the transmit buffer and initiates
-   *                     a transfer. If false, this function assumes that data is already in the
-   *                     receive FIFO from a previous write.
+   * @param initiate If true, this function pushes "0" into the transmit buffer and initiates a
+   *     transfer. If false, this function assumes that data is already in the receive FIFO from a
+   *     previous write.
    * @param dataReceived The buffer to be filled with the received data.
-   * @param size         The length of the transaction, in bytes
+   * @param size The length of the transaction, in bytes
    */
   @SuppressWarnings("ByteBufferBackingArray")
   public int read(boolean initiate, ByteBuffer dataReceived, int size) {
@@ -240,9 +237,9 @@ public class SPI implements AutoCloseable {
   /**
    * Perform a simultaneous read/write transaction with the device.
    *
-   * @param dataToSend   The data to be written out to the device
+   * @param dataToSend The data to be written out to the device
    * @param dataReceived Buffer to receive data from the device
-   * @param size         The length of the transaction, in bytes
+   * @param size The length of the transaction, in bytes
    */
   public int transaction(byte[] dataToSend, byte[] dataReceived, int size) {
     if (dataToSend.length < size) {
@@ -257,9 +254,9 @@ public class SPI implements AutoCloseable {
   /**
    * Perform a simultaneous read/write transaction with the device.
    *
-   * @param dataToSend   The data to be written out to the device.
+   * @param dataToSend The data to be written out to the device.
    * @param dataReceived Buffer to receive data from the device.
-   * @param size         The length of the transaction, in bytes
+   * @param size The length of the transaction, in bytes
    */
   @SuppressWarnings({"PMD.CyclomaticComplexity", "ByteBufferBackingArray"})
   public int transaction(ByteBuffer dataToSend, ByteBuffer dataReceived, int size) {
@@ -284,8 +281,8 @@ public class SPI implements AutoCloseable {
   /**
    * Initialize automatic SPI transfer engine.
    *
-   * <p>Only a single engine is available, and use of it blocks use of all other
-   * chip select usage on the same physical SPI port while it is running.
+   * <p>Only a single engine is available, and use of it blocks use of all other chip select usage
+   * on the same physical SPI port while it is running.
    *
    * @param bufferSize buffer size in bytes
    */
@@ -293,9 +290,7 @@ public class SPI implements AutoCloseable {
     SPIJNI.spiInitAuto(m_port, bufferSize);
   }
 
-  /**
-   * Frees the automatic SPI transfer engine.
-   */
+  /** Frees the automatic SPI transfer engine. */
   public void freeAuto() {
     SPIJNI.spiFreeAuto(m_port);
   }
@@ -303,8 +298,7 @@ public class SPI implements AutoCloseable {
   /**
    * Set the data to be transmitted by the engine.
    *
-   * <p>Up to 16 bytes are configurable, and may be followed by up to 127 zero
-   * bytes.
+   * <p>Up to 16 bytes are configurable, and may be followed by up to 127 zero bytes.
    *
    * @param dataToSend data to send (maximum 16 bytes)
    * @param zeroSize number of zeros to send after the data
@@ -316,8 +310,8 @@ public class SPI implements AutoCloseable {
   /**
    * Start running the automatic SPI transfer engine at a periodic rate.
    *
-   * <p>{@link #initAuto(int)} and {@link #setAutoTransmitData(byte[], int)} must
-   * be called before calling this function.
+   * <p>{@link #initAuto(int)} and {@link #setAutoTransmitData(byte[], int)} must be called before
+   * calling this function.
    *
    * @param period period between transfers, in seconds (us resolution)
    */
@@ -328,28 +322,28 @@ public class SPI implements AutoCloseable {
   /**
    * Start running the automatic SPI transfer engine when a trigger occurs.
    *
-   * <p>{@link #initAuto(int)} and {@link #setAutoTransmitData(byte[], int)} must
-   * be called before calling this function.
+   * <p>{@link #initAuto(int)} and {@link #setAutoTransmitData(byte[], int)} must be called before
+   * calling this function.
    *
    * @param source digital source for the trigger (may be an analog trigger)
    * @param rising trigger on the rising edge
    * @param falling trigger on the falling edge
    */
   public void startAutoTrigger(DigitalSource source, boolean rising, boolean falling) {
-    SPIJNI.spiStartAutoTrigger(m_port, source.getPortHandleForRouting(),
-                               source.getAnalogTriggerTypeForRouting(), rising, falling);
+    SPIJNI.spiStartAutoTrigger(
+        m_port,
+        source.getPortHandleForRouting(),
+        source.getAnalogTriggerTypeForRouting(),
+        rising,
+        falling);
   }
 
-  /**
-   * Stop running the automatic SPI transfer engine.
-   */
+  /** Stop running the automatic SPI transfer engine. */
   public void stopAuto() {
     SPIJNI.spiStopAuto(m_port);
   }
 
-  /**
-   * Force the engine to make a single transfer.
-   */
+  /** Force the engine to make a single transfer. */
   public void forceAutoRead() {
     SPIJNI.spiForceAutoRead(m_port);
   }
@@ -357,16 +351,15 @@ public class SPI implements AutoCloseable {
   /**
    * Read data that has been transferred by the automatic SPI transfer engine.
    *
-   * <p>Transfers may be made a byte at a time, so it's necessary for the caller
-   * to handle cases where an entire transfer has not been completed.
+   * <p>Transfers may be made a byte at a time, so it's necessary for the caller to handle cases
+   * where an entire transfer has not been completed.
    *
-   * <p>Each received data sequence consists of a timestamp followed by the
-   * received data bytes, one byte per word (in the least significant byte).
-   * The length of each received data sequence is the same as the combined
-   * size of the data and zeroSize set in setAutoTransmitData().
+   * <p>Each received data sequence consists of a timestamp followed by the received data bytes, one
+   * byte per word (in the least significant byte). The length of each received data sequence is the
+   * same as the combined size of the data and zeroSize set in setAutoTransmitData().
    *
-   * <p>Blocks until numToRead words have been read or timeout expires.
-   * May be called with numToRead=0 to retrieve how many words are available.
+   * <p>Blocks until numToRead words have been read or timeout expires. May be called with
+   * numToRead=0 to retrieve how many words are available.
    *
    * @param buffer buffer where read words are stored
    * @param numToRead number of words to read
@@ -378,8 +371,8 @@ public class SPI implements AutoCloseable {
       throw new IllegalArgumentException("must be a direct buffer");
     }
     if (buffer.capacity() < numToRead * 4) {
-      throw new IllegalArgumentException("buffer is too small, must be at least "
-          + (numToRead * 4));
+      throw new IllegalArgumentException(
+          "buffer is too small, must be at least " + (numToRead * 4));
     }
     return SPIJNI.spiReadAutoReceivedData(m_port, buffer, numToRead, timeout);
   }
@@ -387,16 +380,15 @@ public class SPI implements AutoCloseable {
   /**
    * Read data that has been transferred by the automatic SPI transfer engine.
    *
-   * <p>Transfers may be made a byte at a time, so it's necessary for the caller
-   * to handle cases where an entire transfer has not been completed.
+   * <p>Transfers may be made a byte at a time, so it's necessary for the caller to handle cases
+   * where an entire transfer has not been completed.
    *
-   * <p>Each received data sequence consists of a timestamp followed by the
-   * received data bytes, one byte per word (in the least significant byte).
-   * The length of each received data sequence is the same as the combined
-   * size of the data and zeroSize set in setAutoTransmitData().
+   * <p>Each received data sequence consists of a timestamp followed by the received data bytes, one
+   * byte per word (in the least significant byte). The length of each received data sequence is the
+   * same as the combined size of the data and zeroSize set in setAutoTransmitData().
    *
-   * <p>Blocks until numToRead words have been read or timeout expires.
-   * May be called with numToRead=0 to retrieve how many words are available.
+   * <p>Blocks until numToRead words have been read or timeout expires. May be called with
+   * numToRead=0 to retrieve how many words are available.
    *
    * @param buffer array where read words are stored
    * @param numToRead number of words to read
@@ -411,8 +403,8 @@ public class SPI implements AutoCloseable {
   }
 
   /**
-   * Get the number of bytes dropped by the automatic SPI transfer engine due
-   * to the receive buffer being full.
+   * Get the number of bytes dropped by the automatic SPI transfer engine due to the receive buffer
+   * being full.
    *
    * @return Number of bytes dropped
    */
@@ -435,13 +427,21 @@ public class SPI implements AutoCloseable {
 
   @SuppressWarnings("PMD.TooManyFields")
   private static class Accumulator implements AutoCloseable {
-    Accumulator(int port, int xferSize, int validMask, int validValue, int dataShift,
-                int dataSize, boolean isSigned, boolean bigEndian) {
+    Accumulator(
+        int port,
+        int xferSize,
+        int validMask,
+        int validValue,
+        int dataShift,
+        int dataSize,
+        boolean isSigned,
+        boolean bigEndian) {
       m_notifier = new Notifier(this::update);
-      m_buf = ByteBuffer.allocateDirect((xferSize + 1) * kAccumulateDepth * 4)
-          .order(ByteOrder.nativeOrder());
+      m_buf =
+          ByteBuffer.allocateDirect((xferSize + 1) * kAccumulateDepth * 4)
+              .order(ByteOrder.nativeOrder());
       m_intBuf = m_buf.asIntBuffer();
-      m_xferSize = xferSize + 1;  // +1 for timestamp
+      m_xferSize = xferSize + 1; // +1 for timestamp
       m_validMask = validMask;
       m_validValue = validValue;
       m_dataShift = dataShift;
@@ -474,12 +474,12 @@ public class SPI implements AutoCloseable {
 
     final int m_validMask;
     final int m_validValue;
-    final int m_dataMax;        // one more than max data value
-    final int m_dataMsbMask;    // data field MSB mask (for signed)
-    final int m_dataShift;      // data field shift right amount, in bits
-    final int m_xferSize;       // SPI transfer size, in bytes
-    final boolean m_isSigned;   // is data field signed?
-    final boolean m_bigEndian;  // is response big endian?
+    final int m_dataMax; // one more than max data value
+    final int m_dataMsbMask; // data field MSB mask (for signed)
+    final int m_dataShift; // data field shift right amount, in bits
+    final int m_xferSize; // SPI transfer size, in bytes
+    final boolean m_isSigned; // is data field signed?
+    final boolean m_bigEndian; // is response big endian?
     final int m_port;
 
     @SuppressWarnings({"PMD.CyclomaticComplexity", "PMD.NPathComplexity"})
@@ -499,7 +499,7 @@ public class SPI implements AutoCloseable {
             done = false;
           }
           if (numToRead == 0) {
-            return;  // no samples
+            return; // no samples
           }
 
           // read buffered data
@@ -542,11 +542,12 @@ public class SPI implements AutoCloseable {
                 if (m_count != 0) {
                   // timestamps use the 1us FPGA clock; also handle rollover
                   if (timestamp >= m_lastTimestamp) {
-                    m_integratedValue += dataNoCenter * (timestamp - m_lastTimestamp)
-                        * 1e-6 - m_integratedCenter;
+                    m_integratedValue +=
+                        dataNoCenter * (timestamp - m_lastTimestamp) * 1e-6 - m_integratedCenter;
                   } else {
-                    m_integratedValue += dataNoCenter * ((1L << 32) - m_lastTimestamp + timestamp)
-                        * 1e-6 - m_integratedCenter;
+                    m_integratedValue +=
+                        dataNoCenter * ((1L << 32) - m_lastTimestamp + timestamp) * 1e-6
+                            - m_integratedCenter;
                   }
                 }
               }
@@ -568,20 +569,26 @@ public class SPI implements AutoCloseable {
   /**
    * Initialize the accumulator.
    *
-   * @param period     Time between reads
-   * @param cmd        SPI command to send to request data
-   * @param xferSize   SPI transfer size, in bytes
-   * @param validMask  Mask to apply to received data for validity checking
+   * @param period Time between reads
+   * @param cmd SPI command to send to request data
+   * @param xferSize SPI transfer size, in bytes
+   * @param validMask Mask to apply to received data for validity checking
    * @param validValue After validMask is applied, required matching value for validity checking
-   * @param dataShift  Bit shift to apply to received data to get actual data value
-   * @param dataSize   Size (in bits) of data field
-   * @param isSigned   Is data field signed?
-   * @param bigEndian  Is device big endian?
+   * @param dataShift Bit shift to apply to received data to get actual data value
+   * @param dataSize Size (in bits) of data field
+   * @param isSigned Is data field signed?
+   * @param bigEndian Is device big endian?
    */
-  public void initAccumulator(double period, int cmd, int xferSize,
-                              int validMask, int validValue,
-                              int dataShift, int dataSize,
-                              boolean isSigned, boolean bigEndian) {
+  public void initAccumulator(
+      double period,
+      int cmd,
+      int xferSize,
+      int validMask,
+      int validValue,
+      int dataShift,
+      int dataSize,
+      boolean isSigned,
+      boolean bigEndian) {
     initAuto(xferSize * 2048);
     byte[] cmdBytes = new byte[] {0, 0, 0, 0};
     if (bigEndian) {
@@ -601,14 +608,13 @@ public class SPI implements AutoCloseable {
     setAutoTransmitData(cmdBytes, xferSize - 4);
     startAutoRate(period);
 
-    m_accum = new Accumulator(m_port, xferSize, validMask, validValue, dataShift, dataSize,
-                              isSigned, bigEndian);
+    m_accum =
+        new Accumulator(
+            m_port, xferSize, validMask, validValue, dataShift, dataSize, isSigned, bigEndian);
     m_accum.m_notifier.startPeriodic(period * 1024);
   }
 
-  /**
-   * Frees the accumulator.
-   */
+  /** Frees the accumulator. */
   public void freeAccumulator() {
     if (m_accum != null) {
       m_accum.close();
@@ -617,9 +623,7 @@ public class SPI implements AutoCloseable {
     freeAuto();
   }
 
-  /**
-   * Resets the accumulator to zero.
-   */
+  /** Resets the accumulator to zero. */
   public void resetAccumulator() {
     if (m_accum == null) {
       return;
@@ -649,9 +653,7 @@ public class SPI implements AutoCloseable {
     }
   }
 
-  /**
-   * Set the accumulator's deadband.
-   */
+  /** Set the accumulator's deadband. */
   public void setAccumulatorDeadband(int deadband) {
     if (m_accum == null) {
       return;
@@ -661,9 +663,7 @@ public class SPI implements AutoCloseable {
     }
   }
 
-  /**
-   * Read the last value read by the accumulator engine.
-   */
+  /** Read the last value read by the accumulator engine. */
   public int getAccumulatorLastValue() {
     if (m_accum == null) {
       return 0;
@@ -750,9 +750,9 @@ public class SPI implements AutoCloseable {
   /**
    * Set the center value of the accumulator integrator.
    *
-   * <p>The center value is subtracted from each value*dt before it is added to the
-   * integrated value. This is used for the center value of devices like gyros
-   * and accelerometers to take the device offset into account when integrating.
+   * <p>The center value is subtracted from each value*dt before it is added to the integrated
+   * value. This is used for the center value of devices like gyros and accelerometers to take the
+   * device offset into account when integrating.
    */
   public void setAccumulatorIntegratedCenter(double center) {
     if (m_accum == null) {
@@ -764,8 +764,7 @@ public class SPI implements AutoCloseable {
   }
 
   /**
-   * Read the integrated value.  This is the sum of (each value * time between
-   * values).
+   * Read the integrated value. This is the sum of (each value * time between values).
    *
    * @return The integrated value accumulated since the last Reset().
    */
@@ -780,11 +779,10 @@ public class SPI implements AutoCloseable {
   }
 
   /**
-   * Read the average of the integrated value.  This is the sum of (each value
-   * times the time between values), divided by the count.
+   * Read the average of the integrated value. This is the sum of (each value times the time between
+   * values), divided by the count.
    *
-   * @return The average of the integrated value accumulated since the last
-   *         Reset().
+   * @return The average of the integrated value accumulated since the last Reset().
    */
   public double getAccumulatorIntegratedAverage() {
     if (m_accum == null) {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Sendable.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Sendable.java
index 8fc812ae00..84484ff8c5 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Sendable.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Sendable.java
@@ -7,10 +7,7 @@ package edu.wpi.first.wpilibj;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
-
-/**
- * The base interface for objects that can be sent over the network through network tables.
- */
+/** The base interface for objects that can be sent over the network through network tables. */
 public interface Sendable {
   /**
    * Gets the name of this {@link Sendable} object.
@@ -50,7 +47,7 @@ public interface Sendable {
    * Sets the name of the sensor with a channel number.
    *
    * @param moduleType A string that defines the module name in the label for the value
-   * @param channel    The channel number the device is plugged into
+   * @param channel The channel number the device is plugged into
    * @deprecated Use SendableRegistry.setName()
    */
   @Deprecated(since = "2020", forRemoval = true)
@@ -61,9 +58,9 @@ public interface Sendable {
   /**
    * Sets the name of the sensor with a module and channel number.
    *
-   * @param moduleType   A string that defines the module name in the label for the value
+   * @param moduleType A string that defines the module name in the label for the value
    * @param moduleNumber The number of the particular module type
-   * @param channel      The channel number the device is plugged into (usually PWM)
+   * @param channel The channel number the device is plugged into (usually PWM)
    * @deprecated Use SendableRegistry.setName()
    */
   @Deprecated(since = "2020", forRemoval = true)
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SendableBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SendableBase.java
index e7bac282fa..44b1d5080e 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SendableBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SendableBase.java
@@ -9,13 +9,12 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 /**
  * Base class for all sensors. Stores most recent status information as well as containing utility
  * functions for checking channels and error processing.
+ *
  * @deprecated Use Sendable and SendableRegistry
  */
 @Deprecated(since = "2020", forRemoval = true)
 public abstract class SendableBase implements Sendable, AutoCloseable {
-  /**
-   * Creates an instance of the sensor base.
-   */
+  /** Creates an instance of the sensor base. */
   public SendableBase() {
     this(true);
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SensorUtil.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SensorUtil.java
index d68ab463e2..08c3ca2c7b 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SensorUtil.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SensorUtil.java
@@ -18,55 +18,35 @@ import edu.wpi.first.hal.SolenoidJNI;
  * channels and error processing.
  */
 public final class SensorUtil {
-  /**
-   * Ticks per microsecond.
-   */
-  public static final int kSystemClockTicksPerMicrosecond
-      = ConstantsJNI.getSystemClockTicksPerMicrosecond();
+  /** Ticks per microsecond. */
+  public static final int kSystemClockTicksPerMicrosecond =
+      ConstantsJNI.getSystemClockTicksPerMicrosecond();
 
-  /**
-   * Number of digital channels per roboRIO.
-   */
+  /** Number of digital channels per roboRIO. */
   public static final int kDigitalChannels = PortsJNI.getNumDigitalChannels();
 
-  /**
-   * Number of analog input channels per roboRIO.
-   */
+  /** Number of analog input channels per roboRIO. */
   public static final int kAnalogInputChannels = PortsJNI.getNumAnalogInputs();
 
-  /**
-   * Number of analog output channels per roboRIO.
-   */
+  /** Number of analog output channels per roboRIO. */
   public static final int kAnalogOutputChannels = PortsJNI.getNumAnalogOutputs();
 
-  /**
-   * Number of solenoid channels per module.
-   */
+  /** Number of solenoid channels per module. */
   public static final int kSolenoidChannels = PortsJNI.getNumSolenoidChannels();
 
-  /**
-   * Number of PWM channels per roboRIO.
-   */
+  /** Number of PWM channels per roboRIO. */
   public static final int kPwmChannels = PortsJNI.getNumPWMChannels();
 
-  /**
-   * Number of relay channels per roboRIO.
-   */
+  /** Number of relay channels per roboRIO. */
   public static final int kRelayChannels = PortsJNI.getNumRelayHeaders();
 
-  /**
-   * Number of power distribution channels per PDP.
-   */
+  /** Number of power distribution channels per PDP. */
   public static final int kPDPChannels = PortsJNI.getNumPDPChannels();
 
-  /**
-   * Number of power distribution modules per PDP.
-   */
+  /** Number of power distribution modules per PDP. */
   public static final int kPDPModules = PortsJNI.getNumPDPModules();
 
-  /**
-   * Number of PCM Modules.
-   */
+  /** Number of PCM Modules. */
   public static final int kPCMModules = PortsJNI.getNumPCMModules();
 
   /**
@@ -228,6 +208,5 @@ public final class SensorUtil {
     return 0;
   }
 
-  private SensorUtil() {
-  }
+  private SensorUtil() {}
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java
index b1b5f1c8e0..ec07a23f5c 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java
@@ -4,20 +4,21 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.nio.charset.StandardCharsets;
-
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.SerialPortJNI;
+import java.nio.charset.StandardCharsets;
 
-/**
- * Driver for the serial ports (USB, MXP, Onboard) on the roboRIO.
- */
+/** Driver for the serial ports (USB, MXP, Onboard) on the roboRIO. */
 public class SerialPort implements AutoCloseable {
   private int m_portHandle;
 
   public enum Port {
-    kOnboard(0), kMXP(1), kUSB(2), kUSB1(2), kUSB2(3);
+    kOnboard(0),
+    kMXP(1),
+    kUSB(2),
+    kUSB1(2),
+    kUSB2(3);
 
     public final int value;
 
@@ -26,11 +27,13 @@ public class SerialPort implements AutoCloseable {
     }
   }
 
-  /**
-   * Represents the parity to use for serial communications.
-   */
+  /** Represents the parity to use for serial communications. */
   public enum Parity {
-    kNone(0), kOdd(1), kEven(2), kMark(3), kSpace(4);
+    kNone(0),
+    kOdd(1),
+    kEven(2),
+    kMark(3),
+    kSpace(4);
 
     public final int value;
 
@@ -39,11 +42,11 @@ public class SerialPort implements AutoCloseable {
     }
   }
 
-  /**
-   * Represents the number of stop bits to use for Serial Communication.
-   */
+  /** Represents the number of stop bits to use for Serial Communication. */
   public enum StopBits {
-    kOne(10), kOnePointFive(15), kTwo(20);
+    kOne(10),
+    kOnePointFive(15),
+    kTwo(20);
 
     public final int value;
 
@@ -52,11 +55,12 @@ public class SerialPort implements AutoCloseable {
     }
   }
 
-  /**
-   * Represents what type of flow control to use for serial communication.
-   */
+  /** Represents what type of flow control to use for serial communication. */
   public enum FlowControl {
-    kNone(0), kXonXoff(1), kRtsCts(2), kDtsDsr(4);
+    kNone(0),
+    kXonXoff(1),
+    kRtsCts(2),
+    kDtsDsr(4);
 
     public final int value;
 
@@ -65,11 +69,10 @@ public class SerialPort implements AutoCloseable {
     }
   }
 
-  /**
-   * Represents which type of buffer mode to use when writing to a serial port.
-   */
+  /** Represents which type of buffer mode to use when writing to a serial port. */
   public enum WriteBufferMode {
-    kFlushOnAccess(1), kFlushWhenFull(2);
+    kFlushOnAccess(1),
+    kFlushWhenFull(2);
 
     public final int value;
 
@@ -81,19 +84,24 @@ public class SerialPort implements AutoCloseable {
   /**
    * Create an instance of a Serial Port class.
    *
-   * <p>Prefer to use the constructor that doesn't take a port name, but in some
-   * cases the automatic detection might not work correctly.
+   * <p>Prefer to use the constructor that doesn't take a port name, but in some cases the automatic
+   * detection might not work correctly.
    *
    * @param baudRate The baud rate to configure the serial port.
-   * @param port     The Serial port to use
+   * @param port The Serial port to use
    * @param portName The direct portName to use
    * @param dataBits The number of data bits per transfer. Valid values are between 5 and 8 bits.
-   * @param parity   Select the type of parity checking to use.
+   * @param parity Select the type of parity checking to use.
    * @param stopBits The number of stop bits to use as defined by the enum StopBits.
-   * @deprecated     Will be removed for 2019
+   * @deprecated Will be removed for 2019
    */
-  public SerialPort(final int baudRate, String portName, Port port, final int dataBits,
-                    Parity parity, StopBits stopBits) {
+  public SerialPort(
+      final int baudRate,
+      String portName,
+      Port port,
+      final int dataBits,
+      Parity parity,
+      StopBits stopBits) {
     m_portHandle = SerialPortJNI.serialInitializePortDirect((byte) port.value, portName);
     SerialPortJNI.serialSetBaudRate(m_portHandle, baudRate);
     SerialPortJNI.serialSetDataBits(m_portHandle, (byte) dataBits);
@@ -118,13 +126,13 @@ public class SerialPort implements AutoCloseable {
    * Create an instance of a Serial Port class.
    *
    * @param baudRate The baud rate to configure the serial port.
-   * @param port     The Serial port to use
+   * @param port The Serial port to use
    * @param dataBits The number of data bits per transfer. Valid values are between 5 and 8 bits.
-   * @param parity   Select the type of parity checking to use.
+   * @param parity Select the type of parity checking to use.
    * @param stopBits The number of stop bits to use as defined by the enum StopBits.
    */
-  public SerialPort(final int baudRate, Port port, final int dataBits, Parity parity,
-                    StopBits stopBits) {
+  public SerialPort(
+      final int baudRate, Port port, final int dataBits, Parity parity, StopBits stopBits) {
     m_portHandle = SerialPortJNI.serialInitializePort((byte) port.value);
     SerialPortJNI.serialSetBaudRate(m_portHandle, baudRate);
     SerialPortJNI.serialSetDataBits(m_portHandle, (byte) dataBits);
@@ -150,7 +158,7 @@ public class SerialPort implements AutoCloseable {
    *
    * @param baudRate The baud rate to configure the serial port.
    * @param dataBits The number of data bits per transfer. Valid values are between 5 and 8 bits.
-   * @param parity   Select the type of parity checking to use.
+   * @param parity Select the type of parity checking to use.
    */
   public SerialPort(final int baudRate, Port port, final int dataBits, Parity parity) {
     this(baudRate, port, dataBits, parity, StopBits.kOne);
@@ -167,8 +175,7 @@ public class SerialPort implements AutoCloseable {
   }
 
   /**
-   * Create an instance of a Serial Port class. Defaults to 8 databits, no parity, and one stop
-   * bit.
+   * Create an instance of a Serial Port class. Defaults to 8 databits, no parity, and one stop bit.
    *
    * @param baudRate The baud rate to configure the serial port.
    */
@@ -218,9 +225,7 @@ public class SerialPort implements AutoCloseable {
     enableTermination('\n');
   }
 
-  /**
-   * Disable termination behavior.
-   */
+  /** Disable termination behavior. */
   public void disableTermination() {
     SerialPortJNI.serialDisableTermination(m_portHandle);
   }
@@ -275,7 +280,7 @@ public class SerialPort implements AutoCloseable {
    * Write raw bytes to the serial port.
    *
    * @param buffer The buffer of bytes to write.
-   * @param count  The maximum number of bytes to write.
+   * @param count The maximum number of bytes to write.
    * @return The number of bytes actually written into the port.
    */
   public int write(byte[] buffer, int count) {
@@ -336,11 +341,11 @@ public class SerialPort implements AutoCloseable {
   /**
    * Specify the flushing behavior of the output buffer.
    *
-   * <p>When set to kFlushOnAccess, data is synchronously written to the serial port after each
-   * call to either print() or write().
+   * <p>When set to kFlushOnAccess, data is synchronously written to the serial port after each call
+   * to either print() or write().
    *
-   * <p>When set to kFlushWhenFull, data will only be written to the serial port when the buffer
-   * is full or when flush() is called.
+   * <p>When set to kFlushWhenFull, data will only be written to the serial port when the buffer is
+   * full or when flush() is called.
    *
    * @param mode The write buffer mode.
    */
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java
index 29d42e54ad..7251efc68d 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java
@@ -25,11 +25,11 @@ public class Servo extends PWM {
   /**
    * Constructor.<br>
    *
-   * <p>By default {@value #kDefaultMaxServoPWM} ms is used as the maxPWM value<br> By default
-   * {@value #kDefaultMinServoPWM} ms is used as the minPWM value<br>
+   * <p>By default {@value #kDefaultMaxServoPWM} ms is used as the maxPWM value<br>
+   * By default {@value #kDefaultMinServoPWM} ms is used as the minPWM value<br>
    *
    * @param channel The PWM channel to which the servo is attached. 0-9 are on-board, 10-19 are on
-   *                the MXP port
+   *     the MXP port
    */
   public Servo(final int channel) {
     super(channel);
@@ -40,7 +40,6 @@ public class Servo extends PWM {
     SendableRegistry.setName(this, "Servo", getChannel());
   }
 
-
   /**
    * Set the servo position.
    *
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SlewRateLimiter.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SlewRateLimiter.java
index f9728f28d3..5569ba9ac0 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SlewRateLimiter.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SlewRateLimiter.java
@@ -7,10 +7,10 @@ package edu.wpi.first.wpilibj;
 import edu.wpi.first.wpiutil.math.MathUtil;
 
 /**
- * A class that limits the rate of change of an input value.  Useful for implementing voltage,
- * setpoint, and/or output ramps.  A slew-rate limit is most appropriate when the quantity being
- * controlled is a velocity or a voltage; when controlling a position, consider using a
- * {@link edu.wpi.first.wpilibj.trajectory.TrapezoidProfile} instead.
+ * A class that limits the rate of change of an input value. Useful for implementing voltage,
+ * setpoint, and/or output ramps. A slew-rate limit is most appropriate when the quantity being
+ * controlled is a velocity or a voltage; when controlling a position, consider using a {@link
+ * edu.wpi.first.wpilibj.trajectory.TrapezoidProfile} instead.
  */
 public class SlewRateLimiter {
   private final double m_rateLimit;
@@ -47,9 +47,8 @@ public class SlewRateLimiter {
   public double calculate(double input) {
     double currentTime = Timer.getFPGATimestamp();
     double elapsedTime = currentTime - m_prevTime;
-    m_prevVal += MathUtil.clamp(input - m_prevVal,
-                                -m_rateLimit * elapsedTime,
-                                m_rateLimit * elapsedTime);
+    m_prevVal +=
+        MathUtil.clamp(input - m_prevVal, -m_rateLimit * elapsedTime, m_rateLimit * elapsedTime);
     m_prevTime = currentTime;
     return m_prevVal;
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Solenoid.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Solenoid.java
index 71c50cd76f..de20b215eb 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Solenoid.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Solenoid.java
@@ -13,8 +13,8 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 /**
  * Solenoid class for running high voltage Digital Output on the PCM.
  *
- * <p>The Solenoid class is typically used for pneumatic solenoids, but could be used for any
- * device within the current spec of the PCM.
+ * <p>The Solenoid class is typically used for pneumatic solenoids, but could be used for any device
+ * within the current spec of the PCM.
  */
 public class Solenoid extends SolenoidBase implements Sendable, AutoCloseable {
   private final int m_channel; // The channel to control.
@@ -33,7 +33,7 @@ public class Solenoid extends SolenoidBase implements Sendable, AutoCloseable {
    * Constructor.
    *
    * @param moduleNumber The CAN ID of the PCM the solenoid is attached to.
-   * @param channel      The channel on the PCM to control (0..7).
+   * @param channel The channel on the PCM to control (0..7).
    */
   public Solenoid(final int moduleNumber, final int channel) {
     super(moduleNumber);
@@ -97,12 +97,11 @@ public class Solenoid extends SolenoidBase implements Sendable, AutoCloseable {
   }
 
   /**
-   * Set the pulse duration in the PCM. This is used in conjunction with
-   * the startPulse method to allow the PCM to control the timing of a pulse.
-   * The timing can be controlled in 0.01 second increments.
+   * Set the pulse duration in the PCM. This is used in conjunction with the startPulse method to
+   * allow the PCM to control the timing of a pulse. The timing can be controlled in 0.01 second
+   * increments.
    *
    * @param durationSeconds The duration of the pulse, from 0.01 to 2.55 seconds.
-   *
    * @see #startPulse()
    */
   public void setPulseDuration(double durationSeconds) {
@@ -111,8 +110,7 @@ public class Solenoid extends SolenoidBase implements Sendable, AutoCloseable {
   }
 
   /**
-   * Trigger the PCM to generate a pulse of the duration set in
-   * setPulseDuration.
+   * Trigger the PCM to generate a pulse of the duration set in setPulseDuration.
    *
    * @see #setPulseDuration(double)
    */
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Spark.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Spark.java
index 770fc95c94..1e6f55c697 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Spark.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Spark.java
@@ -12,23 +12,21 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
  * REV Robotics SPARK Speed Controller.
  *
  * <p>Note that the SPARK uses the following bounds for PWM values. These values should work
- * reasonably well for most controllers, 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 Spark User Manual
- * available from REV Robotics.
+ * reasonably well for most controllers, 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 Spark User Manual available from REV
+ * Robotics.
  *
- * <p><ul>
- * <li>2.003ms = full "forward"
- * <li>1.550ms = the "high end" of the deadband range
- * <li>1.500ms = center of the deadband range (off)
- * <li>1.460ms = the "low end" of the deadband range
- * <li>0.999ms = full "reverse"
+ * <ul>
+ *   <li>2.003ms = full "forward"
+ *   <li>1.550ms = the "high end" of the deadband range
+ *   <li>1.500ms = center of the deadband range (off)
+ *   <li>1.460ms = the "low end" of the deadband range
+ *   <li>0.999ms = full "reverse"
  * </ul>
  */
 public class Spark extends PWMSpeedController {
-  /**
-   * Common initialization code called by all constructors.
-   */
+  /** Common initialization code called by all constructors. */
   protected void initSpark() {
     setBounds(2.003, 1.55, 1.50, 1.46, 0.999);
     setPeriodMultiplier(PeriodMultiplier.k1X);
@@ -43,7 +41,7 @@ public class Spark extends PWMSpeedController {
    * Constructor.
    *
    * @param channel The PWM channel that the SPARK is attached to. 0-9 are on-board, 10-19 are on
-   *                the MXP port
+   *     the MXP port
    */
   public Spark(final int channel) {
     super(channel);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedController.java
index 5942f05577..50fd11cb27 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedController.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.first.wpilibj;
 
-/**
- * Interface for speed controlling devices.
- */
+/** Interface for speed controlling devices. */
 public interface SpeedController extends PIDOutput {
   /**
    * Common interface for setting the speed of a speed controller.
@@ -16,10 +14,10 @@ public interface SpeedController extends PIDOutput {
   void set(double speed);
 
   /**
-   * Sets the voltage output of the SpeedController.  Compensates for the current bus
-   * voltage to ensure that the desired voltage is output even if the battery voltage is below
-   * 12V - highly useful when the voltage outputs are "meaningful" (e.g. they come from a
-   * feedforward calculation).
+   * Sets the voltage output of the SpeedController. Compensates for the current bus voltage to
+   * ensure that the desired voltage is output even if the battery voltage is below 12V - highly
+   * useful when the voltage outputs are "meaningful" (e.g. they come from a feedforward
+   * calculation).
    *
    * <p>NOTE: This function *must* be called regularly in order for voltage compensation to work
    * properly - unlike the ordinary set function, it is not "set it and forget it."
@@ -51,9 +49,7 @@ public interface SpeedController extends PIDOutput {
    */
   boolean getInverted();
 
-  /**
-   * Disable the speed controller.
-   */
+  /** Disable the speed controller. */
   void disable();
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedControllerGroup.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedControllerGroup.java
index c40cb1b761..f8a9fb2c5e 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedControllerGroup.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedControllerGroup.java
@@ -4,14 +4,11 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.util.Arrays;
-
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import java.util.Arrays;
 
-/**
- * Allows multiple {@link SpeedController} objects to be linked together.
- */
+/** Allows multiple {@link SpeedController} objects to be linked together. */
 public class SpeedControllerGroup implements SpeedController, Sendable, AutoCloseable {
   private boolean m_isInverted;
   private final SpeedController[] m_speedControllers;
@@ -23,8 +20,8 @@ public class SpeedControllerGroup implements SpeedController, Sendable, AutoClos
    * @param speedControllers The SpeedControllers to add
    */
   @SuppressWarnings("PMD.AvoidArrayLoops")
-  public SpeedControllerGroup(SpeedController speedController,
-                              SpeedController... speedControllers) {
+  public SpeedControllerGroup(
+      SpeedController speedController, SpeedController... speedControllers) {
     m_speedControllers = new SpeedController[speedControllers.length + 1];
     m_speedControllers[0] = speedController;
     for (int i = 0; i < speedControllers.length; i++) {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Talon.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Talon.java
index 2010599709..355e7934a2 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Talon.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Talon.java
@@ -12,17 +12,16 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
  * Cross the Road Electronics (CTRE) Talon and Talon SR Speed Controller.
  *
  * <p>Note that the Talon uses the following bounds for PWM values. These values should work
- * reasonably well for most controllers, 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 Talon User Manual
- * available from CTRE.
+ * reasonably well for most controllers, 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 Talon User Manual available from CTRE.
  *
- * <p><ul>
- * <li>2.037ms = full "forward"
- * <li>1.539ms = the "high end" of the deadband range
- * <li>1.513ms = center of the deadband range (off)
- * <li>1.487ms = the "low end" of the deadband range
- * <li>0.989ms = full "reverse"
+ * <ul>
+ *   <li>2.037ms = full "forward"
+ *   <li>1.539ms = the "high end" of the deadband range
+ *   <li>1.513ms = center of the deadband range (off)
+ *   <li>1.487ms = the "low end" of the deadband range
+ *   <li>0.989ms = full "reverse"
  * </ul>
  */
 public class Talon extends PWMSpeedController {
@@ -30,7 +29,7 @@ public class Talon extends PWMSpeedController {
    * Constructor for a Talon (original or Talon SR).
    *
    * @param channel The PWM channel that the Talon is attached to. 0-9 are on-board, 10-19 are on
-   *                the MXP port
+   *     the MXP port
    */
   public Talon(final int channel) {
     super(channel);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Threads.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Threads.java
index 9b7707285c..3733a9267e 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Threads.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Threads.java
@@ -8,35 +8,34 @@ import edu.wpi.first.hal.ThreadsJNI;
 
 public final class Threads {
   /**
-  * Get the thread priority for the current thread.
-  * @return The current thread priority. Scaled 1-99.
-  */
+   * Get the thread priority for the current thread.
+   *
+   * @return The current thread priority. Scaled 1-99.
+   */
   public static int getCurrentThreadPriority() {
     return ThreadsJNI.getCurrentThreadPriority();
   }
 
   /**
-  * Get if the current thread is realtime.
-  * @return If the current thread is realtime
-  */
+   * Get if the current thread is realtime.
+   *
+   * @return If the current thread is realtime
+   */
   public static boolean getCurrentThreadIsRealTime() {
     return ThreadsJNI.getCurrentThreadIsRealTime();
   }
 
   /**
-  * Sets the thread priority for the current thread.
-  *
-  * @param realTime Set to true to set a realtime priority, false for standard
-  *     priority
-  * @param priority Priority to set the thread to. Scaled 1-99, with 1 being
-  *     highest. On RoboRIO, priority is ignored for non realtime setting
-  *
-  * @return The success state of setting the priority
-  */
+   * Sets the thread priority for the current thread.
+   *
+   * @param realTime Set to true to set a realtime priority, false for standard priority
+   * @param priority Priority to set the thread to. Scaled 1-99, with 1 being highest. On RoboRIO,
+   *     priority is ignored for non realtime setting
+   * @return The success state of setting the priority
+   */
   public static boolean setCurrentThreadPriority(boolean realTime, int priority) {
     return ThreadsJNI.setCurrentThreadPriority(realTime, priority);
   }
 
-  private Threads() {
-  }
+  private Threads() {}
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
index 49c6227496..655758b3de 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
@@ -4,12 +4,11 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.util.PriorityQueue;
-
 import edu.wpi.first.hal.FRCNetComm.tInstances;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.NotifierJNI;
+import java.util.PriorityQueue;
 
 /**
  * TimedRobot implements the IterativeRobotBase robot program framework.
@@ -28,20 +27,20 @@ public class TimedRobot extends IterativeRobotBase {
     /**
      * Construct a callback container.
      *
-     * @param func             The callback to run.
-     * @param startTimeSeconds The common starting point for all callback
-     *                         scheduling in seconds.
-     * @param periodSeconds    The period at which to run the callback in
-     *                         seconds.
-     * @param offsetSeconds    The offset from the common starting time in
-     *                         seconds.
+     * @param func The callback to run.
+     * @param startTimeSeconds The common starting point for all callback scheduling in seconds.
+     * @param periodSeconds The period at which to run the callback in seconds.
+     * @param offsetSeconds The offset from the common starting time in seconds.
      */
     Callback(Runnable func, double startTimeSeconds, double periodSeconds, double offsetSeconds) {
       this.func = func;
       this.period = periodSeconds;
-      this.expirationTime = startTimeSeconds + offsetSeconds
-        + Math.floor((Timer.getFPGATimestamp() - startTimeSeconds)
-            / this.period) * this.period + this.period;
+      this.expirationTime =
+          startTimeSeconds
+              + offsetSeconds
+              + Math.floor((Timer.getFPGATimestamp() - startTimeSeconds) / this.period)
+                  * this.period
+              + this.period;
     }
 
     @Override
@@ -62,9 +61,7 @@ public class TimedRobot extends IterativeRobotBase {
 
   private final PriorityQueue<Callback> m_callbacks = new PriorityQueue<>();
 
-  /**
-   * Constructor for TimedRobot.
-   */
+  /** Constructor for TimedRobot. */
   protected TimedRobot() {
     this(kDefaultPeriod);
   }
@@ -90,9 +87,7 @@ public class TimedRobot extends IterativeRobotBase {
     NotifierJNI.cleanNotifier(m_notifier);
   }
 
-  /**
-   * Provide an alternate "main loop" via startCompetition().
-   */
+  /** Provide an alternate "main loop" via startCompetition(). */
   @Override
   @SuppressWarnings("UnsafeFinalization")
   public void startCompetition() {
@@ -136,17 +131,13 @@ public class TimedRobot extends IterativeRobotBase {
     }
   }
 
-  /**
-   * Ends the main loop in startCompetition().
-   */
+  /** Ends the main loop in startCompetition(). */
   @Override
   public void endCompetition() {
     NotifierJNI.stopNotifier(m_notifier);
   }
 
-  /**
-   * Get time period between calls to Periodic() functions.
-   */
+  /** Get time period between calls to Periodic() functions. */
   public double getPeriod() {
     return m_period;
   }
@@ -157,7 +148,7 @@ public class TimedRobot extends IterativeRobotBase {
    * <p>This is scheduled on TimedRobot's Notifier, so TimedRobot and the callback run
    * synchronously. Interactions between them are thread-safe.
    *
-   * @param callback      The callback to run.
+   * @param callback The callback to run.
    * @param periodSeconds The period at which to run the callback in seconds.
    */
   public void addPeriodic(Runnable callback, double periodSeconds) {
@@ -170,11 +161,10 @@ public class TimedRobot extends IterativeRobotBase {
    * <p>This is scheduled on TimedRobot's Notifier, so TimedRobot and the callback run
    * synchronously. Interactions between them are thread-safe.
    *
-   * @param callback      The callback to run.
+   * @param callback The callback to run.
    * @param periodSeconds The period at which to run the callback in seconds.
-   * @param offsetSeconds The offset from the common starting time in seconds.
-   *                      This is useful for scheduling a callback in a
-   *                      different timeslot relative to TimedRobot.
+   * @param offsetSeconds The offset from the common starting time in seconds. This is useful for
+   *     scheduling a callback in a different timeslot relative to TimedRobot.
    */
   public void addPeriodic(Runnable callback, double periodSeconds, double offsetSeconds) {
     m_callbacks.add(new Callback(callback, m_startTime, periodSeconds, offsetSeconds));
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java
index b3547ab36c..013d8068d8 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java
@@ -20,8 +20,8 @@ public class Timer {
    * Return the approximate match time. The FMS does not send an official match time to the robots,
    * but does send an approximate match time. The value will count down the time remaining in the
    * current period (auto or teleop). Warning: This is not an official time (so it cannot be used to
-   * dispute ref calls or guarantee that a function will trigger before the match ends) The
-   * Practice Match function of the DS approximates the behavior seen on the field.
+   * dispute ref calls or guarantee that a function will trigger before the match ends) The Practice
+   * Match function of the DS approximates the behavior seen on the field.
    *
    * @return Time remaining in current match period (auto or teleop) in seconds
    */
@@ -49,9 +49,7 @@ public class Timer {
   private double m_accumulatedTime;
   private boolean m_running;
 
-  /**
-   * Lock for synchronization.
-   */
+  /** Lock for synchronization. */
   private final Object m_lock = new Object();
 
   @SuppressWarnings("MissingJavadocMethod")
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Tracer.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Tracer.java
index 148a837858..ea04192d2d 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Tracer.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Tracer.java
@@ -9,12 +9,12 @@ import java.util.Map;
 import java.util.function.Consumer;
 
 /**
- * A class for keeping track of how much time it takes for different parts of code to execute.
- * This is done with epochs, that are added by calls to {@link #addEpoch(String)},
- * and can be printed with a call to {@link #printEpochs()}.
+ * A class for keeping track of how much time it takes for different parts of code to execute. This
+ * is done with epochs, that are added by calls to {@link #addEpoch(String)}, and can be printed
+ * with a call to {@link #printEpochs()}.
  *
- * <p>Epochs are a way to partition the time elapsed so that when overruns occur, one can
- * determine which parts of an operation consumed the most time.
+ * <p>Epochs are a way to partition the time elapsed so that when overruns occur, one can determine
+ * which parts of an operation consumed the most time.
  */
 public class Tracer {
   private static final long kMinPrintPeriod = 1000000; // microseconds
@@ -25,24 +25,18 @@ public class Tracer {
   @SuppressWarnings("PMD.UseConcurrentHashMap")
   private final Map<String, Long> m_epochs = new HashMap<>(); // microseconds
 
-  /**
-   * Tracer constructor.
-   */
+  /** Tracer constructor. */
   public Tracer() {
     resetTimer();
   }
 
-  /**
-   * Clears all epochs.
-   */
+  /** Clears all epochs. */
   public void clearEpochs() {
     m_epochs.clear();
     resetTimer();
   }
 
-  /**
-   * Restarts the epoch timer.
-   */
+  /** Restarts the epoch timer. */
   public void resetTimer() {
     m_startTime = RobotController.getFPGATime();
   }
@@ -53,8 +47,8 @@ public class Tracer {
    * <p>Epochs are a way to partition the time elapsed so that when overruns occur, one can
    * determine which parts of an operation consumed the most time.
    *
-   * <p>This should be called immediately after execution has finished,
-   * with a call to this method or {@link #resetTimer()} before execution.
+   * <p>This should be called immediately after execution has finished, with a call to this method
+   * or {@link #resetTimer()} before execution.
    *
    * @param epochName The name to associate with the epoch.
    */
@@ -64,9 +58,7 @@ public class Tracer {
     m_startTime = currentTime;
   }
 
-  /**
-   * Prints list of epochs added so far and their times to the DriverStation.
-   */
+  /** Prints list of epochs added so far and their times to the DriverStation. */
   public void printEpochs() {
     printEpochs(out -> DriverStation.reportWarning(out, false));
   }
@@ -83,9 +75,10 @@ public class Tracer {
     if (now - m_lastEpochsPrintTime > kMinPrintPeriod) {
       StringBuilder sb = new StringBuilder();
       m_lastEpochsPrintTime = now;
-      m_epochs.forEach((key, value) -> {
-        sb.append(String.format("\t%s: %.6fs\n", key, value / 1.0e6));
-      });
+      m_epochs.forEach(
+          (key, value) -> {
+            sb.append(String.format("\t%s: %.6fs\n", key, value / 1.0e6));
+          });
       if (sb.length() > 0) {
         output.accept(sb.toString());
       }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java
index 9885226ac6..c1bfc46f04 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java
@@ -4,8 +4,7 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.util.ArrayList;
-import java.util.List;
+import static java.util.Objects.requireNonNull;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
@@ -14,8 +13,8 @@ import edu.wpi.first.hal.SimDevice;
 import edu.wpi.first.hal.SimDouble;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
-
-import static java.util.Objects.requireNonNull;
+import java.util.ArrayList;
+import java.util.List;
 
 /**
  * Ultrasonic rangefinder class. The Ultrasonic rangefinder measures absolute distance based on the
@@ -27,17 +26,11 @@ import static java.util.Objects.requireNonNull;
  * flight).
  */
 public class Ultrasonic implements PIDSource, Sendable, AutoCloseable {
-  /**
-   * The units to return when PIDGet is called.
-   */
+  /** The units to return when PIDGet is called. */
   public enum Unit {
-    /**
-     * Use inches for PIDGet.
-     */
+    /** Use inches for PIDGet. */
     kInches,
-    /**
-     * Use millimeters for PIDGet.
-     */
+    /** Use millimeters for PIDGet. */
     kMillimeters
   }
 
@@ -76,16 +69,16 @@ public class Ultrasonic implements PIDSource, Sendable, AutoCloseable {
     @Override
     public synchronized void run() {
       while (m_automaticEnabled) {
-        for (Ultrasonic sensor: m_sensors) {
+        for (Ultrasonic sensor : m_sensors) {
           if (!m_automaticEnabled) {
             break;
           }
 
           if (sensor.isEnabled()) {
-            sensor.m_pingChannel.pulse(kPingTime);  // do the ping
+            sensor.m_pingChannel.pulse(kPingTime); // do the ping
           }
 
-          Timer.delay(0.1);  // wait for ping to return
+          Timer.delay(0.1); // wait for ping to return
         }
       }
     }
@@ -131,11 +124,10 @@ public class Ultrasonic implements PIDSource, Sendable, AutoCloseable {
    * and Vex ultrasonic sensors.
    *
    * @param pingChannel The digital output channel that sends the pulse to initiate the sensor
-   *                    sending the ping.
+   *     sending the ping.
    * @param echoChannel The digital input channel that receives the echo. The length of time that
-   *                    the echo is high represents the round trip time of the ping, and the
-   *                    distance.
-   * @param units       The units returned in either kInches or kMilliMeters
+   *     the echo is high represents the round trip time of the ping, and the distance.
+   * @param units The units returned in either kInches or kMilliMeters
    */
   public Ultrasonic(final int pingChannel, final int echoChannel, Unit units) {
     m_pingChannel = new DigitalOutput(pingChannel);
@@ -152,10 +144,9 @@ public class Ultrasonic implements PIDSource, Sendable, AutoCloseable {
    * and Vex ultrasonic sensors. Default unit is inches.
    *
    * @param pingChannel The digital output channel that sends the pulse to initiate the sensor
-   *                    sending the ping.
+   *     sending the ping.
    * @param echoChannel The digital input channel that receives the echo. The length of time that
-   *                    the echo is high represents the round trip time of the ping, and the
-   *                    distance.
+   *     the echo is high represents the round trip time of the ping, and the distance.
    */
   public Ultrasonic(final int pingChannel, final int echoChannel) {
     this(pingChannel, echoChannel, Unit.kInches);
@@ -166,10 +157,9 @@ public class Ultrasonic implements PIDSource, Sendable, AutoCloseable {
    * DigitalOutput for the ping channel.
    *
    * @param pingChannel The digital output object that starts the sensor doing a ping. Requires a
-   *                    10uS pulse to start.
-   * @param echoChannel The digital input object that times the return pulse to determine the
-   *                    range.
-   * @param units       The units returned in either kInches or kMilliMeters
+   *     10uS pulse to start.
+   * @param echoChannel The digital input object that times the return pulse to determine the range.
+   * @param units The units returned in either kInches or kMilliMeters
    */
   public Ultrasonic(DigitalOutput pingChannel, DigitalInput echoChannel, Unit units) {
     requireNonNull(pingChannel, "Provided ping channel was null");
@@ -187,9 +177,8 @@ public class Ultrasonic implements PIDSource, Sendable, AutoCloseable {
    * DigitalOutput for the ping channel. Default unit is inches.
    *
    * @param pingChannel The digital output object that starts the sensor doing a ping. Requires a
-   *                    10uS pulse to start.
-   * @param echoChannel The digital input object that times the return pulse to determine the
-   *                    range.
+   *     10uS pulse to start.
+   * @param echoChannel The digital input object that times the return pulse to determine the range.
    */
   public Ultrasonic(DigitalOutput pingChannel, DigitalInput echoChannel) {
     this(pingChannel, echoChannel, Unit.kInches);
@@ -242,10 +231,9 @@ public class Ultrasonic implements PIDSource, Sendable, AutoCloseable {
    * each sensor.
    *
    * @param enabling Set to true if round robin scheduling should start for all the ultrasonic
-   *                 sensors. This scheduling method assures that the sensors are non-interfering
-   *                 because no two sensors fire at the same time. If another scheduling algorithm
-   *                 is preferred, it can be implemented by pinging the sensors manually and waiting
-   *                 for the results to come back.
+   *     sensors. This scheduling method assures that the sensors are non-interfering because no two
+   *     sensors fire at the same time. If another scheduling algorithm is preferred, it can be
+   *     implemented by pinging the sensors manually and waiting for the results to come back.
    */
   public static void setAutomaticMode(boolean enabling) {
     if (enabling == m_automaticEnabled) {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Victor.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Victor.java
index 62a777abf9..0c4229cad7 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Victor.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Victor.java
@@ -9,30 +9,30 @@ import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /**
- * VEX Robotics Victor 888 Speed Controller The Vex Robotics Victor 884 Speed Controller can also
- * be used with this class but may need to be calibrated per the Victor 884 user manual.
+ * VEX Robotics Victor 888 Speed Controller The Vex Robotics Victor 884 Speed Controller can also be
+ * used with this class but may need to be calibrated per the Victor 884 user manual.
  *
  * <p>Note that the Victor uses the following bounds for PWM values. These values were determined
- * empirically and optimized for the Victor 888. These values should work reasonably well for
- * Victor 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
+ * empirically and optimized for the Victor 888. These values should work reasonably well for Victor
+ * 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
  *
- * <p><ul>
- * <li>2.027ms = full "forward"
- * <li>1.525ms = the "high end" of the deadband range
- * <li>1.507ms = center of the deadband range (off)
- * <li>1.490ms = the "low end" of the deadband range
- * <li>1.026ms = full "reverse"
+ * <ul>
+ *   <li>2.027ms = full "forward"
+ *   <li>1.525ms = the "high end" of the deadband range
+ *   <li>1.507ms = center of the deadband range (off)
+ *   <li>1.490ms = the "low end" of the deadband range
+ *   <li>1.026ms = full "reverse"
  * </ul>
  */
 public class Victor extends PWMSpeedController {
   /**
    * Constructor.
    *
-   * @param channel The PWM channel that the Victor is attached to. 0-9 are
-   *        on-board, 10-19 are on the MXP port
+   * @param channel The PWM channel that the Victor is attached to. 0-9 are on-board, 10-19 are on
+   *     the MXP port
    */
   public Victor(final int channel) {
     super(channel);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/VictorSP.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/VictorSP.java
index f7f08e75f0..2f04f79370 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/VictorSP.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/VictorSP.java
@@ -12,25 +12,25 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
  * VEX Robotics Victor SP Speed Controller.
  *
  * <p>Note that the VictorSP uses the following bounds for PWM values. These values should work
- * reasonably well for most controllers, 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 VictorSP User Manual
- * available from CTRE.
+ * reasonably well for most controllers, 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 VictorSP User Manual available from
+ * CTRE.
  *
- * <p><ul>
- * <li>2.004ms = full "forward"
- * <li>1.520ms = the "high end" of the deadband range
- * <li>1.500ms = center of the deadband range (off)
- * <li>1.480ms = the "low end" of the deadband range
- * <li>0.997ms = full "reverse"
+ * <ul>
+ *   <li>2.004ms = full "forward"
+ *   <li>1.520ms = the "high end" of the deadband range
+ *   <li>1.500ms = center of the deadband range (off)
+ *   <li>1.480ms = the "low end" of the deadband range
+ *   <li>0.997ms = full "reverse"
  * </ul>
  */
 public class VictorSP extends PWMSpeedController {
   /**
    * Constructor.
    *
-   * @param channel The PWM channel that the VictorSP is attached to. 0-9 are
-   *        on-board, 10-19 are on the MXP port
+   * @param channel The PWM channel that the VictorSP is attached to. 0-9 are on-board, 10-19 are on
+   *     the MXP port
    */
   public VictorSP(final int channel) {
     super(channel);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java
index 962f527dbe..3663669d30 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java
@@ -4,12 +4,11 @@
 
 package edu.wpi.first.wpilibj;
 
+import edu.wpi.first.hal.NotifierJNI;
 import java.io.Closeable;
 import java.util.PriorityQueue;
 import java.util.concurrent.locks.ReentrantLock;
 
-import edu.wpi.first.hal.NotifierJNI;
-
 /**
  * A class that's a wrapper around a watchdog timer.
  *
@@ -47,7 +46,7 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
   /**
    * Watchdog constructor.
    *
-   * @param timeout  The watchdog's timeout in seconds with microsecond resolution.
+   * @param timeout The watchdog's timeout in seconds with microsecond resolution.
    * @param callback This function is called when the timeout expires.
    */
   public Watchdog(double timeout, Runnable callback) {
@@ -82,9 +81,7 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
     return Double.hashCode(m_expirationTime);
   }
 
-  /**
-   * Returns the time in seconds since the watchdog was last fed.
-   */
+  /** Returns the time in seconds since the watchdog was last fed. */
   public double getTime() {
     return Timer.getFPGATimestamp() - m_startTime;
   }
@@ -92,8 +89,7 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
   /**
    * Sets the watchdog's timeout.
    *
-   * @param timeout The watchdog's timeout in seconds with microsecond
-   *                resolution.
+   * @param timeout The watchdog's timeout in seconds with microsecond resolution.
    */
   public void setTimeout(double timeout) {
     m_startTime = Timer.getFPGATimestamp();
@@ -113,9 +109,7 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
     }
   }
 
-  /**
-   * Returns the watchdog's timeout in seconds.
-   */
+  /** Returns the watchdog's timeout in seconds. */
   public double getTimeout() {
     m_queueMutex.lock();
     try {
@@ -125,9 +119,7 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
     }
   }
 
-  /**
-   * Returns true if the watchdog timer has expired.
-   */
+  /** Returns true if the watchdog timer has expired. */
   public boolean isExpired() {
     m_queueMutex.lock();
     try {
@@ -141,7 +133,6 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
    * Adds time since last epoch to the list printed by printEpochs().
    *
    * @see Tracer#addEpoch(String)
-   *
    * @param epochName The name to associate with the epoch.
    */
   public void addEpoch(String epochName) {
@@ -150,6 +141,7 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
 
   /**
    * Prints list of epochs added so far and their times.
+   *
    * @see Tracer#printEpochs()
    */
   public void printEpochs() {
@@ -165,9 +157,7 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
     enable();
   }
 
-  /**
-   * Enables the watchdog timer.
-   */
+  /** Enables the watchdog timer. */
   public void enable() {
     m_startTime = Timer.getFPGATimestamp();
     m_tracer.clearEpochs();
@@ -185,9 +175,7 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
     }
   }
 
-  /**
-   * Disables the watchdog timer.
-   */
+  /** Disables the watchdog timer. */
   public void disable() {
     m_queueMutex.lock();
     try {
@@ -213,8 +201,8 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
     if (m_watchdogs.size() == 0) {
       NotifierJNI.cancelNotifierAlarm(m_notifier);
     } else {
-      NotifierJNI.updateNotifierAlarm(m_notifier,
-          (long) (m_watchdogs.peek().m_expirationTime * 1e6));
+      NotifierJNI.updateNotifierAlarm(
+          m_notifier, (long) (m_watchdogs.peek().m_expirationTime * 1e6));
     }
   }
 
@@ -248,8 +236,7 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
           watchdog.m_lastTimeoutPrintTime = now;
           if (!watchdog.m_suppressTimeoutMessage) {
             DriverStation.reportWarning(
-                String.format("Watchdog not fed within %.6fs\n", watchdog.m_timeout),
-                false);
+                String.format("Watchdog not fed within %.6fs\n", watchdog.m_timeout), false);
           }
         }
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java
index d99ae2bebd..f1181c561f 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java
@@ -15,9 +15,7 @@ import edu.wpi.first.hal.HAL;
  * and the mapping of ports to hardware buttons depends on the code in the Driver Station.
  */
 public class XboxController extends GenericHID {
-  /**
-   * Represents a digital button on an XboxController.
-   */
+  /** Represents a digital button on an XboxController. */
   public enum Button {
     kBumperLeft(5),
     kBumperRight(6),
@@ -38,9 +36,7 @@ public class XboxController extends GenericHID {
     }
   }
 
-  /**
-   * Represents an axis on an XboxController.
-   */
+  /** Represents an axis on an XboxController. */
   public enum Axis {
     kLeftX(0),
     kRightX(4),
@@ -58,8 +54,7 @@ public class XboxController extends GenericHID {
   }
 
   /**
-   * Construct an instance of a joystick. The joystick index is the USB port on the drivers
-   * station.
+   * Construct an instance of a joystick. The joystick index is the USB port on the drivers station.
    *
    * @param port The port on the Driver Station that the joystick is plugged into.
    */
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/ControllerUtil.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/ControllerUtil.java
index caeef88796..bbb9dd3c10 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/ControllerUtil.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/ControllerUtil.java
@@ -6,16 +6,15 @@ package edu.wpi.first.wpilibj.controller;
 
 public final class ControllerUtil {
   /**
-   * Returns modulus of error where error is the difference between the reference
-   * and a measurement.
+   * Returns modulus of error where error is the difference between the reference and a measurement.
    *
    * @param reference Reference input of a controller.
    * @param measurement The current measurement.
    * @param minimumInput The minimum value expected from the input.
    * @param maximumInput The maximum value expected from the input.
    */
-  public static double getModulusError(double reference, double measurement, double minimumInput,
-      double maximumInput) {
+  public static double getModulusError(
+      double reference, double measurement, double minimumInput, double maximumInput) {
     double error = reference - measurement;
     double modulus = maximumInput - minimumInput;
 
@@ -30,6 +29,5 @@ public final class ControllerUtil {
     return error;
   }
 
-  private ControllerUtil() {
-  }
+  private ControllerUtil() {}
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/HolonomicDriveController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/HolonomicDriveController.java
index 50848d54d2..191dd57866 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/HolonomicDriveController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/HolonomicDriveController.java
@@ -10,15 +10,15 @@ import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.trajectory.Trajectory;
 
 /**
- * This holonomic drive controller can be used to follow trajectories using a
- * holonomic drive train (i.e. swerve or mecanum). Holonomic trajectory following
- * is a much simpler problem to solve compared to skid-steer style drivetrains because
- * it is possible to individually control forward, sideways, and angular velocity.
+ * This holonomic drive controller can be used to follow trajectories using a holonomic drive train
+ * (i.e. swerve or mecanum). Holonomic trajectory following is a much simpler problem to solve
+ * compared to skid-steer style drivetrains because it is possible to individually control forward,
+ * sideways, and angular velocity.
  *
- * <p>The holonomic drive controller takes in one PID controller for each direction, forward
- * and sideways, and one profiled PID controller for the angular direction. Because the
- * heading dynamics are decoupled from translations, users can specify a custom heading
- * that the drivetrain should point toward. This heading reference is profiled for smoothness.
+ * <p>The holonomic drive controller takes in one PID controller for each direction, forward and
+ * sideways, and one profiled PID controller for the angular direction. Because the heading dynamics
+ * are decoupled from translations, users can specify a custom heading that the drivetrain should
+ * point toward. This heading reference is profiled for smoothness.
  */
 @SuppressWarnings("MemberName")
 public class HolonomicDriveController {
@@ -33,14 +33,13 @@ public class HolonomicDriveController {
   /**
    * Constructs a holonomic drive controller.
    *
-   * @param xController     A PID Controller to respond to error in the field-relative x direction.
-   * @param yController     A PID Controller to respond to error in the field-relative y direction.
+   * @param xController A PID Controller to respond to error in the field-relative x direction.
+   * @param yController A PID Controller to respond to error in the field-relative y direction.
    * @param thetaController A profiled PID controller to respond to error in angle.
    */
   @SuppressWarnings("ParameterName")
-  public HolonomicDriveController(PIDController xController,
-                                  PIDController yController,
-                                  ProfiledPIDController thetaController) {
+  public HolonomicDriveController(
+      PIDController xController, PIDController yController, ProfiledPIDController thetaController) {
     m_xController = xController;
     m_yController = yController;
     m_thetaController = thetaController;
@@ -73,22 +72,20 @@ public class HolonomicDriveController {
   /**
    * Returns the next output of the holonomic drive controller.
    *
-   * @param currentPose             The current pose.
-   * @param poseRef                 The desired pose.
+   * @param currentPose The current pose.
+   * @param poseRef The desired pose.
    * @param linearVelocityRefMeters The linear velocity reference.
-   * @param angleRef                The angular reference.
+   * @param angleRef The angular reference.
    * @return The next output of the holonomic drive controller.
    */
   @SuppressWarnings("LocalVariableName")
-  public ChassisSpeeds calculate(Pose2d currentPose,
-                                 Pose2d poseRef,
-                                 double linearVelocityRefMeters,
-                                 Rotation2d angleRef) {
+  public ChassisSpeeds calculate(
+      Pose2d currentPose, Pose2d poseRef, double linearVelocityRefMeters, Rotation2d angleRef) {
     // Calculate feedforward velocities (field-relative).
     double xFF = linearVelocityRefMeters * poseRef.getRotation().getCos();
     double yFF = linearVelocityRefMeters * poseRef.getRotation().getSin();
-    double thetaFF = m_thetaController.calculate(currentPose.getRotation().getRadians(),
-        angleRef.getRadians());
+    double thetaFF =
+        m_thetaController.calculate(currentPose.getRotation().getRadians(), angleRef.getRadians());
 
     m_poseError = poseRef.relativeTo(currentPose);
 
@@ -101,27 +98,27 @@ public class HolonomicDriveController {
     double yFeedback = m_yController.calculate(currentPose.getY(), poseRef.getY());
 
     // Return next output.
-    return ChassisSpeeds.fromFieldRelativeSpeeds(xFF + xFeedback,
-        yFF + yFeedback, thetaFF, currentPose.getRotation());
+    return ChassisSpeeds.fromFieldRelativeSpeeds(
+        xFF + xFeedback, yFF + yFeedback, thetaFF, currentPose.getRotation());
   }
 
   /**
    * Returns the next output of the holonomic drive controller.
    *
-   * @param currentPose  The current pose.
+   * @param currentPose The current pose.
    * @param desiredState The desired trajectory state.
-   * @param angleRef     The desired end-angle.
+   * @param angleRef The desired end-angle.
    * @return The next output of the holonomic drive controller.
    */
-  public ChassisSpeeds calculate(Pose2d currentPose, Trajectory.State desiredState,
-                                 Rotation2d angleRef) {
-    return calculate(currentPose, desiredState.poseMeters, desiredState.velocityMetersPerSecond,
-        angleRef);
+  public ChassisSpeeds calculate(
+      Pose2d currentPose, Trajectory.State desiredState, Rotation2d angleRef) {
+    return calculate(
+        currentPose, desiredState.poseMeters, desiredState.velocityMetersPerSecond, angleRef);
   }
 
   /**
-   * Enables and disables the controller for troubleshooting problems. When calculate()
-   * is called on a disabled controller, only feedforward values are returned.
+   * Enables and disables the controller for troubleshooting problems. When calculate() is called on
+   * a disabled controller, only feedforward values are returned.
    *
    * @param enabled If the controller is enabled or not.
    */
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java
index b94ad9b077..007f18cc90 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java
@@ -11,9 +11,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 import edu.wpi.first.wpiutil.math.MathUtil;
 
-/**
- * Implements a PID control loop.
- */
+/** Implements a PID control loop. */
 @SuppressWarnings("PMD.TooManyFields")
 public class PIDController implements Sendable, AutoCloseable {
   private static int instances;
@@ -73,9 +71,9 @@ public class PIDController implements Sendable, AutoCloseable {
   /**
    * Allocates a PIDController with the given constants for kp, ki, and kd.
    *
-   * @param kp     The proportional coefficient.
-   * @param ki     The integral coefficient.
-   * @param kd     The derivative coefficient.
+   * @param kp The proportional coefficient.
+   * @param ki The integral coefficient.
+   * @param kd The derivative coefficient.
    * @param period The period between controller updates in seconds.
    */
   public PIDController(double kp, double ki, double kd, double period) {
@@ -202,8 +200,8 @@ public class PIDController implements Sendable, AutoCloseable {
   public boolean atSetpoint() {
     double positionError;
     if (m_continuous) {
-      positionError = ControllerUtil.getModulusError(m_setpoint, m_measurement, m_minimumInput,
-          m_maximumInput);
+      positionError =
+          ControllerUtil.getModulusError(m_setpoint, m_measurement, m_minimumInput, m_maximumInput);
     } else {
       positionError = m_setpoint - m_measurement;
     }
@@ -217,9 +215,8 @@ public class PIDController implements Sendable, AutoCloseable {
   /**
    * Enables continuous input.
    *
-   * <p>Rather then using the max and min input range as constraints, it considers
-   * them to be the same point and automatically calculates the shortest route
-   * to the setpoint.
+   * <p>Rather then using the max and min input range as constraints, it considers them to be the
+   * same point and automatically calculates the shortest route to the setpoint.
    *
    * @param minimumInput The minimum value expected from the input.
    * @param maximumInput The maximum value expected from the input.
@@ -230,16 +227,12 @@ public class PIDController implements Sendable, AutoCloseable {
     m_maximumInput = maximumInput;
   }
 
-  /**
-   * Disables continuous input.
-   */
+  /** Disables continuous input. */
   public void disableContinuousInput() {
     m_continuous = false;
   }
 
-  /**
-   * Returns true if continuous input is enabled.
-   */
+  /** Returns true if continuous input is enabled. */
   public boolean isContinuousInputEnabled() {
     return m_continuous;
   }
@@ -247,8 +240,8 @@ public class PIDController implements Sendable, AutoCloseable {
   /**
    * Sets the minimum and maximum values for the integrator.
    *
-   * <p>When the cap is reached, the integrator value is added to the controller
-   * output rather than the integrator value times the integral gain.
+   * <p>When the cap is reached, the integrator value is added to the controller output rather than
+   * the integrator value times the integral gain.
    *
    * @param minimumIntegral The minimum value of the integrator.
    * @param maximumIntegral The maximum value of the integrator.
@@ -287,9 +280,7 @@ public class PIDController implements Sendable, AutoCloseable {
     return m_positionError;
   }
 
-  /**
-   * Returns the velocity error.
-   */
+  /** Returns the velocity error. */
   public double getVelocityError() {
     return m_velocityError;
   }
@@ -298,7 +289,7 @@ public class PIDController implements Sendable, AutoCloseable {
    * Returns the next output of the PID controller.
    *
    * @param measurement The current measurement of the process variable.
-   * @param setpoint    The new setpoint of the controller.
+   * @param setpoint The new setpoint of the controller.
    */
   public double calculate(double measurement, double setpoint) {
     // Set setpoint to provided value
@@ -316,8 +307,8 @@ public class PIDController implements Sendable, AutoCloseable {
     m_prevError = m_positionError;
 
     if (m_continuous) {
-      m_positionError = ControllerUtil.getModulusError(m_setpoint, measurement, m_minimumInput,
-          m_maximumInput);
+      m_positionError =
+          ControllerUtil.getModulusError(m_setpoint, measurement, m_minimumInput, m_maximumInput);
     } else {
       m_positionError = m_setpoint - measurement;
     }
@@ -325,16 +316,17 @@ public class PIDController implements Sendable, AutoCloseable {
     m_velocityError = (m_positionError - m_prevError) / m_period;
 
     if (m_ki != 0) {
-      m_totalError = MathUtil.clamp(m_totalError + m_positionError * m_period,
-          m_minimumIntegral / m_ki, m_maximumIntegral / m_ki);
+      m_totalError =
+          MathUtil.clamp(
+              m_totalError + m_positionError * m_period,
+              m_minimumIntegral / m_ki,
+              m_maximumIntegral / m_ki);
     }
 
     return m_kp * m_positionError + m_ki * m_totalError + m_kd * m_velocityError;
   }
 
-  /**
-   * Resets the previous error and the integral term.
-   */
+  /** Resets the previous error and the integral term. */
   public void reset() {
     m_prevError = 0;
     m_totalError = 0;
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/ProfiledPIDController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/ProfiledPIDController.java
index 6241e06f84..1487cd5e66 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/ProfiledPIDController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/ProfiledPIDController.java
@@ -11,9 +11,8 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
 
 /**
- * Implements a PID control loop whose setpoint is constrained by a trapezoid
- * profile. Users should call reset() when they first start running the controller
- * to avoid unwanted behavior.
+ * Implements a PID control loop whose setpoint is constrained by a trapezoid profile. Users should
+ * call reset() when they first start running the controller to avoid unwanted behavior.
  */
 public class ProfiledPIDController implements Sendable {
   private static int instances;
@@ -26,35 +25,31 @@ public class ProfiledPIDController implements Sendable {
   private TrapezoidProfile.Constraints m_constraints;
 
   /**
-   * Allocates a ProfiledPIDController with the given constants for Kp, Ki, and
-   * Kd.
+   * Allocates a ProfiledPIDController with the given constants for Kp, Ki, and Kd.
    *
-   * @param Kp          The proportional coefficient.
-   * @param Ki          The integral coefficient.
-   * @param Kd          The derivative coefficient.
+   * @param Kp The proportional coefficient.
+   * @param Ki The integral coefficient.
+   * @param Kd The derivative coefficient.
    * @param constraints Velocity and acceleration constraints for goal.
    */
   @SuppressWarnings("ParameterName")
-  public ProfiledPIDController(double Kp, double Ki, double Kd,
-                        TrapezoidProfile.Constraints constraints) {
+  public ProfiledPIDController(
+      double Kp, double Ki, double Kd, TrapezoidProfile.Constraints constraints) {
     this(Kp, Ki, Kd, constraints, 0.02);
   }
 
   /**
-   * Allocates a ProfiledPIDController with the given constants for Kp, Ki, and
-   * Kd.
+   * Allocates a ProfiledPIDController with the given constants for Kp, Ki, and Kd.
    *
-   * @param Kp          The proportional coefficient.
-   * @param Ki          The integral coefficient.
-   * @param Kd          The derivative coefficient.
+   * @param Kp The proportional coefficient.
+   * @param Ki The integral coefficient.
+   * @param Kd The derivative coefficient.
    * @param constraints Velocity and acceleration constraints for goal.
-   * @param period      The period between controller updates in seconds. The
-   *                    default is 0.02 seconds.
+   * @param period The period between controller updates in seconds. The default is 0.02 seconds.
    */
   @SuppressWarnings("ParameterName")
-  public ProfiledPIDController(double Kp, double Ki, double Kd,
-                        TrapezoidProfile.Constraints constraints,
-                        double period) {
+  public ProfiledPIDController(
+      double Kp, double Ki, double Kd, TrapezoidProfile.Constraints constraints, double period) {
     m_controller = new PIDController(Kp, Ki, Kd, period);
     m_constraints = constraints;
     instances++;
@@ -159,9 +154,7 @@ public class ProfiledPIDController implements Sendable {
     m_goal = new TrapezoidProfile.State(goal, 0);
   }
 
-  /**
-   * Gets the goal for the ProfiledPIDController.
-   */
+  /** Gets the goal for the ProfiledPIDController. */
   public TrapezoidProfile.State getGoal() {
     return m_goal;
   }
@@ -205,9 +198,8 @@ public class ProfiledPIDController implements Sendable {
   /**
    * Enables continuous input.
    *
-   * <p>Rather then using the max and min input range as constraints, it considers
-   * them to be the same point and automatically calculates the shortest route
-   * to the setpoint.
+   * <p>Rather then using the max and min input range as constraints, it considers them to be the
+   * same point and automatically calculates the shortest route to the setpoint.
    *
    * @param minimumInput The minimum value expected from the input.
    * @param maximumInput The maximum value expected from the input.
@@ -218,9 +210,7 @@ public class ProfiledPIDController implements Sendable {
     m_maximumInput = maximumInput;
   }
 
-  /**
-   * Disables continuous input.
-   */
+  /** Disables continuous input. */
   public void disableContinuousInput() {
     m_controller.disableContinuousInput();
   }
@@ -228,8 +218,8 @@ public class ProfiledPIDController implements Sendable {
   /**
    * Sets the minimum and maximum values for the integrator.
    *
-   * <p>When the cap is reached, the integrator value is added to the controller
-   * output rather than the integrator value times the integral gain.
+   * <p>When the cap is reached, the integrator value is added to the controller output rather than
+   * the integrator value times the integral gain.
    *
    * @param minimumIntegral The minimum value of the integrator.
    * @param maximumIntegral The maximum value of the integrator.
@@ -266,9 +256,7 @@ public class ProfiledPIDController implements Sendable {
     return m_controller.getPositionError();
   }
 
-  /**
-   * Returns the change in error per second.
-   */
+  /** Returns the change in error per second. */
   public double getVelocityError() {
     return m_controller.getVelocityError();
   }
@@ -281,10 +269,12 @@ public class ProfiledPIDController implements Sendable {
   public double calculate(double measurement) {
     if (m_controller.isContinuousInputEnabled()) {
       // Get error which is smallest distance between goal and measurement
-      double goalMinDistance = ControllerUtil.getModulusError(m_goal.position, measurement,
-          m_minimumInput, m_maximumInput);
-      double setpointMinDistance = ControllerUtil.getModulusError(m_setpoint.position, measurement,
-          m_minimumInput, m_maximumInput);
+      double goalMinDistance =
+          ControllerUtil.getModulusError(
+              m_goal.position, measurement, m_minimumInput, m_maximumInput);
+      double setpointMinDistance =
+          ControllerUtil.getModulusError(
+              m_setpoint.position, measurement, m_minimumInput, m_maximumInput);
 
       // Recompute the profile goal with the smallest error, thus giving the shortest path. The goal
       // may be outside the input range after this operation, but that's OK because the controller
@@ -325,11 +315,11 @@ public class ProfiledPIDController implements Sendable {
    * Returns the next output of the PID controller.
    *
    * @param measurement The current measurement of the process variable.
-   * @param goal        The new goal of the controller.
+   * @param goal The new goal of the controller.
    * @param constraints Velocity and acceleration constraints for goal.
    */
-  public double calculate(double measurement, TrapezoidProfile.State goal,
-                   TrapezoidProfile.Constraints constraints) {
+  public double calculate(
+      double measurement, TrapezoidProfile.State goal, TrapezoidProfile.Constraints constraints) {
     setConstraints(constraints);
     return calculate(measurement, goal);
   }
@@ -357,8 +347,8 @@ public class ProfiledPIDController implements Sendable {
   /**
    * Reset the previous error and the integral term.
    *
-   * @param measuredPosition The current measured position of the system. The velocity is
-   *     assumed to be zero.
+   * @param measuredPosition The current measured position of the system. The velocity is assumed to
+   *     be zero.
    */
   public void reset(double measuredPosition) {
     reset(measuredPosition, 0.0);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/RamseteController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/RamseteController.java
index 8429ccbec8..7f875874b3 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/RamseteController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/RamseteController.java
@@ -9,37 +9,33 @@ import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.trajectory.Trajectory;
 
 /**
- * Ramsete is a nonlinear time-varying feedback controller for unicycle models
- * that drives the model to a desired pose along a two-dimensional trajectory.
- * Why would we need a nonlinear control law in addition to the linear ones we
- * have used so far like PID? If we use the original approach with PID
- * controllers for left and right position and velocity states, the controllers
- * only deal with the local pose. If the robot deviates from the path, there is
- * no way for the controllers to correct and the robot may not reach the desired
- * global pose. This is due to multiple endpoints existing for the robot which
- * have the same encoder path arc lengths.
+ * Ramsete is a nonlinear time-varying feedback controller for unicycle models that drives the model
+ * to a desired pose along a two-dimensional trajectory. Why would we need a nonlinear control law
+ * in addition to the linear ones we have used so far like PID? If we use the original approach with
+ * PID controllers for left and right position and velocity states, the controllers only deal with
+ * the local pose. If the robot deviates from the path, there is no way for the controllers to
+ * correct and the robot may not reach the desired global pose. This is due to multiple endpoints
+ * existing for the robot which have the same encoder path arc lengths.
  *
- * <p>Instead of using wheel path arc lengths (which are in the robot's local
- * coordinate frame), nonlinear controllers like pure pursuit and Ramsete use
- * global pose. The controller uses this extra information to guide a linear
- * reference tracker like the PID controllers back in by adjusting the
- * references of the PID controllers.
+ * <p>Instead of using wheel path arc lengths (which are in the robot's local coordinate frame),
+ * nonlinear controllers like pure pursuit and Ramsete use global pose. The controller uses this
+ * extra information to guide a linear reference tracker like the PID controllers back in by
+ * adjusting the references of the PID controllers.
  *
- * <p>The paper "Control of Wheeled Mobile Robots: An Experimental Overview"
- * describes a nonlinear controller for a wheeled vehicle with unicycle-like
- * kinematics; a global pose consisting of x, y, and theta; and a desired pose
- * consisting of x_d, y_d, and theta_d. We call it Ramsete because that's the
- * acronym for the title of the book it came from in Italian ("Robotica
- * Articolata e Mobile per i SErvizi e le TEcnologie").
+ * <p>The paper "Control of Wheeled Mobile Robots: An Experimental Overview" describes a nonlinear
+ * controller for a wheeled vehicle with unicycle-like kinematics; a global pose consisting of x, y,
+ * and theta; and a desired pose consisting of x_d, y_d, and theta_d. We call it Ramsete because
+ * that's the acronym for the title of the book it came from in Italian ("Robotica Articolata e
+ * Mobile per i SErvizi e le TEcnologie").
  *
- * <p>See
- * <a href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">
- * Controls Engineering in the FIRST Robotics Competition</a> section on Ramsete
- * unicycle controller for a derivation and analysis.
+ * <p>See <a href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">Controls
+ * Engineering in the FIRST Robotics Competition</a> section on Ramsete unicycle controller for a
+ * derivation and analysis.
  */
 public class RamseteController {
   @SuppressWarnings("MemberName")
   private final double m_b;
+
   @SuppressWarnings("MemberName")
   private final double m_zeta;
 
@@ -50,10 +46,10 @@ public class RamseteController {
   /**
    * Construct a Ramsete unicycle controller.
    *
-   * @param b    Tuning parameter (b &gt; 0) for which larger values make convergence more
-   *             aggressive like a proportional term.
+   * @param b Tuning parameter (b &gt; 0) for which larger values make convergence more aggressive
+   *     like a proportional term.
    * @param zeta Tuning parameter (0 &lt; zeta &lt; 1) for which larger values provide more damping
-   *             in response.
+   *     in response.
    */
   @SuppressWarnings("ParameterName")
   public RamseteController(double b, double zeta) {
@@ -62,30 +58,26 @@ public class RamseteController {
   }
 
   /**
-   * Construct a Ramsete unicycle controller. The default arguments for
-   * b and zeta of 2.0 and 0.7 have been well-tested to produce desirable
-   * results.
+   * Construct a Ramsete unicycle controller. The default arguments for b and zeta of 2.0 and 0.7
+   * have been well-tested to produce desirable results.
    */
   public RamseteController() {
     this(2.0, 0.7);
   }
 
-  /**
-   * Returns true if the pose error is within tolerance of the reference.
-   */
+  /** Returns true if the pose error is within tolerance of the reference. */
   public boolean atReference() {
     final var eTranslate = m_poseError.getTranslation();
     final var eRotate = m_poseError.getRotation();
     final var tolTranslate = m_poseTolerance.getTranslation();
     final var tolRotate = m_poseTolerance.getRotation();
     return Math.abs(eTranslate.getX()) < tolTranslate.getX()
-           && Math.abs(eTranslate.getY()) < tolTranslate.getY()
-           && Math.abs(eRotate.getRadians()) < tolRotate.getRadians();
+        && Math.abs(eTranslate.getY()) < tolTranslate.getY()
+        && Math.abs(eRotate.getRadians()) < tolRotate.getRadians();
   }
 
   /**
-   * Sets the pose error which is considered tolerable for use with
-   * atReference().
+   * Sets the pose error which is considered tolerable for use with atReference().
    *
    * @param poseTolerance Pose error which is tolerable.
    */
@@ -96,19 +88,20 @@ public class RamseteController {
   /**
    * Returns the next output of the Ramsete controller.
    *
-   * <p>The reference pose, linear velocity, and angular velocity should come
-   * from a drivetrain trajectory.
+   * <p>The reference pose, linear velocity, and angular velocity should come from a drivetrain
+   * trajectory.
    *
-   * @param currentPose                        The current pose.
-   * @param poseRef                            The desired pose.
-   * @param linearVelocityRefMeters            The desired linear velocity in meters per second.
+   * @param currentPose The current pose.
+   * @param poseRef The desired pose.
+   * @param linearVelocityRefMeters The desired linear velocity in meters per second.
    * @param angularVelocityRefRadiansPerSecond The desired angular velocity in radians per second.
    */
   @SuppressWarnings("LocalVariableName")
-  public ChassisSpeeds calculate(Pose2d currentPose,
-                                 Pose2d poseRef,
-                                 double linearVelocityRefMeters,
-                                 double angularVelocityRefRadiansPerSecond) {
+  public ChassisSpeeds calculate(
+      Pose2d currentPose,
+      Pose2d poseRef,
+      double linearVelocityRefMeters,
+      double angularVelocityRefRadiansPerSecond) {
     if (!m_enabled) {
       return new ChassisSpeeds(linearVelocityRefMeters, 0.0, angularVelocityRefRadiansPerSecond);
     }
@@ -124,24 +117,27 @@ public class RamseteController {
 
     double k = 2.0 * m_zeta * Math.sqrt(Math.pow(omegaRef, 2) + m_b * Math.pow(vRef, 2));
 
-    return new ChassisSpeeds(vRef * m_poseError.getRotation().getCos() + k * eX,
-                             0.0,
-                             omegaRef + k * eTheta + m_b * vRef * sinc(eTheta) * eY);
+    return new ChassisSpeeds(
+        vRef * m_poseError.getRotation().getCos() + k * eX,
+        0.0,
+        omegaRef + k * eTheta + m_b * vRef * sinc(eTheta) * eY);
   }
 
   /**
    * Returns the next output of the Ramsete controller.
    *
-   * <p>The reference pose, linear velocity, and angular velocity should come
-   * from a drivetrain trajectory.
+   * <p>The reference pose, linear velocity, and angular velocity should come from a drivetrain
+   * trajectory.
    *
-   * @param currentPose  The current pose.
-   * @param desiredState The desired pose, linear velocity, and angular velocity
-   *                     from a trajectory.
+   * @param currentPose The current pose.
+   * @param desiredState The desired pose, linear velocity, and angular velocity from a trajectory.
    */
   @SuppressWarnings("LocalVariableName")
   public ChassisSpeeds calculate(Pose2d currentPose, Trajectory.State desiredState) {
-    return calculate(currentPose, desiredState.poseMeters, desiredState.velocityMetersPerSecond,
+    return calculate(
+        currentPose,
+        desiredState.poseMeters,
+        desiredState.velocityMetersPerSecond,
         desiredState.velocityMetersPerSecond * desiredState.curvatureRadPerMeter);
   }
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
index 0fe1481a25..cb16ce3fad 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
@@ -4,8 +4,6 @@
 
 package edu.wpi.first.wpilibj.drive;
 
-import java.util.StringJoiner;
-
 import edu.wpi.first.hal.FRCNetComm.tInstances;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
@@ -15,17 +13,19 @@ import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 import edu.wpi.first.wpiutil.math.MathUtil;
+import java.util.StringJoiner;
 
 /**
  * A class for driving differential drive/skid-steer drive platforms such as the Kit of Parts drive
  * base, "tank drive", or West Coast Drive.
  *
  * <p>These drive bases typically have drop-center / skid-steer with two or more wheels per side
- * (e.g., 6WD or 8WD). This class takes a SpeedController per side. For four and
- * six motor drivetrains, construct and pass in {@link edu.wpi.first.wpilibj.SpeedControllerGroup}
- * instances as follows.
+ * (e.g., 6WD or 8WD). This class takes a SpeedController per side. For four and six motor
+ * drivetrains, construct and pass in {@link edu.wpi.first.wpilibj.SpeedControllerGroup} instances
+ * as follows.
  *
  * <p>Four motor drivetrain:
+ *
  * <pre><code>
  * public class Robot {
  *   SpeedController m_frontLeft = new PWMVictorSPX(1);
@@ -41,6 +41,7 @@ import edu.wpi.first.wpiutil.math.MathUtil;
  * </code></pre>
  *
  * <p>Six motor drivetrain:
+ *
  * <pre><code>
  * public class Robot {
  *   SpeedController m_frontLeft = new PWMVictorSPX(1);
@@ -60,6 +61,7 @@ import edu.wpi.first.wpiutil.math.MathUtil;
  * <p>A differential drive robot has left and right wheels separated by an arbitrary width.
  *
  * <p>Drive base diagram:
+ *
  * <pre>
  * |_______|
  * | |   | |
@@ -80,18 +82,18 @@ import edu.wpi.first.wpiutil.math.MathUtil;
  * positive.
  *
  * <p>Inputs smaller then {@value edu.wpi.first.wpilibj.drive.RobotDriveBase#kDefaultDeadband} will
- * be set to 0, and larger values will be scaled so that the full range is still used. This
- * deadband value can be changed with {@link #setDeadband}.
+ * be set to 0, and larger values will be scaled so that the full range is still used. This deadband
+ * value can be changed with {@link #setDeadband}.
  *
- * <p>RobotDrive porting guide:
- * <br>{@link #tankDrive(double, double)} is equivalent to
- * {@link edu.wpi.first.wpilibj.RobotDrive#tankDrive(double, double)} if a deadband of 0 is used.
- * <br>{@link #arcadeDrive(double, double)} is equivalent to
- * {@link edu.wpi.first.wpilibj.RobotDrive#arcadeDrive(double, double)} if a deadband of 0 is used
- * and the the rotation input is inverted eg arcadeDrive(y, -rotation)
- * <br>{@link #curvatureDrive(double, double, boolean)} is similar in concept to
- * {@link edu.wpi.first.wpilibj.RobotDrive#drive(double, double)} with the addition of a quick turn
- * mode. However, it is not designed to give exactly the same response.
+ * <p>RobotDrive porting guide: <br>
+ * {@link #tankDrive(double, double)} is equivalent to {@link
+ * edu.wpi.first.wpilibj.RobotDrive#tankDrive(double, double)} if a deadband of 0 is used. <br>
+ * {@link #arcadeDrive(double, double)} is equivalent to {@link
+ * edu.wpi.first.wpilibj.RobotDrive#arcadeDrive(double, double)} if a deadband of 0 is used and the
+ * the rotation input is inverted eg arcadeDrive(y, -rotation) <br>
+ * {@link #curvatureDrive(double, double, boolean)} is similar in concept to {@link
+ * edu.wpi.first.wpilibj.RobotDrive#drive(double, double)} with the addition of a quick turn mode.
+ * However, it is not designed to give exactly the same response.
  */
 public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoCloseable {
   public static final double kDefaultQuickStopThreshold = 0.2;
@@ -130,10 +132,10 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
   }
 
   /**
-   * Verifies that all motors are nonnull, throwing a NullPointerException if any of them are.
-   * The exception's error message will specify all null motors, e.g. {@code
-   * NullPointerException("leftMotor, rightMotor")}, to give as much information as possible to
-   * the programmer.
+   * Verifies that all motors are nonnull, throwing a NullPointerException if any of them are. The
+   * exception's error message will specify all null motors, e.g. {@code
+   * NullPointerException("leftMotor, rightMotor")}, to give as much information as possible to the
+   * programmer.
    *
    * @throws NullPointerException if any of the given motors are null
    */
@@ -153,12 +155,12 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
   }
 
   /**
-   * Arcade drive method for differential drive platform.
-   * The calculated values will be squared to decrease sensitivity at low speeds.
+   * Arcade drive method for differential drive platform. The calculated values will be squared to
+   * decrease sensitivity at low speeds.
    *
-   * @param xSpeed    The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
+   * @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
    * @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
-   *                  positive.
+   *     positive.
    */
   @SuppressWarnings("ParameterName")
   public void arcadeDrive(double xSpeed, double zRotation) {
@@ -168,16 +170,16 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
   /**
    * Arcade drive method for differential drive platform.
    *
-   * @param xSpeed        The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
-   * @param zRotation     The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
-   *                      positive.
+   * @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
+   * @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
+   *     positive.
    * @param squareInputs If set, decreases the input sensitivity at low speeds.
    */
   @SuppressWarnings("ParameterName")
   public void arcadeDrive(double xSpeed, double zRotation, boolean squareInputs) {
     if (!m_reported) {
-      HAL.report(tResourceType.kResourceType_RobotDrive,
-                 tInstances.kRobotDrive2_DifferentialArcade, 2);
+      HAL.report(
+          tResourceType.kResourceType_RobotDrive, tInstances.kRobotDrive2_DifferentialArcade, 2);
       m_reported = true;
     }
 
@@ -230,21 +232,20 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
    * Curvature drive method for differential drive platform.
    *
    * <p>The rotation argument controls the curvature of the robot's path rather than its rate of
-   * heading change. This makes the robot more controllable at high speeds. Also handles the
-   * robot's quick turn functionality - "quick turn" overrides constant-curvature turning for
-   * turn-in-place maneuvers.
+   * heading change. This makes the robot more controllable at high speeds. Also handles the robot's
+   * quick turn functionality - "quick turn" overrides constant-curvature turning for turn-in-place
+   * maneuvers.
    *
-   * @param xSpeed      The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
-   * @param zRotation   The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
-   *                    positive.
-   * @param isQuickTurn If set, overrides constant-curvature turning for
-   *                    turn-in-place maneuvers.
+   * @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
+   * @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
+   *     positive.
+   * @param isQuickTurn If set, overrides constant-curvature turning for turn-in-place maneuvers.
    */
   @SuppressWarnings({"ParameterName", "PMD.CyclomaticComplexity"})
   public void curvatureDrive(double xSpeed, double zRotation, boolean isQuickTurn) {
     if (!m_reported) {
-      HAL.report(tResourceType.kResourceType_RobotDrive,
-                 tInstances.kRobotDrive2_DifferentialCurvature, 2);
+      HAL.report(
+          tResourceType.kResourceType_RobotDrive, tInstances.kRobotDrive2_DifferentialCurvature, 2);
       m_reported = true;
     }
 
@@ -259,8 +260,9 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
 
     if (isQuickTurn) {
       if (Math.abs(xSpeed) < m_quickStopThreshold) {
-        m_quickStopAccumulator = (1 - m_quickStopAlpha) * m_quickStopAccumulator
-            + m_quickStopAlpha * MathUtil.clamp(zRotation, -1.0, 1.0) * 2;
+        m_quickStopAccumulator =
+            (1 - m_quickStopAlpha) * m_quickStopAccumulator
+                + m_quickStopAlpha * MathUtil.clamp(zRotation, -1.0, 1.0) * 2;
       }
       overPower = true;
       angularPower = zRotation;
@@ -311,13 +313,12 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
   }
 
   /**
-   * Tank drive method for differential drive platform.
-   * The calculated values will be squared to decrease sensitivity at low speeds.
+   * Tank drive method for differential drive platform. The calculated values will be squared to
+   * decrease sensitivity at low speeds.
    *
-   * @param leftSpeed  The robot's left side speed along the X axis [-1.0..1.0]. Forward is
-   *                   positive.
+   * @param leftSpeed The robot's left side speed along the X axis [-1.0..1.0]. Forward is positive.
    * @param rightSpeed The robot's right side speed along the X axis [-1.0..1.0]. Forward is
-   *                   positive.
+   *     positive.
    */
   public void tankDrive(double leftSpeed, double rightSpeed) {
     tankDrive(leftSpeed, rightSpeed, true);
@@ -326,16 +327,15 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
   /**
    * Tank drive method for differential drive platform.
    *
-   * @param leftSpeed     The robot left side's speed along the X axis [-1.0..1.0]. Forward is
-   *                      positive.
-   * @param rightSpeed    The robot right side's speed along the X axis [-1.0..1.0]. Forward is
-   *                      positive.
+   * @param leftSpeed The robot left side's speed along the X axis [-1.0..1.0]. Forward is positive.
+   * @param rightSpeed The robot right side's speed along the X axis [-1.0..1.0]. Forward is
+   *     positive.
    * @param squareInputs If set, decreases the input sensitivity at low speeds.
    */
   public void tankDrive(double leftSpeed, double rightSpeed, boolean squareInputs) {
     if (!m_reported) {
-      HAL.report(tResourceType.kResourceType_RobotDrive,
-                 tInstances.kRobotDrive2_DifferentialTank, 2);
+      HAL.report(
+          tResourceType.kResourceType_RobotDrive, tInstances.kRobotDrive2_DifferentialTank, 2);
       m_reported = true;
     }
 
@@ -369,7 +369,7 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
    * angular power request to slow the robot's rotation.
    *
    * @param threshold X speed below which quick stop accumulator will receive rotation rate values
-   *                  [0..1.0].
+   *     [0..1.0].
    */
   public void setQuickStopThreshold(double threshold) {
     m_quickStopThreshold = threshold;
@@ -382,8 +382,8 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
    * changes.
    *
    * @param alpha Low-pass filter gain [0.0..2.0]. Smaller values result in slower output changes.
-   *              Values between 1.0 and 2.0 result in output oscillation. Values below 0.0 and
-   *              above 2.0 are unstable.
+   *     Values between 1.0 and 2.0 result in output oscillation. Values below 0.0 and above 2.0 are
+   *     unstable.
    */
   public void setQuickStopAlpha(double alpha) {
     m_quickStopAlpha = alpha;
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java
index f7169af51a..fbc62ff1be 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java
@@ -4,8 +4,6 @@
 
 package edu.wpi.first.wpilibj.drive;
 
-import java.util.StringJoiner;
-
 import edu.wpi.first.hal.FRCNetComm.tInstances;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
@@ -14,6 +12,7 @@ import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 import edu.wpi.first.wpiutil.math.MathUtil;
+import java.util.StringJoiner;
 
 /**
  * A class for driving Killough drive platforms.
@@ -21,6 +20,7 @@ import edu.wpi.first.wpiutil.math.MathUtil;
  * <p>Killough drives are triangular with one omni wheel on each corner.
  *
  * <p>Drive base diagram:
+ *
  * <pre>
  *  /_____\
  * / \   / \
@@ -64,13 +64,18 @@ public class KilloughDrive extends RobotDriveBase implements Sendable, AutoClose
    *
    * <p>If a motor needs to be inverted, do so before passing it in.
    *
-   * @param leftMotor  The motor on the left corner.
+   * @param leftMotor The motor on the left corner.
    * @param rightMotor The motor on the right corner.
-   * @param backMotor  The motor on the back corner.
+   * @param backMotor The motor on the back corner.
    */
-  public KilloughDrive(SpeedController leftMotor, SpeedController rightMotor,
-                       SpeedController backMotor) {
-    this(leftMotor, rightMotor, backMotor, kDefaultLeftMotorAngle, kDefaultRightMotorAngle,
+  public KilloughDrive(
+      SpeedController leftMotor, SpeedController rightMotor, SpeedController backMotor) {
+    this(
+        leftMotor,
+        rightMotor,
+        backMotor,
+        kDefaultLeftMotorAngle,
+        kDefaultRightMotorAngle,
         kDefaultBackMotorAngle);
   }
 
@@ -79,26 +84,36 @@ public class KilloughDrive extends RobotDriveBase implements Sendable, AutoClose
    *
    * <p>Angles are measured in degrees clockwise from the positive X axis.
    *
-   * @param leftMotor       The motor on the left corner.
-   * @param rightMotor      The motor on the right corner.
-   * @param backMotor       The motor on the back corner.
-   * @param leftMotorAngle  The angle of the left wheel's forward direction of travel.
+   * @param leftMotor The motor on the left corner.
+   * @param rightMotor The motor on the right corner.
+   * @param backMotor The motor on the back corner.
+   * @param leftMotorAngle The angle of the left wheel's forward direction of travel.
    * @param rightMotorAngle The angle of the right wheel's forward direction of travel.
-   * @param backMotorAngle  The angle of the back wheel's forward direction of travel.
+   * @param backMotorAngle The angle of the back wheel's forward direction of travel.
    */
-  public KilloughDrive(SpeedController leftMotor, SpeedController rightMotor,
-                       SpeedController backMotor, double leftMotorAngle, double rightMotorAngle,
-                       double backMotorAngle) {
+  public KilloughDrive(
+      SpeedController leftMotor,
+      SpeedController rightMotor,
+      SpeedController backMotor,
+      double leftMotorAngle,
+      double rightMotorAngle,
+      double backMotorAngle) {
     verify(leftMotor, rightMotor, backMotor);
     m_leftMotor = leftMotor;
     m_rightMotor = rightMotor;
     m_backMotor = backMotor;
-    m_leftVec = new Vector2d(Math.cos(leftMotorAngle * (Math.PI / 180.0)),
-                             Math.sin(leftMotorAngle * (Math.PI / 180.0)));
-    m_rightVec = new Vector2d(Math.cos(rightMotorAngle * (Math.PI / 180.0)),
-                              Math.sin(rightMotorAngle * (Math.PI / 180.0)));
-    m_backVec = new Vector2d(Math.cos(backMotorAngle * (Math.PI / 180.0)),
-                             Math.sin(backMotorAngle * (Math.PI / 180.0)));
+    m_leftVec =
+        new Vector2d(
+            Math.cos(leftMotorAngle * (Math.PI / 180.0)),
+            Math.sin(leftMotorAngle * (Math.PI / 180.0)));
+    m_rightVec =
+        new Vector2d(
+            Math.cos(rightMotorAngle * (Math.PI / 180.0)),
+            Math.sin(rightMotorAngle * (Math.PI / 180.0)));
+    m_backVec =
+        new Vector2d(
+            Math.cos(backMotorAngle * (Math.PI / 180.0)),
+            Math.sin(backMotorAngle * (Math.PI / 180.0)));
     SendableRegistry.addChild(this, m_leftMotor);
     SendableRegistry.addChild(this, m_rightMotor);
     SendableRegistry.addChild(this, m_backMotor);
@@ -112,16 +127,16 @@ public class KilloughDrive extends RobotDriveBase implements Sendable, AutoClose
   }
 
   /**
-   * Verifies that all motors are nonnull, throwing a NullPointerException if any of them are.
-   * The exception's error message will specify all null motors, e.g. {@code
-   * NullPointerException("leftMotor, rightMotor")}, to give as much information as possible to
-   * the programmer.
+   * Verifies that all motors are nonnull, throwing a NullPointerException if any of them are. The
+   * exception's error message will specify all null motors, e.g. {@code
+   * NullPointerException("leftMotor, rightMotor")}, to give as much information as possible to the
+   * programmer.
    *
    * @throws NullPointerException if any of the given motors are null
    */
   @SuppressWarnings("PMD.AvoidThrowingNullPointerException")
-  private void verify(SpeedController leftMotor, SpeedController rightMotor,
-                      SpeedController backMotor) {
+  private void verify(
+      SpeedController leftMotor, SpeedController rightMotor, SpeedController backMotor) {
     if (leftMotor != null && rightMotor != null && backMotor != null) {
       return;
     }
@@ -144,10 +159,10 @@ public class KilloughDrive extends RobotDriveBase implements Sendable, AutoClose
    * <p>Angles are measured clockwise from the positive X axis. The robot's speed is independent
    * from its angle or rotation rate.
    *
-   * @param ySpeed    The robot's speed along the Y axis [-1.0..1.0]. Right is positive.
-   * @param xSpeed    The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
+   * @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Right is positive.
+   * @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
    * @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
-   *                  positive.
+   *     positive.
    */
   @SuppressWarnings("ParameterName")
   public void driveCartesian(double ySpeed, double xSpeed, double zRotation) {
@@ -160,19 +175,18 @@ public class KilloughDrive extends RobotDriveBase implements Sendable, AutoClose
    * <p>Angles are measured clockwise from the positive X axis. The robot's speed is independent
    * from its angle or rotation rate.
    *
-   * @param ySpeed    The robot's speed along the Y axis [-1.0..1.0]. Right is positive.
-   * @param xSpeed    The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
+   * @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Right is positive.
+   * @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
    * @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
-   *                  positive.
-   * @param gyroAngle The current angle reading from the gyro in degrees around the Z axis. Use
-   *                  this to implement field-oriented controls.
+   *     positive.
+   * @param gyroAngle The current angle reading from the gyro in degrees around the Z axis. Use this
+   *     to implement field-oriented controls.
    */
   @SuppressWarnings("ParameterName")
-  public void driveCartesian(double ySpeed, double xSpeed, double zRotation,
-                             double gyroAngle) {
+  public void driveCartesian(double ySpeed, double xSpeed, double zRotation, double gyroAngle) {
     if (!m_reported) {
-      HAL.report(tResourceType.kResourceType_RobotDrive,
-                 tInstances.kRobotDrive2_KilloughCartesian, 3);
+      HAL.report(
+          tResourceType.kResourceType_RobotDrive, tInstances.kRobotDrive2_KilloughCartesian, 3);
       m_reported = true;
     }
 
@@ -207,20 +221,22 @@ public class KilloughDrive extends RobotDriveBase implements Sendable, AutoClose
    * drives (translation) is independent from its angle or rotation rate.
    *
    * @param magnitude The robot's speed at a given angle [-1.0..1.0]. Forward is positive.
-   * @param angle     The angle around the Z axis at which the robot drives in degrees [-180..180].
+   * @param angle The angle around the Z axis at which the robot drives in degrees [-180..180].
    * @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
-   *                  positive.
+   *     positive.
    */
   @SuppressWarnings("ParameterName")
   public void drivePolar(double magnitude, double angle, double zRotation) {
     if (!m_reported) {
-      HAL.report(tResourceType.kResourceType_RobotDrive,
-                 tInstances.kRobotDrive2_KilloughPolar, 3);
+      HAL.report(tResourceType.kResourceType_RobotDrive, tInstances.kRobotDrive2_KilloughPolar, 3);
       m_reported = true;
     }
 
-    driveCartesian(magnitude * Math.sin(angle * (Math.PI / 180.0)),
-                   magnitude * Math.cos(angle * (Math.PI / 180.0)), zRotation, 0.0);
+    driveCartesian(
+        magnitude * Math.sin(angle * (Math.PI / 180.0)),
+        magnitude * Math.cos(angle * (Math.PI / 180.0)),
+        zRotation,
+        0.0);
   }
 
   @Override
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
index b632892229..8189e68a58 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
@@ -4,8 +4,6 @@
 
 package edu.wpi.first.wpilibj.drive;
 
-import java.util.StringJoiner;
-
 import edu.wpi.first.hal.FRCNetComm.tInstances;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
@@ -14,6 +12,7 @@ import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 import edu.wpi.first.wpiutil.math.MathUtil;
+import java.util.StringJoiner;
 
 /**
  * A class for driving Mecanum drive platforms.
@@ -24,6 +23,7 @@ import edu.wpi.first.wpiutil.math.MathUtil;
  * relations for a Mecanum drive robot.
  *
  * <p>Drive base diagram:
+ *
  * <pre>
  * \\_______/
  * \\ |   | /
@@ -44,19 +44,19 @@ import edu.wpi.first.wpiutil.math.MathUtil;
  * positive.
  *
  * <p>Inputs smaller then {@value edu.wpi.first.wpilibj.drive.RobotDriveBase#kDefaultDeadband} will
- * be set to 0, and larger values will be scaled so that the full range is still used. This
- * deadband value can be changed with {@link #setDeadband}.
+ * be set to 0, and larger values will be scaled so that the full range is still used. This deadband
+ * value can be changed with {@link #setDeadband}.
  *
- * <p>RobotDrive porting guide:
- * <br>In MecanumDrive, the right side speed controllers are automatically inverted, while in
- * RobotDrive, no speed controllers are automatically inverted.
- * <br>{@link #driveCartesian(double, double, double, double)} is equivalent to
- * {@link edu.wpi.first.wpilibj.RobotDrive#mecanumDrive_Cartesian(double, double, double, double)}
- * if a deadband of 0 is used, and the ySpeed and gyroAngle values are inverted compared to
- * RobotDrive (eg driveCartesian(xSpeed, -ySpeed, zRotation, -gyroAngle).
- * <br>{@link #drivePolar(double, double, double)} is equivalent to
- * {@link edu.wpi.first.wpilibj.RobotDrive#mecanumDrive_Polar(double, double, double)} if a
- * deadband of 0 is used.
+ * <p>RobotDrive porting guide: <br>
+ * In MecanumDrive, the right side speed controllers are automatically inverted, while in
+ * RobotDrive, no speed controllers are automatically inverted. <br>
+ * {@link #driveCartesian(double, double, double, double)} is equivalent to {@link
+ * edu.wpi.first.wpilibj.RobotDrive#mecanumDrive_Cartesian(double, double, double, double)} if a
+ * deadband of 0 is used, and the ySpeed and gyroAngle values are inverted compared to RobotDrive
+ * (eg driveCartesian(xSpeed, -ySpeed, zRotation, -gyroAngle). <br>
+ * {@link #drivePolar(double, double, double)} is equivalent to {@link
+ * edu.wpi.first.wpilibj.RobotDrive#mecanumDrive_Polar(double, double, double)} if a deadband of 0
+ * is used.
  */
 public class MecanumDrive extends RobotDriveBase implements Sendable, AutoCloseable {
   private static int instances;
@@ -74,8 +74,11 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
    *
    * <p>If a motor needs to be inverted, do so before passing it in.
    */
-  public MecanumDrive(SpeedController frontLeftMotor, SpeedController rearLeftMotor,
-                      SpeedController frontRightMotor, SpeedController rearRightMotor) {
+  public MecanumDrive(
+      SpeedController frontLeftMotor,
+      SpeedController rearLeftMotor,
+      SpeedController frontRightMotor,
+      SpeedController rearRightMotor) {
     verify(frontLeftMotor, rearLeftMotor, frontRightMotor, rearRightMotor);
     m_frontLeftMotor = frontLeftMotor;
     m_rearLeftMotor = rearLeftMotor;
@@ -95,16 +98,19 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
   }
 
   /**
-   * Verifies that all motors are nonnull, throwing a NullPointerException if any of them are.
-   * The exception's error message will specify all null motors, e.g. {@code
+   * Verifies that all motors are nonnull, throwing a NullPointerException if any of them are. The
+   * exception's error message will specify all null motors, e.g. {@code
    * NullPointerException("frontLeftMotor, rearRightMotor")}, to give as much information as
    * possible to the programmer.
    *
    * @throws NullPointerException if any of the given motors are null
    */
   @SuppressWarnings({"PMD.AvoidThrowingNullPointerException", "PMD.CyclomaticComplexity"})
-  private void verify(SpeedController frontLeft, SpeedController rearLeft,
-                      SpeedController frontRight, SpeedController rearRightMotor) {
+  private void verify(
+      SpeedController frontLeft,
+      SpeedController rearLeft,
+      SpeedController frontRight,
+      SpeedController rearRightMotor) {
     if (frontLeft != null && rearLeft != null && frontRight != null && rearRightMotor != null) {
       return;
     }
@@ -130,10 +136,10 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
    * <p>Angles are measured clockwise from the positive X axis. The robot's speed is independent
    * from its angle or rotation rate.
    *
-   * @param ySpeed    The robot's speed along the Y axis [-1.0..1.0]. Right is positive.
-   * @param xSpeed    The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
+   * @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Right is positive.
+   * @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
    * @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
-   *                  positive.
+   *     positive.
    */
   @SuppressWarnings("ParameterName")
   public void driveCartesian(double ySpeed, double xSpeed, double zRotation) {
@@ -146,18 +152,18 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
    * <p>Angles are measured clockwise from the positive X axis. The robot's speed is independent
    * from its angle or rotation rate.
    *
-   * @param ySpeed    The robot's speed along the Y axis [-1.0..1.0]. Right is positive.
-   * @param xSpeed    The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
+   * @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Right is positive.
+   * @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
    * @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
-   *                  positive.
-   * @param gyroAngle The current angle reading from the gyro in degrees around the Z axis. Use
-   *                  this to implement field-oriented controls.
+   *     positive.
+   * @param gyroAngle The current angle reading from the gyro in degrees around the Z axis. Use this
+   *     to implement field-oriented controls.
    */
   @SuppressWarnings("ParameterName")
   public void driveCartesian(double ySpeed, double xSpeed, double zRotation, double gyroAngle) {
     if (!m_reported) {
-      HAL.report(tResourceType.kResourceType_RobotDrive,
-                 tInstances.kRobotDrive2_MecanumCartesian, 4);
+      HAL.report(
+          tResourceType.kResourceType_RobotDrive, tInstances.kRobotDrive2_MecanumCartesian, 4);
       m_reported = true;
     }
 
@@ -180,11 +186,11 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
     normalize(wheelSpeeds);
 
     m_frontLeftMotor.set(wheelSpeeds[MotorType.kFrontLeft.value] * m_maxOutput);
-    m_frontRightMotor.set(wheelSpeeds[MotorType.kFrontRight.value] * m_maxOutput
-        * m_rightSideInvertMultiplier);
+    m_frontRightMotor.set(
+        wheelSpeeds[MotorType.kFrontRight.value] * m_maxOutput * m_rightSideInvertMultiplier);
     m_rearLeftMotor.set(wheelSpeeds[MotorType.kRearLeft.value] * m_maxOutput);
-    m_rearRightMotor.set(wheelSpeeds[MotorType.kRearRight.value] * m_maxOutput
-        * m_rightSideInvertMultiplier);
+    m_rearRightMotor.set(
+        wheelSpeeds[MotorType.kRearRight.value] * m_maxOutput * m_rightSideInvertMultiplier);
 
     feed();
   }
@@ -196,9 +202,9 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
    * drives (translation) is independent from its angle or rotation rate.
    *
    * @param magnitude The robot's speed at a given angle [-1.0..1.0]. Forward is positive.
-   * @param angle     The angle around the Z axis at which the robot drives in degrees [-180..180].
+   * @param angle The angle around the Z axis at which the robot drives in degrees [-180..180].
    * @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
-   *                  positive.
+   *     positive.
    */
   @SuppressWarnings("ParameterName")
   public void drivePolar(double magnitude, double angle, double zRotation) {
@@ -207,8 +213,11 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
       m_reported = true;
     }
 
-    driveCartesian(magnitude * Math.sin(angle * (Math.PI / 180.0)),
-                   magnitude * Math.cos(angle * (Math.PI / 180.0)), zRotation, 0.0);
+    driveCartesian(
+        magnitude * Math.sin(angle * (Math.PI / 180.0)),
+        magnitude * Math.cos(angle * (Math.PI / 180.0)),
+        zRotation,
+        0.0);
   }
 
   /**
@@ -248,16 +257,15 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
     builder.setSmartDashboardType("MecanumDrive");
     builder.setActuator(true);
     builder.setSafeState(this::stopMotor);
-    builder.addDoubleProperty("Front Left Motor Speed",
-        m_frontLeftMotor::get,
-        m_frontLeftMotor::set);
-    builder.addDoubleProperty("Front Right Motor Speed",
+    builder.addDoubleProperty(
+        "Front Left Motor Speed", m_frontLeftMotor::get, m_frontLeftMotor::set);
+    builder.addDoubleProperty(
+        "Front Right Motor Speed",
         () -> m_frontRightMotor.get() * m_rightSideInvertMultiplier,
         value -> m_frontRightMotor.set(value * m_rightSideInvertMultiplier));
-    builder.addDoubleProperty("Rear Left Motor Speed",
-        m_rearLeftMotor::get,
-        m_rearLeftMotor::set);
-    builder.addDoubleProperty("Rear Right Motor Speed",
+    builder.addDoubleProperty("Rear Left Motor Speed", m_rearLeftMotor::get, m_rearLeftMotor::set);
+    builder.addDoubleProperty(
+        "Rear Right Motor Speed",
         () -> m_rearRightMotor.get() * m_rightSideInvertMultiplier,
         value -> m_rearRightMotor.set(value * m_rightSideInvertMultiplier));
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java
index 121f7c142b..fae7df75c9 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java
@@ -6,9 +6,7 @@ package edu.wpi.first.wpilibj.drive;
 
 import edu.wpi.first.wpilibj.MotorSafety;
 
-/**
- * Common base class for drive platforms.
- */
+/** Common base class for drive platforms. */
 public abstract class RobotDriveBase extends MotorSafety {
   public static final double kDefaultDeadband = 0.02;
   public static final double kDefaultMaxOutput = 1.0;
@@ -16,12 +14,15 @@ public abstract class RobotDriveBase extends MotorSafety {
   protected double m_deadband = kDefaultDeadband;
   protected double m_maxOutput = kDefaultMaxOutput;
 
-  /**
-   * The location of a motor on the robot for the purpose of driving.
-   */
+  /** The location of a motor on the robot for the purpose of driving. */
   public enum MotorType {
-    kFrontLeft(0), kFrontRight(1), kRearLeft(2), kRearRight(3), kLeft(0),
-    kRight(1), kBack(2);
+    kFrontLeft(0),
+    kFrontRight(1),
+    kRearLeft(2),
+    kRearRight(3),
+    kLeft(0),
+    kRight(1),
+    kBack(2);
 
     public final int value;
 
@@ -30,9 +31,7 @@ public abstract class RobotDriveBase extends MotorSafety {
     }
   }
 
-  /**
-   * RobotDriveBase constructor.
-   */
+  /** RobotDriveBase constructor. */
   public RobotDriveBase() {
     setSafetyEnabled(true);
   }
@@ -41,8 +40,8 @@ public abstract class RobotDriveBase extends MotorSafety {
    * Sets the deadband applied to the drive inputs (e.g., joystick values).
    *
    * <p>The default value is {@value #kDefaultDeadband}. Inputs smaller than the deadband are set to
-   * 0.0 while inputs larger than the deadband are scaled from 0.0 to 1.0. See
-   * {@link #applyDeadband}.
+   * 0.0 while inputs larger than the deadband are scaled from 0.0 to 1.0. See {@link
+   * #applyDeadband}.
    *
    * @param deadband The deadband to set.
    */
@@ -81,7 +80,7 @@ public abstract class RobotDriveBase extends MotorSafety {
    * Returns 0.0 if the given value is within the specified range around zero. The remaining range
    * between the deadband and 1.0 is scaled from 0.0 to 1.0.
    *
-   * @param value    value to clip
+   * @param value value to clip
    * @param deadband range around zero
    */
   protected double applyDeadband(double value, double deadband) {
@@ -96,9 +95,7 @@ public abstract class RobotDriveBase extends MotorSafety {
     }
   }
 
-  /**
-   * Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0.
-   */
+  /** Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0. */
   protected void normalize(double[] wheelSpeeds) {
     double maxMagnitude = Math.abs(wheelSpeeds[0]);
     for (int i = 1; i < wheelSpeeds.length; i++) {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/Vector2d.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/Vector2d.java
index 8825b57e6c..388bb0eee7 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/Vector2d.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/Vector2d.java
@@ -4,12 +4,11 @@
 
 package edu.wpi.first.wpilibj.drive;
 
-/**
- * This is a 2D vector struct that supports basic vector operations.
- */
+/** This is a 2D vector struct that supports basic vector operations. */
 public class Vector2d {
   @SuppressWarnings("MemberName")
   public double x;
+
   @SuppressWarnings("MemberName")
   public double y;
 
@@ -44,9 +43,7 @@ public class Vector2d {
     return x * vec.x + y * vec.y;
   }
 
-  /**
-   * Returns magnitude of vector.
-   */
+  /** Returns magnitude of vector. */
   public double magnitude() {
     return Math.sqrt(x * x + y * y);
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/Filter.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/Filter.java
index 70ce923103..f80eb30896 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/Filter.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/Filter.java
@@ -40,9 +40,7 @@ public abstract class Filter implements PIDSource {
    */
   public abstract double get();
 
-  /**
-   * Reset the filter state.
-   */
+  /** Reset the filter state. */
   public abstract void reset();
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/LinearDigitalFilter.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/LinearDigitalFilter.java
index ddaeadb6fc..4499f4b47f 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/LinearDigitalFilter.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/LinearDigitalFilter.java
@@ -4,12 +4,11 @@
 
 package edu.wpi.first.wpilibj.filters;
 
-import java.util.Arrays;
-
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.PIDSource;
 import edu.wpi.first.wpiutil.CircularBuffer;
+import java.util.Arrays;
 
 /**
  * This class implements a linear, digital filter. All types of FIR and IIR filters are supported.
@@ -26,8 +25,8 @@ import edu.wpi.first.wpiutil.CircularBuffer;
  * <p>What can linear filters do? Basically, they can filter, or diminish, the effects of
  * undesirable input frequencies. High frequencies, or rapid changes, can be indicative of sensor
  * noise or be otherwise undesirable. A "low pass" filter smooths out the signal, reducing the
- * impact of these high frequency components.  Likewise, a "high pass" filter gets rid of
- * slow-moving signal components, letting you detect large changes more easily.
+ * impact of these high frequency components. Likewise, a "high pass" filter gets rid of slow-moving
+ * signal components, letting you detect large changes more easily.
  *
  * <p>Example FRC applications of filters: - Getting rid of noise from an analog sensor input (note:
  * the roboRIO's FPGA can do this faster in hardware) - Smoothing out joystick input to prevent the
@@ -62,12 +61,11 @@ public class LinearDigitalFilter extends Filter {
   /**
    * Create a linear FIR or IIR filter.
    *
-   * @param source  The PIDSource object that is used to get values
+   * @param source The PIDSource object that is used to get values
    * @param ffGains The "feed forward" or FIR gains
    * @param fbGains The "feed back" or IIR gains
    */
-  public LinearDigitalFilter(PIDSource source, double[] ffGains,
-                             double[] fbGains) {
+  public LinearDigitalFilter(PIDSource source, double[] ffGains, double[] fbGains) {
     super(source);
     m_inputs = new CircularBuffer(ffGains.length);
     m_outputs = new CircularBuffer(fbGains.length);
@@ -84,13 +82,12 @@ public class LinearDigitalFilter extends Filter {
    *
    * <p>This filter is stable for time constants greater than zero.
    *
-   * @param source       The PIDSource object that is used to get values
+   * @param source The PIDSource object that is used to get values
    * @param timeConstant The discrete-time time constant in seconds
-   * @param period       The period in seconds between samples taken by the user
+   * @param period The period in seconds between samples taken by the user
    */
-  public static LinearDigitalFilter singlePoleIIR(PIDSource source,
-                                                  double timeConstant,
-                                                  double period) {
+  public static LinearDigitalFilter singlePoleIIR(
+      PIDSource source, double timeConstant, double period) {
     double gain = Math.exp(-period / timeConstant);
     double[] ffGains = {1.0 - gain};
     double[] fbGains = {-gain};
@@ -104,13 +101,11 @@ public class LinearDigitalFilter extends Filter {
    *
    * <p>This filter is stable for time constants greater than zero.
    *
-   * @param source       The PIDSource object that is used to get values
+   * @param source The PIDSource object that is used to get values
    * @param timeConstant The discrete-time time constant in seconds
-   * @param period       The period in seconds between samples taken by the user
+   * @param period The period in seconds between samples taken by the user
    */
-  public static LinearDigitalFilter highPass(PIDSource source,
-                                             double timeConstant,
-                                             double period) {
+  public static LinearDigitalFilter highPass(PIDSource source, double timeConstant, double period) {
     double gain = Math.exp(-period / timeConstant);
     double[] ffGains = {gain, -gain};
     double[] fbGains = {-gain};
@@ -125,7 +120,7 @@ public class LinearDigitalFilter extends Filter {
    * <p>This filter is always stable.
    *
    * @param source The PIDSource object that is used to get values
-   * @param taps   The number of samples to average over. Higher = smoother but slower
+   * @param taps The number of samples to average over. Higher = smoother but slower
    * @throws IllegalArgumentException if number of taps is less than 1
    */
   public static LinearDigitalFilter movingAverage(PIDSource source, int taps) {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Accelerometer.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Accelerometer.java
index 47865d5dc9..de2780f6ed 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Accelerometer.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Accelerometer.java
@@ -4,19 +4,20 @@
 
 package edu.wpi.first.wpilibj.interfaces;
 
-/**
- * Interface for 3-axis accelerometers.
- */
+/** Interface for 3-axis accelerometers. */
 public interface Accelerometer {
   enum Range {
-    k2G, k4G, k8G, k16G
+    k2G,
+    k4G,
+    k8G,
+    k16G
   }
 
   /**
    * Common interface for setting the measuring range of an accelerometer.
    *
    * @param range The maximum acceleration, positive or negative, that the accelerometer will
-   *              measure. Not all accelerometers support all ranges.
+   *     measure. Not all accelerometers support all ranges.
    */
   void setRange(Range range);
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java
index 4121688d43..8b9f9a7206 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java
@@ -6,14 +6,12 @@ package edu.wpi.first.wpilibj.interfaces;
 
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 
-/**
- * Interface for yaw rate gyros.
- */
+/** Interface for yaw rate gyros. */
 public interface Gyro extends AutoCloseable {
   /**
    * Calibrate the gyro. It's important to make sure that the robot is not moving while the
-   * calibration is in progress, this is typically done when the robot is first turned on while
-   * it's sitting at rest before the match starts.
+   * calibration is in progress, this is typically done when the robot is first turned on while it's
+   * sitting at rest before the match starts.
    */
   void calibrate();
 
@@ -27,11 +25,11 @@ public interface Gyro extends AutoCloseable {
    * Return the heading of the robot in degrees.
    *
    * <p>The angle is continuous, that is it will continue from 360 to 361 degrees. This allows
-   * algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past
-   * from 360 to 0 on the second time around.
+   * algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past from
+   * 360 to 0 on the second time around.
    *
-   * <p>The angle is expected to increase as the gyro turns clockwise when looked
-   * at from the top. It needs to follow the NED axis convention.
+   * <p>The angle is expected to increase as the gyro turns clockwise when looked at from the top.
+   * It needs to follow the NED axis convention.
    *
    * <p>This heading is based on integration of the returned rate from the gyro.
    *
@@ -44,8 +42,8 @@ public interface Gyro extends AutoCloseable {
    *
    * <p>The rate is based on the most recent reading of the gyro analog value
    *
-   * <p>The rate is expected to be positive as the gyro turns clockwise when looked
-   * at from the top. It needs to follow the NED axis convention.
+   * <p>The rate is expected to be positive as the gyro turns clockwise when looked at from the top.
+   * It needs to follow the NED axis convention.
    *
    * @return the current rate in degrees per second
    */
@@ -55,16 +53,16 @@ public interface Gyro extends AutoCloseable {
    * Return the heading of the robot as a {@link edu.wpi.first.wpilibj.geometry.Rotation2d}.
    *
    * <p>The angle is continuous, that is it will continue from 360 to 361 degrees. This allows
-   * algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past
-   * from 360 to 0 on the second time around.
+   * algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past from
+   * 360 to 0 on the second time around.
    *
-   * <p>The angle is expected to increase as the gyro turns counterclockwise
-   * when looked at from the top. It needs to follow the NWU axis convention.
+   * <p>The angle is expected to increase as the gyro turns counterclockwise when looked at from the
+   * top. It needs to follow the NWU axis convention.
    *
    * <p>This heading is based on integration of the returned rate from the gyro.
    *
-   * @return the current heading of the robot as a
-   *         {@link edu.wpi.first.wpilibj.geometry.Rotation2d}.
+   * @return the current heading of the robot as a {@link
+   *     edu.wpi.first.wpilibj.geometry.Rotation2d}.
    */
   default Rotation2d getRotation2d() {
     return Rotation2d.fromDegrees(-getAngle());
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Potentiometer.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Potentiometer.java
index ea2cabc513..e0178273b0 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Potentiometer.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Potentiometer.java
@@ -6,9 +6,7 @@ package edu.wpi.first.wpilibj.interfaces;
 
 import edu.wpi.first.wpilibj.PIDSource;
 
-/**
- * Interface for a Potentiometer.
- */
+/** Interface for a Potentiometer. */
 public interface Potentiometer extends PIDSource {
   double get();
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java
index 2f2403dcad..76906c9729 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java
@@ -10,10 +10,8 @@ import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.Sendable;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
-
 /**
- * The LiveWindow class is the public interface for putting sensors and actuators on the
- * LiveWindow.
+ * The LiveWindow class is the public interface for putting sensors and actuators on the LiveWindow.
  */
 public class LiveWindow {
   private static class Component {
@@ -78,9 +76,11 @@ public class LiveWindow {
         }
       } else {
         System.out.println("stopping live window mode.");
-        SendableRegistry.foreachLiveWindow(dataHandle, cbdata -> {
-          cbdata.builder.stopLiveWindowMode();
-        });
+        SendableRegistry.foreachLiveWindow(
+            dataHandle,
+            cbdata -> {
+              cbdata.builder.stopLiveWindowMode();
+            });
         if (disabledListener != null) {
           disabledListener.run();
         }
@@ -109,24 +109,24 @@ public class LiveWindow {
     getOrAdd(sendable).m_telemetryEnabled = false;
   }
 
-  /**
-   * Disable ALL telemetry.
-   */
+  /** Disable ALL telemetry. */
   public static synchronized void disableAllTelemetry() {
     telemetryEnabled = false;
-    SendableRegistry.foreachLiveWindow(dataHandle, cbdata -> {
-      if (cbdata.data == null) {
-        cbdata.data = new Component();
-      }
-      ((Component) cbdata.data).m_telemetryEnabled = false;
-    });
+    SendableRegistry.foreachLiveWindow(
+        dataHandle,
+        cbdata -> {
+          if (cbdata.data == null) {
+            cbdata.data = new Component();
+          }
+          ((Component) cbdata.data).m_telemetryEnabled = false;
+        });
   }
 
   /**
    * Tell all the sensors to update (send) their values.
    *
-   * <p>Actuators are handled through callbacks on their value changing from the
-   * SmartDashboard widgets.
+   * <p>Actuators are handled through callbacks on their value changing from the SmartDashboard
+   * widgets.
    */
   @SuppressWarnings({"PMD.CyclomaticComplexity", "PMD.NPathComplexity"})
   public static synchronized void updateValues() {
@@ -135,50 +135,52 @@ public class LiveWindow {
       return;
     }
 
-    SendableRegistry.foreachLiveWindow(dataHandle, cbdata -> {
-      if (cbdata.sendable == null || cbdata.parent != null) {
-        return;
-      }
+    SendableRegistry.foreachLiveWindow(
+        dataHandle,
+        cbdata -> {
+          if (cbdata.sendable == null || cbdata.parent != null) {
+            return;
+          }
 
-      if (cbdata.data == null) {
-        cbdata.data = new Component();
-      }
+          if (cbdata.data == null) {
+            cbdata.data = new Component();
+          }
 
-      Component component = (Component) cbdata.data;
+          Component component = (Component) cbdata.data;
 
-      if (!liveWindowEnabled && !component.m_telemetryEnabled) {
-        return;
-      }
+          if (!liveWindowEnabled && !component.m_telemetryEnabled) {
+            return;
+          }
 
-      if (component.m_firstTime) {
-        // By holding off creating the NetworkTable entries, it allows the
-        // components to be redefined. This allows default sensor and actuator
-        // values to be created that are replaced with the custom names from
-        // users calling setName.
-        if (cbdata.name.isEmpty()) {
-          return;
-        }
-        NetworkTable ssTable = liveWindowTable.getSubTable(cbdata.subsystem);
-        NetworkTable table;
-        // Treat name==subsystem as top level of subsystem
-        if (cbdata.name.equals(cbdata.subsystem)) {
-          table = ssTable;
-        } else {
-          table = ssTable.getSubTable(cbdata.name);
-        }
-        table.getEntry(".name").setString(cbdata.name);
-        cbdata.builder.setTable(table);
-        cbdata.sendable.initSendable(cbdata.builder);
-        ssTable.getEntry(".type").setString("LW Subsystem");
+          if (component.m_firstTime) {
+            // By holding off creating the NetworkTable entries, it allows the
+            // components to be redefined. This allows default sensor and actuator
+            // values to be created that are replaced with the custom names from
+            // users calling setName.
+            if (cbdata.name.isEmpty()) {
+              return;
+            }
+            NetworkTable ssTable = liveWindowTable.getSubTable(cbdata.subsystem);
+            NetworkTable table;
+            // Treat name==subsystem as top level of subsystem
+            if (cbdata.name.equals(cbdata.subsystem)) {
+              table = ssTable;
+            } else {
+              table = ssTable.getSubTable(cbdata.name);
+            }
+            table.getEntry(".name").setString(cbdata.name);
+            cbdata.builder.setTable(table);
+            cbdata.sendable.initSendable(cbdata.builder);
+            ssTable.getEntry(".type").setString("LW Subsystem");
 
-        component.m_firstTime = false;
-      }
+            component.m_firstTime = false;
+          }
 
-      if (startLiveWindow) {
-        cbdata.builder.startLiveWindowMode();
-      }
-      cbdata.builder.updateTable();
-    });
+          if (startLiveWindow) {
+            cbdata.builder.startLiveWindowMode();
+          }
+          cbdata.builder.updateTable();
+        });
 
     startLiveWindow = false;
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInLayouts.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInLayouts.java
index 9cf3ff5697..fb642ae6ab 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInLayouts.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInLayouts.java
@@ -15,8 +15,9 @@ package edu.wpi.first.wpilibj.shuffleboard;
 public enum BuiltInLayouts implements LayoutType {
   /**
    * Groups components in a vertical list. New widgets added to the layout will be placed at the
-   * bottom of the list.
-   * <br>Custom properties:
+   * bottom of the list. <br>
+   * Custom properties:
+   *
    * <table>
    * <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
    * <tr><td>Label position</td><td>String</td><td>"BOTTOM"</td>
@@ -27,8 +28,9 @@ public enum BuiltInLayouts implements LayoutType {
   kList("List Layout"),
 
   /**
-   * Groups components in an <i>n</i> x <i>m</i> grid. Grid layouts default to 3x3.
-   * <br>Custom properties:
+   * Groups components in an <i>n</i> x <i>m</i> grid. Grid layouts default to 3x3. <br>
+   * Custom properties:
+   *
    * <table>
    * <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
    * <tr><td>Number of columns</td><td>Number</td><td>3</td><td>Must be in the range [1,15]</td>
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInWidgets.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInWidgets.java
index 6f680da385..84645c794e 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInWidgets.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInWidgets.java
@@ -10,6 +10,7 @@ import edu.wpi.first.wpilibj.interfaces.Accelerometer.Range;
  * The types of the widgets bundled with Shuffleboard.
  *
  * <p>For example, setting a number to be displayed with a slider:
+ *
  * <pre>{@code
  * NetworkTableEntry example = Shuffleboard.getTab("My Tab")
  *   .add("My Number", 0)
@@ -23,23 +24,30 @@ import edu.wpi.first.wpilibj.interfaces.Accelerometer.Range;
  */
 public enum BuiltInWidgets implements WidgetType {
   /**
-   * Displays a value with a simple text field.
-   * <br>Supported types:
+   * Displays a value with a simple text field. <br>
+   * Supported types:
+   *
    * <ul>
-   * <li>String</li>
-   * <li>Number</li>
-   * <li>Boolean</li>
+   *   <li>String
+   *   <li>Number
+   *   <li>Boolean
    * </ul>
-   * <br>This widget has no custom properties.
+   *
+   * <br>
+   * This widget has no custom properties.
    */
   kTextView("Text View"),
   /**
-   * Displays a number with a controllable slider.
-   * <br>Supported types:
+   * Displays a number with a controllable slider. <br>
+   * Supported types:
+   *
    * <ul>
-   * <li>Number</li>
+   *   <li>Number
    * </ul>
-   * <br>Custom properties:
+   *
+   * <br>
+   * Custom properties:
+   *
    * <table>
    * <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
    * <tr><td>Min</td><td>Number</td><td>-1.0</td><td>The minimum value of the slider</td></tr>
@@ -50,12 +58,16 @@ public enum BuiltInWidgets implements WidgetType {
    */
   kNumberSlider("Number Slider"),
   /**
-   * Displays a number with a view-only bar.
-   * <br>Supported types:
+   * Displays a number with a view-only bar. <br>
+   * Supported types:
+   *
    * <ul>
-   * <li>Number</li>
+   *   <li>Number
    * </ul>
-   * <br>Custom properties:
+   *
+   * <br>
+   * Custom properties:
+   *
    * <table>
    * <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
    * <tr><td>Min</td><td>Number</td><td>-1.0</td><td>The minimum value of the bar</td></tr>
@@ -66,11 +78,16 @@ public enum BuiltInWidgets implements WidgetType {
   kNumberBar("Number Bar"),
   /**
    * Displays a number with a view-only dial. Displayed values are rounded to the nearest integer.
-   * <br>Supported types:
+   * <br>
+   * Supported types:
+   *
    * <ul>
-   * <li>Number</li>
+   *   <li>Number
    * </ul>
-   * <br>Custom properties:
+   *
+   * <br>
+   * Custom properties:
+   *
    * <table>
    * <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
    * <tr><td>Min</td><td>Number</td><td>0</td><td>The minimum value of the dial</td></tr>
@@ -83,13 +100,17 @@ public enum BuiltInWidgets implements WidgetType {
   /**
    * Displays a number with a graph. <strong>NOTE:</strong> graphs can be taxing on the computer
    * running the dashboard. Keep the number of visible data points to a minimum. Making the widget
-   * smaller also helps with performance, but may cause the graph to become difficult to read.
-   * <br>Supported types:
+   * smaller also helps with performance, but may cause the graph to become difficult to read. <br>
+   * Supported types:
+   *
    * <ul>
-   * <li>Number</li>
-   * <li>Number array</li>
+   *   <li>Number
+   *   <li>Number array
    * </ul>
-   * <br>Custom properties:
+   *
+   * <br>
+   * Custom properties:
+   *
    * <table>
    * <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
    * <tr><td>Visible time</td><td>Number</td><td>30</td>
@@ -98,12 +119,16 @@ public enum BuiltInWidgets implements WidgetType {
    */
   kGraph("Graph"),
   /**
-   * Displays a boolean value as a large colored box.
-   * <br>Supported types:
+   * Displays a boolean value as a large colored box. <br>
+   * Supported types:
+   *
    * <ul>
-   * <li>Boolean</li>
+   *   <li>Boolean
    * </ul>
-   * <br>Custom properties:
+   *
+   * <br>
+   * Custom properties:
+   *
    * <table>
    * <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
    * <tr><td>Color when true</td><td>Color</td><td>"green"</td>
@@ -115,31 +140,41 @@ public enum BuiltInWidgets implements WidgetType {
    */
   kBooleanBox("Boolean Box"),
   /**
-   * Displays a boolean with a large interactive toggle button.
-   * <br>Supported types:
+   * Displays a boolean with a large interactive toggle button. <br>
+   * Supported types:
+   *
    * <ul>
-   * <li>Boolean</li>
+   *   <li>Boolean
    * </ul>
-   * <br>This widget has no custom properties.
+   *
+   * <br>
+   * This widget has no custom properties.
    */
   kToggleButton("Toggle Button"),
   /**
-   * Displays a boolean with a fixed-size toggle switch.
-   * <br>Supported types:
+   * Displays a boolean with a fixed-size toggle switch. <br>
+   * Supported types:
+   *
    * <ul>
-   * <li>Boolean</li>
+   *   <li>Boolean
    * </ul>
-   * <br>This widget has no custom properties.
+   *
+   * <br>
+   * This widget has no custom properties.
    */
   kToggleSwitch("Toggle Switch"),
   /**
-   * Displays an analog input or a raw number with a number bar.
-   * <br>Supported types:
+   * Displays an analog input or a raw number with a number bar. <br>
+   * Supported types:
+   *
    * <ul>
-   * <li>Number</li>
-   * <li>{@link edu.wpi.first.wpilibj.AnalogInput}</li>
+   *   <li>Number
+   *   <li>{@link edu.wpi.first.wpilibj.AnalogInput}
    * </ul>
-   * <br>Custom properties:
+   *
+   * <br>
+   * Custom properties:
+   *
    * <table>
    * <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
    * <tr><td>Min</td><td>Number</td><td>0</td><td>The minimum value of the bar</td></tr>
@@ -153,12 +188,16 @@ public enum BuiltInWidgets implements WidgetType {
    */
   kVoltageView("Voltage View"),
   /**
-   * Displays a {@link edu.wpi.first.wpilibj.PowerDistributionPanel PowerDistributionPanel}.
-   * <br>Supported types:
+   * Displays a {@link edu.wpi.first.wpilibj.PowerDistributionPanel PowerDistributionPanel}. <br>
+   * Supported types:
+   *
    * <ul>
-   * <li>{@link edu.wpi.first.wpilibj.PowerDistributionPanel}</li>
+   *   <li>{@link edu.wpi.first.wpilibj.PowerDistributionPanel}
    * </ul>
-   * <br>Custom properties:
+   *
+   * <br>
+   * Custom properties:
+   *
    * <table>
    * <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
    * <tr><td>Show voltage and current values</td><td>Boolean</td><td>true</td>
@@ -167,58 +206,71 @@ public enum BuiltInWidgets implements WidgetType {
    */
   kPowerDistributionPanel("PDP"),
   /**
-   * Displays a {@link edu.wpi.first.wpilibj.smartdashboard.SendableChooser SendableChooser} with
-   * a dropdown combo box with a list of options.
-   * <br>Supported types:
+   * Displays a {@link edu.wpi.first.wpilibj.smartdashboard.SendableChooser SendableChooser} with a
+   * dropdown combo box with a list of options. <br>
+   * Supported types:
+   *
    * <ul>
-   * <li>{@link edu.wpi.first.wpilibj.smartdashboard.SendableChooser}</li>
+   *   <li>{@link edu.wpi.first.wpilibj.smartdashboard.SendableChooser}
    * </ul>
-   * <br>This widget has no custom properties.
+   *
+   * <br>
+   * This widget has no custom properties.
    */
   kComboBoxChooser("ComboBox Chooser"),
   /**
-   * Displays a {@link edu.wpi.first.wpilibj.smartdashboard.SendableChooser SendableChooser} with
-   * a toggle button for each available option.
-   * <br>Supported types:
+   * Displays a {@link edu.wpi.first.wpilibj.smartdashboard.SendableChooser SendableChooser} with a
+   * toggle button for each available option. <br>
+   * Supported types:
+   *
    * <ul>
-   * <li>{@link edu.wpi.first.wpilibj.smartdashboard.SendableChooser}</li>
+   *   <li>{@link edu.wpi.first.wpilibj.smartdashboard.SendableChooser}
    * </ul>
-   * <br>This widget has no custom properties.
+   *
+   * <br>
+   * This widget has no custom properties.
    */
   kSplitButtonChooser("Split Button Chooser"),
   /**
    * Displays an {@link edu.wpi.first.wpilibj.Encoder} displaying its speed, total traveled
-   * distance, and its distance per tick.
-   * <br>Supported types:
+   * distance, and its distance per tick. <br>
+   * Supported types:
+   *
    * <ul>
-   * <li>{@link edu.wpi.first.wpilibj.Encoder}</li>
+   *   <li>{@link edu.wpi.first.wpilibj.Encoder}
    * </ul>
-   * <br>This widget has no custom properties.
+   *
+   * <br>
+   * This widget has no custom properties.
    */
   kEncoder("Encoder"),
   /**
    * Displays a {@link edu.wpi.first.wpilibj.SpeedController SpeedController}. The speed controller
    * will be controllable from the dashboard when test mode is enabled, but will otherwise be
-   * view-only.
-   * <br>Supported types:
+   * view-only. <br>
+   * Supported types:
+   *
    * <ul>
-   * <li>{@link edu.wpi.first.wpilibj.PWMSpeedController}</li>
-   * <li>{@link edu.wpi.first.wpilibj.DMC60}</li>
-   * <li>{@link edu.wpi.first.wpilibj.Jaguar}</li>
-   * <li>{@link edu.wpi.first.wpilibj.PWMSparkMax}</li>
-   * <li>{@link edu.wpi.first.wpilibj.PWMTalonFX}</li>
-   * <li>{@link edu.wpi.first.wpilibj.PWMTalonSRX}</li>
-   * <li>{@link edu.wpi.first.wpilibj.PWMVenom}</li>
-   * <li>{@link edu.wpi.first.wpilibj.PWMVictorSPX}</li>
-   * <li>{@link edu.wpi.first.wpilibj.SD540}</li>
-   * <li>{@link edu.wpi.first.wpilibj.Spark}</li>
-   * <li>{@link edu.wpi.first.wpilibj.Talon}</li>
-   * <li>{@link edu.wpi.first.wpilibj.Victor}</li>
-   * <li>{@link edu.wpi.first.wpilibj.VictorSP}</li>
-   * <li>{@link edu.wpi.first.wpilibj.SpeedControllerGroup}</li>
-   * <li>Any custom subclass of {@code SpeedController}</li>
+   *   <li>{@link edu.wpi.first.wpilibj.PWMSpeedController}
+   *   <li>{@link edu.wpi.first.wpilibj.DMC60}
+   *   <li>{@link edu.wpi.first.wpilibj.Jaguar}
+   *   <li>{@link edu.wpi.first.wpilibj.PWMSparkMax}
+   *   <li>{@link edu.wpi.first.wpilibj.PWMTalonFX}
+   *   <li>{@link edu.wpi.first.wpilibj.PWMTalonSRX}
+   *   <li>{@link edu.wpi.first.wpilibj.PWMVenom}
+   *   <li>{@link edu.wpi.first.wpilibj.PWMVictorSPX}
+   *   <li>{@link edu.wpi.first.wpilibj.SD540}
+   *   <li>{@link edu.wpi.first.wpilibj.Spark}
+   *   <li>{@link edu.wpi.first.wpilibj.Talon}
+   *   <li>{@link edu.wpi.first.wpilibj.Victor}
+   *   <li>{@link edu.wpi.first.wpilibj.VictorSP}
+   *   <li>{@link edu.wpi.first.wpilibj.SpeedControllerGroup}
+   *   <li>Any custom subclass of {@code SpeedController}
    * </ul>
-   * <br>Custom properties:
+   *
+   * <br>
+   * Custom properties:
+   *
    * <table>
    * <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
    * <tr><td>Orientation</td><td>String</td><td>"HORIZONTAL"</td>
@@ -228,46 +280,59 @@ public enum BuiltInWidgets implements WidgetType {
   kSpeedController("Speed Controller"),
   /**
    * Displays a command with a toggle button. Pressing the button will start the command, and the
-   * button will automatically release when the command completes.
-   * <br>Supported types:
+   * button will automatically release when the command completes. <br>
+   * Supported types:
+   *
    * <ul>
-   * <li>{@link edu.wpi.first.wpilibj.command.Command}</li>
-   * <li>{@link edu.wpi.first.wpilibj.command.CommandGroup}</li>
-   * <li>Any custom subclass of {@code Command} or {@code CommandGroup}</li>
+   *   <li>{@link edu.wpi.first.wpilibj.command.Command}
+   *   <li>{@link edu.wpi.first.wpilibj.command.CommandGroup}
+   *   <li>Any custom subclass of {@code Command} or {@code CommandGroup}
    * </ul>
-   * <br>This widget has no custom properties.
+   *
+   * <br>
+   * This widget has no custom properties.
    */
   kCommand("Command"),
   /**
    * Displays a PID command with a checkbox and an editor for the PIDF constants. Selecting the
    * checkbox will start the command, and the checkbox will automatically deselect when the command
-   * completes.
-   * <br>Supported types:
+   * completes. <br>
+   * Supported types:
+   *
    * <ul>
-   * <li>{@link edu.wpi.first.wpilibj.command.PIDCommand}</li>
-   * <li>Any custom subclass of {@code PIDCommand}</li>
+   *   <li>{@link edu.wpi.first.wpilibj.command.PIDCommand}
+   *   <li>Any custom subclass of {@code PIDCommand}
    * </ul>
-   * <br>This widget has no custom properties.
+   *
+   * <br>
+   * This widget has no custom properties.
    */
   kPIDCommand("PID Command"),
   /**
    * Displays a PID controller with an editor for the PIDF constants and a toggle switch for
-   * enabling and disabling the controller.
-   * <br>Supported types:
+   * enabling and disabling the controller. <br>
+   * Supported types:
+   *
    * <ul>
-   * <li>{@link edu.wpi.first.wpilibj.PIDController}</li>
+   *   <li>{@link edu.wpi.first.wpilibj.PIDController}
    * </ul>
-   * <br>This widget has no custom properties.
+   *
+   * <br>
+   * This widget has no custom properties.
    */
   kPIDController("PID Controller"),
   /**
    * Displays an accelerometer with a number bar displaying the magnitude of the acceleration and
-   * text displaying the exact value.
-   * <br>Supported types:
+   * text displaying the exact value. <br>
+   * Supported types:
+   *
    * <ul>
-   * <li>{@link edu.wpi.first.wpilibj.AnalogAccelerometer}</li>
+   *   <li>{@link edu.wpi.first.wpilibj.AnalogAccelerometer}
    * </ul>
-   * <br>Custom properties:
+   *
+   * <br>
+   * Custom properties:
+   *
    * <table>
    * <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
    * <tr><td>Min</td><td>Number</td><td>-1</td>
@@ -284,14 +349,18 @@ public enum BuiltInWidgets implements WidgetType {
    */
   kAccelerometer("Accelerometer"),
   /**
-   * Displays a 3-axis accelerometer with a number bar for each axis' acceleration.
-   * <br>Supported types:
+   * Displays a 3-axis accelerometer with a number bar for each axis' acceleration. <br>
+   * Supported types:
+   *
    * <ul>
-   * <li>{@link edu.wpi.first.wpilibj.ADXL345_I2C}</li>
-   * <li>{@link edu.wpi.first.wpilibj.ADXL345_SPI}</li>
-   * <li>{@link edu.wpi.first.wpilibj.ADXL362}</li>
+   *   <li>{@link edu.wpi.first.wpilibj.ADXL345_I2C}
+   *   <li>{@link edu.wpi.first.wpilibj.ADXL345_SPI}
+   *   <li>{@link edu.wpi.first.wpilibj.ADXL362}
    * </ul>
-   * <br>Custom properties:
+   *
+   * <br>
+   * Custom properties:
+   *
    * <table>
    * <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
    * <tr><td>Range</td><td>{@link Range}</td><td>k16G</td><td>The accelerometer range</td></tr>
@@ -305,14 +374,18 @@ public enum BuiltInWidgets implements WidgetType {
    */
   k3AxisAccelerometer("3-Axis Accelerometer"),
   /**
-   * Displays a gyro with a dial from 0 to 360 degrees.
-   * <br>Supported types:
+   * Displays a gyro with a dial from 0 to 360 degrees. <br>
+   * Supported types:
+   *
    * <ul>
-   * <li>{@link edu.wpi.first.wpilibj.ADXRS450_Gyro}</li>
-   * <li>{@link edu.wpi.first.wpilibj.AnalogGyro}</li>
-   * <li>Any custom subclass of {@code GyroBase} (such as a MXP gyro)</li>
+   *   <li>{@link edu.wpi.first.wpilibj.ADXRS450_Gyro}
+   *   <li>{@link edu.wpi.first.wpilibj.AnalogGyro}
+   *   <li>Any custom subclass of {@code GyroBase} (such as a MXP gyro)
    * </ul>
-   * <br>Custom properties:
+   *
+   * <br>
+   * Custom properties:
+   *
    * <table>
    * <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
    * <tr><td>Major tick spacing</td><td>Number</td><td>45</td><td>Degrees</td></tr>
@@ -323,23 +396,30 @@ public enum BuiltInWidgets implements WidgetType {
    */
   kGyro("Gyro"),
   /**
-   * Displays a relay with toggle buttons for each supported mode (off, on, forward, reverse).
-   * <br>Supported types:
+   * Displays a relay with toggle buttons for each supported mode (off, on, forward, reverse). <br>
+   * Supported types:
+   *
    * <ul>
-   * <li>{@link edu.wpi.first.wpilibj.Relay}</li>
+   *   <li>{@link edu.wpi.first.wpilibj.Relay}
    * </ul>
-   * <br>This widget has no custom properties.
+   *
+   * <br>
+   * This widget has no custom properties.
    */
   kRelay("Relay"),
   /**
    * Displays a differential drive with a widget that displays the speed of each side of the
    * drivebase and a vector for the direction and rotation of the drivebase. The widget will be
-   * controllable if the robot is in test mode.
-   * <br>Supported types:
+   * controllable if the robot is in test mode. <br>
+   * Supported types:
+   *
    * <ul>
-   * <li>{@link edu.wpi.first.wpilibj.drive.DifferentialDrive}</li>
+   *   <li>{@link edu.wpi.first.wpilibj.drive.DifferentialDrive}
    * </ul>
-   * <br>Custom properties:
+   *
+   * <br>
+   * Custom properties:
+   *
    * <table>
    * <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
    * <tr><td>Number of wheels</td><td>Number</td><td>4</td><td>Must be a positive even integer
@@ -351,13 +431,17 @@ public enum BuiltInWidgets implements WidgetType {
   kDifferentialDrive("Differential Drivebase"),
   /**
    * Displays a mecanum drive with a widget that displays the speed of each wheel, and vectors for
-   * the direction and rotation of the drivebase. The widget will be controllable if the robot is
-   * in test mode.
-   * <br>Supported types:
+   * the direction and rotation of the drivebase. The widget will be controllable if the robot is in
+   * test mode. <br>
+   * Supported types:
+   *
    * <ul>
-   * <li>{@link edu.wpi.first.wpilibj.drive.MecanumDrive}</li>
+   *   <li>{@link edu.wpi.first.wpilibj.drive.MecanumDrive}
    * </ul>
-   * <br>Custom properties:
+   *
+   * <br>
+   * Custom properties:
+   *
    * <table>
    * <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
    * <tr><td>Show velocity vectors</td><td>Boolean</td><td>true</td></tr>
@@ -365,12 +449,16 @@ public enum BuiltInWidgets implements WidgetType {
    */
   kMecanumDrive("Mecanum Drivebase"),
   /**
-   * Displays a camera stream.
-   * <br>Supported types:
+   * Displays a camera stream. <br>
+   * Supported types:
+   *
    * <ul>
-   * <li>{@link edu.wpi.cscore.VideoSource} (as long as it is streaming on an MJPEG server)</li>
+   *   <li>{@link edu.wpi.cscore.VideoSource} (as long as it is streaming on an MJPEG server)
    * </ul>
-   * <br>Custom properties:
+   *
+   * <br>
+   * Custom properties:
+   *
    * <table>
    * <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
    * <tr><td>Show crosshair</td><td>Boolean</td><td>true</td>
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ComplexWidget.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ComplexWidget.java
index 297f433509..0349b7e672 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ComplexWidget.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ComplexWidget.java
@@ -55,5 +55,4 @@ public final class ComplexWidget extends ShuffleboardWidget<ComplexWidget> {
       m_builder.stopLiveWindowMode();
     }
   }
-
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ContainerHelper.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ContainerHelper.java
index 330213f6a2..f5b6714704 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ContainerHelper.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ContainerHelper.java
@@ -4,6 +4,9 @@
 
 package edu.wpi.first.wpilibj.shuffleboard;
 
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.wpilibj.Sendable;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 import java.util.ArrayList;
 import java.util.HashSet;
 import java.util.LinkedHashMap;
@@ -17,13 +20,7 @@ import java.util.function.BooleanSupplier;
 import java.util.function.DoubleSupplier;
 import java.util.function.Supplier;
 
-import edu.wpi.first.networktables.NetworkTableEntry;
-import edu.wpi.first.wpilibj.Sendable;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
-
-/**
- * A helper class for Shuffleboard containers to handle common child operations.
- */
+/** A helper class for Shuffleboard containers to handle common child operations. */
 final class ContainerHelper {
   private final ShuffleboardContainer m_container;
   private final Set<String> m_usedTitles = new HashSet<>();
@@ -123,9 +120,8 @@ final class ContainerHelper {
     checkTitle(title);
   }
 
-  private <T> SuppliedValueWidget<T> addSupplied(String title,
-                                                 Supplier<T> supplier,
-                                                 BiConsumer<NetworkTableEntry, T> setter) {
+  private <T> SuppliedValueWidget<T> addSupplied(
+      String title, Supplier<T> supplier, BiConsumer<NetworkTableEntry, T> setter) {
     SuppliedValueWidget<T> widget = new SuppliedValueWidget<>(m_container, title, supplier, setter);
     m_components.add(widget);
     return widget;
@@ -144,5 +140,4 @@ final class ContainerHelper {
     }
     m_usedTitles.add(title);
   }
-
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/EventImportance.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/EventImportance.java
index 1ce30a723d..4d64efe55d 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/EventImportance.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/EventImportance.java
@@ -5,9 +5,9 @@
 package edu.wpi.first.wpilibj.shuffleboard;
 
 /**
- * The importance of an event marker in Shuffleboard.  The exact meaning of each importance level is
- * up for interpretation on a team-to-team basis, but users should follow the general guidelines
- * of the various importance levels.  The examples given are for reference and may be ignored or
+ * The importance of an event marker in Shuffleboard. The exact meaning of each importance level is
+ * up for interpretation on a team-to-team basis, but users should follow the general guidelines of
+ * the various importance levels. The examples given are for reference and may be ignored or
  * considered to be more or less important from team to team.
  */
 public enum EventImportance {
@@ -15,14 +15,10 @@ public enum EventImportance {
   // Modifying the enum or enum strings requires a corresponding change to the C++ enum
   // and the enum in Shuffleboard
 
-  /**
-   * A trivial event such as a change in command state.
-   */
+  /** A trivial event such as a change in command state. */
   kTrivial("TRIVIAL"),
 
-  /**
-   * A low importance event such as acquisition of a game piece.
-   */
+  /** A low importance event such as acquisition of a game piece. */
   kLow("LOW"),
 
   /**
@@ -30,14 +26,10 @@ public enum EventImportance {
    */
   kNormal("NORMAL"),
 
-  /**
-   * A high-importance event such as scoring a game piece.
-   */
+  /** A high-importance event such as scoring a game piece. */
   kHigh("HIGH"),
 
-  /**
-   * A critically important event such as a brownout, component failure, or software deadlock.
-   */
+  /** A critically important event such as a brownout, component failure, or software deadlock. */
   kCritical("CRITICAL");
 
   private final String m_simpleName;
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/LayoutType.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/LayoutType.java
index ba666d399d..fd827d65ce 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/LayoutType.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/LayoutType.java
@@ -11,8 +11,6 @@ package edu.wpi.first.wpilibj.shuffleboard;
  * @see BuiltInWidgets the built-in widget types
  */
 public interface LayoutType {
-  /**
-   * Gets the string type of the layout as defined by that layout in Shuffleboard.
-   */
+  /** Gets the string type of the layout as defined by that layout in Shuffleboard. */
   String getLayoutName();
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/RecordingController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/RecordingController.java
index bb9d9092ec..a7be3c9213 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/RecordingController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/RecordingController.java
@@ -9,9 +9,7 @@ import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.DriverStation;
 
-/**
- * Controls Shuffleboard recordings via NetworkTables.
- */
+/** Controls Shuffleboard recordings via NetworkTables. */
 final class RecordingController {
   private static final String kRecordingTableName = "/Shuffleboard/.recording/";
   private static final String kRecordingControlKey = kRecordingTableName + "RecordData";
@@ -46,21 +44,20 @@ final class RecordingController {
 
   public void addEventMarker(String name, String description, EventImportance importance) {
     if (name == null || name.isEmpty()) {
-      DriverStation.reportError(
-          "Shuffleboard event name was not specified", true);
+      DriverStation.reportError("Shuffleboard event name was not specified", true);
       return;
     }
 
     if (importance == null) {
-      DriverStation.reportError(
-          "Shuffleboard event importance was null", true);
+      DriverStation.reportError("Shuffleboard event importance was null", true);
       return;
     }
 
     String eventDescription = description == null ? "" : description;
 
-    m_eventsTable.getSubTable(name)
+    m_eventsTable
+        .getSubTable(name)
         .getEntry("Info")
-        .setStringArray(new String[]{eventDescription, importance.getSimpleName()});
+        .setStringArray(new String[] {eventDescription, importance.getSimpleName()});
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/SendableCameraWrapper.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/SendableCameraWrapper.java
index 6955f069d7..3cfdc24b08 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/SendableCameraWrapper.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/SendableCameraWrapper.java
@@ -4,17 +4,14 @@
 
 package edu.wpi.first.wpilibj.shuffleboard;
 
-import java.util.Map;
-import java.util.WeakHashMap;
-
 import edu.wpi.cscore.VideoSource;
 import edu.wpi.first.wpilibj.Sendable;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import java.util.Map;
+import java.util.WeakHashMap;
 
-/**
- * A wrapper to make video sources sendable and usable from Shuffleboard.
- */
+/** A wrapper to make video sources sendable and usable from Shuffleboard. */
 public final class SendableCameraWrapper implements Sendable, AutoCloseable {
   private static final String kProtocol = "camera_server://";
 
@@ -23,8 +20,8 @@ public final class SendableCameraWrapper implements Sendable, AutoCloseable {
   private final String m_uri;
 
   /**
-   * Creates a new sendable wrapper. Private constructor to avoid direct instantiation with
-   * multiple wrappers floating around for the same camera.
+   * Creates a new sendable wrapper. Private constructor to avoid direct instantiation with multiple
+   * wrappers floating around for the same camera.
    *
    * @param source the source to wrap
    */
@@ -40,12 +37,12 @@ public final class SendableCameraWrapper implements Sendable, AutoCloseable {
   }
 
   /**
-   * Gets a sendable wrapper object for the given video source, creating the wrapper if one does
-   * not already exist for the source.
+   * Gets a sendable wrapper object for the given video source, creating the wrapper if one does not
+   * already exist for the source.
    *
    * @param source the video source to wrap
-   * @return a sendable wrapper object for the video source, usable in Shuffleboard via
-   * {@link ShuffleboardTab#add(Sendable)} and {@link ShuffleboardLayout#add(Sendable)}
+   * @return a sendable wrapper object for the video source, usable in Shuffleboard via {@link
+   *     ShuffleboardTab#add(Sendable)} and {@link ShuffleboardLayout#add(Sendable)}
    */
   public static SendableCameraWrapper wrap(VideoSource source) {
     return m_wrappers.computeIfAbsent(source, SendableCameraWrapper::new);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/Shuffleboard.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/Shuffleboard.java
index a075ea617f..a2d039a609 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/Shuffleboard.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/Shuffleboard.java
@@ -13,7 +13,8 @@ import edu.wpi.first.networktables.NetworkTableInstance;
  * example, programmers can specify a specific {@code boolean} value to be displayed with a toggle
  * button instead of the default colored box, or set custom colors for that box.
  *
- * <p>For example, displaying a boolean entry with a toggle button:</p>
+ * <p>For example, displaying a boolean entry with a toggle button:
+ *
  * <pre>{@code
  * NetworkTableEntry myBoolean = Shuffleboard.getTab("Example Tab")
  *   .add("My Boolean", false)
@@ -21,7 +22,8 @@ import edu.wpi.first.networktables.NetworkTableInstance;
  *   .getEntry();
  * }</pre>
  *
- * <p>Changing the colors of the boolean box:</p>
+ * <p>Changing the colors of the boolean box:
+ *
  * <pre>{@code
  * NetworkTableEntry myBoolean = Shuffleboard.getTab("Example Tab")
  *   .add("My Boolean", false)
@@ -31,7 +33,8 @@ import edu.wpi.first.networktables.NetworkTableInstance;
  * }</pre>
  *
  * <p>Specifying a parent layout. Note that the layout type must <i>always</i> be specified, even if
- * the layout has already been generated by a previously defined entry.</p>
+ * the layout has already been generated by a previously defined entry.
+ *
  * <pre>{@code
  * NetworkTableEntry myBoolean = Shuffleboard.getTab("Example Tab")
  *   .getLayout("List", "Example List")
@@ -40,12 +43,10 @@ import edu.wpi.first.networktables.NetworkTableInstance;
  *   .getEntry();
  * }</pre>
  *
- * <p>Teams are encouraged to set up shuffleboard layouts at the start of the robot program.</p>
+ * <p>Teams are encouraged to set up shuffleboard layouts at the start of the robot program.
  */
 public final class Shuffleboard {
-  /**
-   * The name of the base NetworkTable into which all Shuffleboard data will be added.
-   */
+  /** The name of the base NetworkTable into which all Shuffleboard data will be added. */
   public static final String kBaseTableName = "/Shuffleboard";
 
   private static final ShuffleboardRoot root =
@@ -77,8 +78,8 @@ public final class Shuffleboard {
   }
 
   /**
-   * Selects the tab in the dashboard with the given index in the range [0..n-1], where <i>n</i>
-   * is the number of tabs in the dashboard at the time this method is called.
+   * Selects the tab in the dashboard with the given index in the range [0..n-1], where <i>n</i> is
+   * the number of tabs in the dashboard at the time this method is called.
    *
    * @param index the index of the tab to select
    */
@@ -97,9 +98,9 @@ public final class Shuffleboard {
 
   /**
    * Enables user control of widgets containing actuators: speed controllers, relays, etc. This
-   * should only be used when the robot is in test mode. IterativeRobotBase and SampleRobot are
-   * both configured to call this method when entering test mode; most users should not need to use
-   * this method directly.
+   * should only be used when the robot is in test mode. IterativeRobotBase and SampleRobot are both
+   * configured to call this method when entering test mode; most users should not need to use this
+   * method directly.
    */
   public static void enableActuatorWidgets() {
     root.enableActuatorWidgets();
@@ -108,8 +109,8 @@ public final class Shuffleboard {
   /**
    * Disables user control of widgets containing actuators. For safety reasons, actuators should
    * only be controlled while in test mode. IterativeRobotBase and SampleRobot are both configured
-   * to call this method when exiting in test mode; most users should not need to use
-   * this method directly.
+   * to call this method when exiting in test mode; most users should not need to use this method
+   * directly.
    */
   public static void disableActuatorWidgets() {
     update(); // Need to update to make sure the sendable builders are initialized
@@ -140,11 +141,10 @@ public final class Shuffleboard {
    *
    * <p>To avoid recording files overwriting each other, make sure to use unique recording file
    * names. File name formats accept templates for inserting the date and time when the recording
-   * started with the {@code ${date}} and {@code ${time}} templates, respectively. For example,
-   * the default format is {@code "recording-${time}"} and recording files created with it will have
+   * started with the {@code ${date}} and {@code ${time}} templates, respectively. For example, the
+   * default format is {@code "recording-${time}"} and recording files created with it will have
    * names like {@code "recording-2018.01.15.sbr"}. Users are <strong>strongly</strong> recommended
    * to use the {@code ${time}} template to ensure unique file names.
-   * </p>
    *
    * @param format the format for the
    * @see #clearRecordingFileNameFormat()
@@ -167,12 +167,12 @@ public final class Shuffleboard {
    * state to as critical as a total power loss or component failure. If Shuffleboard is recording,
    * the event will also be recorded.
    *
-   * <p>If {@code name} is {@code null} or empty, or {@code importance} is {@code null}, then
-   * no event will be sent and an error will be printed to the driver station.
+   * <p>If {@code name} is {@code null} or empty, or {@code importance} is {@code null}, then no
+   * event will be sent and an error will be printed to the driver station.
    *
-   * @param name        the name of the event
+   * @param name the name of the event
    * @param description a description of the event
-   * @param importance  the importance of the event
+   * @param importance the importance of the event
    */
   public static void addEventMarker(String name, String description, EventImportance importance) {
     recordingController.addEventMarker(name, description, importance);
@@ -183,11 +183,11 @@ public final class Shuffleboard {
    * state to as critical as a total power loss or component failure. If Shuffleboard is recording,
    * the event will also be recorded.
    *
-   * <p>If {@code name} is {@code null} or empty, or {@code importance} is {@code null}, then
-   * no event will be sent and an error will be printed to the driver station.
+   * <p>If {@code name} is {@code null} or empty, or {@code importance} is {@code null}, then no
+   * event will be sent and an error will be printed to the driver station.
    *
-   * @param name        the name of the event
-   * @param importance  the importance of the event
+   * @param name the name of the event
+   * @param importance the importance of the event
    */
   public static void addEventMarker(String name, EventImportance importance) {
     addEventMarker(name, "", importance);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardComponent.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardComponent.java
index 39ae6cd9d5..fd7d541fce 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardComponent.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardComponent.java
@@ -4,11 +4,10 @@
 
 package edu.wpi.first.wpilibj.shuffleboard;
 
-import java.util.Map;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.networktables.NetworkTable;
-
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import java.util.Map;
 
 /**
  * A generic component in Shuffleboard.
@@ -55,9 +54,7 @@ public abstract class ShuffleboardComponent<C extends ShuffleboardComponent<C>>
     return m_title;
   }
 
-  /**
-   * Gets the custom properties for this component. May be null.
-   */
+  /** Gets the custom properties for this component. May be null. */
   final Map<String, Object> getProperties() {
     return m_properties;
   }
@@ -85,7 +82,7 @@ public abstract class ShuffleboardComponent<C extends ShuffleboardComponent<C>>
    * component there before the one with the specific position is sent.
    *
    * @param columnIndex the column in the tab to place this component
-   * @param rowIndex    the row in the tab to place this component
+   * @param rowIndex the row in the tab to place this component
    * @return this component
    */
   @SuppressWarnings("unchecked")
@@ -100,7 +97,7 @@ public abstract class ShuffleboardComponent<C extends ShuffleboardComponent<C>>
    * Sets the size of this component in the tab. This has no effect if this component is inside a
    * layout.
    *
-   * @param width  how many columns wide the component should be
+   * @param width how many columns wide the component should be
    * @param height how many rows high the component should be
    * @return this component
    */
@@ -127,14 +124,14 @@ public abstract class ShuffleboardComponent<C extends ShuffleboardComponent<C>>
     if (m_width <= 0 || m_height <= 0) {
       metaTable.getEntry("Size").delete();
     } else {
-      metaTable.getEntry("Size").setDoubleArray(new double[]{m_width, m_height});
+      metaTable.getEntry("Size").setDoubleArray(new double[] {m_width, m_height});
     }
 
     // Tile position
     if (m_column < 0 || m_row < 0) {
       metaTable.getEntry("Position").delete();
     } else {
-      metaTable.getEntry("Position").setDoubleArray(new double[]{m_column, m_row});
+      metaTable.getEntry("Position").setDoubleArray(new double[] {m_column, m_row});
     }
 
     // Custom properties
@@ -144,5 +141,4 @@ public abstract class ShuffleboardComponent<C extends ShuffleboardComponent<C>>
     }
     m_metadataDirty = false;
   }
-
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardContainer.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardContainer.java
index 3ff5193e77..c81e372213 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardContainer.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardContainer.java
@@ -4,33 +4,28 @@
 
 package edu.wpi.first.wpilibj.shuffleboard;
 
+import edu.wpi.cscore.VideoSource;
+import edu.wpi.first.wpilibj.Sendable;
 import java.util.List;
 import java.util.NoSuchElementException;
 import java.util.function.BooleanSupplier;
 import java.util.function.DoubleSupplier;
 import java.util.function.Supplier;
 
-import edu.wpi.cscore.VideoSource;
-import edu.wpi.first.wpilibj.Sendable;
-
-/**
- * Common interface for objects that can contain shuffleboard components.
- */
+/** Common interface for objects that can contain shuffleboard components. */
 public interface ShuffleboardContainer extends ShuffleboardValue {
 
-  /**
-   * Gets the components that are direct children of this container.
-   */
+  /** Gets the components that are direct children of this container. */
   List<ShuffleboardComponent<?>> getComponents();
 
   /**
    * Gets the layout with the given type and title, creating it if it does not already exist at the
-   * time this method is called. Note: this method should only be used to use a layout type that
-   * is not already built into Shuffleboard. To use a layout built into Shuffleboard, use
-   * {@link #getLayout(String, LayoutType)} and the layouts in {@link BuiltInLayouts}.
+   * time this method is called. Note: this method should only be used to use a layout type that is
+   * not already built into Shuffleboard. To use a layout built into Shuffleboard, use {@link
+   * #getLayout(String, LayoutType)} and the layouts in {@link BuiltInLayouts}.
    *
    * @param title the title of the layout
-   * @param type  the type of the layout, eg "List Layout" or "Grid Layout"
+   * @param type the type of the layout, eg "List Layout" or "Grid Layout"
    * @return the layout
    * @see #getLayout(String, LayoutType)
    */
@@ -40,7 +35,7 @@ public interface ShuffleboardContainer extends ShuffleboardValue {
    * Gets the layout with the given type and title, creating it if it does not already exist at the
    * time this method is called.
    *
-   * @param title      the title of the layout
+   * @param title the title of the layout
    * @param layoutType the type of the layout, eg "List" or "Grid"
    * @return the layout
    */
@@ -69,11 +64,11 @@ public interface ShuffleboardContainer extends ShuffleboardValue {
   /**
    * Adds a widget to this container to display the given sendable.
    *
-   * @param title    the title of the widget
+   * @param title the title of the widget
    * @param sendable the sendable to display
    * @return a widget to display the sendable data
    * @throws IllegalArgumentException if a widget already exists in this container with the given
-   *                                  title
+   *     title
    */
   ComplexWidget add(String title, Sendable sendable) throws IllegalArgumentException;
 
@@ -84,7 +79,7 @@ public interface ShuffleboardContainer extends ShuffleboardValue {
    * @param video the video stream to display
    * @return a widget to display the sendable data
    * @throws IllegalArgumentException if a widget already exists in this container with the given
-   *                                  title
+   *     title
    */
   default ComplexWidget add(String title, VideoSource video) throws IllegalArgumentException {
     return add(title, SendableCameraWrapper.wrap(video));
@@ -96,7 +91,7 @@ public interface ShuffleboardContainer extends ShuffleboardValue {
    * @param sendable the sendable to display
    * @return a widget to display the sendable data
    * @throws IllegalArgumentException if a widget already exists in this container with the given
-   *                                  title, or if the sendable's name has not been specified
+   *     title, or if the sendable's name has not been specified
    */
   ComplexWidget add(Sendable sendable);
 
@@ -106,7 +101,7 @@ public interface ShuffleboardContainer extends ShuffleboardValue {
    * @param video the video to display
    * @return a widget to display the sendable data
    * @throws IllegalArgumentException if a widget already exists in this container with the same
-   *                                  title as the video source
+   *     title as the video source
    */
   default ComplexWidget add(VideoSource video) {
     return add(SendableCameraWrapper.wrap(video));
@@ -115,11 +110,11 @@ public interface ShuffleboardContainer extends ShuffleboardValue {
   /**
    * Adds a widget to this container to display the given data.
    *
-   * @param title        the title of the widget
+   * @param title the title of the widget
    * @param defaultValue the default value of the widget
    * @return a widget to display the sendable data
    * @throws IllegalArgumentException if a widget already exists in this container with the given
-   *                                  title
+   *     title
    * @see #addPersistent(String, Object) add(String title, Object defaultValue)
    */
   SimpleWidget add(String title, Object defaultValue) throws IllegalArgumentException;
@@ -133,7 +128,7 @@ public interface ShuffleboardContainer extends ShuffleboardValue {
    * @param valueSupplier the supplier for values
    * @return a widget to display data
    * @throws IllegalArgumentException if a widget already exists in this container with the given
-   *                                  title
+   *     title
    */
   SuppliedValueWidget<String> addString(String title, Supplier<String> valueSupplier)
       throws IllegalArgumentException;
@@ -147,7 +142,7 @@ public interface ShuffleboardContainer extends ShuffleboardValue {
    * @param valueSupplier the supplier for values
    * @return a widget to display data
    * @throws IllegalArgumentException if a widget already exists in this container with the given
-   *                                  title
+   *     title
    */
   SuppliedValueWidget<Double> addNumber(String title, DoubleSupplier valueSupplier)
       throws IllegalArgumentException;
@@ -161,7 +156,7 @@ public interface ShuffleboardContainer extends ShuffleboardValue {
    * @param valueSupplier the supplier for values
    * @return a widget to display data
    * @throws IllegalArgumentException if a widget already exists in this container with the given
-   *                                  title
+   *     title
    */
   SuppliedValueWidget<Boolean> addBoolean(String title, BooleanSupplier valueSupplier)
       throws IllegalArgumentException;
@@ -175,7 +170,7 @@ public interface ShuffleboardContainer extends ShuffleboardValue {
    * @param valueSupplier the supplier for values
    * @return a widget to display data
    * @throws IllegalArgumentException if a widget already exists in this container with the given
-   *                                  title
+   *     title
    */
   SuppliedValueWidget<String[]> addStringArray(String title, Supplier<String[]> valueSupplier)
       throws IllegalArgumentException;
@@ -189,7 +184,7 @@ public interface ShuffleboardContainer extends ShuffleboardValue {
    * @param valueSupplier the supplier for values
    * @return a widget to display data
    * @throws IllegalArgumentException if a widget already exists in this container with the given
-   *                                  title
+   *     title
    */
   SuppliedValueWidget<double[]> addDoubleArray(String title, Supplier<double[]> valueSupplier)
       throws IllegalArgumentException;
@@ -203,7 +198,7 @@ public interface ShuffleboardContainer extends ShuffleboardValue {
    * @param valueSupplier the supplier for values
    * @return a widget to display data
    * @throws IllegalArgumentException if a widget already exists in this container with the given
-   *                                  title
+   *     title
    */
   SuppliedValueWidget<boolean[]> addBooleanArray(String title, Supplier<boolean[]> valueSupplier)
       throws IllegalArgumentException;
@@ -217,21 +212,21 @@ public interface ShuffleboardContainer extends ShuffleboardValue {
    * @param valueSupplier the supplier for values
    * @return a widget to display data
    * @throws IllegalArgumentException if a widget already exists in this container with the given
-   *                                  title
+   *     title
    */
   SuppliedValueWidget<byte[]> addRaw(String title, Supplier<byte[]> valueSupplier)
       throws IllegalArgumentException;
 
   /**
-   * Adds a widget to this container to display a simple piece of data. Unlike
-   * {@link #add(String, Object)}, the value in the widget will be saved on the robot and will be
-   * used when the robot program next starts rather than {@code defaultValue}.
+   * Adds a widget to this container to display a simple piece of data. Unlike {@link #add(String,
+   * Object)}, the value in the widget will be saved on the robot and will be used when the robot
+   * program next starts rather than {@code defaultValue}.
    *
-   * @param title        the title of the widget
+   * @param title the title of the widget
    * @param defaultValue the default value of the widget
    * @return a widget to display the sendable data
    * @throws IllegalArgumentException if a widget already exists in this container with the given
-   *                                  title
+   *     title
    * @see #add(String, Object) add(String title, Object defaultValue)
    */
   default SimpleWidget addPersistent(String title, Object defaultValue)
@@ -240,5 +235,4 @@ public interface ShuffleboardContainer extends ShuffleboardValue {
     widget.getEntry().setPersistent();
     return widget;
   }
-
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardInstance.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardInstance.java
index 174fe80331..a8644331ad 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardInstance.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardInstance.java
@@ -4,17 +4,16 @@
 
 package edu.wpi.first.wpilibj.shuffleboard;
 
-import java.util.LinkedHashMap;
-import java.util.Map;
-import java.util.function.Consumer;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
-
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import java.util.LinkedHashMap;
+import java.util.Map;
+import java.util.function.Consumer;
 
 final class ShuffleboardInstance implements ShuffleboardRoot {
   private final Map<String, ShuffleboardTab> m_tabs = new LinkedHashMap<>();
@@ -50,10 +49,8 @@ final class ShuffleboardInstance implements ShuffleboardRoot {
   @Override
   public void update() {
     if (m_tabsChanged) {
-      String[] tabTitles = m_tabs.values()
-          .stream()
-          .map(ShuffleboardTab::getTitle)
-          .toArray(String[]::new);
+      String[] tabTitles =
+          m_tabs.values().stream().map(ShuffleboardTab::getTitle).toArray(String[]::new);
       m_rootMetaTable.getEntry("Tabs").forceSetStringArray(tabTitles);
       m_tabsChanged = false;
     }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardLayout.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardLayout.java
index 64a2c717c6..2234215dc0 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardLayout.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardLayout.java
@@ -4,20 +4,17 @@
 
 package edu.wpi.first.wpilibj.shuffleboard;
 
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.wpilibj.Sendable;
 import java.util.List;
 import java.util.NoSuchElementException;
 import java.util.function.BooleanSupplier;
 import java.util.function.DoubleSupplier;
 import java.util.function.Supplier;
 
-import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.wpilibj.Sendable;
-
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
-
-/**
- * A layout in a Shuffleboard tab. Layouts can contain widgets and other layouts.
- */
+/** A layout in a Shuffleboard tab. Layouts can contain widgets and other layouts. */
 public class ShuffleboardLayout extends ShuffleboardComponent<ShuffleboardLayout>
     implements ShuffleboardContainer {
   private final ContainerHelper m_helper = new ContainerHelper(this);
@@ -57,50 +54,43 @@ public class ShuffleboardLayout extends ShuffleboardComponent<ShuffleboardLayout
   }
 
   @Override
-  public SuppliedValueWidget<String> addString(String title,
-                                               Supplier<String> valueSupplier)
+  public SuppliedValueWidget<String> addString(String title, Supplier<String> valueSupplier)
       throws IllegalArgumentException {
     return m_helper.addString(title, valueSupplier);
   }
 
   @Override
-  public SuppliedValueWidget<Double> addNumber(String title,
-                                               DoubleSupplier valueSupplier)
+  public SuppliedValueWidget<Double> addNumber(String title, DoubleSupplier valueSupplier)
       throws IllegalArgumentException {
     return m_helper.addNumber(title, valueSupplier);
   }
 
   @Override
-  public SuppliedValueWidget<Boolean> addBoolean(String title,
-                                                 BooleanSupplier valueSupplier)
+  public SuppliedValueWidget<Boolean> addBoolean(String title, BooleanSupplier valueSupplier)
       throws IllegalArgumentException {
     return m_helper.addBoolean(title, valueSupplier);
   }
 
   @Override
-  public SuppliedValueWidget<String[]> addStringArray(String title,
-                                                      Supplier<String[]> valueSupplier)
-      throws IllegalArgumentException {
+  public SuppliedValueWidget<String[]> addStringArray(
+      String title, Supplier<String[]> valueSupplier) throws IllegalArgumentException {
     return m_helper.addStringArray(title, valueSupplier);
   }
 
   @Override
-  public SuppliedValueWidget<double[]> addDoubleArray(String title,
-                                                      Supplier<double[]> valueSupplier)
-      throws IllegalArgumentException {
+  public SuppliedValueWidget<double[]> addDoubleArray(
+      String title, Supplier<double[]> valueSupplier) throws IllegalArgumentException {
     return m_helper.addDoubleArray(title, valueSupplier);
   }
 
   @Override
-  public SuppliedValueWidget<boolean[]> addBooleanArray(String title,
-                                                        Supplier<boolean[]> valueSupplier)
-      throws IllegalArgumentException {
+  public SuppliedValueWidget<boolean[]> addBooleanArray(
+      String title, Supplier<boolean[]> valueSupplier) throws IllegalArgumentException {
     return m_helper.addBooleanArray(title, valueSupplier);
   }
 
   @Override
-  public SuppliedValueWidget<byte[]> addRaw(String title,
-                                            Supplier<byte[]> valueSupplier)
+  public SuppliedValueWidget<byte[]> addRaw(String title, Supplier<byte[]> valueSupplier)
       throws IllegalArgumentException {
     return m_helper.addRaw(title, valueSupplier);
   }
@@ -114,5 +104,4 @@ public class ShuffleboardLayout extends ShuffleboardComponent<ShuffleboardLayout
       component.buildInto(table, metaTable.getSubTable(component.getTitle()));
     }
   }
-
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardRoot.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardRoot.java
index 2ae8398107..cbeecd4ce9 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardRoot.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardRoot.java
@@ -5,8 +5,8 @@
 package edu.wpi.first.wpilibj.shuffleboard;
 
 /**
- * The root of the data placed in Shuffleboard. It contains the tabs, but no data is placed
- * directly in the root.
+ * The root of the data placed in Shuffleboard. It contains the tabs, but no data is placed directly
+ * in the root.
  *
  * <p>This class is package-private to minimize API surface area.
  */
@@ -20,24 +20,18 @@ interface ShuffleboardRoot {
    */
   ShuffleboardTab getTab(String title);
 
-  /**
-   * Updates all tabs.
-   */
+  /** Updates all tabs. */
   void update();
 
-  /**
-   * Enables all widgets in Shuffleboard that offer user control over actuators.
-   */
+  /** Enables all widgets in Shuffleboard that offer user control over actuators. */
   void enableActuatorWidgets();
 
-  /**
-   * Disables all widgets in Shuffleboard that offer user control over actuators.
-   */
+  /** Disables all widgets in Shuffleboard that offer user control over actuators. */
   void disableActuatorWidgets();
 
   /**
-   * Selects the tab in the dashboard with the given index in the range [0..n-1], where <i>n</i>
-   * is the number of tabs in the dashboard at the time this method is called.
+   * Selects the tab in the dashboard with the given index in the range [0..n-1], where <i>n</i> is
+   * the number of tabs in the dashboard at the time this method is called.
    *
    * @param index the index of the tab to select
    */
@@ -49,5 +43,4 @@ interface ShuffleboardRoot {
    * @param title the title of the tab to select
    */
   void selectTab(String title);
-
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTab.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTab.java
index b4329199b1..de53bac5c4 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTab.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTab.java
@@ -4,19 +4,18 @@
 
 package edu.wpi.first.wpilibj.shuffleboard;
 
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.wpilibj.Sendable;
 import java.util.List;
 import java.util.NoSuchElementException;
 import java.util.function.BooleanSupplier;
 import java.util.function.DoubleSupplier;
 import java.util.function.Supplier;
 
-import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.wpilibj.Sendable;
-
 /**
- * Represents a tab in the Shuffleboard dashboard. Widgets can be added to the tab with
- * {@link #add(Sendable)}, {@link #add(String, Object)}, and {@link #add(String, Sendable)}. Widgets
- * can also be added to layouts with {@link #getLayout(String, String)}; layouts can be nested
+ * Represents a tab in the Shuffleboard dashboard. Widgets can be added to the tab with {@link
+ * #add(Sendable)}, {@link #add(String, Object)}, and {@link #add(String, Sendable)}. Widgets can
+ * also be added to layouts with {@link #getLayout(String, String)}; layouts can be nested
  * arbitrarily deep (note that too many levels may make deeper components unusable).
  */
 public final class ShuffleboardTab implements ShuffleboardContainer {
@@ -69,50 +68,43 @@ public final class ShuffleboardTab implements ShuffleboardContainer {
   }
 
   @Override
-  public SuppliedValueWidget<String> addString(String title,
-                                               Supplier<String> valueSupplier)
+  public SuppliedValueWidget<String> addString(String title, Supplier<String> valueSupplier)
       throws IllegalArgumentException {
     return m_helper.addString(title, valueSupplier);
   }
 
   @Override
-  public SuppliedValueWidget<Double> addNumber(String title,
-                                               DoubleSupplier valueSupplier)
+  public SuppliedValueWidget<Double> addNumber(String title, DoubleSupplier valueSupplier)
       throws IllegalArgumentException {
     return m_helper.addNumber(title, valueSupplier);
   }
 
   @Override
-  public SuppliedValueWidget<Boolean> addBoolean(String title,
-                                                 BooleanSupplier valueSupplier)
+  public SuppliedValueWidget<Boolean> addBoolean(String title, BooleanSupplier valueSupplier)
       throws IllegalArgumentException {
     return m_helper.addBoolean(title, valueSupplier);
   }
 
   @Override
-  public SuppliedValueWidget<String[]> addStringArray(String title,
-                                                      Supplier<String[]> valueSupplier)
-      throws IllegalArgumentException {
+  public SuppliedValueWidget<String[]> addStringArray(
+      String title, Supplier<String[]> valueSupplier) throws IllegalArgumentException {
     return m_helper.addStringArray(title, valueSupplier);
   }
 
   @Override
-  public SuppliedValueWidget<double[]> addDoubleArray(String title,
-                                                      Supplier<double[]> valueSupplier)
-      throws IllegalArgumentException {
+  public SuppliedValueWidget<double[]> addDoubleArray(
+      String title, Supplier<double[]> valueSupplier) throws IllegalArgumentException {
     return m_helper.addDoubleArray(title, valueSupplier);
   }
 
   @Override
-  public SuppliedValueWidget<boolean[]> addBooleanArray(String title,
-                                                        Supplier<boolean[]> valueSupplier)
-      throws IllegalArgumentException {
+  public SuppliedValueWidget<boolean[]> addBooleanArray(
+      String title, Supplier<boolean[]> valueSupplier) throws IllegalArgumentException {
     return m_helper.addBooleanArray(title, valueSupplier);
   }
 
   @Override
-  public SuppliedValueWidget<byte[]> addRaw(String title,
-                                            Supplier<byte[]> valueSupplier)
+  public SuppliedValueWidget<byte[]> addRaw(String title, Supplier<byte[]> valueSupplier)
       throws IllegalArgumentException {
     return m_helper.addRaw(title, valueSupplier);
   }
@@ -125,5 +117,4 @@ public final class ShuffleboardTab implements ShuffleboardContainer {
       component.buildInto(tabTable, metaTable.getSubTable(component.getTitle()));
     }
   }
-
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardValue.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardValue.java
index d10412e15b..d562bafd19 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardValue.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardValue.java
@@ -8,21 +8,17 @@ import edu.wpi.first.networktables.NetworkTable;
 
 interface ShuffleboardValue {
 
-  /**
-   * Gets the title of this Shuffleboard value.
-   */
+  /** Gets the title of this Shuffleboard value. */
   String getTitle();
 
   /**
    * Builds the entries for this value.
    *
    * @param parentTable the table containing all the data for the parent. Values that require a
-   *                    complex entry or table structure should call {@code
-   *                    parentTable.getSubTable(getTitle())} to get the table to put data into.
-   *                    Values that only use a single entry should call {@code
-   *                    parentTable.getEntry(getTitle())} to get that entry.
-   * @param metaTable   the table containing all the metadata for this value and its sub-values
+   *     complex entry or table structure should call {@code parentTable.getSubTable(getTitle())} to
+   *     get the table to put data into. Values that only use a single entry should call {@code
+   *     parentTable.getEntry(getTitle())} to get that entry.
+   * @param metaTable the table containing all the metadata for this value and its sub-values
    */
   void buildInto(NetworkTable parentTable, NetworkTable metaTable);
-
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardWidget.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardWidget.java
index deee4f29bb..fa548dfc29 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardWidget.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardWidget.java
@@ -33,8 +33,8 @@ abstract class ShuffleboardWidget<W extends ShuffleboardWidget<W>>
   /**
    * Sets the type of widget used to display the data. If not set, the default widget type will be
    * used. This method should only be used to use a widget that does not come built into
-   * Shuffleboard (i.e. one that comes with a custom or third-party plugin). To use a widget that
-   * is built into Shuffleboard, use {@link #withWidget(WidgetType)} and {@link BuiltInWidgets}.
+   * Shuffleboard (i.e. one that comes with a custom or third-party plugin). To use a widget that is
+   * built into Shuffleboard, use {@link #withWidget(WidgetType)} and {@link BuiltInWidgets}.
    *
    * @param widgetType the type of the widget used to display the data
    * @return this widget object
@@ -44,5 +44,4 @@ abstract class ShuffleboardWidget<W extends ShuffleboardWidget<W>>
     setType(widgetType);
     return (W) this;
   }
-
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/SimpleWidget.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/SimpleWidget.java
index c3cfb94f0c..8e0900c7c2 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/SimpleWidget.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/SimpleWidget.java
@@ -7,9 +7,7 @@ package edu.wpi.first.wpilibj.shuffleboard;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEntry;
 
-/**
- * A Shuffleboard widget that handles a single data point such as a number or string.
- */
+/** A Shuffleboard widget that handles a single data point such as a number or string. */
 public final class SimpleWidget extends ShuffleboardWidget<SimpleWidget> {
   private NetworkTableEntry m_entry;
 
@@ -17,9 +15,7 @@ public final class SimpleWidget extends ShuffleboardWidget<SimpleWidget> {
     super(parent, title);
   }
 
-  /**
-   * Gets the NetworkTable entry that contains the data for this widget.
-   */
+  /** Gets the NetworkTable entry that contains the data for this widget. */
   public NetworkTableEntry getEntry() {
     if (m_entry == null) {
       forceGenerate();
@@ -43,5 +39,4 @@ public final class SimpleWidget extends ShuffleboardWidget<SimpleWidget> {
     ShuffleboardTab tab = (ShuffleboardTab) parent;
     tab.getRoot().update();
   }
-
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/SuppliedValueWidget.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/SuppliedValueWidget.java
index 4421880e2b..497b30f036 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/SuppliedValueWidget.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/SuppliedValueWidget.java
@@ -4,11 +4,10 @@
 
 package edu.wpi.first.wpilibj.shuffleboard;
 
-import java.util.function.BiConsumer;
-import java.util.function.Supplier;
-
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEntry;
+import java.util.function.BiConsumer;
+import java.util.function.Supplier;
 
 /**
  * A Shuffleboard widget whose value is provided by user code.
@@ -22,15 +21,16 @@ public final class SuppliedValueWidget<T> extends ShuffleboardWidget<SuppliedVal
   /**
    * Package-private constructor for use by the Shuffleboard API.
    *
-   * @param parent   the parent container for the widget
-   * @param title    the title of the widget
+   * @param parent the parent container for the widget
+   * @param title the title of the widget
    * @param supplier the supplier for values to place in the NetworkTable entry
-   * @param setter   the function for placing values in the NetworkTable entry
+   * @param setter the function for placing values in the NetworkTable entry
    */
-  SuppliedValueWidget(ShuffleboardContainer parent,
-                      String title,
-                      Supplier<T> supplier,
-                      BiConsumer<NetworkTableEntry, T> setter) {
+  SuppliedValueWidget(
+      ShuffleboardContainer parent,
+      String title,
+      Supplier<T> supplier,
+      BiConsumer<NetworkTableEntry, T> setter) {
     super(parent, title);
     this.m_supplier = supplier;
     this.m_setter = setter;
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/WidgetType.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/WidgetType.java
index b30042a6ed..270922b043 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/WidgetType.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/WidgetType.java
@@ -11,8 +11,6 @@ package edu.wpi.first.wpilibj.shuffleboard;
  * @see BuiltInWidgets the built-in widget types
  */
 public interface WidgetType {
-  /**
-   * Gets the string type of the widget as defined by that widget in Shuffleboard.
-   */
+  /** Gets the string type of the widget as defined by that widget in Shuffleboard. */
   String getWidgetName();
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADXRS450_GyroSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADXRS450_GyroSim.java
index 5b2f287489..0743cbde0b 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADXRS450_GyroSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADXRS450_GyroSim.java
@@ -7,9 +7,7 @@ package edu.wpi.first.wpilibj.simulation;
 import edu.wpi.first.hal.SimDouble;
 import edu.wpi.first.wpilibj.ADXRS450_Gyro;
 
-/**
- * Class to control a simulated ADXRS450 gyroscope.
- */
+/** Class to control a simulated ADXRS450 gyroscope. */
 @SuppressWarnings("TypeName")
 public class ADXRS450_GyroSim {
   private final SimDouble m_simAngle;
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AddressableLEDSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AddressableLEDSim.java
index 2e622afcee..9df269275d 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AddressableLEDSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AddressableLEDSim.java
@@ -10,15 +10,11 @@ import edu.wpi.first.hal.simulation.NotifyCallback;
 import edu.wpi.first.wpilibj.AddressableLED;
 import java.util.NoSuchElementException;
 
-/**
- * Class to control a simulated addressable LED.
- */
+/** Class to control a simulated addressable LED. */
 public class AddressableLEDSim {
   private final int m_index;
 
-  /**
-   * Constructs for the first addressable LED.
-   */
+  /** Constructs for the first addressable LED. */
   public AddressableLEDSim() {
     m_index = 0;
   }
@@ -54,8 +50,8 @@ public class AddressableLEDSim {
   }
 
   /**
-   * Creates an AddressableLEDSim for a simulated index.
-   * The index is incremented for each simulated AddressableLED.
+   * Creates an AddressableLEDSim for a simulated index. The index is incremented for each simulated
+   * AddressableLED.
    *
    * @param index simulator index
    * @return Simulated object
@@ -68,9 +64,11 @@ public class AddressableLEDSim {
     int uid = AddressableLEDDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, AddressableLEDDataJNI::cancelInitializedCallback);
   }
+
   public boolean getInitialized() {
     return AddressableLEDDataJNI.getInitialized(m_index);
   }
+
   public void setInitialized(boolean initialized) {
     AddressableLEDDataJNI.setInitialized(m_index, initialized);
   }
@@ -79,9 +77,11 @@ public class AddressableLEDSim {
     int uid = AddressableLEDDataJNI.registerOutputPortCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, AddressableLEDDataJNI::cancelOutputPortCallback);
   }
+
   public int getOutputPort() {
     return AddressableLEDDataJNI.getOutputPort(m_index);
   }
+
   public void setOutputPort(int outputPort) {
     AddressableLEDDataJNI.setOutputPort(m_index, outputPort);
   }
@@ -90,9 +90,11 @@ public class AddressableLEDSim {
     int uid = AddressableLEDDataJNI.registerLengthCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, AddressableLEDDataJNI::cancelLengthCallback);
   }
+
   public int getLength() {
     return AddressableLEDDataJNI.getLength(m_index);
   }
+
   public void setLength(int length) {
     AddressableLEDDataJNI.setLength(m_index, length);
   }
@@ -101,9 +103,11 @@ public class AddressableLEDSim {
     int uid = AddressableLEDDataJNI.registerRunningCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, AddressableLEDDataJNI::cancelRunningCallback);
   }
+
   public boolean getRunning() {
     return AddressableLEDDataJNI.getRunning(m_index);
   }
+
   public void setRunning(boolean running) {
     AddressableLEDDataJNI.setRunning(m_index, running);
   }
@@ -112,9 +116,11 @@ public class AddressableLEDSim {
     int uid = AddressableLEDDataJNI.registerDataCallback(m_index, callback);
     return new CallbackStore(m_index, uid, AddressableLEDDataJNI::cancelDataCallback);
   }
+
   public byte[] getData() {
     return AddressableLEDDataJNI.getData(m_index);
   }
+
   public void setData(byte[] data) {
     AddressableLEDDataJNI.setData(m_index, data);
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogEncoderSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogEncoderSim.java
index 912122482c..676b13c49d 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogEncoderSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogEncoderSim.java
@@ -8,9 +8,7 @@ import edu.wpi.first.hal.SimDouble;
 import edu.wpi.first.wpilibj.AnalogEncoder;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 
-/**
- * Class to control a simulated analog encoder.
- */
+/** Class to control a simulated analog encoder. */
 public class AnalogEncoderSim {
   private final SimDouble m_simPosition;
 
@@ -20,7 +18,8 @@ public class AnalogEncoderSim {
    * @param encoder AnalogEncoder to simulate
    */
   public AnalogEncoderSim(AnalogEncoder encoder) {
-    SimDeviceSim wrappedSimDevice = new SimDeviceSim("AnalogEncoder" + "[" + encoder.getChannel() + "]");
+    SimDeviceSim wrappedSimDevice =
+        new SimDeviceSim("AnalogEncoder" + "[" + encoder.getChannel() + "]");
     m_simPosition = wrappedSimDevice.getDouble("Position");
   }
 
@@ -42,16 +41,12 @@ public class AnalogEncoderSim {
     m_simPosition.set(turns);
   }
 
-  /**
-   * Get the simulated position.
-   */
+  /** Get the simulated position. */
   public double getTurns() {
     return m_simPosition.get();
   }
 
-  /**
-   * Get the position as a {@link Rotation2d}.
-   */
+  /** Get the position as a {@link Rotation2d}. */
   public Rotation2d getPosition() {
     return Rotation2d.fromDegrees(getTurns() * 360.0);
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogGyroSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogGyroSim.java
index d12db2b1e7..7435a37c78 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogGyroSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogGyroSim.java
@@ -8,9 +8,7 @@ import edu.wpi.first.hal.simulation.AnalogGyroDataJNI;
 import edu.wpi.first.hal.simulation.NotifyCallback;
 import edu.wpi.first.wpilibj.AnalogGyro;
 
-/**
- * Class to control a simulated analog gyro.
- */
+/** Class to control a simulated analog gyro. */
 public class AnalogGyroSim {
   private final int m_index;
 
@@ -36,9 +34,11 @@ public class AnalogGyroSim {
     int uid = AnalogGyroDataJNI.registerAngleCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, AnalogGyroDataJNI::cancelAngleCallback);
   }
+
   public double getAngle() {
     return AnalogGyroDataJNI.getAngle(m_index);
   }
+
   public void setAngle(double angle) {
     AnalogGyroDataJNI.setAngle(m_index, angle);
   }
@@ -47,9 +47,11 @@ public class AnalogGyroSim {
     int uid = AnalogGyroDataJNI.registerRateCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, AnalogGyroDataJNI::cancelRateCallback);
   }
+
   public double getRate() {
     return AnalogGyroDataJNI.getRate(m_index);
   }
+
   public void setRate(double rate) {
     AnalogGyroDataJNI.setRate(m_index, rate);
   }
@@ -58,9 +60,11 @@ public class AnalogGyroSim {
     int uid = AnalogGyroDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, AnalogGyroDataJNI::cancelInitializedCallback);
   }
+
   public boolean getInitialized() {
     return AnalogGyroDataJNI.getInitialized(m_index);
   }
+
   public void setInitialized(boolean initialized) {
     AnalogGyroDataJNI.setInitialized(m_index, initialized);
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogInputSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogInputSim.java
index 7078959ede..3f0a9b8486 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogInputSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogInputSim.java
@@ -8,9 +8,7 @@ import edu.wpi.first.hal.simulation.AnalogInDataJNI;
 import edu.wpi.first.hal.simulation.NotifyCallback;
 import edu.wpi.first.wpilibj.AnalogInput;
 
-/**
- * Class to control a simulated analog input.
- */
+/** Class to control a simulated analog input. */
 public class AnalogInputSim {
   private final int m_index;
 
@@ -36,9 +34,11 @@ public class AnalogInputSim {
     int uid = AnalogInDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, AnalogInDataJNI::cancelInitializedCallback);
   }
+
   public boolean getInitialized() {
     return AnalogInDataJNI.getInitialized(m_index);
   }
+
   public void setInitialized(boolean initialized) {
     AnalogInDataJNI.setInitialized(m_index, initialized);
   }
@@ -47,20 +47,25 @@ public class AnalogInputSim {
     int uid = AnalogInDataJNI.registerAverageBitsCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, AnalogInDataJNI::cancelAverageBitsCallback);
   }
+
   public int getAverageBits() {
     return AnalogInDataJNI.getAverageBits(m_index);
   }
+
   public void setAverageBits(int averageBits) {
     AnalogInDataJNI.setAverageBits(m_index, averageBits);
   }
 
-  public CallbackStore registerOversampleBitsCallback(NotifyCallback callback, boolean initialNotify) {
+  public CallbackStore registerOversampleBitsCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = AnalogInDataJNI.registerOversampleBitsCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, AnalogInDataJNI::cancelOversampleBitsCallback);
   }
+
   public int getOversampleBits() {
     return AnalogInDataJNI.getOversampleBits(m_index);
   }
+
   public void setOversampleBits(int oversampleBits) {
     AnalogInDataJNI.setOversampleBits(m_index, oversampleBits);
   }
@@ -69,64 +74,82 @@ public class AnalogInputSim {
     int uid = AnalogInDataJNI.registerVoltageCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, AnalogInDataJNI::cancelVoltageCallback);
   }
+
   public double getVoltage() {
     return AnalogInDataJNI.getVoltage(m_index);
   }
+
   public void setVoltage(double voltage) {
     AnalogInDataJNI.setVoltage(m_index, voltage);
   }
 
-  public CallbackStore registerAccumulatorInitializedCallback(NotifyCallback callback, boolean initialNotify) {
-    int uid = AnalogInDataJNI.registerAccumulatorInitializedCallback(m_index, callback, initialNotify);
+  public CallbackStore registerAccumulatorInitializedCallback(
+      NotifyCallback callback, boolean initialNotify) {
+    int uid =
+        AnalogInDataJNI.registerAccumulatorInitializedCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, AnalogInDataJNI::cancelAccumulatorInitializedCallback);
   }
+
   public boolean getAccumulatorInitialized() {
     return AnalogInDataJNI.getAccumulatorInitialized(m_index);
   }
+
   public void setAccumulatorInitialized(boolean accumulatorInitialized) {
     AnalogInDataJNI.setAccumulatorInitialized(m_index, accumulatorInitialized);
   }
 
-  public CallbackStore registerAccumulatorValueCallback(NotifyCallback callback, boolean initialNotify) {
+  public CallbackStore registerAccumulatorValueCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = AnalogInDataJNI.registerAccumulatorValueCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, AnalogInDataJNI::cancelAccumulatorValueCallback);
   }
+
   public long getAccumulatorValue() {
     return AnalogInDataJNI.getAccumulatorValue(m_index);
   }
+
   public void setAccumulatorValue(long accumulatorValue) {
     AnalogInDataJNI.setAccumulatorValue(m_index, accumulatorValue);
   }
 
-  public CallbackStore registerAccumulatorCountCallback(NotifyCallback callback, boolean initialNotify) {
+  public CallbackStore registerAccumulatorCountCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = AnalogInDataJNI.registerAccumulatorCountCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, AnalogInDataJNI::cancelAccumulatorCountCallback);
   }
+
   public long getAccumulatorCount() {
     return AnalogInDataJNI.getAccumulatorCount(m_index);
   }
+
   public void setAccumulatorCount(long accumulatorCount) {
     AnalogInDataJNI.setAccumulatorCount(m_index, accumulatorCount);
   }
 
-  public CallbackStore registerAccumulatorCenterCallback(NotifyCallback callback, boolean initialNotify) {
+  public CallbackStore registerAccumulatorCenterCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = AnalogInDataJNI.registerAccumulatorCenterCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, AnalogInDataJNI::cancelAccumulatorCenterCallback);
   }
+
   public int getAccumulatorCenter() {
     return AnalogInDataJNI.getAccumulatorCenter(m_index);
   }
+
   public void setAccumulatorCenter(int accumulatorCenter) {
     AnalogInDataJNI.setAccumulatorCenter(m_index, accumulatorCenter);
   }
 
-  public CallbackStore registerAccumulatorDeadbandCallback(NotifyCallback callback, boolean initialNotify) {
+  public CallbackStore registerAccumulatorDeadbandCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = AnalogInDataJNI.registerAccumulatorDeadbandCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, AnalogInDataJNI::cancelAccumulatorDeadbandCallback);
   }
+
   public int getAccumulatorDeadband() {
     return AnalogInDataJNI.getAccumulatorDeadband(m_index);
   }
+
   public void setAccumulatorDeadband(int accumulatorDeadband) {
     AnalogInDataJNI.setAccumulatorDeadband(m_index, accumulatorDeadband);
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogOutputSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogOutputSim.java
index 1d742734cd..819f0d88ae 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogOutputSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogOutputSim.java
@@ -8,9 +8,7 @@ import edu.wpi.first.hal.simulation.AnalogOutDataJNI;
 import edu.wpi.first.hal.simulation.NotifyCallback;
 import edu.wpi.first.wpilibj.AnalogOutput;
 
-/**
- * Class to control a simulated analog output.
- */
+/** Class to control a simulated analog output. */
 public class AnalogOutputSim {
   private final int m_index;
 
@@ -36,9 +34,11 @@ public class AnalogOutputSim {
     int uid = AnalogOutDataJNI.registerVoltageCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, AnalogOutDataJNI::cancelVoltageCallback);
   }
+
   public double getVoltage() {
     return AnalogOutDataJNI.getVoltage(m_index);
   }
+
   public void setVoltage(double voltage) {
     AnalogOutDataJNI.setVoltage(m_index, voltage);
   }
@@ -47,9 +47,11 @@ public class AnalogOutputSim {
     int uid = AnalogOutDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, AnalogOutDataJNI::cancelInitializedCallback);
   }
+
   public boolean getInitialized() {
     return AnalogOutDataJNI.getInitialized(m_index);
   }
+
   public void setInitialized(boolean initialized) {
     AnalogOutDataJNI.setInitialized(m_index, initialized);
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogTriggerSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogTriggerSim.java
index d22cf65dba..44efb9d97a 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogTriggerSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogTriggerSim.java
@@ -9,9 +9,7 @@ import edu.wpi.first.hal.simulation.NotifyCallback;
 import edu.wpi.first.wpilibj.AnalogTrigger;
 import java.util.NoSuchElementException;
 
-/**
- * Class to control a simulated analog trigger.
- */
+/** Class to control a simulated analog trigger. */
 public class AnalogTriggerSim {
   private final int m_index;
 
@@ -44,8 +42,8 @@ public class AnalogTriggerSim {
   }
 
   /**
-   * Creates an AnalogTriggerSim for a simulated index.
-   * The index is incremented for each simulated AnalogTrigger.
+   * Creates an AnalogTriggerSim for a simulated index. The index is incremented for each simulated
+   * AnalogTrigger.
    *
    * @param index simulator index
    * @return Simulated object
@@ -58,31 +56,41 @@ public class AnalogTriggerSim {
     int uid = AnalogTriggerDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, AnalogTriggerDataJNI::cancelInitializedCallback);
   }
+
   public boolean getInitialized() {
     return AnalogTriggerDataJNI.getInitialized(m_index);
   }
+
   public void setInitialized(boolean initialized) {
     AnalogTriggerDataJNI.setInitialized(m_index, initialized);
   }
 
-  public CallbackStore registerTriggerLowerBoundCallback(NotifyCallback callback, boolean initialNotify) {
-    int uid = AnalogTriggerDataJNI.registerTriggerLowerBoundCallback(m_index, callback, initialNotify);
+  public CallbackStore registerTriggerLowerBoundCallback(
+      NotifyCallback callback, boolean initialNotify) {
+    int uid =
+        AnalogTriggerDataJNI.registerTriggerLowerBoundCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, AnalogTriggerDataJNI::cancelTriggerLowerBoundCallback);
   }
+
   public double getTriggerLowerBound() {
     return AnalogTriggerDataJNI.getTriggerLowerBound(m_index);
   }
+
   public void setTriggerLowerBound(double triggerLowerBound) {
     AnalogTriggerDataJNI.setTriggerLowerBound(m_index, triggerLowerBound);
   }
 
-  public CallbackStore registerTriggerUpperBoundCallback(NotifyCallback callback, boolean initialNotify) {
-    int uid = AnalogTriggerDataJNI.registerTriggerUpperBoundCallback(m_index, callback, initialNotify);
+  public CallbackStore registerTriggerUpperBoundCallback(
+      NotifyCallback callback, boolean initialNotify) {
+    int uid =
+        AnalogTriggerDataJNI.registerTriggerUpperBoundCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, AnalogTriggerDataJNI::cancelTriggerUpperBoundCallback);
   }
+
   public double getTriggerUpperBound() {
     return AnalogTriggerDataJNI.getTriggerUpperBound(m_index);
   }
+
   public void setTriggerUpperBound(double triggerUpperBound) {
     AnalogTriggerDataJNI.setTriggerUpperBound(m_index, triggerUpperBound);
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/BatterySim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/BatterySim.java
index c205fad3dd..05f71d48e6 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/BatterySim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/BatterySim.java
@@ -4,28 +4,24 @@
 
 package edu.wpi.first.wpilibj.simulation;
 
-import edu.wpi.first.wpilibj.RobotController;
-
 public final class BatterySim {
   private BatterySim() {
     // Utility class
   }
 
   /**
-   * Calculate the loaded battery voltage. Use this with
-   * {@link RoboRioSim#setVInVoltage(double)} to set the simulated battery
-   * voltage, which can then be retrieved with the {@link RobotController#getBatteryVoltage()}
-   * method.
+   * Calculate the loaded battery voltage. Use this with {@link RoboRioSim#setVInVoltage(double)} to
+   * set the simulated battery voltage, which can then be retrieved with the {@link
+   * edu.wpi.first.wpilibj.RobotController#getBatteryVoltage()} method.
    *
    * @param nominalVoltage The nominal battery voltage. Usually 12v.
-   * @param resistanceOhms The forward resistance of the battery. Most batteries are at or
-   *                       below 20 milliohms.
-   * @param currents       The currents drawn from the battery.
+   * @param resistanceOhms The forward resistance of the battery. Most batteries are at or below 20
+   *     milliohms.
+   * @param currents The currents drawn from the battery.
    * @return The battery's voltage under load.
    */
-  public static double calculateLoadedBatteryVoltage(double nominalVoltage,
-                                                     double resistanceOhms,
-                                                     double... currents) {
+  public static double calculateLoadedBatteryVoltage(
+      double nominalVoltage, double resistanceOhms, double... currents) {
     double retval = nominalVoltage;
     for (var current : currents) {
       retval -= current * resistanceOhms;
@@ -34,11 +30,10 @@ public final class BatterySim {
   }
 
   /**
-   * Calculate the loaded battery voltage. Use this with
-   * {@link RoboRioSim#setVInVoltage(double)} to set the simulated battery
-   * voltage, which can then be retrieved with the {@link RobotController#getBatteryVoltage()}
-   * method. This function assumes a nominal voltage of 12v and a resistance of 20 milliohms
-   * (0.020 ohms)
+   * Calculate the loaded battery voltage. Use this with {@link RoboRioSim#setVInVoltage(double)} to
+   * set the simulated battery voltage, which can then be retrieved with the {@link
+   * edu.wpi.first.wpilibj.RobotController#getBatteryVoltage()} method. This function assumes a
+   * nominal voltage of 12v and a resistance of 20 milliohms (0.020 ohms)
    *
    * @param currents The currents drawn from the battery.
    * @return The battery's voltage under load.
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/BuiltInAccelerometerSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/BuiltInAccelerometerSim.java
index 5e470fdff4..496788f2c8 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/BuiltInAccelerometerSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/BuiltInAccelerometerSim.java
@@ -8,15 +8,11 @@ import edu.wpi.first.hal.simulation.AccelerometerDataJNI;
 import edu.wpi.first.hal.simulation.NotifyCallback;
 import edu.wpi.first.wpilibj.BuiltInAccelerometer;
 
-/**
- * Class to control a simulated built-in accelerometer.
- */
+/** Class to control a simulated built-in accelerometer. */
 public class BuiltInAccelerometerSim {
   private final int m_index;
 
-  /**
-   * Constructs for the first built-in accelerometer.
-   */
+  /** Constructs for the first built-in accelerometer. */
   public BuiltInAccelerometerSim() {
     m_index = 0;
   }
@@ -35,9 +31,11 @@ public class BuiltInAccelerometerSim {
     int uid = AccelerometerDataJNI.registerActiveCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, AccelerometerDataJNI::cancelActiveCallback);
   }
+
   public boolean getActive() {
     return AccelerometerDataJNI.getActive(m_index);
   }
+
   public void setActive(boolean active) {
     AccelerometerDataJNI.setActive(m_index, active);
   }
@@ -46,9 +44,11 @@ public class BuiltInAccelerometerSim {
     int uid = AccelerometerDataJNI.registerRangeCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, AccelerometerDataJNI::cancelRangeCallback);
   }
+
   public int getRange() {
     return AccelerometerDataJNI.getRange(m_index);
   }
+
   public void setRange(int range) {
     AccelerometerDataJNI.setRange(m_index, range);
   }
@@ -57,9 +57,11 @@ public class BuiltInAccelerometerSim {
     int uid = AccelerometerDataJNI.registerXCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, AccelerometerDataJNI::cancelXCallback);
   }
+
   public double getX() {
     return AccelerometerDataJNI.getX(m_index);
   }
+
   public void setX(double x) {
     AccelerometerDataJNI.setX(m_index, x);
   }
@@ -68,9 +70,11 @@ public class BuiltInAccelerometerSim {
     int uid = AccelerometerDataJNI.registerYCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, AccelerometerDataJNI::cancelYCallback);
   }
+
   public double getY() {
     return AccelerometerDataJNI.getY(m_index);
   }
+
   public void setY(double y) {
     AccelerometerDataJNI.setY(m_index, y);
   }
@@ -79,9 +83,11 @@ public class BuiltInAccelerometerSim {
     int uid = AccelerometerDataJNI.registerZCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, AccelerometerDataJNI::cancelZCallback);
   }
+
   public double getZ() {
     return AccelerometerDataJNI.getZ(m_index);
   }
+
   public void setZ(double z) {
     AccelerometerDataJNI.setZ(m_index, z);
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/CallbackStore.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/CallbackStore.java
index 4a277325d8..0f0ea7568f 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/CallbackStore.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/CallbackStore.java
@@ -72,7 +72,7 @@ public class CallbackStore implements AutoCloseable {
   protected void finalize() throws Throwable {
     try {
       if (m_cancelType >= 0) {
-        close();        // close open files
+        close(); // close open files
       }
     } finally {
       super.finalize();
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DIOSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DIOSim.java
index 2d2503683a..201b0fd85b 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DIOSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DIOSim.java
@@ -9,9 +9,7 @@ import edu.wpi.first.hal.simulation.NotifyCallback;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.DigitalOutput;
 
-/**
- * Class to control a simulated digital input or output.
- */
+/** Class to control a simulated digital input or output. */
 public class DIOSim {
   private final int m_index;
 
@@ -46,9 +44,11 @@ public class DIOSim {
     int uid = DIODataJNI.registerInitializedCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, DIODataJNI::cancelInitializedCallback);
   }
+
   public boolean getInitialized() {
     return DIODataJNI.getInitialized(m_index);
   }
+
   public void setInitialized(boolean initialized) {
     DIODataJNI.setInitialized(m_index, initialized);
   }
@@ -57,9 +57,11 @@ public class DIOSim {
     int uid = DIODataJNI.registerValueCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, DIODataJNI::cancelValueCallback);
   }
+
   public boolean getValue() {
     return DIODataJNI.getValue(m_index);
   }
+
   public void setValue(boolean value) {
     DIODataJNI.setValue(m_index, value);
   }
@@ -68,9 +70,11 @@ public class DIOSim {
     int uid = DIODataJNI.registerPulseLengthCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, DIODataJNI::cancelPulseLengthCallback);
   }
+
   public double getPulseLength() {
     return DIODataJNI.getPulseLength(m_index);
   }
+
   public void setPulseLength(double pulseLength) {
     DIODataJNI.setPulseLength(m_index, pulseLength);
   }
@@ -79,9 +83,11 @@ public class DIOSim {
     int uid = DIODataJNI.registerIsInputCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, DIODataJNI::cancelIsInputCallback);
   }
+
   public boolean getIsInput() {
     return DIODataJNI.getIsInput(m_index);
   }
+
   public void setIsInput(boolean isInput) {
     DIODataJNI.setIsInput(m_index, isInput);
   }
@@ -90,9 +96,11 @@ public class DIOSim {
     int uid = DIODataJNI.registerFilterIndexCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, DIODataJNI::cancelFilterIndexCallback);
   }
+
   public int getFilterIndex() {
     return DIODataJNI.getFilterIndex(m_index);
   }
+
   public void setFilterIndex(int filterIndex) {
     DIODataJNI.setFilterIndex(m_index, filterIndex);
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
index c88b435eb9..37f9406af2 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
@@ -21,18 +21,19 @@ import edu.wpi.first.wpiutil.math.numbers.N2;
 import edu.wpi.first.wpiutil.math.numbers.N7;
 
 /**
- * This class simulates the state of the drivetrain. In simulationPeriodic, users should first set inputs from motors with
- * {@link #setInputs(double, double)}, call {@link #update(double)} to update the simulation,
- * and set estimated encoder and gyro positions, as well as estimated odometry pose. Teams can use {@link edu.wpi.first.wpilibj.smartdashboard.Field2d} to
- * visualize their robot on the Sim GUI's field.
+ * This class simulates the state of the drivetrain. In simulationPeriodic, users should first set
+ * inputs from motors with {@link #setInputs(double, double)}, call {@link #update(double)} to
+ * update the simulation, and set estimated encoder and gyro positions, as well as estimated
+ * odometry pose. Teams can use {@link edu.wpi.first.wpilibj.smartdashboard.Field2d} to visualize
+ * their robot on the Sim GUI's field.
  *
- *  <p>Our state-space system is:
+ * <p>Our state-space system is:
  *
- *  <p>x = [[x, y, theta, vel_l, vel_r, dist_l, dist_r]]^T
- *  in the field coordinate system (dist_* are wheel distances.)
+ * <p>x = [[x, y, theta, vel_l, vel_r, dist_l, dist_r]]^T in the field coordinate system (dist_* are
+ * wheel distances.)
  *
- *  <p>u = [[voltage_l, voltage_r]]^T This is typically the control input of the last timestep
- *  from a LTVDiffDriveController.
+ * <p>u = [[voltage_l, voltage_r]]^T This is typically the control input of the last timestep from a
+ * LTVDiffDriveController.
  *
  * <p>y = x
  */
@@ -42,10 +43,13 @@ public class DifferentialDrivetrainSim {
   private final Matrix<N7, N1> m_measurementStdDevs;
   private double m_currentGearing;
   private final double m_wheelRadiusMeters;
+
   @SuppressWarnings("MemberName")
   private Matrix<N2, N1> m_u;
+
   @SuppressWarnings("MemberName")
   private Matrix<N7, N1> m_x;
+
   @SuppressWarnings("MemberName")
   private Matrix<N7, N1> m_y;
 
@@ -55,52 +59,70 @@ public class DifferentialDrivetrainSim {
   /**
    * Create a SimDrivetrain.
    *
-   * @param driveMotor         A {@link DCMotor} representing the left side of the drivetrain.
-   * @param gearing            The gearing on the drive between motor and wheel, as output over input.
-   *                           This must be the same ratio as the ratio used to identify or
-   *                           create the drivetrainPlant.
-   * @param jKgMetersSquared   The moment of inertia of the drivetrain about its center.
-   * @param massKg             The mass of the drivebase.
-   * @param wheelRadiusMeters  The radius of the wheels on the drivetrain.
-   * @param trackWidthMeters   The robot's track width, or distance between left and right wheels.
-   * @param measurementStdDevs Standard deviations for measurements, in the form [x, y, heading, left velocity,
-   *                           right velocity, left distance, right distance]^T. Can be null if no noise is desired.
-   *                           Gyro standard deviations of 0.0001 radians, velocity standard deviations of 0.05 m/s,
-   *                           and position measurement standard deviations of 0.005 meters are a reasonable starting
-   *                           point.
+   * @param driveMotor A {@link DCMotor} representing the left side of the drivetrain.
+   * @param gearing The gearing on the drive between motor and wheel, as output over input. This
+   *     must be the same ratio as the ratio used to identify or create the drivetrainPlant.
+   * @param jKgMetersSquared The moment of inertia of the drivetrain about its center.
+   * @param massKg The mass of the drivebase.
+   * @param wheelRadiusMeters The radius of the wheels on the drivetrain.
+   * @param trackWidthMeters The robot's track width, or distance between left and right wheels.
+   * @param measurementStdDevs Standard deviations for measurements, in the form [x, y, heading,
+   *     left velocity, right velocity, left distance, right distance]^T. Can be null if no noise is
+   *     desired. Gyro standard deviations of 0.0001 radians, velocity standard deviations of 0.05
+   *     m/s, and position measurement standard deviations of 0.005 meters are a reasonable starting
+   *     point.
    */
-  public DifferentialDrivetrainSim(DCMotor driveMotor, double gearing,
-                                   double jKgMetersSquared, double massKg,
-                                   double wheelRadiusMeters, double trackWidthMeters,
-                                   Matrix<N7, N1> measurementStdDevs) {
-    this(LinearSystemId.createDrivetrainVelocitySystem(driveMotor, massKg, wheelRadiusMeters,
-        trackWidthMeters / 2.0, jKgMetersSquared, gearing),
-        driveMotor, gearing, trackWidthMeters, wheelRadiusMeters, measurementStdDevs);
+  public DifferentialDrivetrainSim(
+      DCMotor driveMotor,
+      double gearing,
+      double jKgMetersSquared,
+      double massKg,
+      double wheelRadiusMeters,
+      double trackWidthMeters,
+      Matrix<N7, N1> measurementStdDevs) {
+    this(
+        LinearSystemId.createDrivetrainVelocitySystem(
+            driveMotor,
+            massKg,
+            wheelRadiusMeters,
+            trackWidthMeters / 2.0,
+            jKgMetersSquared,
+            gearing),
+        driveMotor,
+        gearing,
+        trackWidthMeters,
+        wheelRadiusMeters,
+        measurementStdDevs);
   }
 
   /**
-   * Create a SimDrivetrain
-   * .
-   * @param drivetrainPlant   The {@link LinearSystem} representing the robot's drivetrain. This
-   *                          system can be created with {@link edu.wpi.first.wpilibj.system.plant.LinearSystemId#createDrivetrainVelocitySystem(DCMotor, double, double, double, double, double)}
-   *                          or {@link edu.wpi.first.wpilibj.system.plant.LinearSystemId#identifyDrivetrainSystem(double, double, double, double)}.
-   * @param driveMotor        A {@link DCMotor} representing the drivetrain.
-   * @param gearing           The gearingRatio ratio of the robot, as output over input.
-   *                          This must be the same ratio as the ratio used to identify or
-   *                          create the drivetrainPlant.
-   * @param trackWidthMeters  The distance between the two sides of the drivetrian. Can be
-   *                          found with frc-characterization.
+   * Create a SimDrivetrain .
+   *
+   * @param drivetrainPlant The {@link LinearSystem} representing the robot's drivetrain. This
+   *     system can be created with {@link
+   *     edu.wpi.first.wpilibj.system.plant.LinearSystemId#createDrivetrainVelocitySystem(DCMotor,
+   *     double, double, double, double, double)} or {@link
+   *     edu.wpi.first.wpilibj.system.plant.LinearSystemId#identifyDrivetrainSystem(double, double,
+   *     double, double)}.
+   * @param driveMotor A {@link DCMotor} representing the drivetrain.
+   * @param gearing The gearingRatio ratio of the robot, as output over input. This must be the same
+   *     ratio as the ratio used to identify or create the drivetrainPlant.
+   * @param trackWidthMeters The distance between the two sides of the drivetrian. Can be found with
+   *     frc-characterization.
    * @param wheelRadiusMeters The radius of the wheels on the drivetrain, in meters.
-   * @param measurementStdDevs Standard deviations for measurements, in the form [x, y, heading, left velocity,
-   *                           right velocity, left distance, right distance]^T. Can be null if no noise is desired.
-   *                           Gyro standard deviations of 0.0001 radians, velocity standard deviations of 0.05 m/s,
-   *                           and position measurement standard deviations of 0.005 meters are a reasonable starting
-   *                           point.
+   * @param measurementStdDevs Standard deviations for measurements, in the form [x, y, heading,
+   *     left velocity, right velocity, left distance, right distance]^T. Can be null if no noise is
+   *     desired. Gyro standard deviations of 0.0001 radians, velocity standard deviations of 0.05
+   *     m/s, and position measurement standard deviations of 0.005 meters are a reasonable starting
+   *     point.
    */
-  public DifferentialDrivetrainSim(LinearSystem<N2, N2, N2> drivetrainPlant,
-                                   DCMotor driveMotor, double gearing,
-                                   double trackWidthMeters, double wheelRadiusMeters,
-                                   Matrix<N7, N1> measurementStdDevs) {
+  public DifferentialDrivetrainSim(
+      LinearSystem<N2, N2, N2> drivetrainPlant,
+      DCMotor driveMotor,
+      double gearing,
+      double trackWidthMeters,
+      double wheelRadiusMeters,
+      Matrix<N7, N1> measurementStdDevs) {
     this.m_plant = drivetrainPlant;
     this.m_rb = trackWidthMeters / 2.0;
     this.m_motor = driveMotor;
@@ -115,10 +137,10 @@ public class DifferentialDrivetrainSim {
   }
 
   /**
-   * Sets the applied voltage to the drivetrain. Note that positive voltage must make that
-   * side of the drivetrain travel forward (+X).
+   * Sets the applied voltage to the drivetrain. Note that positive voltage must make that side of
+   * the drivetrain travel forward (+X).
    *
-   * @param leftVoltageVolts  The left voltage.
+   * @param leftVoltageVolts The left voltage.
    * @param rightVoltageVolts The right voltage.
    */
   public void setInputs(double leftVoltageVolts, double rightVoltageVolts) {
@@ -136,9 +158,7 @@ public class DifferentialDrivetrainSim {
     }
   }
 
-  /**
-   * Returns the full simulated state of the drivetrain.
-   */
+  /** Returns the full simulated state of the drivetrain. */
   Matrix<N7, N1> getState() {
     return m_x;
   }
@@ -154,23 +174,20 @@ public class DifferentialDrivetrainSim {
   /**
    * Returns the direction the robot is pointing.
    *
-   * <p>Note that this angle is counterclockwise-positive, while most gyros are
-   * clockwise positive.
+   * <p>Note that this angle is counterclockwise-positive, while most gyros are clockwise positive.
    */
   public Rotation2d getHeading() {
     return new Rotation2d(getOutput(State.kHeading));
   }
 
-  /**
-   * Returns the current pose.
-   */
+  /** Returns the current pose. */
   public Pose2d getPose() {
-    return new Pose2d(getOutput(State.kX), getOutput(State.kY),
-     getHeading());
+    return new Pose2d(getOutput(State.kX), getOutput(State.kY), getHeading());
   }
 
   /**
    * Get the right encoder position in meters.
+   *
    * @return The encoder position.
    */
   public double getRightPositionMeters() {
@@ -179,6 +196,7 @@ public class DifferentialDrivetrainSim {
 
   /**
    * Get the right encoder velocity in meters per second.
+   *
    * @return The encoder velocity.
    */
   public double getRightVelocityMetersPerSecond() {
@@ -187,6 +205,7 @@ public class DifferentialDrivetrainSim {
 
   /**
    * Get the left encoder position in meters.
+   *
    * @return The encoder position.
    */
   public double getLeftPositionMeters() {
@@ -195,6 +214,7 @@ public class DifferentialDrivetrainSim {
 
   /**
    * Get the left encoder velocity in meters per second.
+   *
    * @return The encoder velocity.
    */
   public double getLeftVelocityMetersPerSecond() {
@@ -202,16 +222,20 @@ public class DifferentialDrivetrainSim {
   }
 
   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));
+    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;
   }
 
   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));
+    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;
   }
@@ -220,14 +244,12 @@ public class DifferentialDrivetrainSim {
     return getLeftCurrentDrawAmps() + getRightCurrentDrawAmps();
   }
 
-
   public double getCurrentGearing() {
     return m_currentGearing;
   }
 
   /**
-   * Sets the gearing reduction on the drivetrain. This is commonly used for
-   * shifting drivetrains.
+   * Sets the gearing reduction on the drivetrain. This is commonly used for shifting drivetrains.
    *
    * @param newGearRatio The new gear ratio, as output over input.
    */
@@ -268,8 +290,14 @@ public class DifferentialDrivetrainSim {
     // Because G^2 can be factored out of A, we can divide by the old ratio squared and multiply
     // by the new ratio squared to get a new drivetrain model.
     var A = new Matrix<>(Nat.N4(), Nat.N4());
-    A.assignBlock(0, 0, m_plant.getA().times((this.m_currentGearing * this.m_currentGearing)
-        / (this.m_originalGearing * this.m_originalGearing)));
+    A.assignBlock(
+        0,
+        0,
+        m_plant
+            .getA()
+            .times(
+                (this.m_currentGearing * this.m_currentGearing)
+                    / (this.m_originalGearing * this.m_originalGearing)));
 
     A.assignBlock(2, 0, Matrix.eye(Nat.N2()));
 
@@ -278,20 +306,21 @@ public class DifferentialDrivetrainSim {
     var xdot = new Matrix<>(Nat.N7(), Nat.N1());
     xdot.set(0, 0, v * Math.cos(x.get(State.kHeading.value, 0)));
     xdot.set(1, 0, v * Math.sin(x.get(State.kHeading.value, 0)));
-    xdot.set(2, 0, (x.get(State.kRightVelocity.value, 0)
-        - x.get(State.kLeftVelocity.value, 0)) / (2.0 * m_rb));
-    xdot.assignBlock(3, 0,
-        A.times(x.block(Nat.N4(), Nat.N1(), 3, 0))
-        .plus(B.times(u)));
+    xdot.set(
+        2,
+        0,
+        (x.get(State.kRightVelocity.value, 0) - x.get(State.kLeftVelocity.value, 0))
+            / (2.0 * m_rb));
+    xdot.assignBlock(3, 0, A.times(x.block(Nat.N4(), Nat.N1(), 3, 0)).plus(B.times(u)));
 
     return xdot;
   }
 
   /**
-   * Clamp the input vector such that no element exceeds the given voltage. If any does,
-   * the relative magnitudes of the input will be maintained.
+   * Clamp the input vector such that no element exceeds the given voltage. If any does, the
+   * relative magnitudes of the input will be maintained.
    *
-   * @param u          The input vector.
+   * @param u The input vector.
    * @return The normalized input.
    */
   protected Matrix<N2, N1> clampInput(Matrix<N2, N1> u) {
@@ -316,12 +345,8 @@ public class DifferentialDrivetrainSim {
   }
 
   /**
-   * Represents a gearing option of the Toughbox mini.
-   * 12.75:1 -- 14:50 and 14:50
-   * 10.71:1 -- 14:50 and 16:48
-   * 8.45:1 -- 14:50 and 19:45
-   * 7.31:1 -- 14:50 and 21:43
-   * 5.95:1 -- 14:50 and 24:40
+   * Represents a gearing option of the Toughbox mini. 12.75:1 -- 14:50 and 14:50 10.71:1 -- 14:50
+   * and 16:48 8.45:1 -- 14:50 and 19:45 7.31:1 -- 14:50 and 21:43 5.95:1 -- 14:50 and 24:40
    */
   public enum KitbotGearing {
     k12p75(12.75),
@@ -368,22 +393,25 @@ public class DifferentialDrivetrainSim {
   /**
    * Create a sim for the standard FRC kitbot.
    *
-   * @param motor     The motors installed in the bot.
-   * @param gearing   The gearing reduction used.
+   * @param motor The motors installed in the bot.
+   * @param gearing The gearing reduction used.
    * @param wheelSize The wheel size.
-   * @param measurementStdDevs Standard deviations for measurements, in the form [x, y, heading, left velocity,
-   *                           right velocity, left distance, right distance]^T. Can be null if no noise is desired.
-   *                           Gyro standard deviations of 0.0001 radians, velocity standard deviations of 0.05 m/s,
-   *                           and position measurement standard deviations of 0.005 meters are a reasonable starting
-   *                           point.
+   * @param measurementStdDevs Standard deviations for measurements, in the form [x, y, heading,
+   *     left velocity, right velocity, left distance, right distance]^T. Can be null if no noise is
+   *     desired. Gyro standard deviations of 0.0001 radians, velocity standard deviations of 0.05
+   *     m/s, and position measurement standard deviations of 0.005 meters are a reasonable starting
+   *     point.
    */
-  public static DifferentialDrivetrainSim createKitbotSim(KitbotMotor motor, KitbotGearing gearing,
-                                                          KitbotWheelSize wheelSize,
-                                                          Matrix<N7, N1> measurementStdDevs) {
+  public static DifferentialDrivetrainSim createKitbotSim(
+      KitbotMotor motor,
+      KitbotGearing gearing,
+      KitbotWheelSize wheelSize,
+      Matrix<N7, N1> measurementStdDevs) {
     // MOI estimation -- note that I = m r^2 for point masses
     var batteryMoi = 12.5 / 2.2 * Math.pow(Units.inchesToMeters(10), 2);
-    var gearboxMoi = (2.8 /* CIM motor */ * 2 / 2.2 + 2.0 /* Toughbox Mini- ish */)
-        * Math.pow(Units.inchesToMeters(26.0 / 2.0), 2);
+    var gearboxMoi =
+        (2.8 /* CIM motor */ * 2 / 2.2 + 2.0 /* Toughbox Mini- ish */)
+            * Math.pow(Units.inchesToMeters(26.0 / 2.0), 2);
 
     return createKitbotSim(motor, gearing, wheelSize, batteryMoi + gearboxMoi, measurementStdDevs);
   }
@@ -391,21 +419,30 @@ public class DifferentialDrivetrainSim {
   /**
    * Create a sim for the standard FRC kitbot.
    *
-   * @param motor            The motors installed in the bot.
-   * @param gearing          The gearing reduction used.
-   * @param wheelSize        The wheel size.
+   * @param motor The motors installed in the bot.
+   * @param gearing The gearing reduction used.
+   * @param wheelSize The wheel size.
    * @param jKgMetersSquared The moment of inertia of the drivebase. This can be calculated using
-   *                         frc-characterization.
-   * @param measurementStdDevs Standard deviations for measurements, in the form [x, y, heading, left velocity,
-   *                           right velocity, left distance, right distance]^T. Can be null if no noise is desired.
-   *                           Gyro standard deviations of 0.0001 radians, velocity standard deviations of 0.05 m/s,
-   *                           and position measurement standard deviations of 0.005 meters are a reasonable starting
-   *                           point.
+   *     frc-characterization.
+   * @param measurementStdDevs Standard deviations for measurements, in the form [x, y, heading,
+   *     left velocity, right velocity, left distance, right distance]^T. Can be null if no noise is
+   *     desired. Gyro standard deviations of 0.0001 radians, velocity standard deviations of 0.05
+   *     m/s, and position measurement standard deviations of 0.005 meters are a reasonable starting
+   *     point.
    */
-  public static DifferentialDrivetrainSim createKitbotSim(KitbotMotor motor, KitbotGearing gearing,
-                                                          KitbotWheelSize wheelSize, double jKgMetersSquared,
-                                                          Matrix<N7, N1> measurementStdDevs) {
-    return new DifferentialDrivetrainSim(motor.value, gearing.value, jKgMetersSquared, 25 / 2.2,
-        wheelSize.value / 2.0, Units.inchesToMeters(26), measurementStdDevs);
+  public static DifferentialDrivetrainSim createKitbotSim(
+      KitbotMotor motor,
+      KitbotGearing gearing,
+      KitbotWheelSize wheelSize,
+      double jKgMetersSquared,
+      Matrix<N7, N1> measurementStdDevs) {
+    return new DifferentialDrivetrainSim(
+        motor.value,
+        gearing.value,
+        jKgMetersSquared,
+        25 / 2.2,
+        wheelSize.value / 2.0,
+        Units.inchesToMeters(26),
+        measurementStdDevs);
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DigitalPWMSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DigitalPWMSim.java
index f46d8182e7..d7b2bb1792 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DigitalPWMSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DigitalPWMSim.java
@@ -12,8 +12,8 @@ import java.util.NoSuchElementException;
 /**
  * Class to control a simulated digital PWM output.
  *
- * <p>This is for duty cycle PWM outputs on a DigitalOutput, not for the servo
- * style PWM outputs on a PWM channel.
+ * <p>This is for duty cycle PWM outputs on a DigitalOutput, not for the servo style PWM outputs on
+ * a PWM channel.
  */
 public class DigitalPWMSim {
   private final int m_index;
@@ -47,8 +47,8 @@ public class DigitalPWMSim {
   }
 
   /**
-   * Creates an DigitalPWMSim for a simulated index.
-   * The index is incremented for each simulated DigitalPWM.
+   * Creates an DigitalPWMSim for a simulated index. The index is incremented for each simulated
+   * DigitalPWM.
    *
    * @param index simulator index
    * @return Simulated object
@@ -61,9 +61,11 @@ public class DigitalPWMSim {
     int uid = DigitalPWMDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, DigitalPWMDataJNI::cancelInitializedCallback);
   }
+
   public boolean getInitialized() {
     return DigitalPWMDataJNI.getInitialized(m_index);
   }
+
   public void setInitialized(boolean initialized) {
     DigitalPWMDataJNI.setInitialized(m_index, initialized);
   }
@@ -72,9 +74,11 @@ public class DigitalPWMSim {
     int uid = DigitalPWMDataJNI.registerDutyCycleCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, DigitalPWMDataJNI::cancelDutyCycleCallback);
   }
+
   public double getDutyCycle() {
     return DigitalPWMDataJNI.getDutyCycle(m_index);
   }
+
   public void setDutyCycle(double dutyCycle) {
     DigitalPWMDataJNI.setDutyCycle(m_index, dutyCycle);
   }
@@ -83,9 +87,11 @@ public class DigitalPWMSim {
     int uid = DigitalPWMDataJNI.registerPinCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, DigitalPWMDataJNI::cancelPinCallback);
   }
+
   public int getPin() {
     return DigitalPWMDataJNI.getPin(m_index);
   }
+
   public void setPin(int pin) {
     DigitalPWMDataJNI.setPin(m_index, pin);
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DriverStationSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DriverStationSim.java
index 5e7d00e0ce..7eb947cb1b 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DriverStationSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DriverStationSim.java
@@ -9,29 +9,33 @@ import edu.wpi.first.hal.simulation.DriverStationDataJNI;
 import edu.wpi.first.hal.simulation.NotifyCallback;
 import edu.wpi.first.wpilibj.DriverStation;
 
-/**
- * Class to control a simulated driver station.
- */
+/** Class to control a simulated driver station. */
 @SuppressWarnings({"PMD.UseUtilityClass", "PMD.GodClass", "PMD.ExcessivePublicCount"})
 public class DriverStationSim {
-  public static CallbackStore registerEnabledCallback(NotifyCallback callback, boolean initialNotify) {
+  public static CallbackStore registerEnabledCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = DriverStationDataJNI.registerEnabledCallback(callback, initialNotify);
     return new CallbackStore(uid, DriverStationDataJNI::cancelEnabledCallback);
   }
+
   public static boolean getEnabled() {
     return DriverStationDataJNI.getEnabled();
   }
+
   public static void setEnabled(boolean enabled) {
     DriverStationDataJNI.setEnabled(enabled);
   }
 
-  public static CallbackStore registerAutonomousCallback(NotifyCallback callback, boolean initialNotify) {
+  public static CallbackStore registerAutonomousCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = DriverStationDataJNI.registerAutonomousCallback(callback, initialNotify);
     return new CallbackStore(uid, DriverStationDataJNI::cancelAutonomousCallback);
   }
+
   public static boolean getAutonomous() {
     return DriverStationDataJNI.getAutonomous();
   }
+
   public static void setAutonomous(boolean autonomous) {
     DriverStationDataJNI.setAutonomous(autonomous);
   }
@@ -40,50 +44,63 @@ public class DriverStationSim {
     int uid = DriverStationDataJNI.registerTestCallback(callback, initialNotify);
     return new CallbackStore(uid, DriverStationDataJNI::cancelTestCallback);
   }
+
   public static boolean getTest() {
     return DriverStationDataJNI.getTest();
   }
+
   public static void setTest(boolean test) {
     DriverStationDataJNI.setTest(test);
   }
 
-  public static CallbackStore registerEStopCallback(NotifyCallback callback, boolean initialNotify) {
+  public static CallbackStore registerEStopCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = DriverStationDataJNI.registerEStopCallback(callback, initialNotify);
     return new CallbackStore(uid, DriverStationDataJNI::cancelEStopCallback);
   }
+
   public static boolean getEStop() {
     return DriverStationDataJNI.getEStop();
   }
+
   public static void setEStop(boolean eStop) {
     DriverStationDataJNI.setEStop(eStop);
   }
 
-  public static CallbackStore registerFmsAttachedCallback(NotifyCallback callback, boolean initialNotify) {
+  public static CallbackStore registerFmsAttachedCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = DriverStationDataJNI.registerFmsAttachedCallback(callback, initialNotify);
     return new CallbackStore(uid, DriverStationDataJNI::cancelFmsAttachedCallback);
   }
+
   public static boolean getFmsAttached() {
     return DriverStationDataJNI.getFmsAttached();
   }
+
   public static void setFmsAttached(boolean fmsAttached) {
     DriverStationDataJNI.setFmsAttached(fmsAttached);
   }
 
-  public static CallbackStore registerDsAttachedCallback(NotifyCallback callback, boolean initialNotify) {
+  public static CallbackStore registerDsAttachedCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = DriverStationDataJNI.registerDsAttachedCallback(callback, initialNotify);
     return new CallbackStore(uid, DriverStationDataJNI::cancelDsAttachedCallback);
   }
+
   public static boolean getDsAttached() {
     return DriverStationDataJNI.getDsAttached();
   }
+
   public static void setDsAttached(boolean dsAttached) {
     DriverStationDataJNI.setDsAttached(dsAttached);
   }
 
-  public static CallbackStore registerAllianceStationIdCallback(NotifyCallback callback, boolean initialNotify) {
+  public static CallbackStore registerAllianceStationIdCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = DriverStationDataJNI.registerAllianceStationIdCallback(callback, initialNotify);
     return new CallbackStore(uid, DriverStationDataJNI::cancelAllianceStationIdCallback);
   }
+
   public static AllianceStationID getAllianceStationId() {
     switch (DriverStationDataJNI.getAllianceStationId()) {
       case 0:
@@ -102,6 +119,7 @@ public class DriverStationSim {
         return null;
     }
   }
+
   public static void setAllianceStationId(AllianceStationID allianceStationId) {
     int allianceStation;
     switch (allianceStationId) {
@@ -129,21 +147,21 @@ public class DriverStationSim {
     DriverStationDataJNI.setAllianceStationId(allianceStation);
   }
 
-  public static CallbackStore registerMatchTimeCallback(NotifyCallback callback, boolean initialNotify) {
+  public static CallbackStore registerMatchTimeCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = DriverStationDataJNI.registerMatchTimeCallback(callback, initialNotify);
     return new CallbackStore(uid, DriverStationDataJNI::cancelMatchTimeCallback);
   }
+
   public static double getMatchTime() {
     return DriverStationDataJNI.getMatchTime();
   }
+
   public static void setMatchTime(double matchTime) {
     DriverStationDataJNI.setMatchTime(matchTime);
   }
 
-  /**
-   * Updates DriverStation data so that new values are visible to the user
-   * program.
-   */
+  /** Updates DriverStation data so that new values are visible to the user program. */
   public static void notifyNewData() {
     DriverStationDataJNI.notifyNewData();
     DriverStation.getInstance().waitForData();
@@ -191,7 +209,7 @@ public class DriverStationSim {
   /**
    * Sets the state of one joystick button. Button indexes begin at 1.
    *
-   * @param stick  The joystick number
+   * @param stick The joystick number
    * @param button The button index, beginning at 1
    * @param state The state of the joystick button
    */
@@ -203,7 +221,7 @@ public class DriverStationSim {
    * Gets the value of the axis on a joystick.
    *
    * @param stick The joystick number
-   * @param axis  The analog axis number
+   * @param axis The analog axis number
    * @param value The value of the axis on the joystick
    */
   public static void setJoystickAxis(int stick, int axis, double value) {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DutyCycleEncoderSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DutyCycleEncoderSim.java
index 2715178898..e3f3a1f762 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DutyCycleEncoderSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DutyCycleEncoderSim.java
@@ -7,9 +7,7 @@ package edu.wpi.first.wpilibj.simulation;
 import edu.wpi.first.hal.SimDouble;
 import edu.wpi.first.wpilibj.DutyCycleEncoder;
 
-/**
- * Class to control a simulated duty cycle encoder.
- */
+/** Class to control a simulated duty cycle encoder. */
 public class DutyCycleEncoderSim {
   private final SimDouble m_simPosition;
   private final SimDouble m_simDistancePerRotation;
@@ -20,8 +18,8 @@ public class DutyCycleEncoderSim {
    * @param encoder DutyCycleEncoder to simulate
    */
   public DutyCycleEncoderSim(DutyCycleEncoder encoder) {
-    SimDeviceSim wrappedSimDevice = new SimDeviceSim("DutyCycle:DutyCycleEncoder" + "["
-        + encoder.getSourceChannel() + "]");
+    SimDeviceSim wrappedSimDevice =
+        new SimDeviceSim("DutyCycle:DutyCycleEncoder" + "[" + encoder.getSourceChannel() + "]");
     m_simPosition = wrappedSimDevice.getDouble("position");
     m_simDistancePerRotation = wrappedSimDevice.getDouble("distance_per_rot");
   }
@@ -35,9 +33,7 @@ public class DutyCycleEncoderSim {
     m_simPosition.set(turns);
   }
 
-  /**
-   * Set the position.
-   */
+  /** Set the position. */
   public void setDistance(double distance) {
     m_simPosition.set(distance / m_simDistancePerRotation.get());
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DutyCycleSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DutyCycleSim.java
index 4d9388a810..dde556200a 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DutyCycleSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DutyCycleSim.java
@@ -9,9 +9,7 @@ import edu.wpi.first.hal.simulation.NotifyCallback;
 import edu.wpi.first.wpilibj.DutyCycle;
 import java.util.NoSuchElementException;
 
-/**
- * Class to control a simulated duty cycle digital input.
- */
+/** Class to control a simulated duty cycle digital input. */
 public class DutyCycleSim {
   private final int m_index;
 
@@ -44,8 +42,8 @@ public class DutyCycleSim {
   }
 
   /**
-   * Creates a DutyCycleSim for a simulated index.
-   * The index is incremented for each simulated DutyCycle.
+   * Creates a DutyCycleSim for a simulated index. The index is incremented for each simulated
+   * DutyCycle.
    *
    * @param index simulator index
    * @return Simulated object
@@ -58,9 +56,11 @@ public class DutyCycleSim {
     int uid = DutyCycleDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, DutyCycleDataJNI::cancelInitializedCallback);
   }
+
   public boolean getInitialized() {
     return DutyCycleDataJNI.getInitialized(m_index);
   }
+
   public void setInitialized(boolean initialized) {
     DutyCycleDataJNI.setInitialized(m_index, initialized);
   }
@@ -69,9 +69,11 @@ public class DutyCycleSim {
     int uid = DutyCycleDataJNI.registerFrequencyCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, DutyCycleDataJNI::cancelFrequencyCallback);
   }
+
   public int getFrequency() {
     return DutyCycleDataJNI.getFrequency(m_index);
   }
+
   public void setFrequency(int frequency) {
     DutyCycleDataJNI.setFrequency(m_index, frequency);
   }
@@ -80,9 +82,11 @@ public class DutyCycleSim {
     int uid = DutyCycleDataJNI.registerOutputCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, DutyCycleDataJNI::cancelOutputCallback);
   }
+
   public double getOutput() {
     return DutyCycleDataJNI.getOutput(m_index);
   }
+
   public void setOutput(double output) {
     DutyCycleDataJNI.setOutput(m_index, output);
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java
index 81d9a5ac46..bfe9b201d8 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java
@@ -13,9 +13,7 @@ import edu.wpi.first.wpiutil.math.VecBuilder;
 import edu.wpi.first.wpiutil.math.numbers.N1;
 import edu.wpi.first.wpiutil.math.numbers.N2;
 
-/**
- * Represents a simulated elevator mechanism.
- */
+/** Represents a simulated elevator mechanism. */
 public class ElevatorSim extends LinearSystemSim<N2, N1, N1> {
   // Gearbox for the elevator.
   private final DCMotor m_gearbox;
@@ -35,32 +33,42 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N1> {
   /**
    * Creates a simulated elevator mechanism.
    *
-   * @param plant            The linear system that represents the elevator.
-   * @param gearbox          The type of and number of motors in the elevator gearbox.
-   * @param gearing          The gearing of the elevator (numbers greater than 1 represent reductions).
+   * @param plant The linear system that represents the elevator.
+   * @param gearbox The type of and number of motors in the elevator gearbox.
+   * @param gearing The gearing of the elevator (numbers greater than 1 represent reductions).
    * @param drumRadiusMeters The radius of the drum that the elevator spool is wrapped around.
-   * @param minHeightMeters  The min allowable height of the elevator.
-   * @param maxHeightMeters  The max allowable height of the elevator.
+   * @param minHeightMeters The min allowable height of the elevator.
+   * @param maxHeightMeters The max allowable height of the elevator.
    */
-  public ElevatorSim(LinearSystem<N2, N1, N1> plant, DCMotor gearbox, double gearing,
-                     double drumRadiusMeters, double minHeightMeters, double maxHeightMeters) {
+  public ElevatorSim(
+      LinearSystem<N2, N1, N1> plant,
+      DCMotor gearbox,
+      double gearing,
+      double drumRadiusMeters,
+      double minHeightMeters,
+      double maxHeightMeters) {
     this(plant, gearbox, gearing, drumRadiusMeters, minHeightMeters, maxHeightMeters, null);
   }
 
   /**
    * Creates a simulated elevator mechanism.
    *
-   * @param plant              The linear system that represents the elevator.
-   * @param gearbox            The type of and number of motors in the elevator gearbox.
-   * @param gearing            The gearing of the elevator (numbers greater than 1 represent reductions).
-   * @param drumRadiusMeters   The radius of the drum that the elevator spool is wrapped around.
-   * @param minHeightMeters    The min allowable height of the elevator.
-   * @param maxHeightMeters    The max allowable height of the elevator.
+   * @param plant The linear system that represents the elevator.
+   * @param gearbox The type of and number of motors in the elevator gearbox.
+   * @param gearing The gearing of the elevator (numbers greater than 1 represent reductions).
+   * @param drumRadiusMeters The radius of the drum that the elevator spool is wrapped around.
+   * @param minHeightMeters The min allowable height of the elevator.
+   * @param maxHeightMeters The max allowable height of the elevator.
    * @param measurementStdDevs The standard deviations of the measurements.
    */
-  public ElevatorSim(LinearSystem<N2, N1, N1> plant, DCMotor gearbox, double gearing,
-                     double drumRadiusMeters, double minHeightMeters, double maxHeightMeters,
-                     Matrix<N1, N1> measurementStdDevs) {
+  public ElevatorSim(
+      LinearSystem<N2, N1, N1> plant,
+      DCMotor gearbox,
+      double gearing,
+      double drumRadiusMeters,
+      double minHeightMeters,
+      double maxHeightMeters,
+      Matrix<N1, N1> measurementStdDevs) {
     super(plant, measurementStdDevs);
     m_gearbox = gearbox;
     m_gearing = gearing;
@@ -72,34 +80,45 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N1> {
   /**
    * Creates a simulated elevator mechanism.
    *
-   * @param gearbox          The type of and number of motors in the elevator gearbox.
-   * @param gearing          The gearing of the elevator (numbers greater than 1 represent reductions).
-   * @param carriageMassKg   The mass of the elevator carriage.
+   * @param gearbox The type of and number of motors in the elevator gearbox.
+   * @param gearing The gearing of the elevator (numbers greater than 1 represent reductions).
+   * @param carriageMassKg The mass of the elevator carriage.
    * @param drumRadiusMeters The radius of the drum that the elevator spool is wrapped around.
-   * @param minHeightMeters  The min allowable height of the elevator.
-   * @param maxHeightMeters  The max allowable height of the elevator.
+   * @param minHeightMeters The min allowable height of the elevator.
+   * @param maxHeightMeters The max allowable height of the elevator.
    */
-  public ElevatorSim(DCMotor gearbox, double gearing, double carriageMassKg,
-                     double drumRadiusMeters, double minHeightMeters, double maxHeightMeters) {
-    this(gearbox, gearing, carriageMassKg, drumRadiusMeters, minHeightMeters, maxHeightMeters,
-        null);
+  public ElevatorSim(
+      DCMotor gearbox,
+      double gearing,
+      double carriageMassKg,
+      double drumRadiusMeters,
+      double minHeightMeters,
+      double maxHeightMeters) {
+    this(
+        gearbox, gearing, carriageMassKg, drumRadiusMeters, minHeightMeters, maxHeightMeters, null);
   }
 
   /**
    * Creates a simulated elevator mechanism.
    *
-   * @param gearbox            The type of and number of motors in the elevator gearbox.
-   * @param gearing            The gearing of the elevator (numbers greater than 1 represent reductions).
-   * @param carriageMassKg     The mass of the elevator carriage.
-   * @param drumRadiusMeters   The radius of the drum that the elevator spool is wrapped around.
-   * @param minHeightMeters    The min allowable height of the elevator.
-   * @param maxHeightMeters    The max allowable height of the elevator.
+   * @param gearbox The type of and number of motors in the elevator gearbox.
+   * @param gearing The gearing of the elevator (numbers greater than 1 represent reductions).
+   * @param carriageMassKg The mass of the elevator carriage.
+   * @param drumRadiusMeters The radius of the drum that the elevator spool is wrapped around.
+   * @param minHeightMeters The min allowable height of the elevator.
+   * @param maxHeightMeters The max allowable height of the elevator.
    * @param measurementStdDevs The standard deviations of the measurements.
    */
-  public ElevatorSim(DCMotor gearbox, double gearing, double carriageMassKg,
-                     double drumRadiusMeters, double minHeightMeters, double maxHeightMeters,
-                     Matrix<N1, N1> measurementStdDevs) {
-    super(LinearSystemId.createElevatorSystem(gearbox, carriageMassKg, drumRadiusMeters, gearing),
+  public ElevatorSim(
+      DCMotor gearbox,
+      double gearing,
+      double carriageMassKg,
+      double drumRadiusMeters,
+      double minHeightMeters,
+      double maxHeightMeters,
+      Matrix<N1, N1> measurementStdDevs) {
+    super(
+        LinearSystemId.createElevatorSystem(gearbox, carriageMassKg, drumRadiusMeters, gearing),
         measurementStdDevs);
     m_gearbox = gearbox;
     m_gearing = gearing;
@@ -159,7 +178,8 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N1> {
     // v = r w, so w = v/r
     double motorVelocityRadPerSec = getVelocityMetersPerSecond() / m_drumRadius * m_gearing;
     var appliedVoltage = m_u.get(0, 0);
-    return m_gearbox.getCurrent(motorVelocityRadPerSec, appliedVoltage) * Math.signum(appliedVoltage);
+    return m_gearbox.getCurrent(motorVelocityRadPerSec, appliedVoltage)
+        * Math.signum(appliedVoltage);
   }
 
   /**
@@ -175,16 +195,21 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N1> {
    * Updates the state of the elevator.
    *
    * @param currentXhat The current state estimate.
-   * @param u           The system inputs (voltage).
-   * @param dtSeconds   The time difference between controller updates.
+   * @param u The system inputs (voltage).
+   * @param dtSeconds The time difference between controller updates.
    */
   @Override
-  protected Matrix<N2, N1> updateX(Matrix<N2, N1> currentXhat,
-                                   Matrix<N1, N1> u, double dtSeconds) {
+  protected Matrix<N2, N1> updateX(Matrix<N2, N1> currentXhat, Matrix<N1, N1> u, double dtSeconds) {
     // Calculate updated x-hat from Runge-Kutta.
-    var updatedXhat = RungeKutta.rungeKutta(
-        (x, u_) -> (m_plant.getA().times(x)).plus(m_plant.getB().times(u_))
-            .plus(VecBuilder.fill(0, -9.8)), currentXhat, u, dtSeconds);
+    var updatedXhat =
+        RungeKutta.rungeKutta(
+            (x, u_) ->
+                (m_plant.getA().times(x))
+                    .plus(m_plant.getB().times(u_))
+                    .plus(VecBuilder.fill(0, -9.8)),
+            currentXhat,
+            u,
+            dtSeconds);
 
     // We check for collisions after updating x-hat.
     if (hasHitLowerLimit(updatedXhat)) {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/EncoderSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/EncoderSim.java
index c4b7aeda71..b466b40569 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/EncoderSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/EncoderSim.java
@@ -9,9 +9,7 @@ import edu.wpi.first.hal.simulation.NotifyCallback;
 import edu.wpi.first.wpilibj.Encoder;
 import java.util.NoSuchElementException;
 
-/**
- * Class to control a simulated encoder.
- */
+/** Class to control a simulated encoder. */
 public class EncoderSim {
   private final int m_index;
 
@@ -29,8 +27,8 @@ public class EncoderSim {
   }
 
   /**
-   * Creates an EncoderSim for a digital input channel.  Encoders take two
-   * channels, so either one may be specified.
+   * Creates an EncoderSim for a digital input channel. Encoders take two channels, so either one
+   * may be specified.
    *
    * @param channel digital input channel
    * @return Simulated object
@@ -45,8 +43,8 @@ public class EncoderSim {
   }
 
   /**
-   * Creates an EncoderSim for a simulated index.
-   * The index is incremented for each simulated Encoder.
+   * Creates an EncoderSim for a simulated index. The index is incremented for each simulated
+   * Encoder.
    *
    * @param index simulator index
    * @return Simulated object
@@ -59,9 +57,11 @@ public class EncoderSim {
     int uid = EncoderDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, EncoderDataJNI::cancelInitializedCallback);
   }
+
   public boolean getInitialized() {
     return EncoderDataJNI.getInitialized(m_index);
   }
+
   public void setInitialized(boolean initialized) {
     EncoderDataJNI.setInitialized(m_index, initialized);
   }
@@ -70,9 +70,11 @@ public class EncoderSim {
     int uid = EncoderDataJNI.registerCountCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, EncoderDataJNI::cancelCountCallback);
   }
+
   public int getCount() {
     return EncoderDataJNI.getCount(m_index);
   }
+
   public void setCount(int count) {
     EncoderDataJNI.setCount(m_index, count);
   }
@@ -81,9 +83,11 @@ public class EncoderSim {
     int uid = EncoderDataJNI.registerPeriodCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, EncoderDataJNI::cancelPeriodCallback);
   }
+
   public double getPeriod() {
     return EncoderDataJNI.getPeriod(m_index);
   }
+
   public void setPeriod(double period) {
     EncoderDataJNI.setPeriod(m_index, period);
   }
@@ -92,9 +96,11 @@ public class EncoderSim {
     int uid = EncoderDataJNI.registerResetCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, EncoderDataJNI::cancelResetCallback);
   }
+
   public boolean getReset() {
     return EncoderDataJNI.getReset(m_index);
   }
+
   public void setReset(boolean reset) {
     EncoderDataJNI.setReset(m_index, reset);
   }
@@ -103,9 +109,11 @@ public class EncoderSim {
     int uid = EncoderDataJNI.registerMaxPeriodCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, EncoderDataJNI::cancelMaxPeriodCallback);
   }
+
   public double getMaxPeriod() {
     return EncoderDataJNI.getMaxPeriod(m_index);
   }
+
   public void setMaxPeriod(double maxPeriod) {
     EncoderDataJNI.setMaxPeriod(m_index, maxPeriod);
   }
@@ -114,31 +122,39 @@ public class EncoderSim {
     int uid = EncoderDataJNI.registerDirectionCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, EncoderDataJNI::cancelDirectionCallback);
   }
+
   public boolean getDirection() {
     return EncoderDataJNI.getDirection(m_index);
   }
+
   public void setDirection(boolean direction) {
     EncoderDataJNI.setDirection(m_index, direction);
   }
 
-  public CallbackStore registerReverseDirectionCallback(NotifyCallback callback, boolean initialNotify) {
+  public CallbackStore registerReverseDirectionCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = EncoderDataJNI.registerReverseDirectionCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, EncoderDataJNI::cancelReverseDirectionCallback);
   }
+
   public boolean getReverseDirection() {
     return EncoderDataJNI.getReverseDirection(m_index);
   }
+
   public void setReverseDirection(boolean reverseDirection) {
     EncoderDataJNI.setReverseDirection(m_index, reverseDirection);
   }
 
-  public CallbackStore registerSamplesToAverageCallback(NotifyCallback callback, boolean initialNotify) {
+  public CallbackStore registerSamplesToAverageCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = EncoderDataJNI.registerSamplesToAverageCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, EncoderDataJNI::cancelSamplesToAverageCallback);
   }
+
   public int getSamplesToAverage() {
     return EncoderDataJNI.getSamplesToAverage(m_index);
   }
+
   public void setSamplesToAverage(int samplesToAverage) {
     EncoderDataJNI.setSamplesToAverage(m_index, samplesToAverage);
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java
index 82b188275a..435054dc13 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java
@@ -11,9 +11,7 @@ import edu.wpi.first.wpilibj.util.Units;
 import edu.wpi.first.wpiutil.math.Matrix;
 import edu.wpi.first.wpiutil.math.numbers.N1;
 
-/**
- * Represents a simulated flywheel mechanism.
- */
+/** Represents a simulated flywheel mechanism. */
 public class FlywheelSim extends LinearSystemSim<N1, N1, N1> {
   // Gearbox for the flywheel.
   private final DCMotor m_gearbox;
@@ -24,10 +22,9 @@ public class FlywheelSim extends LinearSystemSim<N1, N1, N1> {
   /**
    * Creates a simulated flywheel mechanism.
    *
-   * @param plant   The linear system that represents the flywheel.
+   * @param plant The linear system that represents the flywheel.
    * @param gearbox The type of and number of motors in the flywheel gearbox.
-   * @param gearing The gearing of the flywheel (numbers greater than 1
-   *                represent reductions).
+   * @param gearing The gearing of the flywheel (numbers greater than 1 represent reductions).
    */
   public FlywheelSim(LinearSystem<N1, N1, N1> plant, DCMotor gearbox, double gearing) {
     super(plant);
@@ -38,15 +35,16 @@ public class FlywheelSim extends LinearSystemSim<N1, N1, N1> {
   /**
    * Creates a simulated flywheel mechanism.
    *
-   * @param plant              The linear system that represents the flywheel.
-   * @param gearbox            The type of and number of motors in the flywheel
-   *                           gearbox.
-   * @param gearing            The gearing of the flywheel (numbers greater
-   *                           than 1 represent reductions).
+   * @param plant The linear system that represents the flywheel.
+   * @param gearbox The type of and number of motors in the flywheel gearbox.
+   * @param gearing The gearing of the flywheel (numbers greater than 1 represent reductions).
    * @param measurementStdDevs The standard deviations of the measurements.
    */
-  public FlywheelSim(LinearSystem<N1, N1, N1> plant, DCMotor gearbox, double gearing,
-                     Matrix<N1, N1> measurementStdDevs) {
+  public FlywheelSim(
+      LinearSystem<N1, N1, N1> plant,
+      DCMotor gearbox,
+      double gearing,
+      Matrix<N1, N1> measurementStdDevs) {
     super(plant, measurementStdDevs);
     m_gearbox = gearbox;
     m_gearing = gearing;
@@ -55,12 +53,10 @@ public class FlywheelSim extends LinearSystemSim<N1, N1, N1> {
   /**
    * Creates a simulated flywheel mechanism.
    *
-   * @param gearbox          The type of and number of motors in the flywheel gearbox.
-   * @param gearing          The gearing of the flywheel (numbers greater than 1
-   *                         represent reductions).
-   * @param jKgMetersSquared The moment of inertia of the flywheel. If this is unknown,
-   *                         use the {@link #FlywheelSim(LinearSystem, DCMotor, double, Matrix)}
-   *                         constructor.
+   * @param gearbox The type of and number of motors in the flywheel gearbox.
+   * @param gearing The gearing of the flywheel (numbers greater than 1 represent reductions).
+   * @param jKgMetersSquared The moment of inertia of the flywheel. If this is unknown, use the
+   *     {@link #FlywheelSim(LinearSystem, DCMotor, double, Matrix)} constructor.
    */
   public FlywheelSim(DCMotor gearbox, double gearing, double jKgMetersSquared) {
     super(LinearSystemId.createFlywheelSystem(gearbox, jKgMetersSquared, gearing));
@@ -71,18 +67,16 @@ public class FlywheelSim extends LinearSystemSim<N1, N1, N1> {
   /**
    * Creates a simulated flywheel mechanism.
    *
-   * @param gearbox            The type of and number of motors in the flywheel
-   *                           gearbox.
-   * @param gearing            The gearing of the flywheel (numbers greater
-   *                           than 1 represent reductions).
-   * @param jKgMetersSquared   The moment of inertia of the flywheel. If this is unknown,
-   *                           use the {@link #FlywheelSim(LinearSystem, DCMotor, double, Matrix)}
-   *                           constructor.
+   * @param gearbox The type of and number of motors in the flywheel gearbox.
+   * @param gearing The gearing of the flywheel (numbers greater than 1 represent reductions).
+   * @param jKgMetersSquared The moment of inertia of the flywheel. If this is unknown, use the
+   *     {@link #FlywheelSim(LinearSystem, DCMotor, double, Matrix)} constructor.
    * @param measurementStdDevs The standard deviations of the measurements.
    */
-  public FlywheelSim(DCMotor gearbox, double gearing, double jKgMetersSquared,
-                     Matrix<N1, N1> measurementStdDevs) {
-    super(LinearSystemId.createFlywheelSystem(gearbox, jKgMetersSquared, gearing),
+  public FlywheelSim(
+      DCMotor gearbox, double gearing, double jKgMetersSquared, Matrix<N1, N1> measurementStdDevs) {
+    super(
+        LinearSystemId.createFlywheelSystem(gearbox, jKgMetersSquared, gearing),
         measurementStdDevs);
     m_gearbox = gearbox;
     m_gearing = gearing;
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/GenericHIDSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/GenericHIDSim.java
index 8c870b8795..aadfb37180 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/GenericHIDSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/GenericHIDSim.java
@@ -6,9 +6,7 @@ package edu.wpi.first.wpilibj.simulation;
 
 import edu.wpi.first.wpilibj.GenericHID;
 
-/**
- * Class to control a simulated generic joystick.
- */
+/** Class to control a simulated generic joystick. */
 public class GenericHIDSim {
   protected final int m_port;
 
@@ -30,9 +28,7 @@ public class GenericHIDSim {
     m_port = port;
   }
 
-  /**
-   * Updates joystick data so that new values are visible to the user program.
-   */
+  /** Updates joystick data so that new values are visible to the user program. */
   public void notifyNewData() {
     DriverStationSim.notifyNewData();
   }
@@ -87,8 +83,9 @@ public class GenericHIDSim {
   }
 
   public double getRumble(GenericHID.RumbleType type) {
-    int value = DriverStationSim.getJoystickRumble(
-        m_port, type == GenericHID.RumbleType.kLeftRumble ? 0 : 1);
+    int value =
+        DriverStationSim.getJoystickRumble(
+            m_port, type == GenericHID.RumbleType.kLeftRumble ? 0 : 1);
     return value / 65535.0;
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/I2CSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/I2CSim.java
index 568b95bfab..19b8e39be9 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/I2CSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/I2CSim.java
@@ -20,9 +20,11 @@ public class I2CSim {
     int uid = I2CDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, I2CDataJNI::cancelInitializedCallback);
   }
+
   public boolean getInitialized() {
     return I2CDataJNI.getInitialized(m_index);
   }
+
   public void setInitialized(boolean initialized) {
     I2CDataJNI.setInitialized(m_index, initialized);
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/JoystickSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/JoystickSim.java
index 591d90da70..35126839ff 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/JoystickSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/JoystickSim.java
@@ -6,9 +6,7 @@ package edu.wpi.first.wpilibj.simulation;
 
 import edu.wpi.first.wpilibj.Joystick;
 
-/**
- * Class to control a simulated joystick.
- */
+/** Class to control a simulated joystick. */
 public class JoystickSim extends GenericHIDSim {
   private Joystick m_joystick;
 
@@ -53,8 +51,7 @@ public class JoystickSim extends GenericHIDSim {
 
   public void setTwist(double value) {
     setRawAxis(
-        m_joystick != null ? m_joystick.getTwistChannel() : Joystick.kDefaultTwistChannel,
-        value);
+        m_joystick != null ? m_joystick.getTwistChannel() : Joystick.kDefaultTwistChannel, value);
   }
 
   public void setThrottle(double value) {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java
index a0261fd897..3b2fe15004 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java
@@ -5,18 +5,17 @@
 package edu.wpi.first.wpilibj.simulation;
 
 import edu.wpi.first.wpilibj.RobotController;
-import org.ejml.MatrixDimensionException;
-import org.ejml.simple.SimpleMatrix;
-
 import edu.wpi.first.wpilibj.math.StateSpaceUtil;
 import edu.wpi.first.wpilibj.system.LinearSystem;
 import edu.wpi.first.wpiutil.math.Matrix;
 import edu.wpi.first.wpiutil.math.Num;
 import edu.wpi.first.wpiutil.math.numbers.N1;
+import org.ejml.MatrixDimensionException;
+import org.ejml.simple.SimpleMatrix;
 
 /**
- * This class helps simulate linear systems. To use this class, do the following in the
- * {@link edu.wpi.first.wpilibj.IterativeRobotBase#simulationPeriodic} method.
+ * This class helps simulate linear systems. To use this class, do the following in the {@link
+ * edu.wpi.first.wpilibj.IterativeRobotBase#simulationPeriodic} method.
  *
  * <p>Call {@link #setInput(double...)} with the inputs to the system (usually voltage).
  *
@@ -24,8 +23,8 @@ import edu.wpi.first.wpiutil.math.numbers.N1;
  *
  * <p>Set simulated sensor readings with the simulated positions in {@link #getOutput()}
  *
- * @param <States>  The number of states of the system.
- * @param <Inputs>  The number of inputs to the system.
+ * @param <States> The number of states of the system.
+ * @param <Inputs> The number of inputs to the system.
  * @param <Outputs> The number of outputs of the system.
  */
 @SuppressWarnings("ClassTypeParameterName")
@@ -36,8 +35,10 @@ public class LinearSystemSim<States extends Num, Inputs extends Num, Outputs ext
   // Variables for state, output, and input.
   @SuppressWarnings("MemberName")
   protected Matrix<States, N1> m_x;
+
   @SuppressWarnings("MemberName")
   protected Matrix<Outputs, N1> m_y;
+
   @SuppressWarnings("MemberName")
   protected Matrix<Inputs, N1> m_u;
 
@@ -57,11 +58,12 @@ public class LinearSystemSim<States extends Num, Inputs extends Num, Outputs ext
   /**
    * Creates a simulated generic linear system with measurement noise.
    *
-   * @param system             The system being controlled.
-   * @param measurementStdDevs Standard deviations of measurements. Can be null if no noise is desired.
+   * @param system The system being controlled.
+   * @param measurementStdDevs Standard deviations of measurements. Can be null if no noise is
+   *     desired.
    */
-  public LinearSystemSim(LinearSystem<States, Inputs, Outputs> system,
-                         Matrix<Outputs, N1> measurementStdDevs) {
+  public LinearSystemSim(
+      LinearSystem<States, Inputs, Outputs> system, Matrix<Outputs, N1> measurementStdDevs) {
     this.m_plant = system;
     this.m_measurementStdDevs = measurementStdDevs;
 
@@ -120,7 +122,7 @@ public class LinearSystemSim<States extends Num, Inputs extends Num, Outputs ext
   /**
    * Sets the system inputs.
    *
-   * @param row   The row in the input matrix to set.
+   * @param row The row in the input matrix to set.
    * @param value The value to set the row to.
    */
   public void setInput(int row, double value) {
@@ -135,8 +137,8 @@ public class LinearSystemSim<States extends Num, Inputs extends Num, Outputs ext
    */
   public void setInput(double... u) {
     if (u.length != m_u.getNumRows()) {
-      throw new MatrixDimensionException("Malformed input! Got " + u.length
-          + " elements instead of " + m_u.getNumRows());
+      throw new MatrixDimensionException(
+          "Malformed input! Got " + u.length + " elements instead of " + m_u.getNumRows());
     }
     m_u = new Matrix<>(new SimpleMatrix(m_u.getNumRows(), 1, true, u));
   }
@@ -164,20 +166,20 @@ public class LinearSystemSim<States extends Num, Inputs extends Num, Outputs ext
    * Updates the state estimate of the system.
    *
    * @param currentXhat The current state estimate.
-   * @param u           The system inputs (usually voltage).
-   * @param dtSeconds   The time difference between controller updates.
+   * @param u The system inputs (usually voltage).
+   * @param dtSeconds The time difference between controller updates.
    * @return The new state.
    */
-  protected Matrix<States, N1> updateX(Matrix<States, N1> currentXhat,
-                                       Matrix<Inputs, N1> u, double dtSeconds) {
+  protected Matrix<States, N1> updateX(
+      Matrix<States, N1> currentXhat, Matrix<Inputs, N1> u, double dtSeconds) {
     return m_plant.calculateX(currentXhat, u, dtSeconds);
   }
 
   /**
-   * Clamp the input vector such that no element exceeds the given voltage. If any does,
-   * the relative magnitudes of the input will be maintained.
+   * Clamp the input vector such that no element exceeds the given voltage. If any does, the
+   * relative magnitudes of the input will be maintained.
    *
-   * @param u          The input vector.
+   * @param u The input vector.
    * @return The normalized input.
    */
   protected Matrix<Inputs, N1> clampInput(Matrix<Inputs, N1> u) {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/Mechanism2D.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/Mechanism2D.java
index 49aa20fddf..79de13dfdf 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/Mechanism2D.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/Mechanism2D.java
@@ -14,11 +14,11 @@ public class Mechanism2D {
   private static final Map<String, SimDouble> m_createdItems = new HashMap<String, SimDouble>();
 
   /**
-     * Set/Create the angle of a ligament.
-     *
-     * @param ligamentPath json path to the ligament
-     * @param angle        to set the ligament
-     */
+   * Set/Create the angle of a ligament.
+   *
+   * @param ligamentPath json path to the ligament
+   * @param angle to set the ligament
+   */
   public void setLigamentAngle(String ligamentPath, float angle) {
     ligamentPath = ligamentPath + "/angle";
     if (m_device != null) {
@@ -33,7 +33,7 @@ public class Mechanism2D {
    * Set/Create the length of a ligament.
    *
    * @param ligamentPath json path to the ligament
-   * @param length       to set the ligament
+   * @param length to set the ligament
    */
   public void setLigamentLength(String ligamentPath, float length) {
     ligamentPath = ligamentPath + "/length";
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/NotifierSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/NotifierSim.java
index 9b13ecef84..a5be97f5e7 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/NotifierSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/NotifierSim.java
@@ -6,12 +6,9 @@ package edu.wpi.first.wpilibj.simulation;
 
 import edu.wpi.first.hal.simulation.NotifierDataJNI;
 
-/**
- * Class to control simulated notifiers.
- */
+/** Class to control simulated notifiers. */
 public final class NotifierSim {
-  private NotifierSim() {
-  }
+  private NotifierSim() {}
 
   /**
    * Gets the timeout of the next notifier.
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PCMSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PCMSim.java
index dbfca74abc..163f9e1cfd 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PCMSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PCMSim.java
@@ -9,15 +9,11 @@ import edu.wpi.first.hal.simulation.PCMDataJNI;
 import edu.wpi.first.wpilibj.Compressor;
 import edu.wpi.first.wpilibj.SensorUtil;
 
-/**
- * Class to control a simulated Pneumatic Control Module (PCM).
- */
+/** Class to control a simulated Pneumatic Control Module (PCM). */
 public class PCMSim {
   private final int m_index;
 
-  /**
-   * Constructs for the default PCM.
-   */
+  /** Constructs for the default PCM. */
   public PCMSim() {
     m_index = SensorUtil.getDefaultSolenoidModule();
   }
@@ -40,79 +36,101 @@ public class PCMSim {
     m_index = compressor.getModule();
   }
 
-  public CallbackStore registerSolenoidInitializedCallback(int channel, NotifyCallback callback, boolean initialNotify) {
-    int uid = PCMDataJNI.registerSolenoidInitializedCallback(m_index, channel, callback, initialNotify);
+  public CallbackStore registerSolenoidInitializedCallback(
+      int channel, NotifyCallback callback, boolean initialNotify) {
+    int uid =
+        PCMDataJNI.registerSolenoidInitializedCallback(m_index, channel, callback, initialNotify);
     return new CallbackStore(m_index, channel, uid, PCMDataJNI::cancelSolenoidInitializedCallback);
   }
+
   public boolean getSolenoidInitialized(int channel) {
     return PCMDataJNI.getSolenoidInitialized(m_index, channel);
   }
+
   public void setSolenoidInitialized(int channel, boolean solenoidInitialized) {
     PCMDataJNI.setSolenoidInitialized(m_index, channel, solenoidInitialized);
   }
 
-  public CallbackStore registerSolenoidOutputCallback(int channel, NotifyCallback callback, boolean initialNotify) {
+  public CallbackStore registerSolenoidOutputCallback(
+      int channel, NotifyCallback callback, boolean initialNotify) {
     int uid = PCMDataJNI.registerSolenoidOutputCallback(m_index, channel, callback, initialNotify);
     return new CallbackStore(m_index, channel, uid, PCMDataJNI::cancelSolenoidOutputCallback);
   }
+
   public boolean getSolenoidOutput(int channel) {
     return PCMDataJNI.getSolenoidOutput(m_index, channel);
   }
+
   public void setSolenoidOutput(int channel, boolean solenoidOutput) {
     PCMDataJNI.setSolenoidOutput(m_index, channel, solenoidOutput);
   }
 
-  public CallbackStore registerCompressorInitializedCallback(NotifyCallback callback, boolean initialNotify) {
+  public CallbackStore registerCompressorInitializedCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = PCMDataJNI.registerCompressorInitializedCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, PCMDataJNI::cancelCompressorInitializedCallback);
   }
+
   public boolean getCompressorInitialized() {
     return PCMDataJNI.getCompressorInitialized(m_index);
   }
+
   public void setCompressorInitialized(boolean compressorInitialized) {
     PCMDataJNI.setCompressorInitialized(m_index, compressorInitialized);
   }
 
-  public CallbackStore registerCompressorOnCallback(NotifyCallback callback, boolean initialNotify) {
+  public CallbackStore registerCompressorOnCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = PCMDataJNI.registerCompressorOnCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, PCMDataJNI::cancelCompressorOnCallback);
   }
+
   public boolean getCompressorOn() {
     return PCMDataJNI.getCompressorOn(m_index);
   }
+
   public void setCompressorOn(boolean compressorOn) {
     PCMDataJNI.setCompressorOn(m_index, compressorOn);
   }
 
-  public CallbackStore registerClosedLoopEnabledCallback(NotifyCallback callback, boolean initialNotify) {
+  public CallbackStore registerClosedLoopEnabledCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = PCMDataJNI.registerClosedLoopEnabledCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, PCMDataJNI::cancelClosedLoopEnabledCallback);
   }
+
   public boolean getClosedLoopEnabled() {
     return PCMDataJNI.getClosedLoopEnabled(m_index);
   }
+
   public void setClosedLoopEnabled(boolean closedLoopEnabled) {
     PCMDataJNI.setClosedLoopEnabled(m_index, closedLoopEnabled);
   }
 
-  public CallbackStore registerPressureSwitchCallback(NotifyCallback callback, boolean initialNotify) {
+  public CallbackStore registerPressureSwitchCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = PCMDataJNI.registerPressureSwitchCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, PCMDataJNI::cancelPressureSwitchCallback);
   }
+
   public boolean getPressureSwitch() {
     return PCMDataJNI.getPressureSwitch(m_index);
   }
+
   public void setPressureSwitch(boolean pressureSwitch) {
     PCMDataJNI.setPressureSwitch(m_index, pressureSwitch);
   }
 
-  public CallbackStore registerCompressorCurrentCallback(NotifyCallback callback, boolean initialNotify) {
+  public CallbackStore registerCompressorCurrentCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = PCMDataJNI.registerCompressorCurrentCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, PCMDataJNI::cancelCompressorCurrentCallback);
   }
+
   public double getCompressorCurrent() {
     return PCMDataJNI.getCompressorCurrent(m_index);
   }
+
   public void setCompressorCurrent(double compressorCurrent) {
     PCMDataJNI.setCompressorCurrent(m_index, compressorCurrent);
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PDPSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PDPSim.java
index 80681a9dc3..83a4d73df7 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PDPSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PDPSim.java
@@ -8,15 +8,11 @@ import edu.wpi.first.hal.simulation.NotifyCallback;
 import edu.wpi.first.hal.simulation.PDPDataJNI;
 import edu.wpi.first.wpilibj.PowerDistributionPanel;
 
-/**
- * Class to control a simulated Power Distribution Panel (PDP).
- */
+/** Class to control a simulated Power Distribution Panel (PDP). */
 public class PDPSim {
   private final int m_index;
 
-  /**
-   * Constructs for the default PDP.
-   */
+  /** Constructs for the default PDP. */
   public PDPSim() {
     m_index = 0;
   }
@@ -43,9 +39,11 @@ public class PDPSim {
     int uid = PDPDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, PDPDataJNI::cancelInitializedCallback);
   }
+
   public boolean getInitialized() {
     return PDPDataJNI.getInitialized(m_index);
   }
+
   public void setInitialized(boolean initialized) {
     PDPDataJNI.setInitialized(m_index, initialized);
   }
@@ -54,9 +52,11 @@ public class PDPSim {
     int uid = PDPDataJNI.registerTemperatureCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, PDPDataJNI::cancelTemperatureCallback);
   }
+
   public double getTemperature() {
     return PDPDataJNI.getTemperature(m_index);
   }
+
   public void setTemperature(double temperature) {
     PDPDataJNI.setTemperature(m_index, temperature);
   }
@@ -65,20 +65,25 @@ public class PDPSim {
     int uid = PDPDataJNI.registerVoltageCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, PDPDataJNI::cancelVoltageCallback);
   }
+
   public double getVoltage() {
     return PDPDataJNI.getVoltage(m_index);
   }
+
   public void setVoltage(double voltage) {
     PDPDataJNI.setVoltage(m_index, voltage);
   }
 
-  public CallbackStore registerCurrentCallback(int channel, NotifyCallback callback, boolean initialNotify) {
+  public CallbackStore registerCurrentCallback(
+      int channel, NotifyCallback callback, boolean initialNotify) {
     int uid = PDPDataJNI.registerCurrentCallback(m_index, channel, callback, initialNotify);
     return new CallbackStore(m_index, channel, uid, PDPDataJNI::cancelCurrentCallback);
   }
+
   public double getCurrent(int channel) {
     return PDPDataJNI.getCurrent(m_index, channel);
   }
+
   public void setCurrent(int channel, double current) {
     PDPDataJNI.setCurrent(m_index, channel, current);
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PWMSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PWMSim.java
index c1bc560eb6..b3e61504e7 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PWMSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PWMSim.java
@@ -8,9 +8,7 @@ import edu.wpi.first.hal.simulation.NotifyCallback;
 import edu.wpi.first.hal.simulation.PWMDataJNI;
 import edu.wpi.first.wpilibj.PWM;
 
-/**
- * Class to control a simulated PWM output.
- */
+/** Class to control a simulated PWM output. */
 public class PWMSim {
   private final int m_index;
 
@@ -36,9 +34,11 @@ public class PWMSim {
     int uid = PWMDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, PWMDataJNI::cancelInitializedCallback);
   }
+
   public boolean getInitialized() {
     return PWMDataJNI.getInitialized(m_index);
   }
+
   public void setInitialized(boolean initialized) {
     PWMDataJNI.setInitialized(m_index, initialized);
   }
@@ -47,9 +47,11 @@ public class PWMSim {
     int uid = PWMDataJNI.registerRawValueCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, PWMDataJNI::cancelRawValueCallback);
   }
+
   public int getRawValue() {
     return PWMDataJNI.getRawValue(m_index);
   }
+
   public void setRawValue(int rawValue) {
     PWMDataJNI.setRawValue(m_index, rawValue);
   }
@@ -58,9 +60,11 @@ public class PWMSim {
     int uid = PWMDataJNI.registerSpeedCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, PWMDataJNI::cancelSpeedCallback);
   }
+
   public double getSpeed() {
     return PWMDataJNI.getSpeed(m_index);
   }
+
   public void setSpeed(double speed) {
     PWMDataJNI.setSpeed(m_index, speed);
   }
@@ -69,9 +73,11 @@ public class PWMSim {
     int uid = PWMDataJNI.registerPositionCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, PWMDataJNI::cancelPositionCallback);
   }
+
   public double getPosition() {
     return PWMDataJNI.getPosition(m_index);
   }
+
   public void setPosition(double position) {
     PWMDataJNI.setPosition(m_index, position);
   }
@@ -80,9 +86,11 @@ public class PWMSim {
     int uid = PWMDataJNI.registerPeriodScaleCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, PWMDataJNI::cancelPeriodScaleCallback);
   }
+
   public int getPeriodScale() {
     return PWMDataJNI.getPeriodScale(m_index);
   }
+
   public void setPeriodScale(int periodScale) {
     PWMDataJNI.setPeriodScale(m_index, periodScale);
   }
@@ -91,9 +99,11 @@ public class PWMSim {
     int uid = PWMDataJNI.registerZeroLatchCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, PWMDataJNI::cancelZeroLatchCallback);
   }
+
   public boolean getZeroLatch() {
     return PWMDataJNI.getZeroLatch(m_index);
   }
+
   public void setZeroLatch(boolean zeroLatch) {
     PWMDataJNI.setZeroLatch(m_index, zeroLatch);
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/RelaySim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/RelaySim.java
index d39dae2b0b..567043c754 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/RelaySim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/RelaySim.java
@@ -8,9 +8,7 @@ import edu.wpi.first.hal.simulation.NotifyCallback;
 import edu.wpi.first.hal.simulation.RelayDataJNI;
 import edu.wpi.first.wpilibj.Relay;
 
-/**
- * Class to control a simulated relay.
- */
+/** Class to control a simulated relay. */
 public class RelaySim {
   private final int m_index;
 
@@ -32,24 +30,30 @@ public class RelaySim {
     m_index = channel;
   }
 
-  public CallbackStore registerInitializedForwardCallback(NotifyCallback callback, boolean initialNotify) {
+  public CallbackStore registerInitializedForwardCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = RelayDataJNI.registerInitializedForwardCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, RelayDataJNI::cancelInitializedForwardCallback);
   }
+
   public boolean getInitializedForward() {
     return RelayDataJNI.getInitializedForward(m_index);
   }
+
   public void setInitializedForward(boolean initializedForward) {
     RelayDataJNI.setInitializedForward(m_index, initializedForward);
   }
 
-  public CallbackStore registerInitializedReverseCallback(NotifyCallback callback, boolean initialNotify) {
+  public CallbackStore registerInitializedReverseCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = RelayDataJNI.registerInitializedReverseCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, RelayDataJNI::cancelInitializedReverseCallback);
   }
+
   public boolean getInitializedReverse() {
     return RelayDataJNI.getInitializedReverse(m_index);
   }
+
   public void setInitializedReverse(boolean initializedReverse) {
     RelayDataJNI.setInitializedReverse(m_index, initializedReverse);
   }
@@ -58,9 +62,11 @@ public class RelaySim {
     int uid = RelayDataJNI.registerForwardCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, RelayDataJNI::cancelForwardCallback);
   }
+
   public boolean getForward() {
     return RelayDataJNI.getForward(m_index);
   }
+
   public void setForward(boolean forward) {
     RelayDataJNI.setForward(m_index, forward);
   }
@@ -69,9 +75,11 @@ public class RelaySim {
     int uid = RelayDataJNI.registerReverseCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, RelayDataJNI::cancelReverseCallback);
   }
+
   public boolean getReverse() {
     return RelayDataJNI.getReverse(m_index);
   }
+
   public void setReverse(boolean reverse) {
     RelayDataJNI.setReverse(m_index, reverse);
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/RoboRioSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/RoboRioSim.java
index e5cab708ef..e358ddbe04 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/RoboRioSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/RoboRioSim.java
@@ -7,187 +7,215 @@ package edu.wpi.first.wpilibj.simulation;
 import edu.wpi.first.hal.simulation.NotifyCallback;
 import edu.wpi.first.hal.simulation.RoboRioDataJNI;
 
-/**
- * Class to control a simulated RoboRIO.
- */
+/** Class to control a simulated RoboRIO. */
 @SuppressWarnings({"PMD.ExcessivePublicCount", "PMD.UseUtilityClass"})
 public class RoboRioSim {
-  public static CallbackStore registerFPGAButtonCallback(NotifyCallback callback,
-                                                         boolean initialNotify) {
+  public static CallbackStore registerFPGAButtonCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = RoboRioDataJNI.registerFPGAButtonCallback(callback, initialNotify);
     return new CallbackStore(uid, RoboRioDataJNI::cancelFPGAButtonCallback);
   }
+
   public static boolean getFPGAButton() {
     return RoboRioDataJNI.getFPGAButton();
   }
+
   public static void setFPGAButton(boolean fPGAButton) {
     RoboRioDataJNI.setFPGAButton(fPGAButton);
   }
 
-  public static CallbackStore registerVInVoltageCallback(NotifyCallback callback,
-                                                         boolean initialNotify) {
+  public static CallbackStore registerVInVoltageCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = RoboRioDataJNI.registerVInVoltageCallback(callback, initialNotify);
     return new CallbackStore(uid, RoboRioDataJNI::cancelVInVoltageCallback);
   }
+
   public static double getVInVoltage() {
     return RoboRioDataJNI.getVInVoltage();
   }
+
   public static void setVInVoltage(double vInVoltage) {
     RoboRioDataJNI.setVInVoltage(vInVoltage);
   }
 
-  public static CallbackStore registerVInCurrentCallback(NotifyCallback callback,
-                                                         boolean initialNotify) {
+  public static CallbackStore registerVInCurrentCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = RoboRioDataJNI.registerVInCurrentCallback(callback, initialNotify);
     return new CallbackStore(uid, RoboRioDataJNI::cancelVInCurrentCallback);
   }
+
   public static double getVInCurrent() {
     return RoboRioDataJNI.getVInCurrent();
   }
+
   public static void setVInCurrent(double vInCurrent) {
     RoboRioDataJNI.setVInCurrent(vInCurrent);
   }
 
-  public static CallbackStore registerUserVoltage6VCallback(NotifyCallback callback,
-                                                            boolean initialNotify) {
+  public static CallbackStore registerUserVoltage6VCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = RoboRioDataJNI.registerUserVoltage6VCallback(callback, initialNotify);
     return new CallbackStore(uid, RoboRioDataJNI::cancelUserVoltage6VCallback);
   }
+
   public static double getUserVoltage6V() {
     return RoboRioDataJNI.getUserVoltage6V();
   }
+
   public static void setUserVoltage6V(double userVoltage6V) {
     RoboRioDataJNI.setUserVoltage6V(userVoltage6V);
   }
 
-  public static CallbackStore registerUserCurrent6VCallback(NotifyCallback callback,
-                                                            boolean initialNotify) {
+  public static CallbackStore registerUserCurrent6VCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = RoboRioDataJNI.registerUserCurrent6VCallback(callback, initialNotify);
     return new CallbackStore(uid, RoboRioDataJNI::cancelUserCurrent6VCallback);
   }
+
   public static double getUserCurrent6V() {
     return RoboRioDataJNI.getUserCurrent6V();
   }
+
   public static void setUserCurrent6V(double userCurrent6V) {
     RoboRioDataJNI.setUserCurrent6V(userCurrent6V);
   }
 
-  public static CallbackStore registerUserActive6VCallback(NotifyCallback callback,
-                                                           boolean initialNotify) {
+  public static CallbackStore registerUserActive6VCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = RoboRioDataJNI.registerUserActive6VCallback(callback, initialNotify);
     return new CallbackStore(uid, RoboRioDataJNI::cancelUserActive6VCallback);
   }
+
   public static boolean getUserActive6V() {
     return RoboRioDataJNI.getUserActive6V();
   }
+
   public static void setUserActive6V(boolean userActive6V) {
     RoboRioDataJNI.setUserActive6V(userActive6V);
   }
 
-  public static CallbackStore registerUserVoltage5VCallback(NotifyCallback callback,
-                                                            boolean initialNotify) {
+  public static CallbackStore registerUserVoltage5VCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = RoboRioDataJNI.registerUserVoltage5VCallback(callback, initialNotify);
     return new CallbackStore(uid, RoboRioDataJNI::cancelUserVoltage5VCallback);
   }
+
   public static double getUserVoltage5V() {
     return RoboRioDataJNI.getUserVoltage5V();
   }
+
   public static void setUserVoltage5V(double userVoltage5V) {
     RoboRioDataJNI.setUserVoltage5V(userVoltage5V);
   }
 
-  public static CallbackStore registerUserCurrent5VCallback(NotifyCallback callback,
-                                                            boolean initialNotify) {
+  public static CallbackStore registerUserCurrent5VCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = RoboRioDataJNI.registerUserCurrent5VCallback(callback, initialNotify);
     return new CallbackStore(uid, RoboRioDataJNI::cancelUserCurrent5VCallback);
   }
+
   public static double getUserCurrent5V() {
     return RoboRioDataJNI.getUserCurrent5V();
   }
+
   public static void setUserCurrent5V(double userCurrent5V) {
     RoboRioDataJNI.setUserCurrent5V(userCurrent5V);
   }
 
-  public static CallbackStore registerUserActive5VCallback(NotifyCallback callback,
-                                                           boolean initialNotify) {
+  public static CallbackStore registerUserActive5VCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = RoboRioDataJNI.registerUserActive5VCallback(callback, initialNotify);
     return new CallbackStore(uid, RoboRioDataJNI::cancelUserActive5VCallback);
   }
+
   public static boolean getUserActive5V() {
     return RoboRioDataJNI.getUserActive5V();
   }
+
   public static void setUserActive5V(boolean userActive5V) {
     RoboRioDataJNI.setUserActive5V(userActive5V);
   }
 
-  public static CallbackStore registerUserVoltage3V3Callback(NotifyCallback callback,
-                                                             boolean initialNotify) {
+  public static CallbackStore registerUserVoltage3V3Callback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = RoboRioDataJNI.registerUserVoltage3V3Callback(callback, initialNotify);
     return new CallbackStore(uid, RoboRioDataJNI::cancelUserVoltage3V3Callback);
   }
+
   public static double getUserVoltage3V3() {
     return RoboRioDataJNI.getUserVoltage3V3();
   }
+
   public static void setUserVoltage3V3(double userVoltage3V3) {
     RoboRioDataJNI.setUserVoltage3V3(userVoltage3V3);
   }
 
-  public static CallbackStore registerUserCurrent3V3Callback(NotifyCallback callback,
-                                                             boolean initialNotify) {
+  public static CallbackStore registerUserCurrent3V3Callback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = RoboRioDataJNI.registerUserCurrent3V3Callback(callback, initialNotify);
     return new CallbackStore(uid, RoboRioDataJNI::cancelUserCurrent3V3Callback);
   }
+
   public static double getUserCurrent3V3() {
     return RoboRioDataJNI.getUserCurrent3V3();
   }
+
   public static void setUserCurrent3V3(double userCurrent3V3) {
     RoboRioDataJNI.setUserCurrent3V3(userCurrent3V3);
   }
 
-  public static CallbackStore registerUserActive3V3Callback(NotifyCallback callback,
-                                                            boolean initialNotify) {
+  public static CallbackStore registerUserActive3V3Callback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = RoboRioDataJNI.registerUserActive3V3Callback(callback, initialNotify);
     return new CallbackStore(uid, RoboRioDataJNI::cancelUserActive3V3Callback);
   }
+
   public static boolean getUserActive3V3() {
     return RoboRioDataJNI.getUserActive3V3();
   }
+
   public static void setUserActive3V3(boolean userActive3V3) {
     RoboRioDataJNI.setUserActive3V3(userActive3V3);
   }
 
-  public static CallbackStore registerUserFaults6VCallback(NotifyCallback callback,
-                                                           boolean initialNotify) {
+  public static CallbackStore registerUserFaults6VCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = RoboRioDataJNI.registerUserFaults6VCallback(callback, initialNotify);
     return new CallbackStore(uid, RoboRioDataJNI::cancelUserFaults6VCallback);
   }
+
   public static int getUserFaults6V() {
     return RoboRioDataJNI.getUserFaults6V();
   }
+
   public static void setUserFaults6V(int userFaults6V) {
     RoboRioDataJNI.setUserFaults6V(userFaults6V);
   }
 
-  public static CallbackStore registerUserFaults5VCallback(NotifyCallback callback,
-                                                           boolean initialNotify) {
+  public static CallbackStore registerUserFaults5VCallback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = RoboRioDataJNI.registerUserFaults5VCallback(callback, initialNotify);
     return new CallbackStore(uid, RoboRioDataJNI::cancelUserFaults5VCallback);
   }
+
   public static int getUserFaults5V() {
     return RoboRioDataJNI.getUserFaults5V();
   }
+
   public static void setUserFaults5V(int userFaults5V) {
     RoboRioDataJNI.setUserFaults5V(userFaults5V);
   }
 
-  public static CallbackStore registerUserFaults3V3Callback(NotifyCallback callback,
-                                                            boolean initialNotify) {
+  public static CallbackStore registerUserFaults3V3Callback(
+      NotifyCallback callback, boolean initialNotify) {
     int uid = RoboRioDataJNI.registerUserFaults3V3Callback(callback, initialNotify);
     return new CallbackStore(uid, RoboRioDataJNI::cancelUserFaults3V3Callback);
   }
+
   public static int getUserFaults3V3() {
     return RoboRioDataJNI.getUserFaults3V3();
   }
+
   public static void setUserFaults3V3(int userFaults3V3) {
     RoboRioDataJNI.setUserFaults3V3(userFaults3V3);
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SPIAccelerometerSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SPIAccelerometerSim.java
index 66aa41cca2..ea70e8fa3c 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SPIAccelerometerSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SPIAccelerometerSim.java
@@ -18,9 +18,11 @@ public class SPIAccelerometerSim {
     int uid = SPIAccelerometerDataJNI.registerActiveCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, SPIAccelerometerDataJNI::cancelActiveCallback);
   }
+
   public boolean getActive() {
     return SPIAccelerometerDataJNI.getActive(m_index);
   }
+
   public void setActive(boolean active) {
     SPIAccelerometerDataJNI.setActive(m_index, active);
   }
@@ -29,9 +31,11 @@ public class SPIAccelerometerSim {
     int uid = SPIAccelerometerDataJNI.registerRangeCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, SPIAccelerometerDataJNI::cancelRangeCallback);
   }
+
   public int getRange() {
     return SPIAccelerometerDataJNI.getRange(m_index);
   }
+
   public void setRange(int range) {
     SPIAccelerometerDataJNI.setRange(m_index, range);
   }
@@ -40,9 +44,11 @@ public class SPIAccelerometerSim {
     int uid = SPIAccelerometerDataJNI.registerXCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, SPIAccelerometerDataJNI::cancelXCallback);
   }
+
   public double getX() {
     return SPIAccelerometerDataJNI.getX(m_index);
   }
+
   public void setX(double x) {
     SPIAccelerometerDataJNI.setX(m_index, x);
   }
@@ -51,9 +57,11 @@ public class SPIAccelerometerSim {
     int uid = SPIAccelerometerDataJNI.registerYCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, SPIAccelerometerDataJNI::cancelYCallback);
   }
+
   public double getY() {
     return SPIAccelerometerDataJNI.getY(m_index);
   }
+
   public void setY(double y) {
     SPIAccelerometerDataJNI.setY(m_index, y);
   }
@@ -62,9 +70,11 @@ public class SPIAccelerometerSim {
     int uid = SPIAccelerometerDataJNI.registerZCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, SPIAccelerometerDataJNI::cancelZCallback);
   }
+
   public double getZ() {
     return SPIAccelerometerDataJNI.getZ(m_index);
   }
+
   public void setZ(double z) {
     SPIAccelerometerDataJNI.setZ(m_index, z);
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SPISim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SPISim.java
index bf9b0c3295..17ebc78b38 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SPISim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SPISim.java
@@ -21,9 +21,11 @@ public class SPISim {
     int uid = SPIDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, SPIDataJNI::cancelInitializedCallback);
   }
+
   public boolean getInitialized() {
     return SPIDataJNI.getInitialized(m_index);
   }
+
   public void setInitialized(boolean initialized) {
     SPIDataJNI.setInitialized(m_index, initialized);
   }
@@ -38,7 +40,8 @@ public class SPISim {
     return new CallbackStore(m_index, uid, SPIDataJNI::cancelWriteCallback);
   }
 
-  public CallbackStore registerReadAutoReceiveBufferCallback(SpiReadAutoReceiveBufferCallback callback) {
+  public CallbackStore registerReadAutoReceiveBufferCallback(
+      SpiReadAutoReceiveBufferCallback callback) {
     int uid = SPIDataJNI.registerReadAutoReceiveBufferCallback(m_index, callback);
     return new CallbackStore(m_index, uid, SPIDataJNI::cancelReadAutoReceiveBufferCallback);
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SimDeviceSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SimDeviceSim.java
index c1808b2329..49b3909306 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SimDeviceSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SimDeviceSim.java
@@ -12,9 +12,7 @@ import edu.wpi.first.hal.simulation.SimDeviceCallback;
 import edu.wpi.first.hal.simulation.SimDeviceDataJNI;
 import edu.wpi.first.hal.simulation.SimValueCallback;
 
-/**
- * Class to control the simulation side of a SimDevice.
- */
+/** Class to control the simulation side of a SimDevice. */
 public class SimDeviceSim {
   private final int m_handle;
 
@@ -71,13 +69,17 @@ public class SimDeviceSim {
     return m_handle;
   }
 
-  public CallbackStore registerValueCreatedCallback(SimValueCallback callback, boolean initialNotify) {
+  public CallbackStore registerValueCreatedCallback(
+      SimValueCallback callback, boolean initialNotify) {
     int uid = SimDeviceDataJNI.registerSimValueCreatedCallback(m_handle, callback, initialNotify);
     return new CallbackStore(uid, SimDeviceDataJNI::cancelSimValueCreatedCallback);
   }
 
-  public CallbackStore registerValueChangedCallback(SimValue value, SimValueCallback callback, boolean initialNotify) {
-    int uid = SimDeviceDataJNI.registerSimValueChangedCallback(value.getNativeHandle(), callback, initialNotify);
+  public CallbackStore registerValueChangedCallback(
+      SimValue value, SimValueCallback callback, boolean initialNotify) {
+    int uid =
+        SimDeviceDataJNI.registerSimValueChangedCallback(
+            value.getNativeHandle(), callback, initialNotify);
     return new CallbackStore(uid, SimDeviceDataJNI::cancelSimValueChangedCallback);
   }
 
@@ -85,12 +87,14 @@ public class SimDeviceSim {
     return SimDeviceDataJNI.enumerateSimDevices(prefix);
   }
 
-  public static CallbackStore registerDeviceCreatedCallback(String prefix, SimDeviceCallback callback, boolean initialNotify) {
+  public static CallbackStore registerDeviceCreatedCallback(
+      String prefix, SimDeviceCallback callback, boolean initialNotify) {
     int uid = SimDeviceDataJNI.registerSimDeviceCreatedCallback(prefix, callback, initialNotify);
     return new CallbackStore(uid, SimDeviceDataJNI::cancelSimDeviceCreatedCallback);
   }
 
-  public static CallbackStore registerDeviceFreedCallback(String prefix, SimDeviceCallback callback, boolean initialNotify) {
+  public static CallbackStore registerDeviceFreedCallback(
+      String prefix, SimDeviceCallback callback, boolean initialNotify) {
     int uid = SimDeviceDataJNI.registerSimDeviceFreedCallback(prefix, callback, initialNotify);
     return new CallbackStore(uid, SimDeviceDataJNI::cancelSimDeviceFreedCallback);
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SimHooks.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SimHooks.java
index 23ecb033c0..9441bc6885 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SimHooks.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SimHooks.java
@@ -7,8 +7,7 @@ package edu.wpi.first.wpilibj.simulation;
 import edu.wpi.first.hal.simulation.SimulatorJNI;
 
 public final class SimHooks {
-  private SimHooks() {
-  }
+  private SimHooks() {}
 
   public static void setHALRuntimeType(int type) {
     SimulatorJNI.setRuntimeType(type);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
index 3096671a66..e31692831d 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
@@ -13,9 +13,7 @@ import edu.wpi.first.wpiutil.math.VecBuilder;
 import edu.wpi.first.wpiutil.math.numbers.N1;
 import edu.wpi.first.wpiutil.math.numbers.N2;
 
-/**
- * Represents a simulated single jointed arm mechanism.
- */
+/** Represents a simulated single jointed arm mechanism. */
 public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
   // The gearbox for the arm.
   private final DCMotor m_gearbox;
@@ -42,39 +40,59 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
   /**
    * Creates a simulated arm mechanism.
    *
-   * @param plant           The linear system that represents the arm.
-   * @param gearbox         The type of and number of motors in the arm gearbox.
-   * @param gearing         The gearing of the arm (numbers greater than 1 represent reductions).
+   * @param plant The linear system that represents the arm.
+   * @param gearbox The type of and number of motors in the arm gearbox.
+   * @param gearing The gearing of the arm (numbers greater than 1 represent reductions).
    * @param armLengthMeters The length of the arm.
-   * @param minAngleRads    The minimum angle that the arm is capable of.
-   * @param maxAngleRads    The maximum angle that the arm is capable of.
-   * @param armMassKg       The mass of the arm.
+   * @param minAngleRads The minimum angle that the arm is capable of.
+   * @param maxAngleRads The maximum angle that the arm is capable of.
+   * @param armMassKg The mass of the arm.
    * @param simulateGravity Whether gravity should be simulated or not.
    */
-  public SingleJointedArmSim(LinearSystem<N2, N1, N1> plant, DCMotor gearbox, double gearing,
-                             double armLengthMeters, double minAngleRads, double maxAngleRads,
-                             double armMassKg, boolean simulateGravity) {
-    this(plant, gearbox, gearing, armLengthMeters, minAngleRads, maxAngleRads, armMassKg,
-        simulateGravity, null);
+  public SingleJointedArmSim(
+      LinearSystem<N2, N1, N1> plant,
+      DCMotor gearbox,
+      double gearing,
+      double armLengthMeters,
+      double minAngleRads,
+      double maxAngleRads,
+      double armMassKg,
+      boolean simulateGravity) {
+    this(
+        plant,
+        gearbox,
+        gearing,
+        armLengthMeters,
+        minAngleRads,
+        maxAngleRads,
+        armMassKg,
+        simulateGravity,
+        null);
   }
 
   /**
    * Creates a simulated arm mechanism.
    *
-   * @param plant              The linear system that represents the arm.
-   * @param gearbox            The type of and number of motors in the arm gearbox.
-   * @param gearing            The gearing of the arm (numbers greater than 1 represent reductions).
-   * @param armLengthMeters    The length of the arm.
-   * @param minAngleRads       The minimum angle that the arm is capable of.
-   * @param maxAngleRads       The maximum angle that the arm is capable of.
-   * @param armMassKg          The mass of the arm.
-   * @param simulateGravity    Whether gravity should be simulated or not.
+   * @param plant The linear system that represents the arm.
+   * @param gearbox The type of and number of motors in the arm gearbox.
+   * @param gearing The gearing of the arm (numbers greater than 1 represent reductions).
+   * @param armLengthMeters The length of the arm.
+   * @param minAngleRads The minimum angle that the arm is capable of.
+   * @param maxAngleRads The maximum angle that the arm is capable of.
+   * @param armMassKg The mass of the arm.
+   * @param simulateGravity Whether gravity should be simulated or not.
    * @param measurementStdDevs The standard deviations of the measurements.
    */
-  public SingleJointedArmSim(LinearSystem<N2, N1, N1> plant, DCMotor gearbox, double gearing,
-                             double armLengthMeters, double minAngleRads, double maxAngleRads,
-                             double armMassKg, boolean simulateGravity,
-                             Matrix<N1, N1> measurementStdDevs) {
+  public SingleJointedArmSim(
+      LinearSystem<N2, N1, N1> plant,
+      DCMotor gearbox,
+      double gearing,
+      double armLengthMeters,
+      double minAngleRads,
+      double maxAngleRads,
+      double armMassKg,
+      boolean simulateGravity,
+      Matrix<N1, N1> measurementStdDevs) {
     super(plant, measurementStdDevs);
     m_gearbox = gearbox;
     m_gearing = gearing;
@@ -88,40 +106,63 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
   /**
    * Creates a simulated arm mechanism.
    *
-   * @param gearbox          The type of and number of motors in the arm gearbox.
-   * @param gearing          The gearing of the arm (numbers greater than 1 represent reductions).
-   * @param jKgMetersSquared The moment of inertia of the arm. This can be calculated from CAD software.
-   * @param armLengthMeters  The length of the arm.
-   * @param minAngleRads     The minimum angle that the arm is capable of.
-   * @param maxAngleRads     The maximum angle that the arm is capable of.
-   * @param armMassKg        The mass of the arm.
-   * @param simulateGravity  Whether gravity should be simulated or not.
+   * @param gearbox The type of and number of motors in the arm gearbox.
+   * @param gearing The gearing of the arm (numbers greater than 1 represent reductions).
+   * @param jKgMetersSquared The moment of inertia of the arm. This can be calculated from CAD
+   *     software.
+   * @param armLengthMeters The length of the arm.
+   * @param minAngleRads The minimum angle that the arm is capable of.
+   * @param maxAngleRads The maximum angle that the arm is capable of.
+   * @param armMassKg The mass of the arm.
+   * @param simulateGravity Whether gravity should be simulated or not.
    */
-  public SingleJointedArmSim(DCMotor gearbox, double gearing, double jKgMetersSquared,
-                             double armLengthMeters, double minAngleRads, double maxAngleRads,
-                             double armMassKg, boolean simulateGravity) {
-    this(gearbox, gearing, jKgMetersSquared, armLengthMeters, minAngleRads, maxAngleRads,
-        armMassKg, simulateGravity, null);
+  public SingleJointedArmSim(
+      DCMotor gearbox,
+      double gearing,
+      double jKgMetersSquared,
+      double armLengthMeters,
+      double minAngleRads,
+      double maxAngleRads,
+      double armMassKg,
+      boolean simulateGravity) {
+    this(
+        gearbox,
+        gearing,
+        jKgMetersSquared,
+        armLengthMeters,
+        minAngleRads,
+        maxAngleRads,
+        armMassKg,
+        simulateGravity,
+        null);
   }
 
   /**
    * Creates a simulated arm mechanism.
    *
-   * @param gearbox            The type of and number of motors in the arm gearbox.
-   * @param gearing            The gearing of the arm (numbers greater than 1 represent reductions).
-   * @param jKgMetersSquared   The moment of inertia of the arm. This can be calculated from CAD software.
-   * @param armLengthMeters    The length of the arm.
-   * @param minAngleRads       The minimum angle that the arm is capable of.
-   * @param maxAngleRads       The maximum angle that the arm is capable of.
-   * @param armMassKg          The mass of the arm.
-   * @param simulateGravity    Whether gravity should be simulated or not.
+   * @param gearbox The type of and number of motors in the arm gearbox.
+   * @param gearing The gearing of the arm (numbers greater than 1 represent reductions).
+   * @param jKgMetersSquared The moment of inertia of the arm. This can be calculated from CAD
+   *     software.
+   * @param armLengthMeters The length of the arm.
+   * @param minAngleRads The minimum angle that the arm is capable of.
+   * @param maxAngleRads The maximum angle that the arm is capable of.
+   * @param armMassKg The mass of the arm.
+   * @param simulateGravity Whether gravity should be simulated or not.
    * @param measurementStdDevs The standard deviations of the measurements.
    */
-  public SingleJointedArmSim(DCMotor gearbox, double gearing, double jKgMetersSquared,
-                             double armLengthMeters, double minAngleRads, double maxAngleRads,
-                             double armMassKg, boolean simulateGravity,
-                             Matrix<N1, N1> measurementStdDevs) {
-    super(LinearSystemId.createSingleJointedArmSystem(gearbox, jKgMetersSquared, gearing),
+  public SingleJointedArmSim(
+      DCMotor gearbox,
+      double gearing,
+      double jKgMetersSquared,
+      double armLengthMeters,
+      double minAngleRads,
+      double maxAngleRads,
+      double armMassKg,
+      boolean simulateGravity,
+      Matrix<N1, N1> measurementStdDevs) {
+    super(
+        LinearSystemId.createSingleJointedArmSystem(gearbox, jKgMetersSquared, gearing),
         measurementStdDevs);
     m_gearbox = gearbox;
     m_gearing = gearing;
@@ -193,12 +234,10 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
   }
 
   /**
-   * Calculates a rough estimate of the moment of inertia of an arm given its
-   * length and mass.
+   * Calculates a rough estimate of the moment of inertia of an arm given its length and mass.
    *
    * @param lengthMeters The length of the arm.
-   * @param massKg       The mass of the arm.
-   *
+   * @param massKg The mass of the arm.
    * @return The calculated moment of inertia.
    */
   public static double estimateMOI(double lengthMeters, double massKg) {
@@ -209,12 +248,11 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
    * Updates the state of the arm.
    *
    * @param currentXhat The current state estimate.
-   * @param u           The system inputs (voltage).
-   * @param dtSeconds   The time difference between controller updates.
+   * @param u The system inputs (voltage).
+   * @param dtSeconds The time difference between controller updates.
    */
   @Override
-  protected Matrix<N2, N1> updateX(Matrix<N2, N1> currentXhat,
-                                   Matrix<N1, N1> u, double dtSeconds) {
+  protected Matrix<N2, N1> updateX(Matrix<N2, N1> currentXhat, Matrix<N1, N1> u, double dtSeconds) {
     // Horizontal case:
     // Torque = F * r = I * alpha
     // alpha = F * r / I
@@ -224,16 +262,27 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
     // This acceleration is added to the linear system dynamics x-dot = Ax + Bu
     // We therefore find that f(x, u) = Ax + Bu + [[0] [m * g * r / I *
     // cos(theta)]]
-    Matrix<N2, N1> updatedXhat = RungeKutta.rungeKutta(
-        (Matrix<N2, N1> x, Matrix<N1, N1> u_) -> {
-          Matrix<N2, N1> xdot = m_plant.getA().times(x).plus(m_plant.getB().times(u_));
-          if (m_simulateGravity) {
-            xdot = xdot.plus(VecBuilder.fill(0,
-                m_armMass * m_r * -9.8 * 3.0 / (m_armMass * m_r * m_r) * Math.cos(x.get(0, 0))));
-          }
-          return xdot;
-        },
-        currentXhat, u, dtSeconds);
+    Matrix<N2, N1> updatedXhat =
+        RungeKutta.rungeKutta(
+            (Matrix<N2, N1> x, Matrix<N1, N1> u_) -> {
+              Matrix<N2, N1> xdot = m_plant.getA().times(x).plus(m_plant.getB().times(u_));
+              if (m_simulateGravity) {
+                xdot =
+                    xdot.plus(
+                        VecBuilder.fill(
+                            0,
+                            m_armMass
+                                * m_r
+                                * -9.8
+                                * 3.0
+                                / (m_armMass * m_r * m_r)
+                                * Math.cos(x.get(0, 0))));
+              }
+              return xdot;
+            },
+            currentXhat,
+            u,
+            dtSeconds);
 
     // We check for collision after updating xhat
     if (hasHitLowerLimit(updatedXhat)) {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/XboxControllerSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/XboxControllerSim.java
index e80806c18b..2bbb2fa6ea 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/XboxControllerSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/XboxControllerSim.java
@@ -7,9 +7,7 @@ package edu.wpi.first.wpilibj.simulation;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 
-/**
- * Class to control a simulated Xbox 360 or Xbox One controller.
- */
+/** Class to control a simulated Xbox 360 or Xbox One controller. */
 public class XboxControllerSim extends GenericHIDSim {
   /**
    * Constructs from a XboxController object.
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/Field2d.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/Field2d.java
index 50ee5b370f..01181443f6 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/Field2d.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/Field2d.java
@@ -4,36 +4,31 @@
 
 package edu.wpi.first.wpilibj.smartdashboard;
 
-import java.util.ArrayList;
-import java.util.List;
-
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.wpilibj.Sendable;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import java.util.ArrayList;
+import java.util.List;
 
 /**
  * 2D representation of game field for dashboards.
  *
- * <p>An object's pose is the location shown on the dashboard view.  Note that
- * for the robot, this may or may not match the internal odometry.  For example,
- * the robot is shown at a particular starting location, the pose in this
- * class would represent the actual location on the field, but the robot's
- * internal state might have a 0,0,0 pose (unless it's initialized to
- * something different).
+ * <p>An object's pose is the location shown on the dashboard view. Note that for the robot, this
+ * may or may not match the internal odometry. For example, the robot is shown at a particular
+ * starting location, the pose in this class would represent the actual location on the field, but
+ * the robot's internal state might have a 0,0,0 pose (unless it's initialized to something
+ * different).
  *
- * <p>As the user is able to edit the pose, code performing updates should get
- * the robot pose, transform it as appropriate (e.g. based on wheel odometry),
- * and set the new pose.
+ * <p>As the user is able to edit the pose, code performing updates should get the robot pose,
+ * transform it as appropriate (e.g. based on wheel odometry), and set the new pose.
  *
- * <p>This class provides methods to set the robot pose, but other objects can
- * also be shown by using the getObject() function.  Other objects can
- * also have multiple poses (which will show the object at multiple locations).
+ * <p>This class provides methods to set the robot pose, but other objects can also be shown by
+ * using the getObject() function. Other objects can also have multiple poses (which will show the
+ * object at multiple locations).
  */
 public class Field2d implements Sendable {
-  /**
-   * Constructor.
-   */
+  /** Constructor. */
   public Field2d() {
     FieldObject2d obj = new FieldObject2d("Robot");
     obj.setPose(new Pose2d());
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java
index e875430a68..d9054e929a 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java
@@ -4,17 +4,14 @@
 
 package edu.wpi.first.wpilibj.smartdashboard;
 
-import java.util.ArrayList;
-import java.util.List;
-
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.geometry.Translation2d;
+import java.util.ArrayList;
+import java.util.List;
 
-/**
- * Game field object on a Field2d.
- */
+/** Game field object on a Field2d. */
 public class FieldObject2d {
   /**
    * Package-local constructor.
@@ -60,8 +57,7 @@ public class FieldObject2d {
   }
 
   /**
-   * Set multiple poses from an list of Pose objects.
-   * The total number of poses is limited to 85.
+   * Set multiple poses from an list of Pose objects. The total number of poses is limited to 85.
    *
    * @param poses list of 2D poses
    */
@@ -74,8 +70,7 @@ public class FieldObject2d {
   }
 
   /**
-   * Set multiple poses from an list of Pose objects.
-   * The total number of poses is limited to 85.
+   * Set multiple poses from an list of Pose objects. The total number of poses is limited to 85.
    *
    * @param poses list of 2D poses
    */
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/ListenerExecutor.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/ListenerExecutor.java
index 8d1f1a9e48..19a3fc107f 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/ListenerExecutor.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/ListenerExecutor.java
@@ -28,9 +28,7 @@ class ListenerExecutor implements Executor {
     }
   }
 
-  /**
-   * Runs all posted tasks.  Called periodically from main thread.
-   */
+  /** 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<>();
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilder.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilder.java
index 0cce99c065..46d965d58e 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilder.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilder.java
@@ -4,71 +4,69 @@
 
 package edu.wpi.first.wpilibj.smartdashboard;
 
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableValue;
 import java.util.function.BooleanSupplier;
 import java.util.function.Consumer;
 import java.util.function.DoubleConsumer;
 import java.util.function.DoubleSupplier;
 import java.util.function.Supplier;
 
-import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.networktables.NetworkTableEntry;
-import edu.wpi.first.networktables.NetworkTableValue;
-
 public interface SendableBuilder {
   /**
    * Get the network table.
+   *
    * @return The network table
    */
   NetworkTable getTable();
 
   /**
-   * Set the string representation of the named data type that will be used
-   * by the smart dashboard for this sendable.
+   * Set the string representation of the named data type that will be used by the smart dashboard
+   * for this sendable.
    *
-   * @param type    data type
+   * @param type data type
    */
   void setSmartDashboardType(String type);
 
   /**
-   * Set a flag indicating if this sendable should be treated as an actuator.
-   * By default this flag is false.
+   * Set a flag indicating if this sendable should be treated as an actuator. By default this flag
+   * is false.
    *
-   * @param value   true if actuator, false if not
+   * @param value true if actuator, false if not
    */
   void setActuator(boolean value);
 
   /**
-   * Set the function that should be called to set the Sendable into a safe
-   * state.  This is called when entering and exiting Live Window mode.
+   * Set the function that should be called to set the Sendable into a safe state. This is called
+   * when entering and exiting Live Window mode.
    *
-   * @param func    function
+   * @param func function
    */
   void setSafeState(Runnable func);
 
   /**
-   * Set the function that should be called to update the network table
-   * for things other than properties.  Note this function is not passed
-   * the network table object; instead it should use the entry handles
-   * returned by getEntry().
+   * Set the function that should be called to update the network table for things other than
+   * properties. Note this function is not passed the network table object; instead it should use
+   * the entry handles returned by getEntry().
    *
-   * @param func    function
+   * @param func function
    */
   void setUpdateTable(Runnable func);
 
   /**
-   * Add a property without getters or setters.  This can be used to get
-   * entry handles for the function called by setUpdateTable().
+   * Add a property without getters or setters. This can be used to get entry handles for the
+   * function called by setUpdateTable().
    *
-   * @param key   property name
+   * @param key property name
    * @return Network table entry
    */
   NetworkTableEntry getEntry(String key);
 
   /**
-   * Represents an operation that accepts a single boolean-valued argument and
-   * returns no result. This is the primitive type specialization of Consumer
-   * for boolean. Unlike most other functional interfaces, BooleanConsumer is
-   * expected to operate via side-effects.
+   * Represents an operation that accepts a single boolean-valued argument and returns no result.
+   * This is the primitive type specialization of Consumer for boolean. Unlike most other functional
+   * interfaces, BooleanConsumer is expected to operate via side-effects.
    *
    * <p>This is a functional interface whose functional method is accept(boolean).
    */
@@ -76,6 +74,7 @@ public interface SendableBuilder {
   interface BooleanConsumer {
     /**
      * Performs the operation on the given value.
+     *
      * @param value the value
      */
     void accept(boolean value);
@@ -84,73 +83,73 @@ public interface SendableBuilder {
   /**
    * Add a boolean property.
    *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
+   * @param key property name
+   * @param getter getter function (returns current value)
+   * @param setter setter function (sets new value)
    */
   void addBooleanProperty(String key, BooleanSupplier getter, BooleanConsumer setter);
 
   /**
    * Add a double property.
    *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
+   * @param key property name
+   * @param getter getter function (returns current value)
+   * @param setter setter function (sets new value)
    */
   void addDoubleProperty(String key, DoubleSupplier getter, DoubleConsumer setter);
 
   /**
    * Add a string property.
    *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
+   * @param key property name
+   * @param getter getter function (returns current value)
+   * @param setter setter function (sets new value)
    */
   void addStringProperty(String key, Supplier<String> getter, Consumer<String> setter);
 
   /**
    * Add a boolean array property.
    *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
+   * @param key property name
+   * @param getter getter function (returns current value)
+   * @param setter setter function (sets new value)
    */
   void addBooleanArrayProperty(String key, Supplier<boolean[]> getter, Consumer<boolean[]> setter);
 
   /**
    * Add a double array property.
    *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
+   * @param key property name
+   * @param getter getter function (returns current value)
+   * @param setter setter function (sets new value)
    */
   void addDoubleArrayProperty(String key, Supplier<double[]> getter, Consumer<double[]> setter);
 
   /**
    * Add a string array property.
    *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
+   * @param key property name
+   * @param getter getter function (returns current value)
+   * @param setter setter function (sets new value)
    */
   void addStringArrayProperty(String key, Supplier<String[]> getter, Consumer<String[]> setter);
 
   /**
    * Add a raw property.
    *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
+   * @param key property name
+   * @param getter getter function (returns current value)
+   * @param setter setter function (sets new value)
    */
   void addRawProperty(String key, Supplier<byte[]> getter, Consumer<byte[]> setter);
 
   /**
    * Add a NetworkTableValue property.
    *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
+   * @param key property name
+   * @param getter getter function (returns current value)
+   * @param setter setter function (sets new value)
    */
-  void addValueProperty(String key, Supplier<NetworkTableValue> getter,
-                        Consumer<NetworkTableValue> setter);
+  void addValueProperty(
+      String key, Supplier<NetworkTableValue> getter, Consumer<NetworkTableValue> setter);
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilderImpl.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilderImpl.java
index 823540f354..0dbb7ed6f1 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilderImpl.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilderImpl.java
@@ -4,6 +4,10 @@
 
 package edu.wpi.first.wpilibj.smartdashboard;
 
+import edu.wpi.first.networktables.EntryListenerFlags;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableValue;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.function.BooleanSupplier;
@@ -13,11 +17,6 @@ import java.util.function.DoubleSupplier;
 import java.util.function.Function;
 import java.util.function.Supplier;
 
-import edu.wpi.first.networktables.EntryListenerFlags;
-import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.networktables.NetworkTableEntry;
-import edu.wpi.first.networktables.NetworkTableValue;
-
 public class SendableBuilderImpl implements SendableBuilder {
   private static class Property {
     Property(NetworkTable table, String key) {
@@ -57,7 +56,7 @@ public class SendableBuilderImpl implements SendableBuilder {
   private boolean m_actuator;
 
   /**
-   * Set the network table.  Must be called prior to any Add* functions being called.
+   * Set the network table. Must be called prior to any Add* functions being called.
    *
    * @param table Network table
    */
@@ -78,6 +77,7 @@ public class SendableBuilderImpl implements SendableBuilder {
 
   /**
    * Return whether this sendable has an associated table.
+   *
    * @return True if it has a table, false if not.
    */
   public boolean hasTable() {
@@ -93,9 +93,7 @@ public class SendableBuilderImpl implements SendableBuilder {
     return m_actuator;
   }
 
-  /**
-   * Update the network table values by calling the getters for all properties.
-   */
+  /** Update the network table values by calling the getters for all properties. */
   public void updateTable() {
     for (Property property : m_properties) {
       if (property.m_update != null) {
@@ -107,9 +105,7 @@ public class SendableBuilderImpl implements SendableBuilder {
     }
   }
 
-  /**
-   * Hook setters for all properties.
-   */
+  /** Hook setters for all properties. */
   public void startListeners() {
     for (Property property : m_properties) {
       property.startListener();
@@ -119,9 +115,7 @@ public class SendableBuilderImpl implements SendableBuilder {
     }
   }
 
-  /**
-   * Unhook setters for all properties.
-   */
+  /** Unhook setters for all properties. */
   public void stopListeners() {
     for (Property property : m_properties) {
       property.stopListener();
@@ -132,7 +126,7 @@ public class SendableBuilderImpl implements SendableBuilder {
   }
 
   /**
-   * Start LiveWindow mode by hooking the setters for all properties.  Also calls the safeState
+   * Start LiveWindow mode by hooking the setters for all properties. Also calls the safeState
    * function if one was provided.
    */
   public void startLiveWindowMode() {
@@ -143,7 +137,7 @@ public class SendableBuilderImpl implements SendableBuilder {
   }
 
   /**
-   * Stop LiveWindow mode by unhooking the setters for all properties.  Also calls the safeState
+   * Stop LiveWindow mode by unhooking the setters for all properties. Also calls the safeState
    * function if one was provided.
    */
   public void stopLiveWindowMode() {
@@ -153,9 +147,7 @@ public class SendableBuilderImpl implements SendableBuilder {
     }
   }
 
-  /**
-   * Clear properties.
-   */
+  /** Clear properties. */
   public void clearProperties() {
     stopListeners();
     m_properties.clear();
@@ -185,7 +177,7 @@ public class SendableBuilderImpl implements SendableBuilder {
   }
 
   /**
-   * Set the function that should be called to set the Sendable into a safe state.  This is called
+   * Set the function that should be called to set the Sendable into a safe state. This is called
    * when entering and exiting Live Window mode.
    *
    * @param func function
@@ -197,7 +189,7 @@ public class SendableBuilderImpl implements SendableBuilder {
 
   /**
    * Set the function that should be called to update the network table for things other than
-   * properties.  Note this function is not passed the network table object; instead it should use
+   * properties. Note this function is not passed the network table object; instead it should use
    * the entry handles returned by getEntry().
    *
    * @param func function
@@ -208,7 +200,7 @@ public class SendableBuilderImpl implements SendableBuilder {
   }
 
   /**
-   * Add a property without getters or setters.  This can be used to get entry handles for the
+   * Add a property without getters or setters. This can be used to get entry handles for the
    * function called by setUpdateTable().
    *
    * @param key property name
@@ -222,7 +214,7 @@ public class SendableBuilderImpl implements SendableBuilder {
   /**
    * Add a boolean property.
    *
-   * @param key    property name
+   * @param key property name
    * @param getter getter function (returns current value)
    * @param setter setter function (sets new value)
    */
@@ -233,11 +225,18 @@ public class SendableBuilderImpl implements SendableBuilder {
       property.m_update = entry -> entry.setBoolean(getter.getAsBoolean());
     }
     if (setter != null) {
-      property.m_createListener = entry -> entry.addListener(event -> {
-        if (event.value.isBoolean()) {
-          SmartDashboard.postListenerTask(() -> setter.accept(event.value.getBoolean()));
-        }
-      }, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
+      property.m_createListener =
+          entry ->
+              entry.addListener(
+                  event -> {
+                    if (event.value.isBoolean()) {
+                      SmartDashboard.postListenerTask(
+                          () -> setter.accept(event.value.getBoolean()));
+                    }
+                  },
+                  EntryListenerFlags.kImmediate
+                      | EntryListenerFlags.kNew
+                      | EntryListenerFlags.kUpdate);
     }
     m_properties.add(property);
   }
@@ -245,7 +244,7 @@ public class SendableBuilderImpl implements SendableBuilder {
   /**
    * Add a double property.
    *
-   * @param key    property name
+   * @param key property name
    * @param getter getter function (returns current value)
    * @param setter setter function (sets new value)
    */
@@ -256,11 +255,17 @@ public class SendableBuilderImpl implements SendableBuilder {
       property.m_update = entry -> entry.setDouble(getter.getAsDouble());
     }
     if (setter != null) {
-      property.m_createListener = entry -> entry.addListener(event -> {
-        if (event.value.isDouble()) {
-          SmartDashboard.postListenerTask(() -> setter.accept(event.value.getDouble()));
-        }
-      }, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
+      property.m_createListener =
+          entry ->
+              entry.addListener(
+                  event -> {
+                    if (event.value.isDouble()) {
+                      SmartDashboard.postListenerTask(() -> setter.accept(event.value.getDouble()));
+                    }
+                  },
+                  EntryListenerFlags.kImmediate
+                      | EntryListenerFlags.kNew
+                      | EntryListenerFlags.kUpdate);
     }
     m_properties.add(property);
   }
@@ -268,7 +273,7 @@ public class SendableBuilderImpl implements SendableBuilder {
   /**
    * Add a string property.
    *
-   * @param key    property name
+   * @param key property name
    * @param getter getter function (returns current value)
    * @param setter setter function (sets new value)
    */
@@ -279,11 +284,17 @@ public class SendableBuilderImpl implements SendableBuilder {
       property.m_update = entry -> entry.setString(getter.get());
     }
     if (setter != null) {
-      property.m_createListener = entry -> entry.addListener(event -> {
-        if (event.value.isString()) {
-          SmartDashboard.postListenerTask(() -> setter.accept(event.value.getString()));
-        }
-      }, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
+      property.m_createListener =
+          entry ->
+              entry.addListener(
+                  event -> {
+                    if (event.value.isString()) {
+                      SmartDashboard.postListenerTask(() -> setter.accept(event.value.getString()));
+                    }
+                  },
+                  EntryListenerFlags.kImmediate
+                      | EntryListenerFlags.kNew
+                      | EntryListenerFlags.kUpdate);
     }
     m_properties.add(property);
   }
@@ -291,23 +302,30 @@ public class SendableBuilderImpl implements SendableBuilder {
   /**
    * Add a boolean array property.
    *
-   * @param key    property name
+   * @param key property name
    * @param getter getter function (returns current value)
    * @param setter setter function (sets new value)
    */
   @Override
-  public void addBooleanArrayProperty(String key, Supplier<boolean[]> getter,
-                                      Consumer<boolean[]> setter) {
+  public void addBooleanArrayProperty(
+      String key, Supplier<boolean[]> getter, Consumer<boolean[]> setter) {
     Property property = new Property(m_table, key);
     if (getter != null) {
       property.m_update = entry -> entry.setBooleanArray(getter.get());
     }
     if (setter != null) {
-      property.m_createListener = entry -> entry.addListener(event -> {
-        if (event.value.isBooleanArray()) {
-          SmartDashboard.postListenerTask(() -> setter.accept(event.value.getBooleanArray()));
-        }
-      }, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
+      property.m_createListener =
+          entry ->
+              entry.addListener(
+                  event -> {
+                    if (event.value.isBooleanArray()) {
+                      SmartDashboard.postListenerTask(
+                          () -> setter.accept(event.value.getBooleanArray()));
+                    }
+                  },
+                  EntryListenerFlags.kImmediate
+                      | EntryListenerFlags.kNew
+                      | EntryListenerFlags.kUpdate);
     }
     m_properties.add(property);
   }
@@ -315,23 +333,30 @@ public class SendableBuilderImpl implements SendableBuilder {
   /**
    * Add a double array property.
    *
-   * @param key    property name
+   * @param key property name
    * @param getter getter function (returns current value)
    * @param setter setter function (sets new value)
    */
   @Override
-  public void addDoubleArrayProperty(String key, Supplier<double[]> getter,
-                                     Consumer<double[]> setter) {
+  public void addDoubleArrayProperty(
+      String key, Supplier<double[]> getter, Consumer<double[]> setter) {
     Property property = new Property(m_table, key);
     if (getter != null) {
       property.m_update = entry -> entry.setDoubleArray(getter.get());
     }
     if (setter != null) {
-      property.m_createListener = entry -> entry.addListener(event -> {
-        if (event.value.isDoubleArray()) {
-          SmartDashboard.postListenerTask(() -> setter.accept(event.value.getDoubleArray()));
-        }
-      }, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
+      property.m_createListener =
+          entry ->
+              entry.addListener(
+                  event -> {
+                    if (event.value.isDoubleArray()) {
+                      SmartDashboard.postListenerTask(
+                          () -> setter.accept(event.value.getDoubleArray()));
+                    }
+                  },
+                  EntryListenerFlags.kImmediate
+                      | EntryListenerFlags.kNew
+                      | EntryListenerFlags.kUpdate);
     }
     m_properties.add(property);
   }
@@ -339,23 +364,30 @@ public class SendableBuilderImpl implements SendableBuilder {
   /**
    * Add a string array property.
    *
-   * @param key    property name
+   * @param key property name
    * @param getter getter function (returns current value)
    * @param setter setter function (sets new value)
    */
   @Override
-  public void addStringArrayProperty(String key, Supplier<String[]> getter,
-                                     Consumer<String[]> setter) {
+  public void addStringArrayProperty(
+      String key, Supplier<String[]> getter, Consumer<String[]> setter) {
     Property property = new Property(m_table, key);
     if (getter != null) {
       property.m_update = entry -> entry.setStringArray(getter.get());
     }
     if (setter != null) {
-      property.m_createListener = entry -> entry.addListener(event -> {
-        if (event.value.isStringArray()) {
-          SmartDashboard.postListenerTask(() -> setter.accept(event.value.getStringArray()));
-        }
-      }, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
+      property.m_createListener =
+          entry ->
+              entry.addListener(
+                  event -> {
+                    if (event.value.isStringArray()) {
+                      SmartDashboard.postListenerTask(
+                          () -> setter.accept(event.value.getStringArray()));
+                    }
+                  },
+                  EntryListenerFlags.kImmediate
+                      | EntryListenerFlags.kNew
+                      | EntryListenerFlags.kUpdate);
     }
     m_properties.add(property);
   }
@@ -363,7 +395,7 @@ public class SendableBuilderImpl implements SendableBuilder {
   /**
    * Add a raw property.
    *
-   * @param key    property name
+   * @param key property name
    * @param getter getter function (returns current value)
    * @param setter setter function (sets new value)
    */
@@ -374,11 +406,17 @@ public class SendableBuilderImpl implements SendableBuilder {
       property.m_update = entry -> entry.setRaw(getter.get());
     }
     if (setter != null) {
-      property.m_createListener = entry -> entry.addListener(event -> {
-        if (event.value.isRaw()) {
-          SmartDashboard.postListenerTask(() -> setter.accept(event.value.getRaw()));
-        }
-      }, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
+      property.m_createListener =
+          entry ->
+              entry.addListener(
+                  event -> {
+                    if (event.value.isRaw()) {
+                      SmartDashboard.postListenerTask(() -> setter.accept(event.value.getRaw()));
+                    }
+                  },
+                  EntryListenerFlags.kImmediate
+                      | EntryListenerFlags.kNew
+                      | EntryListenerFlags.kUpdate);
     }
     m_properties.add(property);
   }
@@ -386,21 +424,27 @@ public class SendableBuilderImpl implements SendableBuilder {
   /**
    * Add a NetworkTableValue property.
    *
-   * @param key    property name
+   * @param key property name
    * @param getter getter function (returns current value)
    * @param setter setter function (sets new value)
    */
   @Override
-  public void addValueProperty(String key, Supplier<NetworkTableValue> getter,
-                               Consumer<NetworkTableValue> setter) {
+  public void addValueProperty(
+      String key, Supplier<NetworkTableValue> getter, Consumer<NetworkTableValue> setter) {
     Property property = new Property(m_table, key);
     if (getter != null) {
       property.m_update = entry -> entry.setValue(getter.get());
     }
     if (setter != null) {
-      property.m_createListener = entry -> entry.addListener(event -> {
-        SmartDashboard.postListenerTask(() -> setter.accept(event.value));
-      }, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
+      property.m_createListener =
+          entry ->
+              entry.addListener(
+                  event -> {
+                    SmartDashboard.postListenerTask(() -> setter.accept(event.value));
+                  },
+                  EntryListenerFlags.kImmediate
+                      | EntryListenerFlags.kNew
+                      | EntryListenerFlags.kUpdate);
     }
     m_properties.add(property);
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java
index a4acedfa8c..ac4d52033f 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java
@@ -4,6 +4,10 @@
 
 package edu.wpi.first.wpilibj.smartdashboard;
 
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.wpilibj.Sendable;
 import java.util.ArrayList;
 import java.util.LinkedHashMap;
 import java.util.List;
@@ -11,11 +15,6 @@ import java.util.Map;
 import java.util.concurrent.atomic.AtomicInteger;
 import java.util.concurrent.locks.ReentrantLock;
 
-import edu.wpi.first.networktables.NetworkTableEntry;
-import edu.wpi.first.wpilibj.Sendable;
-
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
-
 /**
  * The {@link SendableChooser} class is a useful tool for presenting a selection of options to the
  * {@link SmartDashboard}.
@@ -29,37 +28,24 @@ import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
  * @param <V> The type of the values to be stored
  */
 public class SendableChooser<V> implements Sendable, AutoCloseable {
-  /**
-   * The key for the default value.
-   */
+  /** The key for the default value. */
   private static final String DEFAULT = "default";
-  /**
-   * The key for the selected option.
-   */
+  /** The key for the selected option. */
   private static final String SELECTED = "selected";
-  /**
-   * The key for the active option.
-   */
+  /** The key for the active option. */
   private static final String ACTIVE = "active";
-  /**
-   * The key for the option array.
-   */
+  /** The key for the option array. */
   private static final String OPTIONS = "options";
-  /**
-   * The key for the instance number.
-   */
+  /** The key for the instance number. */
   private static final String INSTANCE = ".instance";
-  /**
-   * A map linking strings to the objects the represent.
-   */
+  /** A map linking strings to the objects the represent. */
   private final Map<String, V> m_map = new LinkedHashMap<>();
+
   private String m_defaultChoice = "";
   private final int m_instance;
   private static final AtomicInteger s_instances = new AtomicInteger();
 
-  /**
-   * Instantiates a {@link SendableChooser}.
-   */
+  /** Instantiates a {@link SendableChooser}. */
   public SendableChooser() {
     m_instance = s_instances.getAndIncrement();
     SendableRegistry.add(this, "SendableChooser", m_instance);
@@ -74,7 +60,7 @@ public class SendableChooser<V> implements Sendable, AutoCloseable {
    * Adds the given object to the list of options. On the {@link SmartDashboard} on the desktop, the
    * object will appear as the given name.
    *
-   * @param name   the name of the option
+   * @param name the name of the option
    * @param object the option
    */
   public void addOption(String name, V object) {
@@ -85,8 +71,7 @@ public class SendableChooser<V> implements Sendable, AutoCloseable {
    * Adds the given object to the list of options.
    *
    * @deprecated Use {@link #addOption(String, Object)} instead.
-   *
-   * @param name   the name of the option
+   * @param name the name of the option
    * @param object the option
    */
   @Deprecated
@@ -99,7 +84,7 @@ public class SendableChooser<V> implements Sendable, AutoCloseable {
    * very close to {@link #addOption(String, Object)} except that it will use this as the default
    * option if none other is explicitly selected.
    *
-   * @param name   the name of the option
+   * @param name the name of the option
    * @param object the option
    */
   public void setDefaultOption(String name, V object) {
@@ -113,8 +98,7 @@ public class SendableChooser<V> implements Sendable, AutoCloseable {
    * Adds the given object to the list of options and marks it as the default.
    *
    * @deprecated Use {@link #setDefaultOption(String, Object)} instead.
-   *
-   * @param name   the name of the option
+   * @param name the name of the option
    * @param object the option
    */
   @Deprecated
@@ -151,34 +135,40 @@ public class SendableChooser<V> implements Sendable, AutoCloseable {
     builder.getEntry(INSTANCE).setDouble(m_instance);
     builder.addStringProperty(DEFAULT, () -> m_defaultChoice, null);
     builder.addStringArrayProperty(OPTIONS, () -> m_map.keySet().toArray(new String[0]), null);
-    builder.addStringProperty(ACTIVE, () -> {
-      m_mutex.lock();
-      try {
-        if (m_selected != null) {
-          return m_selected;
-        } else {
-          return m_defaultChoice;
-        }
-      } finally {
-        m_mutex.unlock();
-      }
-    }, null);
+    builder.addStringProperty(
+        ACTIVE,
+        () -> {
+          m_mutex.lock();
+          try {
+            if (m_selected != null) {
+              return m_selected;
+            } else {
+              return m_defaultChoice;
+            }
+          } finally {
+            m_mutex.unlock();
+          }
+        },
+        null);
     m_mutex.lock();
     try {
       m_activeEntries.add(builder.getEntry(ACTIVE));
     } finally {
       m_mutex.unlock();
     }
-    builder.addStringProperty(SELECTED, null, val -> {
-      m_mutex.lock();
-      try {
-        m_selected = val;
-        for (NetworkTableEntry entry : m_activeEntries) {
-          entry.setString(val);
-        }
-      } finally {
-        m_mutex.unlock();
-      }
-    });
+    builder.addStringProperty(
+        SELECTED,
+        null,
+        val -> {
+          m_mutex.lock();
+          try {
+            m_selected = val;
+            for (NetworkTableEntry entry : m_activeEntries) {
+              entry.setString(val);
+            }
+          } finally {
+            m_mutex.unlock();
+          }
+        });
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableRegistry.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableRegistry.java
index fc81ca9963..f58dd5aeb3 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableRegistry.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableRegistry.java
@@ -4,6 +4,9 @@
 
 package edu.wpi.first.wpilibj.smartdashboard;
 
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.Sendable;
 import java.lang.ref.WeakReference;
 import java.util.ArrayList;
 import java.util.Arrays;
@@ -12,14 +15,9 @@ import java.util.Map;
 import java.util.WeakHashMap;
 import java.util.function.Consumer;
 
-import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.Sendable;
-
-
 /**
- * The SendableRegistry class is the public interface for registering sensors
- * and actuators for use on dashboards and LiveWindow.
+ * The SendableRegistry class is the public interface for registering sensors and actuators for use
+ * on dashboards and LiveWindow.
  */
 public class SendableRegistry {
   private static class Component {
@@ -80,10 +78,9 @@ public class SendableRegistry {
   /**
    * Adds an object to the registry.
    *
-   * @param sendable     object to add
-   * @param moduleType   A string that defines the module name in the label for
-   *                     the value
-   * @param channel      The channel number the device is plugged into
+   * @param sendable object to add
+   * @param moduleType A string that defines the module name in the label for the value
+   * @param channel The channel number the device is plugged into
    */
   public static synchronized void add(Sendable sendable, String moduleType, int channel) {
     Component comp = getOrAdd(sendable);
@@ -93,14 +90,13 @@ public class SendableRegistry {
   /**
    * Adds an object to the registry.
    *
-   * @param sendable     object to add
-   * @param moduleType   A string that defines the module name in the label for
-   *                     the value
+   * @param sendable object to add
+   * @param moduleType A string that defines the module name in the label for the value
    * @param moduleNumber The number of the particular module type
-   * @param channel      The channel number the device is plugged into
+   * @param channel The channel number the device is plugged into
    */
-  public static synchronized void add(Sendable sendable, String moduleType, int moduleNumber,
-      int channel) {
+  public static synchronized void add(
+      Sendable sendable, String moduleType, int moduleNumber, int channel) {
     Component comp = getOrAdd(sendable);
     comp.setName(moduleType, moduleNumber, channel);
   }
@@ -133,10 +129,9 @@ public class SendableRegistry {
   /**
    * Adds an object to the registry and LiveWindow.
    *
-   * @param sendable     object to add
-   * @param moduleType   A string that defines the module name in the label for
-   *                     the value
-   * @param channel      The channel number the device is plugged into
+   * @param sendable object to add
+   * @param moduleType A string that defines the module name in the label for the value
+   * @param channel The channel number the device is plugged into
    */
   public static synchronized void addLW(Sendable sendable, String moduleType, int channel) {
     Component comp = getOrAdd(sendable);
@@ -147,14 +142,13 @@ public class SendableRegistry {
   /**
    * Adds an object to the registry and LiveWindow.
    *
-   * @param sendable     object to add
-   * @param moduleType   A string that defines the module name in the label for
-   *                     the value
+   * @param sendable object to add
+   * @param moduleType A string that defines the module name in the label for the value
    * @param moduleNumber The number of the particular module type
-   * @param channel      The channel number the device is plugged into
+   * @param channel The channel number the device is plugged into
    */
-  public static synchronized void addLW(Sendable sendable, String moduleType, int moduleNumber,
-      int channel) {
+  public static synchronized void addLW(
+      Sendable sendable, String moduleType, int moduleNumber, int channel) {
     Component comp = getOrAdd(sendable);
     comp.m_liveWindow = true;
     comp.setName(moduleType, moduleNumber, channel);
@@ -175,8 +169,8 @@ public class SendableRegistry {
   }
 
   /**
-   * Adds a child object to an object.  Adds the child object to the registry
-   * if it's not already present.
+   * Adds a child object to an object. Adds the child object to the registry if it's not already
+   * present.
    *
    * @param parent parent object
    * @param child child object
@@ -240,10 +234,9 @@ public class SendableRegistry {
   /**
    * Sets the name of an object with a channel number.
    *
-   * @param sendable   object
-   * @param moduleType A string that defines the module name in the label for
-   *                   the value
-   * @param channel    The channel number the device is plugged into
+   * @param sendable object
+   * @param moduleType A string that defines the module name in the label for the value
+   * @param channel The channel number the device is plugged into
    */
   public static synchronized void setName(Sendable sendable, String moduleType, int channel) {
     Component comp = components.get(sendable);
@@ -255,14 +248,13 @@ public class SendableRegistry {
   /**
    * Sets the name of an object with a module and channel number.
    *
-   * @param sendable     object
-   * @param moduleType   A string that defines the module name in the label for
-   *                     the value
+   * @param sendable object
+   * @param moduleType A string that defines the module name in the label for the value
    * @param moduleNumber The number of the particular module type
-   * @param channel      The channel number the device is plugged into
+   * @param channel The channel number the device is plugged into
    */
-  public static synchronized void setName(Sendable sendable, String moduleType, int moduleNumber,
-      int channel) {
+  public static synchronized void setName(
+      Sendable sendable, String moduleType, int moduleNumber, int channel) {
     Component comp = components.get(sendable);
     if (comp != null) {
       comp.setName(moduleType, moduleNumber, channel);
@@ -411,43 +403,29 @@ public class SendableRegistry {
     }
   }
 
-  /**
-   * Data passed to foreachLiveWindow() callback function.
-   */
+  /** Data passed to foreachLiveWindow() callback function. */
   public static class CallbackData {
-    /**
-     * Sendable object.
-     */
+    /** Sendable object. */
     @SuppressWarnings("MemberName")
     public Sendable sendable;
 
-    /**
-     * Name.
-     */
+    /** Name. */
     @SuppressWarnings("MemberName")
     public String name;
 
-    /**
-     * Subsystem.
-     */
+    /** Subsystem. */
     @SuppressWarnings("MemberName")
     public String subsystem;
 
-    /**
-     * Parent sendable object.
-     */
+    /** Parent sendable object. */
     @SuppressWarnings("MemberName")
     public Sendable parent;
 
-    /**
-     * Data stored in object with setData().  Update this to change the data.
-     */
+    /** Data stored in object with setData(). Update this to change the data. */
     @SuppressWarnings("MemberName")
     public Object data;
 
-    /**
-     * Sendable builder for the sendable.
-     */
+    /** Sendable builder for the sendable. */
     @SuppressWarnings("MemberName")
     public SendableBuilderImpl builder;
   }
@@ -457,17 +435,19 @@ public class SendableRegistry {
   private static List<Component> foreachComponents = new ArrayList<>();
 
   /**
-   * Iterates over LiveWindow-enabled objects in the registry.
-   * It is *not* safe to call other SendableRegistry functions from the
-   * callback.
+   * Iterates over LiveWindow-enabled objects in the registry. It is *not* safe to call other
+   * SendableRegistry functions from the callback.
    *
    * @param dataHandle data handle to get data object passed to callback
    * @param callback function to call for each object
    */
-  @SuppressWarnings({"PMD.CyclomaticComplexity", "PMD.AvoidInstantiatingObjectsInLoops",
-                     "PMD.AvoidCatchingThrowable"})
-  public static synchronized void foreachLiveWindow(int dataHandle,
-      Consumer<CallbackData> callback) {
+  @SuppressWarnings({
+    "PMD.CyclomaticComplexity",
+    "PMD.AvoidInstantiatingObjectsInLoops",
+    "PMD.AvoidCatchingThrowable"
+  })
+  public static synchronized void foreachLiveWindow(
+      int dataHandle, Consumer<CallbackData> callback) {
     CallbackData cbdata = new CallbackData();
     foreachComponents.clear();
     foreachComponents.addAll(components.values());
@@ -498,8 +478,11 @@ public class SendableRegistry {
             throwable = cause;
           }
           DriverStation.reportError(
-              "Unhandled exception calling LiveWindow for " + comp.m_name + ": "
-                  + throwable.toString(), false);
+              "Unhandled exception calling LiveWindow for "
+                  + comp.m_name
+                  + ": "
+                  + throwable.toString(),
+              false);
           comp.m_liveWindow = false;
         }
         if (cbdata.data != null) {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboard.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboard.java
index 0ce88d779d..81738958e4 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboard.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboard.java
@@ -4,17 +4,16 @@
 
 package edu.wpi.first.wpilibj.smartdashboard;
 
-import java.nio.ByteBuffer;
-import java.util.HashMap;
-import java.util.Map;
-import java.util.Set;
-
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.Sendable;
+import java.nio.ByteBuffer;
+import java.util.HashMap;
+import java.util.Map;
+import java.util.Set;
 
 /**
  * The {@link SmartDashboard} class is the bridge between robot programs and the SmartDashboard on
@@ -25,22 +24,17 @@ import edu.wpi.first.wpilibj.Sendable;
  */
 @SuppressWarnings("PMD.GodClass")
 public final class SmartDashboard {
-  /**
-   * The {@link NetworkTable} used by {@link SmartDashboard}.
-   */
+  /** The {@link NetworkTable} used by {@link SmartDashboard}. */
   private static final NetworkTable table =
       NetworkTableInstance.getDefault().getTable("SmartDashboard");
 
   /**
-   * A table linking tables in the SmartDashboard to the {@link Sendable} objects they
-   * came from.
+   * A table linking tables in the SmartDashboard to the {@link Sendable} objects they came from.
    */
   @SuppressWarnings("PMD.UseConcurrentHashMap")
   private static final Map<String, Sendable> tablesToData = new HashMap<>();
 
-  /**
-   * The executor for listener tasks; calls listener tasks synchronously from main thread.
-   */
+  /** The executor for listener tasks; calls listener tasks synchronously from main thread. */
   private static final ListenerExecutor listenerExecutor = new ListenerExecutor();
 
   static {
@@ -55,7 +49,7 @@ public final class SmartDashboard {
    * Maps the specified key to the specified value in this table. The key can not be null. The value
    * can be retrieved by calling the get method with a key that is equal to the original key.
    *
-   * @param key  the key
+   * @param key the key
    * @param data the value
    * @throws IllegalArgumentException If key is null
    */
@@ -71,9 +65,9 @@ public final class SmartDashboard {
   }
 
   /**
-   * Maps the specified key (where the key is the name of the {@link Sendable}
-   * to the specified value in this table. The value can be retrieved by
-   * calling the get method with a key that is equal to the original key.
+   * Maps the specified key (where the key is the name of the {@link Sendable} to the specified
+   * value in this table. The value can be retrieved by calling the get method with a key that is
+   * equal to the original key.
    *
    * @param value the value
    * @throws IllegalArgumentException If key is null
@@ -90,7 +84,7 @@ public final class SmartDashboard {
    *
    * @param key the key
    * @return the value
-   * @throws IllegalArgumentException  if the key is null
+   * @throws IllegalArgumentException if the key is null
    */
   public static synchronized Sendable getData(String key) {
     Sendable data = tablesToData.get(key);
@@ -103,6 +97,7 @@ public final class SmartDashboard {
 
   /**
    * Gets the entry for the specified key.
+   *
    * @param key the key name
    * @return Network table entry.
    */
@@ -140,8 +135,7 @@ public final class SmartDashboard {
   }
 
   /**
-   * Makes a key's value persistent through program restarts.
-   * The key cannot be null.
+   * Makes a key's value persistent through program restarts. The key cannot be null.
    *
    * @param key the key name
    */
@@ -150,8 +144,7 @@ public final class SmartDashboard {
   }
 
   /**
-   * Stop making a key's value persistent through program restarts.
-   * The key cannot be null.
+   * Stop making a key's value persistent through program restarts. The key cannot be null.
    *
    * @param key the key name
    */
@@ -160,8 +153,7 @@ public final class SmartDashboard {
   }
 
   /**
-   * Returns whether the value is persistent through program restarts.
-   * The key cannot be null.
+   * Returns whether the value is persistent through program restarts. The key cannot be null.
    *
    * @param key the key name
    * @return True if the value is persistent.
@@ -171,8 +163,7 @@ public final class SmartDashboard {
   }
 
   /**
-   * Sets flags on the specified key in this table. The key can
-   * not be null.
+   * Sets flags on the specified key in this table. The key can not be null.
    *
    * @param key the key name
    * @param flags the flags to set (bitmask)
@@ -182,8 +173,7 @@ public final class SmartDashboard {
   }
 
   /**
-   * Clears flags on the specified key in this table. The key can
-   * not be null.
+   * Clears flags on the specified key in this table. The key can not be null.
    *
    * @param key the key name
    * @param flags the flags to clear (bitmask)
@@ -203,8 +193,7 @@ public final class SmartDashboard {
   }
 
   /**
-   * Deletes the specified key in this table. The key can
-   * not be null.
+   * Deletes the specified key in this table. The key can not be null.
    *
    * @param key the key name
    */
@@ -214,6 +203,7 @@ public final class SmartDashboard {
 
   /**
    * Put a boolean in the table.
+   *
    * @param key the key to be assigned to
    * @param value the value that will be assigned
    * @return False if the table key already exists with a different type
@@ -224,6 +214,7 @@ public final class SmartDashboard {
 
   /**
    * Gets the current value in the table, setting it if it does not exist.
+   *
    * @param key the key
    * @param defaultValue the default value to set if key does not exist.
    * @return False if the table key exists with a different type
@@ -233,12 +224,13 @@ public final class SmartDashboard {
   }
 
   /**
-   * Returns the boolean the key maps to. If the key does not exist or is of
-   *     different type, it will return the default value.
+   * Returns the boolean the key maps to. If the key does not exist or is of different type, it will
+   * return the default value.
+   *
    * @param key the key to look up
    * @param defaultValue the value to be returned if no value is found
-   * @return the value associated with the given key or the given default value
-   *     if there is no value associated with the key
+   * @return the value associated with the given key or the given default value if there is no value
+   *     associated with the key
    */
   public static boolean getBoolean(String key, boolean defaultValue) {
     return getEntry(key).getBoolean(defaultValue);
@@ -246,6 +238,7 @@ public final class SmartDashboard {
 
   /**
    * Put a number in the table.
+   *
    * @param key the key to be assigned to
    * @param value the value that will be assigned
    * @return False if the table key already exists with a different type
@@ -256,6 +249,7 @@ public final class SmartDashboard {
 
   /**
    * Gets the current value in the table, setting it if it does not exist.
+   *
    * @param key the key
    * @param defaultValue the default value to set if key does not exist.
    * @return False if the table key exists with a different type
@@ -265,12 +259,13 @@ public final class SmartDashboard {
   }
 
   /**
-   * Returns the number the key maps to. If the key does not exist or is of
-   *     different type, it will return the default value.
+   * Returns the number the key maps to. If the key does not exist or is of different type, it will
+   * return the default value.
+   *
    * @param key the key to look up
    * @param defaultValue the value to be returned if no value is found
-   * @return the value associated with the given key or the given default value
-   *     if there is no value associated with the key
+   * @return the value associated with the given key or the given default value if there is no value
+   *     associated with the key
    */
   public static double getNumber(String key, double defaultValue) {
     return getEntry(key).getDouble(defaultValue);
@@ -278,6 +273,7 @@ public final class SmartDashboard {
 
   /**
    * Put a string in the table.
+   *
    * @param key the key to be assigned to
    * @param value the value that will be assigned
    * @return False if the table key already exists with a different type
@@ -288,6 +284,7 @@ public final class SmartDashboard {
 
   /**
    * Gets the current value in the table, setting it if it does not exist.
+   *
    * @param key the key
    * @param defaultValue the default value to set if key does not exist.
    * @return False if the table key exists with a different type
@@ -297,12 +294,13 @@ public final class SmartDashboard {
   }
 
   /**
-   * Returns the string the key maps to. If the key does not exist or is of
-   *     different type, it will return the default value.
+   * Returns the string the key maps to. If the key does not exist or is of different type, it will
+   * return the default value.
+   *
    * @param key the key to look up
    * @param defaultValue the value to be returned if no value is found
-   * @return the value associated with the given key or the given default value
-   *     if there is no value associated with the key
+   * @return the value associated with the given key or the given default value if there is no value
+   *     associated with the key
    */
   public static String getString(String key, String defaultValue) {
     return getEntry(key).getString(defaultValue);
@@ -310,6 +308,7 @@ public final class SmartDashboard {
 
   /**
    * Put a boolean array in the table.
+   *
    * @param key the key to be assigned to
    * @param value the value that will be assigned
    * @return False if the table key already exists with a different type
@@ -320,6 +319,7 @@ public final class SmartDashboard {
 
   /**
    * Put a boolean array in the table.
+   *
    * @param key the key to be assigned to
    * @param value the value that will be assigned
    * @return False if the table key already exists with a different type
@@ -330,6 +330,7 @@ public final class SmartDashboard {
 
   /**
    * Gets the current value in the table, setting it if it does not exist.
+   *
    * @param key the key
    * @param defaultValue the default value to set if key does not exist.
    * @return False if the table key exists with a different type
@@ -340,6 +341,7 @@ public final class SmartDashboard {
 
   /**
    * Gets the current value in the table, setting it if it does not exist.
+   *
    * @param key the key
    * @param defaultValue the default value to set if key does not exist.
    * @return False if the table key exists with a different type
@@ -349,24 +351,26 @@ public final class SmartDashboard {
   }
 
   /**
-   * Returns the boolean array the key maps to. If the key does not exist or is
-   *     of different type, it will return the default value.
+   * Returns the boolean array the key maps to. If the key does not exist or is of different type,
+   * it will return the default value.
+   *
    * @param key the key to look up
    * @param defaultValue the value to be returned if no value is found
-   * @return the value associated with the given key or the given default value
-   *     if there is no value associated with the key
+   * @return the value associated with the given key or the given default value if there is no value
+   *     associated with the key
    */
   public static boolean[] getBooleanArray(String key, boolean[] defaultValue) {
     return getEntry(key).getBooleanArray(defaultValue);
   }
 
   /**
-   * Returns the boolean array the key maps to. If the key does not exist or is
-   *     of different type, it will return the default value.
+   * Returns the boolean array the key maps to. If the key does not exist or is of different type,
+   * it will return the default value.
+   *
    * @param key the key to look up
    * @param defaultValue the value to be returned if no value is found
-   * @return the value associated with the given key or the given default value
-   *     if there is no value associated with the key
+   * @return the value associated with the given key or the given default value if there is no value
+   *     associated with the key
    */
   public static Boolean[] getBooleanArray(String key, Boolean[] defaultValue) {
     return getEntry(key).getBooleanArray(defaultValue);
@@ -374,6 +378,7 @@ public final class SmartDashboard {
 
   /**
    * Put a number array in the table.
+   *
    * @param key the key to be assigned to
    * @param value the value that will be assigned
    * @return False if the table key already exists with a different type
@@ -384,6 +389,7 @@ public final class SmartDashboard {
 
   /**
    * Put a number array in the table.
+   *
    * @param key the key to be assigned to
    * @param value the value that will be assigned
    * @return False if the table key already exists with a different type
@@ -394,6 +400,7 @@ public final class SmartDashboard {
 
   /**
    * Gets the current value in the table, setting it if it does not exist.
+   *
    * @param key the key
    * @param defaultValue the default value to set if key does not exist.
    * @return False if the table key exists with a different type
@@ -404,6 +411,7 @@ public final class SmartDashboard {
 
   /**
    * Gets the current value in the table, setting it if it does not exist.
+   *
    * @param key the key
    * @param defaultValue the default value to set if key does not exist.
    * @return False if the table key exists with a different type
@@ -413,24 +421,26 @@ public final class SmartDashboard {
   }
 
   /**
-   * Returns the number array the key maps to. If the key does not exist or is
-   *     of different type, it will return the default value.
+   * Returns the number array the key maps to. If the key does not exist or is of different type, it
+   * will return the default value.
+   *
    * @param key the key to look up
    * @param defaultValue the value to be returned if no value is found
-   * @return the value associated with the given key or the given default value
-   *     if there is no value associated with the key
+   * @return the value associated with the given key or the given default value if there is no value
+   *     associated with the key
    */
   public static double[] getNumberArray(String key, double[] defaultValue) {
     return getEntry(key).getDoubleArray(defaultValue);
   }
 
   /**
-   * Returns the number array the key maps to. If the key does not exist or is
-   *     of different type, it will return the default value.
+   * Returns the number array the key maps to. If the key does not exist or is of different type, it
+   * will return the default value.
+   *
    * @param key the key to look up
    * @param defaultValue the value to be returned if no value is found
-   * @return the value associated with the given key or the given default value
-   *     if there is no value associated with the key
+   * @return the value associated with the given key or the given default value if there is no value
+   *     associated with the key
    */
   public static Double[] getNumberArray(String key, Double[] defaultValue) {
     return getEntry(key).getDoubleArray(defaultValue);
@@ -438,6 +448,7 @@ public final class SmartDashboard {
 
   /**
    * Put a string array in the table.
+   *
    * @param key the key to be assigned to
    * @param value the value that will be assigned
    * @return False if the table key already exists with a different type
@@ -448,6 +459,7 @@ public final class SmartDashboard {
 
   /**
    * Gets the current value in the table, setting it if it does not exist.
+   *
    * @param key the key
    * @param defaultValue the default value to set if key does not exist.
    * @return False if the table key exists with a different type
@@ -457,12 +469,13 @@ public final class SmartDashboard {
   }
 
   /**
-   * Returns the string array the key maps to. If the key does not exist or is
-   *     of different type, it will return the default value.
+   * Returns the string array the key maps to. If the key does not exist or is of different type, it
+   * will return the default value.
+   *
    * @param key the key to look up
    * @param defaultValue the value to be returned if no value is found
-   * @return the value associated with the given key or the given default value
-   *     if there is no value associated with the key
+   * @return the value associated with the given key or the given default value if there is no value
+   *     associated with the key
    */
   public static String[] getStringArray(String key, String[] defaultValue) {
     return getEntry(key).getStringArray(defaultValue);
@@ -470,6 +483,7 @@ public final class SmartDashboard {
 
   /**
    * Put a raw value (byte array) in the table.
+   *
    * @param key the key to be assigned to
    * @param value the value that will be assigned
    * @return False if the table key already exists with a different type
@@ -480,6 +494,7 @@ public final class SmartDashboard {
 
   /**
    * Put a raw value (bytes from a byte buffer) in the table.
+   *
    * @param key the key to be assigned to
    * @param value the value that will be assigned
    * @param len the length of the value
@@ -491,6 +506,7 @@ public final class SmartDashboard {
 
   /**
    * Gets the current value in the table, setting it if it does not exist.
+   *
    * @param key the key
    * @param defaultValue the default value to set if key does not exist.
    * @return False if the table key exists with a different type
@@ -500,20 +516,21 @@ public final class SmartDashboard {
   }
 
   /**
-   * Returns the raw value (byte array) the key maps to. If the key does not
-   *     exist or is of different type, it will return the default value.
+   * Returns the raw value (byte array) the key maps to. If the key does not exist or is of
+   * different type, it will return the default value.
+   *
    * @param key the key to look up
    * @param defaultValue the value to be returned if no value is found
-   * @return the value associated with the given key or the given default value
-   *     if there is no value associated with the key
+   * @return the value associated with the given key or the given default value if there is no value
+   *     associated with the key
    */
   public static byte[] getRaw(String key, byte[] defaultValue) {
     return getEntry(key).getRaw(defaultValue);
   }
 
   /**
-   * Posts a task from a listener to the ListenerExecutor, so that it can be run synchronously
-   * from the main loop on the next call to {@link SmartDashboard#updateValues()}.
+   * Posts a task from a listener to the ListenerExecutor, so that it can be run synchronously from
+   * the main loop on the next call to {@link SmartDashboard#updateValues()}.
    *
    * @param task The task to run synchronously from the main thread.
    */
@@ -521,9 +538,7 @@ public final class SmartDashboard {
     listenerExecutor.execute(task);
   }
 
-  /**
-   * Puts all sendable data to the dashboard.
-   */
+  /** Puts all sendable data to the dashboard. */
   public static synchronized void updateValues() {
     // Execute posted listener tasks
     listenerExecutor.runListenerTasks();
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color.java
index 138df41ec6..eec2cdc774 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color.java
@@ -4,9 +4,8 @@
 
 package edu.wpi.first.wpilibj.util;
 
-import java.util.Objects;
-
 import edu.wpi.first.wpiutil.math.MathUtil;
+import java.util.Objects;
 
 /**
  * Represents colors.
@@ -24,9 +23,9 @@ public class Color {
   /**
    * Constructs a Color.
    *
-   * @param red   Red value (0-1)
+   * @param red Red value (0-1)
    * @param green Green value (0-1)
-   * @param blue  Blue value (0-1)
+   * @param blue Blue value (0-1)
    */
   public Color(double red, double green, double blue) {
     this.red = roundAndClamp(red);
@@ -40,9 +39,7 @@ public class Color {
    * @param color The color
    */
   public Color(Color8Bit color) {
-    this(color.red / 255.0,
-        color.green / 255.0,
-        color.blue / 255.0);
+    this(color.red / 255.0, color.green / 255.0, color.blue / 255.0);
   }
 
   /**
@@ -111,722 +108,436 @@ public class Color {
    * FIRST Colors
    */
 
-  /**
-   * #1560BD.
-   */
+  /** #1560BD. */
   public static final Color kDenim = new Color(0.0823529412, 0.376470589, 0.7411764706);
 
-  /**
-   * #0066B3.
-   */
+  /** #0066B3. */
   public static final Color kFirstBlue = new Color(0.0, 0.4, 0.7019607844);
 
-  /**
-   * #ED1C24.
-   */
+  /** #ED1C24. */
   public static final Color kFirstRed = new Color(0.9294117648, 0.1098039216, 0.1411764706);
 
   /*
    * Standard Colors
    */
 
-  /**
-   * #F0F8FF.
-   */
+  /** #F0F8FF. */
   public static final Color kAliceBlue = new Color(0.9411765f, 0.972549f, 1.0f);
 
-  /**
-   * #FAEBD7.
-   */
+  /** #FAEBD7. */
   public static final Color kAntiqueWhite = new Color(0.98039216f, 0.92156863f, 0.84313726f);
 
-  /**
-   * #00FFFF.
-   */
+  /** #00FFFF. */
   public static final Color kAqua = new Color(0.0f, 1.0f, 1.0f);
 
-  /**
-   * #7FFFD4.
-    */
+  /** #7FFFD4. */
   public static final Color kAquamarine = new Color(0.49803922f, 1.0f, 0.83137256f);
 
-  /**
-   * #F0FFFF.
-   */
+  /** #F0FFFF. */
   public static final Color kAzure = new Color(0.9411765f, 1.0f, 1.0f);
 
-  /**
-   * #F5F5DC.
-   */
+  /** #F5F5DC. */
   public static final Color kBeige = new Color(0.9607843f, 0.9607843f, 0.8627451f);
 
-  /**
-   * #FFE4C4.
-   */
+  /** #FFE4C4. */
   public static final Color kBisque = new Color(1.0f, 0.89411765f, 0.76862746f);
 
-  /**
-   * #000000.
-   */
+  /** #000000. */
   public static final Color kBlack = new Color(0.0f, 0.0f, 0.0f);
 
-  /**
-   * #FFEBCD.
-   */
+  /** #FFEBCD. */
   public static final Color kBlanchedAlmond = new Color(1.0f, 0.92156863f, 0.8039216f);
 
-  /**
-   * #0000FF.
-   */
+  /** #0000FF. */
   public static final Color kBlue = new Color(0.0f, 0.0f, 1.0f);
 
-  /**
-   * #8A2BE2.
-   */
+  /** #8A2BE2. */
   public static final Color kBlueViolet = new Color(0.5411765f, 0.16862746f, 0.8862745f);
 
-  /**
-   * #A52A2A.
-   */
+  /** #A52A2A. */
   public static final Color kBrown = new Color(0.64705884f, 0.16470589f, 0.16470589f);
 
-  /**
-   * #DEB887.
-   */
+  /** #DEB887. */
   public static final Color kBurlywood = new Color(0.87058824f, 0.72156864f, 0.5294118f);
 
-  /**
-   * #5F9EA0.
-   */
+  /** #5F9EA0. */
   public static final Color kCadetBlue = new Color(0.37254903f, 0.61960787f, 0.627451f);
 
-  /**
-   * #7FFF00.
-   */
+  /** #7FFF00. */
   public static final Color kChartreuse = new Color(0.49803922f, 1.0f, 0.0f);
 
-  /**
-   * #D2691E.
-   */
+  /** #D2691E. */
   public static final Color kChocolate = new Color(0.8235294f, 0.4117647f, 0.11764706f);
 
-  /**
-   * #FF7F50.
-   */
+  /** #FF7F50. */
   public static final Color kCoral = new Color(1.0f, 0.49803922f, 0.3137255f);
 
-  /**
-   * #6495ED.
-   */
+  /** #6495ED. */
   public static final Color kCornflowerBlue = new Color(0.39215687f, 0.58431375f, 0.92941177f);
 
-  /**
-   * #FFF8DC.
-   */
+  /** #FFF8DC. */
   public static final Color kCornsilk = new Color(1.0f, 0.972549f, 0.8627451f);
 
-  /**
-   * #DC143C.
-   */
+  /** #DC143C. */
   public static final Color kCrimson = new Color(0.8627451f, 0.078431375f, 0.23529412f);
 
-  /**
-   * #00FFFF.
-   */
+  /** #00FFFF. */
   public static final Color kCyan = new Color(0.0f, 1.0f, 1.0f);
 
-  /**
-   * #00008B.
-   */
+  /** #00008B. */
   public static final Color kDarkBlue = new Color(0.0f, 0.0f, 0.54509807f);
 
-  /**
-   * #008B8B.
-   */
+  /** #008B8B. */
   public static final Color kDarkCyan = new Color(0.0f, 0.54509807f, 0.54509807f);
 
-  /**
-   * #B8860B.
-   */
+  /** #B8860B. */
   public static final Color kDarkGoldenrod = new Color(0.72156864f, 0.5254902f, 0.043137256f);
 
-  /**
-   * #A9A9A9.
-   */
+  /** #A9A9A9. */
   public static final Color kDarkGray = new Color(0.6627451f, 0.6627451f, 0.6627451f);
 
-  /**
-   * #006400.
-   */
+  /** #006400. */
   public static final Color kDarkGreen = new Color(0.0f, 0.39215687f, 0.0f);
 
-  /**
-   * #BDB76B.
-   */
+  /** #BDB76B. */
   public static final Color kDarkKhaki = new Color(0.7411765f, 0.7176471f, 0.41960785f);
 
-  /**
-   * #8B008B.
-   */
+  /** #8B008B. */
   public static final Color kDarkMagenta = new Color(0.54509807f, 0.0f, 0.54509807f);
 
-  /**
-   * #556B2F.
-   */
+  /** #556B2F. */
   public static final Color kDarkOliveGreen = new Color(0.33333334f, 0.41960785f, 0.18431373f);
 
-  /**
-   * #FF8C00.
-   */
+  /** #FF8C00. */
   public static final Color kDarkOrange = new Color(1.0f, 0.54901963f, 0.0f);
 
-  /**
-   * #9932CC.
-   */
+  /** #9932CC. */
   public static final Color kDarkOrchid = new Color(0.6f, 0.19607843f, 0.8f);
 
-  /**
-   * #8B0000.
-   */
+  /** #8B0000. */
   public static final Color kDarkRed = new Color(0.54509807f, 0.0f, 0.0f);
 
-  /**
-   * #E9967A.
-   */
+  /** #E9967A. */
   public static final Color kDarkSalmon = new Color(0.9137255f, 0.5882353f, 0.47843137f);
 
-  /**
-   * #8FBC8F.
-   */
+  /** #8FBC8F. */
   public static final Color kDarkSeaGreen = new Color(0.56078434f, 0.7372549f, 0.56078434f);
 
-  /**
-   * #483D8B.
-   */
+  /** #483D8B. */
   public static final Color kDarkSlateBlue = new Color(0.28235295f, 0.23921569f, 0.54509807f);
 
-  /**
-   * #2F4F4F.
-   */
+  /** #2F4F4F. */
   public static final Color kDarkSlateGray = new Color(0.18431373f, 0.30980393f, 0.30980393f);
 
-  /**
-   * #00CED1.
-   */
+  /** #00CED1. */
   public static final Color kDarkTurquoise = new Color(0.0f, 0.80784315f, 0.81960785f);
 
-  /**
-   * #9400D3.
-   */
+  /** #9400D3. */
   public static final Color kDarkViolet = new Color(0.5803922f, 0.0f, 0.827451f);
 
-  /**
-   * #FF1493.
-   */
+  /** #FF1493. */
   public static final Color kDeepPink = new Color(1.0f, 0.078431375f, 0.5764706f);
 
-  /**
-   * #00BFFF.
-   */
+  /** #00BFFF. */
   public static final Color kDeepSkyBlue = new Color(0.0f, 0.7490196f, 1.0f);
 
-  /**
-   * #696969.
-   */
+  /** #696969. */
   public static final Color kDimGray = new Color(0.4117647f, 0.4117647f, 0.4117647f);
 
-  /**
-   * #1E90FF.
-   */
+  /** #1E90FF. */
   public static final Color kDodgerBlue = new Color(0.11764706f, 0.5647059f, 1.0f);
 
-  /**
-   * #B22222.
-   */
+  /** #B22222. */
   public static final Color kFirebrick = new Color(0.69803923f, 0.13333334f, 0.13333334f);
 
-  /**
-   * #FFFAF0.
-   */
+  /** #FFFAF0. */
   public static final Color kFloralWhite = new Color(1.0f, 0.98039216f, 0.9411765f);
 
-  /**
-   * #228B22.
-   */
+  /** #228B22. */
   public static final Color kForestGreen = new Color(0.13333334f, 0.54509807f, 0.13333334f);
 
-  /**
-   * #FF00FF.
-   */
+  /** #FF00FF. */
   public static final Color kFuchsia = new Color(1.0f, 0.0f, 1.0f);
 
-  /**
-   * #DCDCDC.
-   */
+  /** #DCDCDC. */
   public static final Color kGainsboro = new Color(0.8627451f, 0.8627451f, 0.8627451f);
 
-  /**
-   * #F8F8FF.
-   */
+  /** #F8F8FF. */
   public static final Color kGhostWhite = new Color(0.972549f, 0.972549f, 1.0f);
 
-  /**
-   * #FFD700.
-   */
+  /** #FFD700. */
   public static final Color kGold = new Color(1.0f, 0.84313726f, 0.0f);
 
-  /**
-   * #DAA520.
-   */
+  /** #DAA520. */
   public static final Color kGoldenrod = new Color(0.85490197f, 0.64705884f, 0.1254902f);
 
-  /**
-   * #808080.
-   */
+  /** #808080. */
   public static final Color kGray = new Color(0.5019608f, 0.5019608f, 0.5019608f);
 
-  /**
-   * #008000.
-   */
+  /** #008000. */
   public static final Color kGreen = new Color(0.0f, 0.5019608f, 0.0f);
 
-  /**
-   * #ADFF2F.
-   */
+  /** #ADFF2F. */
   public static final Color kGreenYellow = new Color(0.6784314f, 1.0f, 0.18431373f);
 
-  /**
-   * #F0FFF0.
-   */
+  /** #F0FFF0. */
   public static final Color kHoneydew = new Color(0.9411765f, 1.0f, 0.9411765f);
 
-  /**
-   * #FF69B4.
-   */
+  /** #FF69B4. */
   public static final Color kHotPink = new Color(1.0f, 0.4117647f, 0.7058824f);
 
-  /**
-   * #CD5C5C.
-   */
+  /** #CD5C5C. */
   public static final Color kIndianRed = new Color(0.8039216f, 0.36078432f, 0.36078432f);
 
-  /**
-   * #4B0082.
-   */
+  /** #4B0082. */
   public static final Color kIndigo = new Color(0.29411766f, 0.0f, 0.50980395f);
 
-  /**
-   * #FFFFF0.
-   */
+  /** #FFFFF0. */
   public static final Color kIvory = new Color(1.0f, 1.0f, 0.9411765f);
 
-  /**
-   * #F0E68C.
-   */
+  /** #F0E68C. */
   public static final Color kKhaki = new Color(0.9411765f, 0.9019608f, 0.54901963f);
 
-  /**
-   * #E6E6FA.
-   */
+  /** #E6E6FA. */
   public static final Color kLavender = new Color(0.9019608f, 0.9019608f, 0.98039216f);
 
-  /**
-   * #FFF0F5.
-   */
+  /** #FFF0F5. */
   public static final Color kLavenderBlush = new Color(1.0f, 0.9411765f, 0.9607843f);
 
-  /**
-   * #7CFC00.
-   */
+  /** #7CFC00. */
   public static final Color kLawnGreen = new Color(0.4862745f, 0.9882353f, 0.0f);
 
-  /**
-   * #FFFACD.
-   */
+  /** #FFFACD. */
   public static final Color kLemonChiffon = new Color(1.0f, 0.98039216f, 0.8039216f);
 
-  /**
-   * #ADD8E6.
-   */
+  /** #ADD8E6. */
   public static final Color kLightBlue = new Color(0.6784314f, 0.84705883f, 0.9019608f);
 
-  /**
-   * #F08080.
-   */
+  /** #F08080. */
   public static final Color kLightCoral = new Color(0.9411765f, 0.5019608f, 0.5019608f);
 
-  /**
-   * #E0FFFF.
-   */
+  /** #E0FFFF. */
   public static final Color kLightCyan = new Color(0.8784314f, 1.0f, 1.0f);
 
-  /**
-   * #FAFAD2.
-   */
+  /** #FAFAD2. */
   public static final Color kLightGoldenrodYellow = new Color(0.98039216f, 0.98039216f, 0.8235294f);
 
-  /**
-   * #D3D3D3.
-   */
+  /** #D3D3D3. */
   public static final Color kLightGray = new Color(0.827451f, 0.827451f, 0.827451f);
 
-  /**
-   * #90EE90.
-   */
+  /** #90EE90. */
   public static final Color kLightGreen = new Color(0.5647059f, 0.93333334f, 0.5647059f);
 
-  /**
-   * #FFB6C1.
-   */
+  /** #FFB6C1. */
   public static final Color kLightPink = new Color(1.0f, 0.7137255f, 0.75686276f);
 
-  /**
-   * #FFA07A.
-   */
+  /** #FFA07A. */
   public static final Color kLightSalmon = new Color(1.0f, 0.627451f, 0.47843137f);
 
-  /**
-   * #20B2AA.
-   */
+  /** #20B2AA. */
   public static final Color kLightSeaGreen = new Color(0.1254902f, 0.69803923f, 0.6666667f);
 
-  /**
-   * #87CEFA.
-   */
+  /** #87CEFA. */
   public static final Color kLightSkyBlue = new Color(0.5294118f, 0.80784315f, 0.98039216f);
 
-  /**
-   * #778899.
-   */
+  /** #778899. */
   public static final Color kLightSlateGray = new Color(0.46666667f, 0.53333336f, 0.6f);
 
-  /**
-   * #B0C4DE.
-   */
+  /** #B0C4DE. */
   public static final Color kLightSteelBlue = new Color(0.6901961f, 0.76862746f, 0.87058824f);
 
-  /**
-   * #FFFFE0.
-   */
+  /** #FFFFE0. */
   public static final Color kLightYellow = new Color(1.0f, 1.0f, 0.8784314f);
 
-  /**
-   * #00FF00.
-   */
+  /** #00FF00. */
   public static final Color kLime = new Color(0.0f, 1.0f, 0.0f);
 
-  /**
-   * #32CD32.
-   */
+  /** #32CD32. */
   public static final Color kLimeGreen = new Color(0.19607843f, 0.8039216f, 0.19607843f);
 
-  /**
-   * #FAF0E6.
-   */
+  /** #FAF0E6. */
   public static final Color kLinen = new Color(0.98039216f, 0.9411765f, 0.9019608f);
 
-  /**
-   * #FF00FF.
-   */
+  /** #FF00FF. */
   public static final Color kMagenta = new Color(1.0f, 0.0f, 1.0f);
 
-  /**
-   * #800000.
-   */
+  /** #800000. */
   public static final Color kMaroon = new Color(0.5019608f, 0.0f, 0.0f);
 
-  /**
-   * #66CDAA.
-   */
+  /** #66CDAA. */
   public static final Color kMediumAquamarine = new Color(0.4f, 0.8039216f, 0.6666667f);
 
-  /**
-   * #0000CD.
-   */
+  /** #0000CD. */
   public static final Color kMediumBlue = new Color(0.0f, 0.0f, 0.8039216f);
 
-  /**
-   * #BA55D3.
-   */
+  /** #BA55D3. */
   public static final Color kMediumOrchid = new Color(0.7294118f, 0.33333334f, 0.827451f);
 
-  /**
-   * #9370DB.
-   */
+  /** #9370DB. */
   public static final Color kMediumPurple = new Color(0.5764706f, 0.4392157f, 0.85882354f);
 
-  /**
-   * #3CB371.
-   */
+  /** #3CB371. */
   public static final Color kMediumSeaGreen = new Color(0.23529412f, 0.7019608f, 0.44313726f);
 
-  /**
-   * #7B68EE.
-   */
+  /** #7B68EE. */
   public static final Color kMediumSlateBlue = new Color(0.48235294f, 0.40784314f, 0.93333334f);
 
-  /**
-   * #00FA9A.
-   */
+  /** #00FA9A. */
   public static final Color kMediumSpringGreen = new Color(0.0f, 0.98039216f, 0.6039216f);
 
-  /**
-   * #48D1CC.
-   */
+  /** #48D1CC. */
   public static final Color kMediumTurquoise = new Color(0.28235295f, 0.81960785f, 0.8f);
 
-  /**
-   * #C71585.
-   */
+  /** #C71585. */
   public static final Color kMediumVioletRed = new Color(0.78039217f, 0.08235294f, 0.52156866f);
 
-  /**
-   * #191970.
-   */
+  /** #191970. */
   public static final Color kMidnightBlue = new Color(0.09803922f, 0.09803922f, 0.4392157f);
 
-  /**
-   * #F5FFFA.
-   */
+  /** #F5FFFA. */
   public static final Color kMintcream = new Color(0.9607843f, 1.0f, 0.98039216f);
 
-  /**
-   * #FFE4E1.
-   */
+  /** #FFE4E1. */
   public static final Color kMistyRose = new Color(1.0f, 0.89411765f, 0.88235295f);
 
-  /**
-   * #FFE4B5.
-   */
+  /** #FFE4B5. */
   public static final Color kMoccasin = new Color(1.0f, 0.89411765f, 0.70980394f);
 
-  /**
-   * #FFDEAD.
-   */
+  /** #FFDEAD. */
   public static final Color kNavajoWhite = new Color(1.0f, 0.87058824f, 0.6784314f);
 
-  /**
-   * #000080.
-   */
+  /** #000080. */
   public static final Color kNavy = new Color(0.0f, 0.0f, 0.5019608f);
 
-  /**
-   * #FDF5E6.
-   */
+  /** #FDF5E6. */
   public static final Color kOldLace = new Color(0.99215686f, 0.9607843f, 0.9019608f);
 
-  /**
-   * #808000.
-   */
+  /** #808000. */
   public static final Color kOlive = new Color(0.5019608f, 0.5019608f, 0.0f);
 
-  /**
-   * #6B8E23.
-   */
+  /** #6B8E23. */
   public static final Color kOliveDrab = new Color(0.41960785f, 0.5568628f, 0.13725491f);
 
-  /**
-   * #FFA500.
-   */
+  /** #FFA500. */
   public static final Color kOrange = new Color(1.0f, 0.64705884f, 0.0f);
 
-  /**
-   * #FF4500.
-   */
+  /** #FF4500. */
   public static final Color kOrangeRed = new Color(1.0f, 0.27058825f, 0.0f);
 
-  /**
-   * #DA70D6.
-   */
+  /** #DA70D6. */
   public static final Color kOrchid = new Color(0.85490197f, 0.4392157f, 0.8392157f);
 
-  /**
-   * #EEE8AA.
-   */
+  /** #EEE8AA. */
   public static final Color kPaleGoldenrod = new Color(0.93333334f, 0.9098039f, 0.6666667f);
 
-  /**
-   * #98FB98.
-   */
+  /** #98FB98. */
   public static final Color kPaleGreen = new Color(0.59607846f, 0.9843137f, 0.59607846f);
 
-  /**
-   * #AFEEEE.
-   */
+  /** #AFEEEE. */
   public static final Color kPaleTurquoise = new Color(0.6862745f, 0.93333334f, 0.93333334f);
 
-  /**
-   * #DB7093.
-   */
+  /** #DB7093. */
   public static final Color kPaleVioletRed = new Color(0.85882354f, 0.4392157f, 0.5764706f);
 
-  /**
-   * #FFEFD5.
-   */
+  /** #FFEFD5. */
   public static final Color kPapayaWhip = new Color(1.0f, 0.9372549f, 0.8352941f);
 
-  /**
-   * #FFDAB9.
-   */
+  /** #FFDAB9. */
   public static final Color kPeachPuff = new Color(1.0f, 0.85490197f, 0.7254902f);
 
-  /**
-   * #CD853F.
-   */
+  /** #CD853F. */
   public static final Color kPeru = new Color(0.8039216f, 0.52156866f, 0.24705882f);
 
-  /**
-   * #FFC0CB.
-   */
+  /** #FFC0CB. */
   public static final Color kPink = new Color(1.0f, 0.7529412f, 0.79607844f);
 
-  /**
-   * #DDA0DD.
-   */
+  /** #DDA0DD. */
   public static final Color kPlum = new Color(0.8666667f, 0.627451f, 0.8666667f);
 
-  /**
-   * #B0E0E6.
-   */
+  /** #B0E0E6. */
   public static final Color kPowderBlue = new Color(0.6901961f, 0.8784314f, 0.9019608f);
 
-  /**
-   * #800080.
-   */
+  /** #800080. */
   public static final Color kPurple = new Color(0.5019608f, 0.0f, 0.5019608f);
 
-  /**
-   * #FF0000.
-   */
+  /** #FF0000. */
   public static final Color kRed = new Color(1.0f, 0.0f, 0.0f);
 
-  /**
-   * #BC8F8F.
-   */
+  /** #BC8F8F. */
   public static final Color kRosyBrown = new Color(0.7372549f, 0.56078434f, 0.56078434f);
 
-  /**
-   * #4169E1.
-   */
+  /** #4169E1. */
   public static final Color kRoyalBlue = new Color(0.25490198f, 0.4117647f, 0.88235295f);
 
-  /**
-   * #8B4513.
-   */
+  /** #8B4513. */
   public static final Color kSaddleBrown = new Color(0.54509807f, 0.27058825f, 0.07450981f);
 
-  /**
-   * #FA8072.
-   */
+  /** #FA8072. */
   public static final Color kSalmon = new Color(0.98039216f, 0.5019608f, 0.44705883f);
 
-  /**
-   * #F4A460.
-   */
+  /** #F4A460. */
   public static final Color kSandyBrown = new Color(0.95686275f, 0.6431373f, 0.3764706f);
 
-  /**
-   * #2E8B57.
-   */
+  /** #2E8B57. */
   public static final Color kSeaGreen = new Color(0.18039216f, 0.54509807f, 0.34117648f);
 
-  /**
-   * #FFF5EE.
-   */
+  /** #FFF5EE. */
   public static final Color kSeashell = new Color(1.0f, 0.9607843f, 0.93333334f);
 
-  /**
-   * #A0522D.
-   */
+  /** #A0522D. */
   public static final Color kSienna = new Color(0.627451f, 0.32156864f, 0.1764706f);
 
-  /**
-   * #C0C0C0.
-   */
+  /** #C0C0C0. */
   public static final Color kSilver = new Color(0.7529412f, 0.7529412f, 0.7529412f);
 
-  /**
-   * #87CEEB.
-   */
+  /** #87CEEB. */
   public static final Color kSkyBlue = new Color(0.5294118f, 0.80784315f, 0.92156863f);
 
-  /**
-   * #6A5ACD.
-   */
+  /** #6A5ACD. */
   public static final Color kSlateBlue = new Color(0.41568628f, 0.3529412f, 0.8039216f);
 
-  /**
-   * #708090.
-   */
+  /** #708090. */
   public static final Color kSlateGray = new Color(0.4392157f, 0.5019608f, 0.5647059f);
 
-  /**
-   * #FFFAFA.
-   */
+  /** #FFFAFA. */
   public static final Color kSnow = new Color(1.0f, 0.98039216f, 0.98039216f);
 
-  /**
-   * #00FF7F.
-   */
+  /** #00FF7F. */
   public static final Color kSpringGreen = new Color(0.0f, 1.0f, 0.49803922f);
 
-  /**
-   * #4682B4.
-   */
+  /** #4682B4. */
   public static final Color kSteelBlue = new Color(0.27450982f, 0.50980395f, 0.7058824f);
 
-  /**
-   * #D2B48C.
-   */
+  /** #D2B48C. */
   public static final Color kTan = new Color(0.8235294f, 0.7058824f, 0.54901963f);
 
-  /**
-   * #008080.
-   */
+  /** #008080. */
   public static final Color kTeal = new Color(0.0f, 0.5019608f, 0.5019608f);
 
-  /**
-   * #D8BFD8.
-   */
+  /** #D8BFD8. */
   public static final Color kThistle = new Color(0.84705883f, 0.7490196f, 0.84705883f);
 
-  /**
-   * #FF6347.
-   */
+  /** #FF6347. */
   public static final Color kTomato = new Color(1.0f, 0.3882353f, 0.2784314f);
 
-  /**
-   * #40E0D0.
-   */
+  /** #40E0D0. */
   public static final Color kTurquoise = new Color(0.2509804f, 0.8784314f, 0.8156863f);
 
-  /**
-   * #EE82EE.
-   */
+  /** #EE82EE. */
   public static final Color kViolet = new Color(0.93333334f, 0.50980395f, 0.93333334f);
 
-  /**
-   * #F5DEB3.
-   */
+  /** #F5DEB3. */
   public static final Color kWheat = new Color(0.9607843f, 0.87058824f, 0.7019608f);
 
-  /**
-   * #FFFFFF.
-   */
+  /** #FFFFFF. */
   public static final Color kWhite = new Color(1.0f, 1.0f, 1.0f);
 
-  /**
-   * #F5F5F5.
-   */
+  /** #F5F5F5. */
   public static final Color kWhiteSmoke = new Color(0.9607843f, 0.9607843f, 0.9607843f);
 
-  /**
-   * #FFFF00.
-   */
+  /** #FFFF00. */
   public static final Color kYellow = new Color(1.0f, 1.0f, 0.0f);
 
-  /**
-   * #9ACD32.
-   */
+  /** #9ACD32. */
   public static final Color kYellowGreen = new Color(0.6039216f, 0.8039216f, 0.19607843f);
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color8Bit.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color8Bit.java
index 3b05051b0b..4e47480b6d 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color8Bit.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color8Bit.java
@@ -4,13 +4,10 @@
 
 package edu.wpi.first.wpilibj.util;
 
+import edu.wpi.first.wpiutil.math.MathUtil;
 import java.util.Objects;
 
-import edu.wpi.first.wpiutil.math.MathUtil;
-
-/**
- * Represents colors with 8 bits of precision.
- */
+/** Represents colors with 8 bits of precision. */
 @SuppressWarnings("MemberName")
 public class Color8Bit {
   public final int red;
@@ -20,9 +17,9 @@ public class Color8Bit {
   /**
    * Constructs a Color8Bit.
    *
-   * @param red   Red value (0-255)
+   * @param red Red value (0-255)
    * @param green Green value (0-255)
-   * @param blue  Blue value (0-255)
+   * @param blue Blue value (0-255)
    */
   public Color8Bit(int red, int green, int blue) {
     this.red = MathUtil.clamp(red, 0, 255);
@@ -36,9 +33,7 @@ public class Color8Bit {
    * @param color The color
    */
   public Color8Bit(Color color) {
-    this((int) (color.red * 255),
-        (int) (color.green * 255),
-        (int) (color.blue * 255));
+    this((int) (color.red * 255), (int) (color.green * 255), (int) (color.blue * 255));
   }
 
   @Override
@@ -51,9 +46,7 @@ public class Color8Bit {
     }
 
     Color8Bit color8Bit = (Color8Bit) other;
-    return red == color8Bit.red
-        && green == color8Bit.green
-        && blue == color8Bit.blue;
+    return red == color8Bit.red && green == color8Bit.green && blue == color8Bit.blue;
   }
 
   @Override
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/ErrorMessages.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/ErrorMessages.java
index 892bd1ccac..bef0f8038a 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/ErrorMessages.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/ErrorMessages.java
@@ -6,28 +6,29 @@ package edu.wpi.first.wpilibj.util;
 
 import static java.util.Objects.requireNonNull;
 
-/**
- * Utility class for common WPILib error messages.
- */
+/** Utility class for common WPILib error messages. */
 public final class ErrorMessages {
-  /**
-   * Utility class, so constructor is private.
-   */
+  /** Utility class, so constructor is private. */
   private ErrorMessages() {
     throw new UnsupportedOperationException("This is a utility class!");
   }
 
   /**
-   * Requires that a parameter of a method not be null; prints an error message with
-   * helpful debugging instructions if the parameter is null.
+   * Requires that a parameter of a method not be null; prints an error message with helpful
+   * debugging instructions if the parameter is null.
    *
    * @param obj The parameter that must not be null.
    * @param paramName The name of the parameter.
    * @param methodName The name of the method.
    */
   public static <T> T requireNonNullParam(T obj, String paramName, String methodName) {
-    return requireNonNull(obj,
-        "Parameter " + paramName + " in method " + methodName + " was null when it"
+    return requireNonNull(
+        obj,
+        "Parameter "
+            + paramName
+            + " in method "
+            + methodName
+            + " was null when it"
             + " should not have been!  Check the stacktrace to find the responsible line of code - "
             + "usually, it is the first line of user-written code indicated in the stacktrace.  "
             + "Make sure all objects passed to the method in question were properly initialized -"
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionPipeline.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionPipeline.java
index ced0179cfe..db373ac22a 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionPipeline.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionPipeline.java
@@ -7,20 +7,18 @@ package edu.wpi.first.wpilibj.vision;
 import org.opencv.core.Mat;
 
 /**
- * A vision pipeline is responsible for running a group of
- * OpenCV algorithms to extract data from an image.
+ * A vision pipeline is responsible for running a group of OpenCV algorithms to extract data from an
+ * image.
  *
  * @see VisionRunner
  * @see VisionThread
- *
  * @deprecated Replaced with edu.wpi.first.vision.VisionPipeline
  */
 @Deprecated
 public interface VisionPipeline {
   /**
-   * Processes the image input and sets the result objects.
-   * Implementations should make these objects accessible.
+   * Processes the image input and sets the result objects. Implementations should make these
+   * objects accessible.
    */
   void process(Mat image);
-
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionRunner.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionRunner.java
index 4a8a995e6b..21ca13c2a1 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionRunner.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionRunner.java
@@ -4,21 +4,19 @@
 
 package edu.wpi.first.wpilibj.vision;
 
-import org.opencv.core.Mat;
-
 import edu.wpi.cscore.CvSink;
 import edu.wpi.cscore.VideoSource;
 import edu.wpi.first.cameraserver.CameraServerSharedStore;
+import org.opencv.core.Mat;
 
 /**
- * A vision runner is a convenient wrapper object to make it easy to run vision pipelines
- * from robot code. The easiest  way to use this is to run it in a {@link VisionThread}
- * and use the listener to take snapshots of the pipeline's outputs.
+ * A vision runner is a convenient wrapper object to make it easy to run vision pipelines from robot
+ * code. The easiest way to use this is to run it in a {@link VisionThread} and use the listener to
+ * take snapshots of the pipeline's outputs.
  *
  * @see VisionPipeline
  * @see VisionThread
  * @see <a href="package-summary.html">vision</a>
- *
  * @deprecated Replaced with edu.wpi.first.vision.VisionRunner
  */
 @Deprecated
@@ -45,17 +43,16 @@ public class VisionRunner<P extends VisionPipeline> {
      * @param pipeline the vision pipeline that ran
      */
     void copyPipelineOutputs(P pipeline);
-
   }
 
   /**
-   * Creates a new vision runner. It will take images from the {@code videoSource}, send them to
-   * the {@code pipeline}, and call the {@code listener} when the pipeline has finished to alert
-   * user code when it is safe to access the pipeline's outputs.
+   * Creates a new vision runner. It will take images from the {@code videoSource}, send them to the
+   * {@code pipeline}, and call the {@code listener} when the pipeline has finished to alert user
+   * code when it is safe to access the pipeline's outputs.
    *
    * @param videoSource the video source to use to supply images for the pipeline
-   * @param pipeline    the vision pipeline to run
-   * @param listener    a function to call after the pipeline has finished running
+   * @param pipeline the vision pipeline to run
+   * @param listener a function to call after the pipeline has finished running
    */
   public VisionRunner(VideoSource videoSource, P pipeline, Listener<? super P> listener) {
     this.m_pipeline = pipeline;
@@ -64,15 +61,15 @@ public class VisionRunner<P extends VisionPipeline> {
   }
 
   /**
-   * Runs the pipeline one time, giving it the next image from the video source specified
-   * in the constructor. This will block until the source either has an image or throws an error.
-   * If the source successfully supplied a frame, the pipeline's image input will be set,
-   * the pipeline will run, and the listener specified in the constructor will be called to notify
-   * it that the pipeline ran.
+   * Runs the pipeline one time, giving it the next image from the video source specified in the
+   * constructor. This will block until the source either has an image or throws an error. If the
+   * source successfully supplied a frame, the pipeline's image input will be set, the pipeline will
+   * run, and the listener specified in the constructor will be called to notify it that the
+   * pipeline ran.
    *
-   * <p>This method is exposed to allow teams to add additional functionality or have their own
-   * ways to run the pipeline. Most teams, however, should just use {@link #runForever} in its own
-   * thread using a {@link VisionThread}.</p>
+   * <p>This method is exposed to allow teams to add additional functionality or have their own ways
+   * to run the pipeline. Most teams, however, should just use {@link #runForever} in its own thread
+   * using a {@link VisionThread}.
    */
   public void runOnce() {
     Long id = CameraServerSharedStore.getCameraServerShared().getRobotMainThreadId();
@@ -98,11 +95,11 @@ public class VisionRunner<P extends VisionPipeline> {
   }
 
   /**
-   * A convenience method that calls {@link #runOnce()} in an infinite loop. This must
-   * be run in a dedicated thread, and cannot be used in the main robot thread because
-   * it will freeze the robot program.
+   * A convenience method that calls {@link #runOnce()} in an infinite loop. This must be run in a
+   * dedicated thread, and cannot be used in the main robot thread because it will freeze the robot
+   * program.
    *
-   * <p><strong>Do not call this method directly from the main thread.</strong></p>
+   * <p><strong>Do not call this method directly from the main thread.</strong>
    *
    * @throws IllegalStateException if this is called from the main robot thread
    * @see VisionThread
@@ -119,9 +116,7 @@ public class VisionRunner<P extends VisionPipeline> {
     }
   }
 
-  /**
-   * Stop a RunForever() loop.
-   */
+  /** Stop a RunForever() loop. */
   public void stop() {
     m_enabled = false;
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionThread.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionThread.java
index 6bed049a3e..78bb961a0a 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionThread.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionThread.java
@@ -7,14 +7,13 @@ package edu.wpi.first.wpilibj.vision;
 import edu.wpi.cscore.VideoSource;
 
 /**
- * A vision thread is a special thread that runs a vision pipeline. It is a <i>daemon</i> thread;
- * it does not prevent the program from exiting when all other non-daemon threads
- * have finished running.
+ * A vision thread is a special thread that runs a vision pipeline. It is a <i>daemon</i> thread; it
+ * does not prevent the program from exiting when all other non-daemon threads have finished
+ * running.
  *
  * @see VisionPipeline
  * @see VisionRunner
  * @see Thread#setDaemon(boolean)
- *
  * @deprecated Replaced with edu.wpi.first.vision.VisionThread
  */
 @Deprecated
@@ -34,14 +33,12 @@ public class VisionThread extends Thread {
    * equivalent to {@code new VisionThread(new VisionRunner<>(videoSource, pipeline, listener))}.
    *
    * @param videoSource the source for images the pipeline should process
-   * @param pipeline    the pipeline to run
-   * @param listener    the listener to copy outputs from the pipeline after it runs
-   * @param <P>         the type of the pipeline
+   * @param pipeline the pipeline to run
+   * @param listener the listener to copy outputs from the pipeline after it runs
+   * @param <P> the type of the pipeline
    */
-  public <P extends VisionPipeline> VisionThread(VideoSource videoSource,
-                                                 P pipeline,
-                                                 VisionRunner.Listener<? super P> listener) {
+  public <P extends VisionPipeline> VisionThread(
+      VideoSource videoSource, P pipeline, VisionRunner.Listener<? super P> listener) {
     this(new VisionRunner<>(videoSource, pipeline, listener));
   }
-
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/package-info.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/package-info.java
index 5538599e3e..371d30e15c 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/package-info.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/package-info.java
@@ -3,11 +3,11 @@
 // the WPILib BSD license file in the root directory of this project.
 
 /**
- * Classes in the {@code edu.wpi.first.wpilibj.vision} package are designed to
- * simplify using OpenCV vision processing code from a robot program.
+ * Classes in the {@code edu.wpi.first.wpilibj.vision} package are designed to simplify using OpenCV
+ * vision processing code from a robot program.
+ *
+ * <p>An example use case for grabbing a yellow tote from 2015 in autonomous: <br>
  *
- * <p>An example use case for grabbing a yellow tote from 2015 in autonomous:
- * <br>
  * <pre><code>
  * public class Robot extends IterativeRobot
  *     implements VisionRunner.Listener&lt;MyFindTotePipeline&gt; {
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/AddressableLEDBufferTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/AddressableLEDBufferTest.java
index 0b8d518f5b..2a24dbe6cd 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/AddressableLEDBufferTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/AddressableLEDBufferTest.java
@@ -4,21 +4,19 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.util.stream.Stream;
-
-import org.junit.jupiter.api.Test;
-import org.junit.jupiter.params.ParameterizedTest;
-import org.junit.jupiter.params.provider.Arguments;
-import org.junit.jupiter.params.provider.MethodSource;
-
-import edu.wpi.first.wpilibj.util.Color;
-import edu.wpi.first.wpilibj.util.Color8Bit;
-
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 import static org.junit.jupiter.params.provider.Arguments.arguments;
 
+import edu.wpi.first.wpilibj.util.Color;
+import edu.wpi.first.wpilibj.util.Color8Bit;
+import java.util.stream.Stream;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.Arguments;
+import org.junit.jupiter.params.provider.MethodSource;
+
 class AddressableLEDBufferTest {
   @ParameterizedTest
   @MethodSource("hsvToRgbProvider")
@@ -29,8 +27,7 @@ class AddressableLEDBufferTest {
     assertAll(
         () -> assertEquals((byte) r, buffer.m_buffer[2], "R value didn't match"),
         () -> assertEquals((byte) g, buffer.m_buffer[1], "G value didn't match"),
-        () -> assertEquals((byte) b, buffer.m_buffer[0], "B value didn't match")
-    );
+        () -> assertEquals((byte) b, buffer.m_buffer[0], "B value didn't match"));
   }
 
   static Stream<Arguments> hsvToRgbProvider() {
@@ -51,7 +48,7 @@ class AddressableLEDBufferTest {
         arguments(150, 255, 128, 128, 0, 127), // Purple (ish)
         arguments(90, 255, 128, 0, 127, 128), // Teal (ish)
         arguments(120, 255, 128, 0, 0, 128) // Navy
-    );
+        );
   }
 
   @Test
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/DriverStationTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/DriverStationTest.java
index fda8d2b123..010054abad 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/DriverStationTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/DriverStationTest.java
@@ -4,17 +4,15 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.util.stream.Stream;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.params.provider.Arguments.arguments;
 
+import edu.wpi.first.wpilibj.simulation.DriverStationSim;
+import java.util.stream.Stream;
 import org.junit.jupiter.params.ParameterizedTest;
 import org.junit.jupiter.params.provider.Arguments;
 import org.junit.jupiter.params.provider.MethodSource;
 
-import edu.wpi.first.wpilibj.simulation.DriverStationSim;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.params.provider.Arguments.arguments;
-
 class DriverStationTest {
   @ParameterizedTest
   @MethodSource("isConnectedProvider")
@@ -30,13 +28,12 @@ class DriverStationTest {
 
   static Stream<Arguments> isConnectedProvider() {
     return Stream.of(
-      arguments(0, 0, 0, false),
-      arguments(1, 0, 0, true),
-      arguments(0, 1, 0, true),
-      arguments(0, 0, 1, true),
-      arguments(1, 1, 1, true),
-      arguments(4, 10, 1, true)
-    );
+        arguments(0, 0, 0, false),
+        arguments(1, 0, 0, true),
+        arguments(0, 1, 0, true),
+        arguments(0, 0, 1, true),
+        arguments(1, 1, 1, true),
+        arguments(4, 10, 1, true));
   }
 
   @MethodSource("connectionWarningProvider")
@@ -45,16 +42,14 @@ class DriverStationTest {
     DriverStationSim.notifyNewData();
 
     DriverStation.getInstance().silenceJoystickConnectionWarning(silence);
-    assertEquals(expected,
-        DriverStation.getInstance().isJoystickConnectionWarningSilenced());
+    assertEquals(expected, DriverStation.getInstance().isJoystickConnectionWarningSilenced());
   }
 
   static Stream<Arguments> connectionWarningProvider() {
     return Stream.of(
-      arguments(false, true, true),
-      arguments(false, false, false),
-      arguments(true, true, false),
-      arguments(true, false, false)
-    );
+        arguments(false, true, true),
+        arguments(false, false, false),
+        arguments(true, true, false),
+        arguments(true, false, false));
   }
 }
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/JoystickTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/JoystickTest.java
index 9234db07a4..ddede059ea 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/JoystickTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/JoystickTest.java
@@ -4,12 +4,11 @@
 
 package edu.wpi.first.wpilibj;
 
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.simulation.JoystickSim;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
+import org.junit.jupiter.api.Test;
 
 class JoystickTest {
   @Test
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/MockHardwareExtension.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/MockHardwareExtension.java
index 9fc647c24f..e70f182a3b 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/MockHardwareExtension.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/MockHardwareExtension.java
@@ -4,13 +4,12 @@
 
 package edu.wpi.first.wpilibj;
 
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.simulation.DriverStationSim;
 import org.junit.jupiter.api.extension.BeforeAllCallback;
 import org.junit.jupiter.api.extension.ExtensionContext;
 import org.junit.jupiter.api.extension.ExtensionContext.Namespace;
 
-import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.simulation.DriverStationSim;
-
 public final class MockHardwareExtension implements BeforeAllCallback {
   private static ExtensionContext getRoot(ExtensionContext context) {
     return context.getParent().map(MockHardwareExtension::getRoot).orElse(context);
@@ -18,10 +17,15 @@ public final class MockHardwareExtension implements BeforeAllCallback {
 
   @Override
   public void beforeAll(ExtensionContext context) {
-    getRoot(context).getStore(Namespace.GLOBAL).getOrComputeIfAbsent("HAL Initialized", key -> {
-      initializeHardware();
-      return true;
-    }, Boolean.class);
+    getRoot(context)
+        .getStore(Namespace.GLOBAL)
+        .getOrComputeIfAbsent(
+            "HAL Initialized",
+            key -> {
+              initializeHardware();
+              return true;
+            },
+            Boolean.class);
   }
 
   private void initializeHardware() {
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/PreferencesTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/PreferencesTest.java
index 48b9c1611a..2dd400b5e4 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/PreferencesTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/PreferencesTest.java
@@ -4,6 +4,14 @@
 
 package edu.wpi.first.wpilibj;
 
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+import static org.junit.jupiter.api.Assertions.fail;
+
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
 import java.io.IOException;
 import java.io.InputStream;
 import java.nio.file.Files;
@@ -11,7 +19,6 @@ import java.nio.file.Path;
 import java.util.Arrays;
 import java.util.Set;
 import java.util.stream.Stream;
-
 import org.junit.jupiter.api.AfterAll;
 import org.junit.jupiter.api.AfterEach;
 import org.junit.jupiter.api.BeforeAll;
@@ -22,15 +29,6 @@ import org.junit.jupiter.api.io.TempDir;
 import org.junit.jupiter.params.ParameterizedTest;
 import org.junit.jupiter.params.provider.MethodSource;
 
-import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.networktables.NetworkTableInstance;
-
-import static org.junit.jupiter.api.Assertions.assertAll;
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.api.Assertions.assertFalse;
-import static org.junit.jupiter.api.Assertions.assertTrue;
-import static org.junit.jupiter.api.Assertions.fail;
-
 class PreferencesTest {
   private final Preferences m_prefs = Preferences.getInstance();
   private final NetworkTable m_table = NetworkTableInstance.getDefault().getTable("Preferences");
@@ -73,8 +71,9 @@ class PreferencesTest {
     Set<String> keys = m_table.getKeys();
     keys.remove(".type");
 
-    assertTrue(keys.isEmpty(), "Preferences was not empty!  Preferences in table: "
-        + Arrays.toString(keys.toArray()));
+    assertTrue(
+        keys.isEmpty(),
+        "Preferences was not empty!  Preferences in table: " + Arrays.toString(keys.toArray()));
   }
 
   @ParameterizedTest
@@ -97,8 +96,7 @@ class PreferencesTest {
         () -> assertEquals("Hello. How are you?", m_prefs.getString("checkedValueString", "")),
         () -> assertEquals(2, m_prefs.getInt("checkedValueInt", 0)),
         () -> assertEquals(3.14, m_prefs.getFloat("checkedValueFloat", 0), 1e-6),
-        () -> assertFalse(m_prefs.getBoolean("checkedValueBoolean", true))
-    );
+        () -> assertFalse(m_prefs.getBoolean("checkedValueBoolean", true)));
   }
 
   @Test
@@ -111,8 +109,7 @@ class PreferencesTest {
         () -> assertEquals("", m_prefs.getString("checkedValueString", "")),
         () -> assertEquals(0, m_prefs.getInt("checkedValueInt", 0)),
         () -> assertEquals(0, m_prefs.getFloat("checkedValueFloat", 0), 1e-6),
-        () -> assertTrue(m_prefs.getBoolean("checkedValueBoolean", true))
-    );
+        () -> assertTrue(m_prefs.getBoolean("checkedValueBoolean", true)));
   }
 
   @Nested
@@ -126,8 +123,7 @@ class PreferencesTest {
 
       assertAll(
           () -> assertEquals(value, m_prefs.getInt(key, -1)),
-          () -> assertEquals(value, m_table.getEntry(key).getNumber(-1).intValue())
-      );
+          () -> assertEquals(value, m_table.getEntry(key).getNumber(-1).intValue()));
     }
 
     @Test
@@ -139,8 +135,7 @@ class PreferencesTest {
 
       assertAll(
           () -> assertEquals(value, m_prefs.getLong(key, -1)),
-          () -> assertEquals(value, m_table.getEntry(key).getNumber(-1).longValue())
-      );
+          () -> assertEquals(value, m_table.getEntry(key).getNumber(-1).longValue()));
     }
 
     @Test
@@ -152,8 +147,7 @@ class PreferencesTest {
 
       assertAll(
           () -> assertEquals(value, m_prefs.getFloat(key, -1), 1e-6),
-          () -> assertEquals(value, m_table.getEntry(key).getNumber(-1).floatValue(), 1e-6)
-      );
+          () -> assertEquals(value, m_table.getEntry(key).getNumber(-1).floatValue(), 1e-6));
     }
 
     @Test
@@ -165,8 +159,7 @@ class PreferencesTest {
 
       assertAll(
           () -> assertEquals(value, m_prefs.getDouble(key, -1), 1e-6),
-          () -> assertEquals(value, m_table.getEntry(key).getNumber(-1).doubleValue(), 1e-6)
-      );
+          () -> assertEquals(value, m_table.getEntry(key).getNumber(-1).doubleValue(), 1e-6));
     }
 
     @Test
@@ -178,8 +171,7 @@ class PreferencesTest {
 
       assertAll(
           () -> assertEquals(value, m_prefs.getString(key, "")),
-          () -> assertEquals(value, m_table.getEntry(key).getString(""))
-      );
+          () -> assertEquals(value, m_table.getEntry(key).getString("")));
     }
 
     @Test
@@ -191,8 +183,7 @@ class PreferencesTest {
 
       assertAll(
           () -> assertEquals(value, m_prefs.getBoolean(key, false)),
-          () -> assertEquals(value, m_table.getEntry(key).getBoolean(false))
-      );
+          () -> assertEquals(value, m_table.getEntry(key).getBoolean(false)));
     }
   }
 
@@ -203,7 +194,6 @@ class PreferencesTest {
         "checkedValueString",
         "checkedValueInt",
         "checkedValueFloat",
-        "checkedValueBoolean"
-    );
+        "checkedValueBoolean");
   }
 }
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/SlewRateLimiterTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/SlewRateLimiterTest.java
index d9a5504a93..73b70bcbd3 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/SlewRateLimiterTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/SlewRateLimiterTest.java
@@ -4,11 +4,11 @@
 
 package edu.wpi.first.wpilibj;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import org.junit.jupiter.api.Test;
+
 public class SlewRateLimiterTest {
   @Test
   void slewRateLimitTest() {
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/SpeedControllerGroupTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/SpeedControllerGroupTest.java
index dbe835d972..c421471a9c 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/SpeedControllerGroupTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/SpeedControllerGroupTest.java
@@ -4,28 +4,32 @@
 
 package edu.wpi.first.wpilibj;
 
+import static org.junit.jupiter.api.Assertions.assertArrayEquals;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
 import java.util.Arrays;
 import java.util.stream.DoubleStream;
 import java.util.stream.IntStream;
 import java.util.stream.Stream;
-
 import org.junit.jupiter.params.ParameterizedTest;
 import org.junit.jupiter.params.provider.Arguments;
 import org.junit.jupiter.params.provider.MethodSource;
 
-import static org.junit.jupiter.api.Assertions.assertArrayEquals;
-import static org.junit.jupiter.api.Assertions.assertTrue;
-
 class SpeedControllerGroupTest {
   private static Stream<Arguments> speedControllerArguments() {
-    return IntStream.of(1, 2, 3).mapToObj(number -> {
-      SpeedController[] speedControllers = Stream.generate(MockSpeedController::new)
-          .limit(number)
-          .toArray(SpeedController[]::new);
-      SpeedControllerGroup group = new SpeedControllerGroup(speedControllers[0],
-          Arrays.copyOfRange(speedControllers, 1, speedControllers.length));
-      return Arguments.of(group, speedControllers);
-    });
+    return IntStream.of(1, 2, 3)
+        .mapToObj(
+            number -> {
+              SpeedController[] speedControllers =
+                  Stream.generate(MockSpeedController::new)
+                      .limit(number)
+                      .toArray(SpeedController[]::new);
+              SpeedControllerGroup group =
+                  new SpeedControllerGroup(
+                      speedControllers[0],
+                      Arrays.copyOfRange(speedControllers, 1, speedControllers.length));
+              return Arguments.of(group, speedControllers);
+            });
   }
 
   @ParameterizedTest
@@ -33,15 +37,15 @@ class SpeedControllerGroupTest {
   void setTest(final SpeedControllerGroup group, final SpeedController[] speedControllers) {
     group.set(1.0);
 
-    assertArrayEquals(DoubleStream.generate(() -> 1.0).limit(speedControllers.length).toArray(),
+    assertArrayEquals(
+        DoubleStream.generate(() -> 1.0).limit(speedControllers.length).toArray(),
         Arrays.stream(speedControllers).mapToDouble(SpeedController::get).toArray(),
         0.00005);
   }
 
   @ParameterizedTest
   @MethodSource("speedControllerArguments")
-  void getInvertedTest(final SpeedControllerGroup group,
-                       final SpeedController[] speedControllers) {
+  void getInvertedTest(final SpeedControllerGroup group, final SpeedController[] speedControllers) {
     group.setInverted(true);
 
     assertTrue(group.getInverted());
@@ -49,57 +53,59 @@ class SpeedControllerGroupTest {
 
   @ParameterizedTest
   @MethodSource("speedControllerArguments")
-  void setInvertedDoesNotModifySpeedControllersTest(final SpeedControllerGroup group,
-                                                    final SpeedController[] speedControllers) {
+  void setInvertedDoesNotModifySpeedControllersTest(
+      final SpeedControllerGroup group, final SpeedController[] speedControllers) {
     group.setInverted(true);
 
-    assertArrayEquals(Stream.generate(() -> false).limit(speedControllers.length).toArray(),
+    assertArrayEquals(
+        Stream.generate(() -> false).limit(speedControllers.length).toArray(),
         Arrays.stream(speedControllers).map(SpeedController::getInverted).toArray());
   }
 
   @ParameterizedTest
   @MethodSource("speedControllerArguments")
-  void setInvertedDoesInvertTest(final SpeedControllerGroup group,
-                                 final SpeedController[] speedControllers) {
+  void setInvertedDoesInvertTest(
+      final SpeedControllerGroup group, final SpeedController[] speedControllers) {
     group.setInverted(true);
     group.set(1.0);
 
-    assertArrayEquals(DoubleStream.generate(() -> -1.0).limit(speedControllers.length).toArray(),
+    assertArrayEquals(
+        DoubleStream.generate(() -> -1.0).limit(speedControllers.length).toArray(),
         Arrays.stream(speedControllers).mapToDouble(SpeedController::get).toArray(),
         0.00005);
   }
 
   @ParameterizedTest
   @MethodSource("speedControllerArguments")
-  void disableTest(final SpeedControllerGroup group,
-                   final SpeedController[] speedControllers) {
+  void disableTest(final SpeedControllerGroup group, final SpeedController[] speedControllers) {
     group.set(1.0);
     group.disable();
 
-    assertArrayEquals(DoubleStream.generate(() -> 0.0).limit(speedControllers.length).toArray(),
+    assertArrayEquals(
+        DoubleStream.generate(() -> 0.0).limit(speedControllers.length).toArray(),
         Arrays.stream(speedControllers).mapToDouble(SpeedController::get).toArray(),
         0.00005);
   }
 
   @ParameterizedTest
   @MethodSource("speedControllerArguments")
-  void stopMotorTest(final SpeedControllerGroup group,
-                     final SpeedController[] speedControllers) {
+  void stopMotorTest(final SpeedControllerGroup group, final SpeedController[] speedControllers) {
     group.set(1.0);
     group.stopMotor();
 
-    assertArrayEquals(DoubleStream.generate(() -> 0.0).limit(speedControllers.length).toArray(),
+    assertArrayEquals(
+        DoubleStream.generate(() -> 0.0).limit(speedControllers.length).toArray(),
         Arrays.stream(speedControllers).mapToDouble(SpeedController::get).toArray(),
         0.00005);
   }
 
   @ParameterizedTest
   @MethodSource("speedControllerArguments")
-  void pidWriteTest(final SpeedControllerGroup group,
-                    final SpeedController[] speedControllers) {
+  void pidWriteTest(final SpeedControllerGroup group, final SpeedController[] speedControllers) {
     group.pidWrite(1.0);
 
-    assertArrayEquals(DoubleStream.generate(() -> 1.0).limit(speedControllers.length).toArray(),
+    assertArrayEquals(
+        DoubleStream.generate(() -> 1.0).limit(speedControllers.length).toArray(),
         Arrays.stream(speedControllers).mapToDouble(SpeedController::get).toArray(),
         0.00005);
   }
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/TimedRobotTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/TimedRobotTest.java
index 9f73f39a3e..cdb088d587 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/TimedRobotTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/TimedRobotTest.java
@@ -4,18 +4,16 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.util.concurrent.atomic.AtomicInteger;
+import static org.junit.jupiter.api.Assertions.assertEquals;
 
+import edu.wpi.first.wpilibj.simulation.DriverStationSim;
+import edu.wpi.first.wpilibj.simulation.SimHooks;
+import java.util.concurrent.atomic.AtomicInteger;
 import org.junit.jupiter.api.AfterEach;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 import org.junit.jupiter.api.parallel.ResourceLock;
 
-import edu.wpi.first.wpilibj.simulation.DriverStationSim;
-import edu.wpi.first.wpilibj.simulation.SimHooks;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
-
 class TimedRobotTest {
   class MockRobot extends TimedRobot {
     public final AtomicInteger m_robotInitCount = new AtomicInteger(0);
@@ -108,14 +106,16 @@ class TimedRobotTest {
   void disabledTest() {
     MockRobot robot = new MockRobot();
 
-    Thread robotThread = new Thread(() -> {
-      robot.startCompetition();
-    });
+    Thread robotThread =
+        new Thread(
+            () -> {
+              robot.startCompetition();
+            });
     robotThread.start();
 
     DriverStationSim.setEnabled(false);
     DriverStationSim.notifyNewData();
-    SimHooks.stepTiming(0.0);  // Wait for Notifiers
+    SimHooks.stepTiming(0.0); // Wait for Notifiers
 
     assertEquals(1, robot.m_robotInitCount.get());
     assertEquals(1, robot.m_simulationInitCount.get());
@@ -178,16 +178,18 @@ class TimedRobotTest {
   void autonomousTest() {
     MockRobot robot = new MockRobot();
 
-    Thread robotThread = new Thread(() -> {
-      robot.startCompetition();
-    });
+    Thread robotThread =
+        new Thread(
+            () -> {
+              robot.startCompetition();
+            });
     robotThread.start();
 
     DriverStationSim.setEnabled(true);
     DriverStationSim.setAutonomous(true);
     DriverStationSim.setTest(false);
     DriverStationSim.notifyNewData();
-    SimHooks.stepTiming(0.0);  // Wait for Notifiers
+    SimHooks.stepTiming(0.0); // Wait for Notifiers
 
     assertEquals(1, robot.m_robotInitCount.get());
     assertEquals(1, robot.m_simulationInitCount.get());
@@ -250,16 +252,18 @@ class TimedRobotTest {
   void teleopTest() {
     MockRobot robot = new MockRobot();
 
-    Thread robotThread = new Thread(() -> {
-      robot.startCompetition();
-    });
+    Thread robotThread =
+        new Thread(
+            () -> {
+              robot.startCompetition();
+            });
     robotThread.start();
 
     DriverStationSim.setEnabled(true);
     DriverStationSim.setAutonomous(false);
     DriverStationSim.setTest(false);
     DriverStationSim.notifyNewData();
-    SimHooks.stepTiming(0.0);  // Wait for Notifiers
+    SimHooks.stepTiming(0.0); // Wait for Notifiers
 
     assertEquals(1, robot.m_robotInitCount.get());
     assertEquals(1, robot.m_simulationInitCount.get());
@@ -322,16 +326,18 @@ class TimedRobotTest {
   void testTest() {
     MockRobot robot = new MockRobot();
 
-    Thread robotThread = new Thread(() -> {
-      robot.startCompetition();
-    });
+    Thread robotThread =
+        new Thread(
+            () -> {
+              robot.startCompetition();
+            });
     robotThread.start();
 
     DriverStationSim.setEnabled(true);
     DriverStationSim.setAutonomous(false);
     DriverStationSim.setTest(true);
     DriverStationSim.notifyNewData();
-    SimHooks.stepTiming(0.0);  // Wait for Notifiers
+    SimHooks.stepTiming(0.0); // Wait for Notifiers
 
     assertEquals(1, robot.m_robotInitCount.get());
     assertEquals(1, robot.m_simulationInitCount.get());
@@ -395,18 +401,22 @@ class TimedRobotTest {
     MockRobot robot = new MockRobot();
 
     final AtomicInteger callbackCount = new AtomicInteger(0);
-    robot.addPeriodic(() -> {
-      callbackCount.addAndGet(1);
-    }, 0.01);
+    robot.addPeriodic(
+        () -> {
+          callbackCount.addAndGet(1);
+        },
+        0.01);
 
-    Thread robotThread = new Thread(() -> {
-      robot.startCompetition();
-    });
+    Thread robotThread =
+        new Thread(
+            () -> {
+              robot.startCompetition();
+            });
     robotThread.start();
 
     DriverStationSim.setEnabled(false);
     DriverStationSim.notifyNewData();
-    SimHooks.stepTiming(0.0);  // Wait for Notifiers
+    SimHooks.stepTiming(0.0); // Wait for Notifiers
 
     assertEquals(0, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_disabledPeriodicCount.get());
@@ -440,9 +450,12 @@ class TimedRobotTest {
     MockRobot robot = new MockRobot();
 
     final AtomicInteger callbackCount = new AtomicInteger(0);
-    robot.addPeriodic(() -> {
-      callbackCount.addAndGet(1);
-    }, 0.01, 0.005);
+    robot.addPeriodic(
+        () -> {
+          callbackCount.addAndGet(1);
+        },
+        0.01,
+        0.005);
 
     // Expirations in this test (ms)
     //
@@ -451,14 +464,16 @@ class TimedRobotTest {
     //    20 |      15
     //    40 |      25
 
-    Thread robotThread = new Thread(() -> {
-      robot.startCompetition();
-    });
+    Thread robotThread =
+        new Thread(
+            () -> {
+              robot.startCompetition();
+            });
     robotThread.start();
 
     DriverStationSim.setEnabled(false);
     DriverStationSim.notifyNewData();
-    SimHooks.stepTiming(0.0);  // Wait for Notifiers
+    SimHooks.stepTiming(0.0); // Wait for Notifiers
 
     assertEquals(0, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_disabledPeriodicCount.get());
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/UtilityClassTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/UtilityClassTest.java
index c8d7598df0..eada292f85 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/UtilityClassTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/UtilityClassTest.java
@@ -4,22 +4,21 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.lang.reflect.Constructor;
-import java.lang.reflect.InvocationTargetException;
-import java.lang.reflect.Modifier;
-import java.util.Arrays;
-import java.util.stream.Stream;
-
-import org.junit.jupiter.api.DynamicTest;
-import org.junit.jupiter.api.Test;
-import org.junit.jupiter.api.TestFactory;
-
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertThrows;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 import static org.junit.jupiter.api.DynamicTest.dynamicTest;
 
+import java.lang.reflect.Constructor;
+import java.lang.reflect.InvocationTargetException;
+import java.lang.reflect.Modifier;
+import java.util.Arrays;
+import java.util.stream.Stream;
+import org.junit.jupiter.api.DynamicTest;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.api.TestFactory;
+
 @SuppressWarnings("PMD.AbstractClassWithoutAbstractMethod")
 public abstract class UtilityClassTest<T> {
   private final Class<T> m_clazz;
@@ -30,8 +29,7 @@ public abstract class UtilityClassTest<T> {
 
   @Test
   public void singleConstructorTest() {
-    assertEquals(1, m_clazz.getDeclaredConstructors().length,
-        "More than one constructor defined");
+    assertEquals(1, m_clazz.getDeclaredConstructors().length, "More than one constructor defined");
   }
 
   @Test
@@ -52,7 +50,9 @@ public abstract class UtilityClassTest<T> {
   Stream<DynamicTest> publicMethodsStaticTestFactory() {
     return Arrays.stream(m_clazz.getDeclaredMethods())
         .filter(method -> Modifier.isPublic(method.getModifiers()))
-        .map(method -> dynamicTest(method.getName(),
-            () -> assertTrue(Modifier.isStatic(method.getModifiers()))));
+        .map(
+            method ->
+                dynamicTest(
+                    method.getName(), () -> assertTrue(Modifier.isStatic(method.getModifiers()))));
   }
 }
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/WatchdogTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/WatchdogTest.java
index 82a4c8ef8d..c1676e0c36 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/WatchdogTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/WatchdogTest.java
@@ -4,20 +4,18 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.util.concurrent.atomic.AtomicInteger;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.simulation.SimHooks;
+import java.util.concurrent.atomic.AtomicInteger;
 import org.junit.jupiter.api.AfterEach;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 import org.junit.jupiter.api.parallel.ResourceLock;
 
-import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.simulation.SimHooks;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.api.Assertions.assertFalse;
-import static org.junit.jupiter.api.Assertions.assertTrue;
-
 class WatchdogTest {
   @BeforeEach
   void setup() {
@@ -35,9 +33,12 @@ 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);
@@ -51,8 +52,8 @@ class WatchdogTest {
       SimHooks.stepTiming(0.4);
       watchdog.disable();
 
-      assertEquals(1, watchdogCounter.get(),
-          "Watchdog either didn't trigger or triggered more than once");
+      assertEquals(
+          1, watchdogCounter.get(), "Watchdog either didn't trigger or triggered more than once");
 
       // Run 3
       watchdogCounter.set(0);
@@ -60,8 +61,8 @@ class WatchdogTest {
       SimHooks.stepTiming(1.0);
       watchdog.disable();
 
-      assertEquals(1, watchdogCounter.get(),
-          "Watchdog either didn't trigger or triggered more than once");
+      assertEquals(
+          1, watchdogCounter.get(), "Watchdog either didn't trigger or triggered more than once");
     }
   }
 
@@ -70,9 +71,12 @@ 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();
@@ -88,9 +92,12 @@ 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);
@@ -101,16 +108,15 @@ class WatchdogTest {
       SimHooks.stepTiming(0.3);
       watchdog.disable();
 
-      assertEquals(1, watchdogCounter.get(),
-          "Watchdog either didn't trigger or triggered more than once");
+      assertEquals(
+          1, watchdogCounter.get(), "Watchdog either didn't trigger or triggered more than once");
     }
   }
 
   @Test
   @ResourceLock("timing")
   void isExpiredTest() {
-    try (Watchdog watchdog = new Watchdog(0.2, () -> {
-    })) {
+    try (Watchdog watchdog = new Watchdog(0.2, () -> {})) {
       assertFalse(watchdog.isExpired());
       watchdog.enable();
 
@@ -131,9 +137,12 @@ 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");
@@ -164,12 +173,18 @@ 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");
@@ -181,8 +196,8 @@ class WatchdogTest {
       watchdog1.disable();
       watchdog2.disable();
 
-      assertEquals(1, watchdogCounter1.get(),
-          "Watchdog either didn't trigger or triggered more than once");
+      assertEquals(
+          1, watchdogCounter1.get(), "Watchdog either didn't trigger or triggered more than once");
       assertEquals(0, watchdogCounter2.get(), "Watchdog triggered early");
     }
   }
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/XboxControllerTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/XboxControllerTest.java
index 141c0df684..74a5c078e5 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/XboxControllerTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/XboxControllerTest.java
@@ -4,15 +4,14 @@
 
 package edu.wpi.first.wpilibj;
 
-import org.junit.jupiter.api.Test;
-
-import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.simulation.XboxControllerSim;
-
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.simulation.XboxControllerSim;
+import org.junit.jupiter.api.Test;
+
 class XboxControllerTest {
   @Test
   void testGetX() {
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/can/CANStatusTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/can/CANStatusTest.java
index 25d1320e10..e83d5fd448 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/can/CANStatusTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/can/CANStatusTest.java
@@ -4,13 +4,12 @@
 
 package edu.wpi.first.wpilibj.can;
 
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.can.CANJNI;
 import edu.wpi.first.hal.can.CANStatus;
-
-import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
+import org.junit.jupiter.api.Test;
 
 class CANStatusTest {
   @Test
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ControllerUtilTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ControllerUtilTest.java
index 83b676ecae..853621b653 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ControllerUtilTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ControllerUtilTest.java
@@ -4,10 +4,10 @@
 
 package edu.wpi.first.wpilibj.controller;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
+import org.junit.jupiter.api.Test;
+
 class ControllerUtilTest {
   @Test
   void testGetModulusError() {
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/HolonomicDriveControllerTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/HolonomicDriveControllerTest.java
index e3e03f6abf..d025a445bf 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/HolonomicDriveControllerTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/HolonomicDriveControllerTest.java
@@ -4,10 +4,8 @@
 
 package edu.wpi.first.wpilibj.controller;
 
-import java.util.ArrayList;
-import java.util.List;
-
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
@@ -18,9 +16,9 @@ import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
 import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
 import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
 import edu.wpi.first.wpiutil.math.MathUtil;
-
-import static org.junit.jupiter.api.Assertions.assertAll;
-import static org.junit.jupiter.api.Assertions.assertEquals;
+import java.util.ArrayList;
+import java.util.List;
+import org.junit.jupiter.api.Test;
 
 class HolonomicDriveControllerTest {
   private static final double kTolerance = 1 / 12.0;
@@ -29,12 +27,11 @@ class HolonomicDriveControllerTest {
   @Test
   @SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
   void testReachesReference() {
-    HolonomicDriveController controller = 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))
-    );
+    HolonomicDriveController controller =
+        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)));
     Pose2d robotPose = new Pose2d(2.7, 23.0, Rotation2d.fromDegrees(0.0));
 
     List<Pose2d> waypoints = new ArrayList<>();
@@ -51,8 +48,12 @@ class HolonomicDriveControllerTest {
       Trajectory.State state = trajectory.sample(kDt * i);
       ChassisSpeeds output = controller.calculate(robotPose, state, new Rotation2d());
 
-      robotPose = robotPose.exp(new Twist2d(output.vxMetersPerSecond * kDt,
-          output.vyMetersPerSecond * kDt, output.omegaRadiansPerSecond * kDt));
+      robotPose =
+          robotPose.exp(
+              new Twist2d(
+                  output.vxMetersPerSecond * kDt,
+                  output.vyMetersPerSecond * kDt,
+                  output.omegaRadiansPerSecond * kDt));
     }
 
     final List<Trajectory.State> states = trajectory.getStates();
@@ -63,13 +64,12 @@ class HolonomicDriveControllerTest {
     final Pose2d finalRobotPose = robotPose;
 
     assertAll(
-        () -> assertEquals(endPose.getX(), finalRobotPose.getX(),
-            kTolerance),
-        () -> assertEquals(endPose.getY(), finalRobotPose.getY(),
-            kTolerance),
-        () -> assertEquals(0.0,
-            MathUtil.normalizeAngle(finalRobotPose.getRotation().getRadians()),
-            kAngularTolerance)
-    );
+        () -> assertEquals(endPose.getX(), finalRobotPose.getX(), kTolerance),
+        () -> assertEquals(endPose.getY(), finalRobotPose.getY(), kTolerance),
+        () ->
+            assertEquals(
+                0.0,
+                MathUtil.normalizeAngle(finalRobotPose.getRotation().getRadians()),
+                kAngularTolerance));
   }
 }
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/PIDInputOutputTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/PIDInputOutputTest.java
index d65c5ffb5f..e8db694dd8 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/PIDInputOutputTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/PIDInputOutputTest.java
@@ -4,12 +4,12 @@
 
 package edu.wpi.first.wpilibj.controller;
 
-import org.junit.jupiter.api.BeforeEach;
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
 class PIDInputOutputTest {
   private PIDController m_controller;
 
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/PIDToleranceTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/PIDToleranceTest.java
index 3e5c525a67..f9583df1af 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/PIDToleranceTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/PIDToleranceTest.java
@@ -4,11 +4,11 @@
 
 package edu.wpi.first.wpilibj.controller;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import org.junit.jupiter.api.Test;
+
 class PIDToleranceTest {
   private static final double kSetpoint = 50.0;
   private static final double kTolerance = 10.0;
@@ -28,34 +28,39 @@ class PIDToleranceTest {
     try (var controller = new PIDController(0.05, 0.0, 0.0)) {
       controller.enableContinuousInput(-kRange / 2, kRange / 2);
 
-      assertTrue(controller.atSetpoint(),
+      assertTrue(
+          controller.atSetpoint(),
           "Error was not in tolerance when it should have been. Error was "
-          + controller.getPositionError());
+              + controller.getPositionError());
 
       controller.setTolerance(kTolerance);
       controller.setSetpoint(kSetpoint);
 
-      assertFalse(controller.atSetpoint(),
+      assertFalse(
+          controller.atSetpoint(),
           "Error was in tolerance when it should not have been. Error was "
-          + controller.getPositionError());
+              + controller.getPositionError());
 
       controller.calculate(0.0);
 
-      assertFalse(controller.atSetpoint(),
+      assertFalse(
+          controller.atSetpoint(),
           "Error was in tolerance when it should not have been. Error was "
-          + controller.getPositionError());
+              + controller.getPositionError());
 
       controller.calculate(kSetpoint + kTolerance / 2);
 
-      assertTrue(controller.atSetpoint(),
+      assertTrue(
+          controller.atSetpoint(),
           "Error was not in tolerance when it should have been. Error was "
-          + controller.getPositionError());
+              + controller.getPositionError());
 
       controller.calculate(kSetpoint + 10 * kTolerance);
 
-      assertFalse(controller.atSetpoint(),
+      assertFalse(
+          controller.atSetpoint(),
           "Error was in tolerance when it should not have been. Error was "
-          + controller.getPositionError());
+              + controller.getPositionError());
     }
   }
 }
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ProfiledPIDControllerTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ProfiledPIDControllerTest.java
index 094e53b8cd..c0f4fb04e8 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ProfiledPIDControllerTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ProfiledPIDControllerTest.java
@@ -4,17 +4,16 @@
 
 package edu.wpi.first.wpilibj.controller;
 
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
+import org.junit.jupiter.api.Test;
 
 class ProfiledPIDControllerTest {
   @Test
   void testStartFromNonZeroPosition() {
-    ProfiledPIDController controller = new ProfiledPIDController(1.0, 0.0, 0.0,
-        new TrapezoidProfile.Constraints(1.0, 1.0));
+    ProfiledPIDController controller =
+        new ProfiledPIDController(1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(1.0, 1.0));
 
     controller.reset(20);
 
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ProfiledPIDInputOutputTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ProfiledPIDInputOutputTest.java
index e79fb928da..373bfc8a18 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ProfiledPIDInputOutputTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ProfiledPIDInputOutputTest.java
@@ -4,21 +4,19 @@
 
 package edu.wpi.first.wpilibj.controller;
 
-import org.junit.jupiter.api.BeforeEach;
-import org.junit.jupiter.api.Test;
-
-import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
-
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
 class ProfiledPIDInputOutputTest {
   private ProfiledPIDController m_controller;
 
   @BeforeEach
   void setUp() {
-    m_controller = new ProfiledPIDController(0, 0, 0,
-        new TrapezoidProfile.Constraints(360, 180));
+    m_controller = new ProfiledPIDController(0, 0, 0, new TrapezoidProfile.Constraints(360, 180));
   }
 
   @Test
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/RamseteControllerTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/RamseteControllerTest.java
index ed37242a1d..af188f363d 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/RamseteControllerTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/RamseteControllerTest.java
@@ -4,9 +4,8 @@
 
 package edu.wpi.first.wpilibj.controller;
 
-import java.util.ArrayList;
-
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
@@ -14,9 +13,8 @@ import edu.wpi.first.wpilibj.geometry.Twist2d;
 import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
 import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
 import edu.wpi.first.wpiutil.math.MathUtil;
-
-import static org.junit.jupiter.api.Assertions.assertAll;
-import static org.junit.jupiter.api.Assertions.assertEquals;
+import java.util.ArrayList;
+import org.junit.jupiter.api.Test;
 
 class RamseteControllerTest {
   private static final double kTolerance = 1 / 12.0;
@@ -40,8 +38,9 @@ class RamseteControllerTest {
       var state = trajectory.sample(kDt * i);
 
       var output = controller.calculate(robotPose, state);
-      robotPose = robotPose.exp(new Twist2d(output.vxMetersPerSecond * kDt, 0,
-          output.omegaRadiansPerSecond * kDt));
+      robotPose =
+          robotPose.exp(
+              new Twist2d(output.vxMetersPerSecond * kDt, 0, output.omegaRadiansPerSecond * kDt));
     }
 
     final var states = trajectory.getStates();
@@ -51,14 +50,13 @@ class RamseteControllerTest {
     // must be final or effectively final.
     final var finalRobotPose = robotPose;
     assertAll(
-        () -> assertEquals(endPose.getX(), finalRobotPose.getX(),
-            kTolerance),
-        () -> assertEquals(endPose.getY(), finalRobotPose.getY(),
-            kTolerance),
-        () -> assertEquals(0.0,
-            MathUtil.normalizeAngle(endPose.getRotation().getRadians()
-                - finalRobotPose.getRotation().getRadians()),
-            kAngularTolerance)
-    );
+        () -> assertEquals(endPose.getX(), finalRobotPose.getX(), kTolerance),
+        () -> assertEquals(endPose.getY(), finalRobotPose.getY(), kTolerance),
+        () ->
+            assertEquals(
+                0.0,
+                MathUtil.normalizeAngle(
+                    endPose.getRotation().getRadians() - finalRobotPose.getRotation().getRadians()),
+                kAngularTolerance));
   }
 }
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/drive/DriveTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/drive/DriveTest.java
index acccde1a80..388801a9be 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/drive/DriveTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/drive/DriveTest.java
@@ -4,17 +4,14 @@
 
 package edu.wpi.first.wpilibj.drive;
 
-import org.junit.jupiter.api.BeforeEach;
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import edu.wpi.first.wpilibj.MockSpeedController;
 import edu.wpi.first.wpilibj.RobotDrive;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
 
-import static org.junit.jupiter.api.Assertions.assertEquals;
-
-/**
- * Tests DifferentialDrive and MecanumDrive.
- */
+/** Tests DifferentialDrive and MecanumDrive. */
 public class DriveTest {
   private final MockSpeedController m_rdFrontLeft = new MockSpeedController();
   private final MockSpeedController m_rdRearLeft = new MockSpeedController();
@@ -31,10 +28,11 @@ public class DriveTest {
   private final MecanumDrive m_mecanumDrive =
       new MecanumDrive(m_frontLeft, m_rearLeft, m_frontRight, m_rearRight);
 
-  private final double[] m_testJoystickValues = {1.0, 0.9, 0.5, 0.01, 0.0, -0.01, -0.5, -0.9,
-                                                 -1.0};
-  private final double[] m_testGyroValues = {0, 30, 45, 90, 135, 180, 225, 270, 305, 360, 540,
-                                             -45, -90, -135, -180, -225, -270, -305, -360, -540};
+  private final double[] m_testJoystickValues = {1.0, 0.9, 0.5, 0.01, 0.0, -0.01, -0.5, -0.9, -1.0};
+  private final double[] m_testGyroValues = {
+    0, 30, 45, 90, 135, 180, 225, 270, 305, 360, 540, -45, -90, -135, -180, -225, -270, -305, -360,
+    -540
+  };
 
   @BeforeEach
   void setUp() {
@@ -51,12 +49,22 @@ public class DriveTest {
       for (double rightJoystick : m_testJoystickValues) {
         m_robotDrive.tankDrive(leftJoystick, rightJoystick);
         m_differentialDrive.tankDrive(leftJoystick, rightJoystick);
-        assertEquals(m_rdFrontLeft.get(), m_frontLeft.get(), 0.01,
-            "Left Motor squared didn't match. Left Joystick: " + leftJoystick + " Right Joystick: "
-            + rightJoystick);
-        assertEquals(m_rdFrontRight.get(), m_frontRight.get(), 0.01,
-            "Right Motor squared didn't match. Left Joystick: " + leftJoystick + " Right Joystick: "
-            + rightJoystick);
+        assertEquals(
+            m_rdFrontLeft.get(),
+            m_frontLeft.get(),
+            0.01,
+            "Left Motor squared didn't match. Left Joystick: "
+                + leftJoystick
+                + " Right Joystick: "
+                + rightJoystick);
+        assertEquals(
+            m_rdFrontRight.get(),
+            m_frontRight.get(),
+            0.01,
+            "Right Motor squared didn't match. Left Joystick: "
+                + leftJoystick
+                + " Right Joystick: "
+                + rightJoystick);
       }
     }
   }
@@ -67,12 +75,22 @@ public class DriveTest {
       for (double rightJoystick : m_testJoystickValues) {
         m_robotDrive.tankDrive(leftJoystick, rightJoystick, false);
         m_differentialDrive.tankDrive(leftJoystick, rightJoystick, false);
-        assertEquals(m_rdFrontLeft.get(), m_frontLeft.get(), 0.01,
-            "Left Motor didn't match. Left Joystick: " + leftJoystick + " Right Joystick: "
-            + rightJoystick);
-        assertEquals(m_rdFrontRight.get(), m_frontRight.get(), 0.01,
-            "Right Motor didn't match. Left Joystick: " + leftJoystick + " Right Joystick: "
-            + rightJoystick);
+        assertEquals(
+            m_rdFrontLeft.get(),
+            m_frontLeft.get(),
+            0.01,
+            "Left Motor didn't match. Left Joystick: "
+                + leftJoystick
+                + " Right Joystick: "
+                + rightJoystick);
+        assertEquals(
+            m_rdFrontRight.get(),
+            m_frontRight.get(),
+            0.01,
+            "Right Motor didn't match. Left Joystick: "
+                + leftJoystick
+                + " Right Joystick: "
+                + rightJoystick);
       }
     }
   }
@@ -83,12 +101,22 @@ public class DriveTest {
       for (double rotateJoystick : m_testJoystickValues) {
         m_robotDrive.arcadeDrive(moveJoystick, rotateJoystick);
         m_differentialDrive.arcadeDrive(moveJoystick, -rotateJoystick);
-        assertEquals(m_rdFrontLeft.get(), m_frontLeft.get(), 0.01,
-            "Left Motor squared didn't match. Move Joystick: " + moveJoystick + " Rotate Joystick: "
-            + rotateJoystick);
-        assertEquals(m_rdFrontRight.get(), m_frontRight.get(), 0.01,
-            "Right Motor squared didn't match. Move Joystick: " + moveJoystick
-            + " Rotate Joystick: " + rotateJoystick);
+        assertEquals(
+            m_rdFrontLeft.get(),
+            m_frontLeft.get(),
+            0.01,
+            "Left Motor squared didn't match. Move Joystick: "
+                + moveJoystick
+                + " Rotate Joystick: "
+                + rotateJoystick);
+        assertEquals(
+            m_rdFrontRight.get(),
+            m_frontRight.get(),
+            0.01,
+            "Right Motor squared didn't match. Move Joystick: "
+                + moveJoystick
+                + " Rotate Joystick: "
+                + rotateJoystick);
       }
     }
   }
@@ -99,12 +127,22 @@ public class DriveTest {
       for (double rotateJoystick : m_testJoystickValues) {
         m_robotDrive.arcadeDrive(moveJoystick, rotateJoystick, false);
         m_differentialDrive.arcadeDrive(moveJoystick, -rotateJoystick, false);
-        assertEquals(m_rdFrontLeft.get(), m_frontLeft.get(), 0.01,
-            "Left Motor didn't match. Move Joystick: " + moveJoystick + " Rotate Joystick: "
-            + rotateJoystick);
-        assertEquals(m_rdFrontRight.get(), m_frontRight.get(), 0.01,
-            "Right Motor didn't match. Move Joystick: " + moveJoystick + " Rotate Joystick: "
-            + rotateJoystick);
+        assertEquals(
+            m_rdFrontLeft.get(),
+            m_frontLeft.get(),
+            0.01,
+            "Left Motor didn't match. Move Joystick: "
+                + moveJoystick
+                + " Rotate Joystick: "
+                + rotateJoystick);
+        assertEquals(
+            m_rdFrontRight.get(),
+            m_frontRight.get(),
+            0.01,
+            "Right Motor didn't match. Move Joystick: "
+                + moveJoystick
+                + " Rotate Joystick: "
+                + rotateJoystick);
       }
     }
   }
@@ -116,22 +154,46 @@ public class DriveTest {
         for (double rotationJoystick : m_testJoystickValues) {
           m_robotDrive.mecanumDrive_Polar(magnitudeJoystick, directionJoystick, rotationJoystick);
           m_mecanumDrive.drivePolar(magnitudeJoystick, directionJoystick, rotationJoystick);
-          assertEquals(m_rdFrontLeft.get(), m_frontLeft.get(), 0.01,
-              "Left Front Motor didn't match. Magnitude Joystick: " + magnitudeJoystick
-              + " Direction Joystick: " + directionJoystick + " RotationJoystick: "
-              + rotationJoystick);
-          assertEquals(m_rdFrontRight.get(), -m_frontRight.get(), 0.01,
-              "Right Front Motor didn't match. Magnitude Joystick: " + magnitudeJoystick
-              + " Direction Joystick: " + directionJoystick + " RotationJoystick: "
-              + rotationJoystick);
-          assertEquals(m_rdRearLeft.get(), m_rearLeft.get(), 0.01,
-              "Left Rear Motor didn't match. Magnitude Joystick: " + magnitudeJoystick
-              + " Direction Joystick: " + directionJoystick + " RotationJoystick: "
-              + rotationJoystick);
-          assertEquals(m_rdRearRight.get(), -m_rearRight.get(), 0.01,
-              "Right Rear Motor didn't match. Magnitude Joystick: " + magnitudeJoystick
-              + " Direction Joystick: " + directionJoystick + " RotationJoystick: "
-              + rotationJoystick);
+          assertEquals(
+              m_rdFrontLeft.get(),
+              m_frontLeft.get(),
+              0.01,
+              "Left Front Motor didn't match. Magnitude Joystick: "
+                  + magnitudeJoystick
+                  + " Direction Joystick: "
+                  + directionJoystick
+                  + " RotationJoystick: "
+                  + rotationJoystick);
+          assertEquals(
+              m_rdFrontRight.get(),
+              -m_frontRight.get(),
+              0.01,
+              "Right Front Motor didn't match. Magnitude Joystick: "
+                  + magnitudeJoystick
+                  + " Direction Joystick: "
+                  + directionJoystick
+                  + " RotationJoystick: "
+                  + rotationJoystick);
+          assertEquals(
+              m_rdRearLeft.get(),
+              m_rearLeft.get(),
+              0.01,
+              "Left Rear Motor didn't match. Magnitude Joystick: "
+                  + magnitudeJoystick
+                  + " Direction Joystick: "
+                  + directionJoystick
+                  + " RotationJoystick: "
+                  + rotationJoystick);
+          assertEquals(
+              m_rdRearRight.get(),
+              -m_rearRight.get(),
+              0.01,
+              "Right Rear Motor didn't match. Magnitude Joystick: "
+                  + magnitudeJoystick
+                  + " Direction Joystick: "
+                  + directionJoystick
+                  + " RotationJoystick: "
+                  + rotationJoystick);
         }
       }
     }
@@ -144,21 +206,57 @@ public class DriveTest {
       for (double y_Joystick : m_testJoystickValues) {
         for (double rotationJoystick : m_testJoystickValues) {
           for (double gyroValue : m_testGyroValues) {
-            m_robotDrive.mecanumDrive_Cartesian(x_Joystick, y_Joystick, rotationJoystick,
-                                                gyroValue);
+            m_robotDrive.mecanumDrive_Cartesian(
+                x_Joystick, y_Joystick, rotationJoystick, gyroValue);
             m_mecanumDrive.driveCartesian(x_Joystick, -y_Joystick, rotationJoystick, -gyroValue);
-            assertEquals(m_rdFrontLeft.get(), m_frontLeft.get(), 0.01,
-                "Left Front Motor didn't match. X Joystick: " + x_Joystick + " Y Joystick: "
-                + y_Joystick + " RotationJoystick: " + rotationJoystick + " Gyro: " + gyroValue);
-            assertEquals(m_rdFrontRight.get(), -m_frontRight.get(), 0.01,
-                "Right Front Motor didn't match. X Joystick: " + x_Joystick + " Y Joystick: "
-                + y_Joystick + " RotationJoystick: " + rotationJoystick + " Gyro: " + gyroValue);
-            assertEquals(m_rdRearLeft.get(), m_rearLeft.get(), 0.01,
-                "Left Rear Motor didn't match. X Joystick: " + x_Joystick + " Y Joystick: "
-                + y_Joystick + " RotationJoystick: " + rotationJoystick + " Gyro: " + gyroValue);
-            assertEquals(m_rdRearRight.get(), -m_rearRight.get(), 0.01,
-                "Right Rear Motor didn't match. X Joystick: " + x_Joystick + " Y Joystick: "
-                + y_Joystick + " RotationJoystick: " + rotationJoystick + " Gyro: " + gyroValue);
+            assertEquals(
+                m_rdFrontLeft.get(),
+                m_frontLeft.get(),
+                0.01,
+                "Left Front Motor didn't match. X Joystick: "
+                    + x_Joystick
+                    + " Y Joystick: "
+                    + y_Joystick
+                    + " RotationJoystick: "
+                    + rotationJoystick
+                    + " Gyro: "
+                    + gyroValue);
+            assertEquals(
+                m_rdFrontRight.get(),
+                -m_frontRight.get(),
+                0.01,
+                "Right Front Motor didn't match. X Joystick: "
+                    + x_Joystick
+                    + " Y Joystick: "
+                    + y_Joystick
+                    + " RotationJoystick: "
+                    + rotationJoystick
+                    + " Gyro: "
+                    + gyroValue);
+            assertEquals(
+                m_rdRearLeft.get(),
+                m_rearLeft.get(),
+                0.01,
+                "Left Rear Motor didn't match. X Joystick: "
+                    + x_Joystick
+                    + " Y Joystick: "
+                    + y_Joystick
+                    + " RotationJoystick: "
+                    + rotationJoystick
+                    + " Gyro: "
+                    + gyroValue);
+            assertEquals(
+                m_rdRearRight.get(),
+                -m_rearRight.get(),
+                0.01,
+                "Right Rear Motor didn't match. X Joystick: "
+                    + x_Joystick
+                    + " Y Joystick: "
+                    + y_Joystick
+                    + " RotationJoystick: "
+                    + rotationJoystick
+                    + " Gyro: "
+                    + gyroValue);
           }
         }
       }
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/hal/JNITest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/hal/JNITest.java
index d9595f94e6..083e82c602 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/hal/JNITest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/hal/JNITest.java
@@ -4,11 +4,10 @@
 
 package edu.wpi.first.wpilibj.hal;
 
-import org.junit.jupiter.api.Test;
-
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.HALUtil;
 import edu.wpi.first.networktables.NetworkTablesJNI;
+import org.junit.jupiter.api.Test;
 
 class JNITest {
   @Test
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/hal/MatchInfoDataTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/hal/MatchInfoDataTest.java
index 4375c95d47..c37dfaf9a1 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/hal/MatchInfoDataTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/hal/MatchInfoDataTest.java
@@ -4,15 +4,14 @@
 
 package edu.wpi.first.wpilibj.hal;
 
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.MatchInfoData;
 import edu.wpi.first.hal.simulation.DriverStationDataJNI;
 import edu.wpi.first.wpilibj.DriverStation.MatchType;
-
-import static org.junit.jupiter.api.Assertions.assertAll;
-import static org.junit.jupiter.api.Assertions.assertEquals;
+import org.junit.jupiter.api.Test;
 
 class MatchInfoDataTest {
   @Test
@@ -29,7 +28,6 @@ class MatchInfoDataTest {
         () -> assertEquals(matchType.ordinal(), outMatchInfo.matchType),
         () -> assertEquals(174, outMatchInfo.matchNumber),
         () -> assertEquals(191, outMatchInfo.replayNumber),
-        () -> assertEquals("Game Message", outMatchInfo.gameSpecificMessage)
-    );
+        () -> assertEquals("Game Message", outMatchInfo.gameSpecificMessage));
   }
 }
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/MockActuatorSendable.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/MockActuatorSendable.java
index bfb5f4dee4..5822118554 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/MockActuatorSendable.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/MockActuatorSendable.java
@@ -8,9 +8,7 @@ import edu.wpi.first.wpilibj.Sendable;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
-/**
- * A mock sendable that marks itself as an actuator.
- */
+/** A mock sendable that marks itself as an actuator. */
 public class MockActuatorSendable implements Sendable {
   public MockActuatorSendable(String name) {
     SendableRegistry.add(this, name);
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardInstanceTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardInstanceTest.java
index 72ceca051b..61db14a799 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardInstanceTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardInstanceTest.java
@@ -4,18 +4,17 @@
 
 package edu.wpi.first.wpilibj.shuffleboard;
 
-import org.junit.jupiter.api.AfterEach;
-import org.junit.jupiter.api.BeforeEach;
-import org.junit.jupiter.api.Test;
-
-import edu.wpi.first.networktables.NetworkTableEntry;
-import edu.wpi.first.networktables.NetworkTableInstance;
-
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
 public class ShuffleboardInstanceTest {
   private NetworkTableInstance m_ntInstance;
   private ShuffleboardInstance m_shuffleboardInstance;
@@ -33,32 +32,42 @@ public class ShuffleboardInstanceTest {
 
   @Test
   void testPathFluent() {
-    NetworkTableEntry entry = m_shuffleboardInstance.getTab("Tab Title")
-                                                  .getLayout("Layout Title", "List Layout")
-                                                  .add("Data", "string")
-                                                  .withWidget("Text View")
-                                                  .getEntry();
+    NetworkTableEntry entry =
+        m_shuffleboardInstance
+            .getTab("Tab Title")
+            .getLayout("Layout Title", "List Layout")
+            .add("Data", "string")
+            .withWidget("Text View")
+            .getEntry();
 
     assertAll(
         () -> assertEquals("string", entry.getString(null), "Wrong entry value"),
-        () -> assertEquals("/Shuffleboard/Tab Title/Layout Title/Data", entry.getName(),
-                           "Entry path generated incorrectly"));
+        () ->
+            assertEquals(
+                "/Shuffleboard/Tab Title/Layout Title/Data",
+                entry.getName(),
+                "Entry path generated incorrectly"));
   }
 
   @Test
   void testNestedLayoutsFluent() {
-    NetworkTableEntry entry = m_shuffleboardInstance.getTab("Tab")
-                                                  .getLayout("First", "List")
-                                                  .getLayout("Second", "List")
-                                                  .getLayout("Third", "List")
-                                                  .getLayout("Fourth", "List")
-                                                  .add("Value", "string")
-                                                  .getEntry();
+    NetworkTableEntry entry =
+        m_shuffleboardInstance
+            .getTab("Tab")
+            .getLayout("First", "List")
+            .getLayout("Second", "List")
+            .getLayout("Third", "List")
+            .getLayout("Fourth", "List")
+            .add("Value", "string")
+            .getEntry();
 
     assertAll(
         () -> assertEquals("string", entry.getString(null), "Wrong entry value"),
-        () -> assertEquals("/Shuffleboard/Tab/First/Second/Third/Fourth/Value", entry.getName(),
-                           "Entry path generated incorrectly"));
+        () ->
+            assertEquals(
+                "/Shuffleboard/Tab/First/Second/Third/Fourth/Value",
+                entry.getName(),
+                "Entry path generated incorrectly"));
   }
 
   @Test
@@ -73,26 +82,29 @@ public class ShuffleboardInstanceTest {
 
     assertAll(
         () -> assertEquals("string", entry.getString(null), "Wrong entry value"),
-        () -> assertEquals("/Shuffleboard/Tab/First/Second/Third/Fourth/Value", entry.getName(),
-                           "Entry path generated incorrectly"));
+        () ->
+            assertEquals(
+                "/Shuffleboard/Tab/First/Second/Third/Fourth/Value",
+                entry.getName(),
+                "Entry path generated incorrectly"));
   }
 
   @Test
   void testLayoutTypeIsSet() {
     String layoutType = "Type";
-    m_shuffleboardInstance.getTab("Tab")
-                          .getLayout("Title", layoutType);
+    m_shuffleboardInstance.getTab("Tab").getLayout("Title", layoutType);
     m_shuffleboardInstance.update();
-    NetworkTableEntry entry = m_ntInstance.getEntry(
-        "/Shuffleboard/.metadata/Tab/Title/PreferredComponent");
+    NetworkTableEntry entry =
+        m_ntInstance.getEntry("/Shuffleboard/.metadata/Tab/Title/PreferredComponent");
     assertEquals(layoutType, entry.getString("Not Set"), "Layout type not set");
   }
 
   @Test
   void testNestedActuatorWidgetsAreDisabled() {
-    m_shuffleboardInstance.getTab("Tab")
-                          .getLayout("Title", "Layout")
-                          .add(new MockActuatorSendable("Actuator"));
+    m_shuffleboardInstance
+        .getTab("Tab")
+        .getLayout("Title", "Layout")
+        .add(new MockActuatorSendable("Actuator"));
     NetworkTableEntry controllableEntry =
         m_ntInstance.getEntry("/Shuffleboard/Tab/Title/Actuator/.controllable");
 
@@ -108,5 +120,4 @@ public class ShuffleboardInstanceTest {
     controllable = controllableEntry.getValue().getBoolean();
     assertFalse(controllable, "The nested actuator widget should have been disabled");
   }
-
 }
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTest.java
index 6b65fe2c54..963d26296b 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTest.java
@@ -4,11 +4,10 @@
 
 package edu.wpi.first.wpilibj.shuffleboard;
 
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertSame;
 
 import edu.wpi.first.wpilibj.UtilityClassTest;
-
-import static org.junit.jupiter.api.Assertions.assertSame;
+import org.junit.jupiter.api.Test;
 
 public class ShuffleboardTest extends UtilityClassTest<Shuffleboard> {
   public ShuffleboardTest() {
@@ -23,5 +22,4 @@ public class ShuffleboardTest extends UtilityClassTest<Shuffleboard> {
     ShuffleboardTab tab2 = Shuffleboard.getTab("testTabObjectsCached");
     assertSame(tab1, tab2, "Tab objects were not cached");
   }
-
 }
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/SuppliedValueWidgetTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/SuppliedValueWidgetTest.java
index f493303a35..036c73d51a 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/SuppliedValueWidgetTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/SuppliedValueWidgetTest.java
@@ -4,19 +4,17 @@
 
 package edu.wpi.first.wpilibj.shuffleboard;
 
-import java.util.concurrent.atomic.AtomicInteger;
-
-import org.junit.jupiter.api.BeforeEach;
-import org.junit.jupiter.api.Test;
-
-import edu.wpi.first.networktables.NetworkTableEntry;
-import edu.wpi.first.networktables.NetworkTableInstance;
-
 import static org.junit.jupiter.api.Assertions.assertArrayEquals;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import java.util.concurrent.atomic.AtomicInteger;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
 class SuppliedValueWidgetTest {
   private NetworkTableInstance m_ntInstance;
   private ShuffleboardInstance m_instance;
@@ -30,8 +28,7 @@ class SuppliedValueWidgetTest {
   @Test
   void testAddString() {
     AtomicInteger count = new AtomicInteger(0);
-    m_instance.getTab("Tab")
-        .addString("Title", () -> Integer.toString(count.incrementAndGet()));
+    m_instance.getTab("Tab").addString("Title", () -> Integer.toString(count.incrementAndGet()));
     NetworkTableEntry entry = m_ntInstance.getEntry("/Shuffleboard/Tab/Title");
 
     m_instance.update();
@@ -44,8 +41,7 @@ class SuppliedValueWidgetTest {
   @Test
   void testAddDouble() {
     AtomicInteger num = new AtomicInteger(0);
-    m_instance.getTab("Tab")
-        .addNumber("Title", num::incrementAndGet);
+    m_instance.getTab("Tab").addNumber("Title", num::incrementAndGet);
     NetworkTableEntry entry = m_ntInstance.getEntry("/Shuffleboard/Tab/Title");
 
     m_instance.update();
@@ -58,8 +54,7 @@ class SuppliedValueWidgetTest {
   @Test
   void testAddBoolean() {
     boolean[] bool = {false};
-    m_instance.getTab("Tab")
-        .addBoolean("Title", () -> bool[0] = !bool[0]);
+    m_instance.getTab("Tab").addBoolean("Title", () -> bool[0] = !bool[0]);
     NetworkTableEntry entry = m_ntInstance.getEntry("/Shuffleboard/Tab/Title");
 
     m_instance.update();
@@ -72,8 +67,7 @@ class SuppliedValueWidgetTest {
   @Test
   void testAddStringArray() {
     String[] arr = {"foo", "bar"};
-    m_instance.getTab("Tab")
-        .addStringArray("Title", () -> arr);
+    m_instance.getTab("Tab").addStringArray("Title", () -> arr);
     NetworkTableEntry entry = m_ntInstance.getEntry("/Shuffleboard/Tab/Title");
 
     m_instance.update();
@@ -83,8 +77,7 @@ class SuppliedValueWidgetTest {
   @Test
   void testAddDoubleArray() {
     double[] arr = {0, 1};
-    m_instance.getTab("Tab")
-        .addDoubleArray("Title", () -> arr);
+    m_instance.getTab("Tab").addDoubleArray("Title", () -> arr);
     NetworkTableEntry entry = m_ntInstance.getEntry("/Shuffleboard/Tab/Title");
 
     m_instance.update();
@@ -94,8 +87,7 @@ class SuppliedValueWidgetTest {
   @Test
   void testAddBooleanArray() {
     boolean[] arr = {true, false};
-    m_instance.getTab("Tab")
-        .addBooleanArray("Title", () -> arr);
+    m_instance.getTab("Tab").addBooleanArray("Title", () -> arr);
     NetworkTableEntry entry = m_ntInstance.getEntry("/Shuffleboard/Tab/Title");
 
     m_instance.update();
@@ -105,12 +97,10 @@ class SuppliedValueWidgetTest {
   @Test
   void testAddRawBytes() {
     byte[] arr = {0, 1, 2, 3};
-    m_instance.getTab("Tab")
-        .addRaw("Title", () -> arr);
+    m_instance.getTab("Tab").addRaw("Title", () -> arr);
     NetworkTableEntry entry = m_ntInstance.getEntry("/Shuffleboard/Tab/Title");
 
     m_instance.update();
     assertArrayEquals(arr, entry.getRaw(new byte[0]));
   }
-
 }
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AccelerometerSimTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AccelerometerSimTest.java
index 97713ebd55..ef8806b927 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AccelerometerSimTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AccelerometerSimTest.java
@@ -4,13 +4,12 @@
 
 package edu.wpi.first.wpilibj.simulation;
 
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.hal.AccelerometerJNI;
 import edu.wpi.first.hal.HAL;
-
-import static org.junit.jupiter.api.Assertions.assertFalse;
-import static org.junit.jupiter.api.Assertions.assertTrue;
+import org.junit.jupiter.api.Test;
 
 class AccelerometerSimTest {
   static class TriggeredStore {
@@ -26,10 +25,13 @@ class AccelerometerSimTest {
 
     TriggeredStore store = new TriggeredStore();
 
-    try (CallbackStore cb = sim.registerActiveCallback((s, v) -> {
-      store.m_wasTriggered = true;
-      store.m_setValue = v.getBoolean();
-    }, false)) {
+    try (CallbackStore cb =
+        sim.registerActiveCallback(
+            (s, v) -> {
+              store.m_wasTriggered = true;
+              store.m_setValue = v.getBoolean();
+            },
+            false)) {
       assertFalse(store.m_wasTriggered);
       AccelerometerJNI.setAccelerometerActive(true);
       assertTrue(store.m_wasTriggered);
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogEncoderSimTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogEncoderSimTest.java
index 625979dd17..a5d78871c1 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogEncoderSimTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogEncoderSimTest.java
@@ -4,13 +4,13 @@
 
 package edu.wpi.first.wpilibj.simulation;
 
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
 import edu.wpi.first.wpilibj.AnalogEncoder;
 import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import org.junit.jupiter.api.Test;
 
-import static org.junit.jupiter.api.Assertions.assertEquals;
-
 public class AnalogEncoderSimTest {
   @Test
   public void testBasic() {
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogInputSimTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogInputSimTest.java
index d8e5f3cdf1..06ca09779c 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogInputSimTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogInputSimTest.java
@@ -4,13 +4,12 @@
 
 package edu.wpi.first.wpilibj.simulation;
 
-import org.junit.jupiter.api.Test;
-
-import edu.wpi.first.wpilibj.AnalogInput;
-import edu.wpi.first.hal.HAL;
-
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.AnalogInput;
+import org.junit.jupiter.api.Test;
+
 class AnalogInputSimTest {
   static class DoubleStore {
     public boolean m_wasTriggered;
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogOutputSimTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogOutputSimTest.java
index d370d683c6..27478352e2 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogOutputSimTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogOutputSimTest.java
@@ -4,13 +4,12 @@
 
 package edu.wpi.first.wpilibj.simulation;
 
-import edu.wpi.first.wpilibj.AnalogOutput;
-import edu.wpi.first.hal.HAL;
-
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.AnalogOutput;
 import org.junit.jupiter.api.Test;
 
 class AnalogOutputSimTest {
@@ -30,7 +29,6 @@ class AnalogOutputSimTest {
   void setCallbackTest() {
     HAL.initialize(500, 0);
 
-
     try (AnalogOutput output = new AnalogOutput(0)) {
       output.setVoltage(0.5);
 
@@ -38,11 +36,14 @@ class AnalogOutputSimTest {
 
       DoubleStore store = new DoubleStore();
 
-      try (CallbackStore cb = outputSim.registerVoltageCallback((name, value) -> {
-        store.m_wasTriggered = true;
-        store.m_wasCorrectType = true;
-        store.m_setValue = value.getDouble();
-      }, false)) {
+      try (CallbackStore cb =
+          outputSim.registerVoltageCallback(
+              (name, value) -> {
+                store.m_wasTriggered = true;
+                store.m_wasCorrectType = true;
+                store.m_setValue = value.getDouble();
+              },
+              false)) {
         assertFalse(store.m_wasTriggered);
 
         for (double i = 0.1; i < 5.0; i += 0.1) {
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java
index b2ed7a6662..c77fb5ad6f 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java
@@ -4,6 +4,9 @@
 
 package edu.wpi.first.wpilibj.simulation;
 
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
 import edu.wpi.first.wpilibj.controller.LinearPlantInversionFeedforward;
 import edu.wpi.first.wpilibj.controller.RamseteController;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
@@ -22,29 +25,26 @@ import edu.wpi.first.wpiutil.math.VecBuilder;
 import edu.wpi.first.wpiutil.math.Vector;
 import edu.wpi.first.wpiutil.math.numbers.N1;
 import edu.wpi.first.wpiutil.math.numbers.N7;
-
-import org.junit.jupiter.api.Test;
-
 import java.util.List;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.api.Assertions.assertTrue;
+import org.junit.jupiter.api.Test;
 
 class DifferentialDrivetrainSimTest {
   @Test
   public void testConvergence() {
     var motor = DCMotor.getNEO(2);
-    var plant = LinearSystemId.createDrivetrainVelocitySystem(
-        motor,
-        50,
-        Units.inchesToMeters(2),
-        Units.inchesToMeters(12),
-        0.5,
-        1.0);
+    var plant =
+        LinearSystemId.createDrivetrainVelocitySystem(
+            motor, 50, Units.inchesToMeters(2), Units.inchesToMeters(12), 0.5, 1.0);
 
     var kinematics = new DifferentialDriveKinematics(Units.inchesToMeters(24));
-    var sim = new DifferentialDrivetrainSim(plant,
-        motor, 1, kinematics.trackWidthMeters, Units.inchesToMeters(2), VecBuilder.fill(0, 0, 0.0001, 0.1, 0.1, 0.005, 0.005));
+    var sim =
+        new DifferentialDrivetrainSim(
+            plant,
+            motor,
+            1,
+            kinematics.trackWidthMeters,
+            Units.inchesToMeters(2),
+            VecBuilder.fill(0, 0, 0.0001, 0.1, 0.1, 0.005, 0.005));
 
     var feedforward = new LinearPlantInversionFeedforward<>(plant, 0.020);
     var ramsete = new RamseteController();
@@ -53,12 +53,13 @@ class DifferentialDrivetrainSimTest {
     // ground truth
     Matrix<N7, N1> groundTruthX = new Vector<>(Nat.N7());
 
-    var traj = TrajectoryGenerator.generateTrajectory(
-        new Pose2d(),
-        List.of(),
-        new Pose2d(2, 2, new Rotation2d()),
-        new TrajectoryConfig(1, 1)
-            .addConstraint(new DifferentialDriveKinematicsConstraint(kinematics, 1)));
+    var traj =
+        TrajectoryGenerator.generateTrajectory(
+            new Pose2d(),
+            List.of(),
+            new Pose2d(2, 2, new Rotation2d()),
+            new TrajectoryConfig(1, 1)
+                .addConstraint(new DifferentialDriveKinematicsConstraint(kinematics, 1)));
 
     for (double t = 0; t < traj.getTotalTimeSeconds(); t += 0.020) {
       var state = traj.sample(0.020);
@@ -66,8 +67,9 @@ class DifferentialDrivetrainSimTest {
 
       var wheelSpeeds = kinematics.toWheelSpeeds(ramseteOut);
 
-      var voltages = feedforward.calculate(
-          VecBuilder.fill(wheelSpeeds.leftMetersPerSecond, wheelSpeeds.rightMetersPerSecond));
+      var voltages =
+          feedforward.calculate(
+              VecBuilder.fill(wheelSpeeds.leftMetersPerSecond, wheelSpeeds.rightMetersPerSecond));
 
       // Sim periodic code
       sim.setInputs(voltages.get(0, 0), voltages.get(1, 0));
@@ -77,26 +79,27 @@ class DifferentialDrivetrainSimTest {
       groundTruthX = RungeKutta.rungeKutta(sim::getDynamics, groundTruthX, voltages, 0.020);
     }
 
-    assertEquals(groundTruthX.get(DifferentialDrivetrainSim.State.kX.value, 0),
+    assertEquals(
+        groundTruthX.get(DifferentialDrivetrainSim.State.kX.value, 0),
         sim.getState(DifferentialDrivetrainSim.State.kX));
-    assertEquals(groundTruthX.get(DifferentialDrivetrainSim.State.kY.value, 0),
+    assertEquals(
+        groundTruthX.get(DifferentialDrivetrainSim.State.kY.value, 0),
         sim.getState(DifferentialDrivetrainSim.State.kY));
-    assertEquals(groundTruthX.get(DifferentialDrivetrainSim.State.kHeading.value, 0),
+    assertEquals(
+        groundTruthX.get(DifferentialDrivetrainSim.State.kHeading.value, 0),
         sim.getState(DifferentialDrivetrainSim.State.kHeading));
   }
 
   @Test
   public void testCurrent() {
     var motor = DCMotor.getNEO(2);
-    var plant = LinearSystemId.createDrivetrainVelocitySystem(
-        motor,
-        50,
-        Units.inchesToMeters(2),
-        Units.inchesToMeters(12),
-        0.5,
-        1.0);
+    var plant =
+        LinearSystemId.createDrivetrainVelocitySystem(
+            motor, 50, Units.inchesToMeters(2), Units.inchesToMeters(12), 0.5, 1.0);
     var kinematics = new DifferentialDriveKinematics(Units.inchesToMeters(24));
-    var sim = new DifferentialDrivetrainSim(plant, motor, 1, kinematics.trackWidthMeters, Units.inchesToMeters(2), null);
+    var sim =
+        new DifferentialDrivetrainSim(
+            plant, motor, 1, kinematics.trackWidthMeters, Units.inchesToMeters(2), null);
 
     sim.setInputs(-12, -12);
     for (int i = 0; i < 10; i++) {
@@ -120,16 +123,19 @@ class DifferentialDrivetrainSimTest {
   @Test
   public void testModelStability() {
     var motor = DCMotor.getNEO(2);
-    var plant = LinearSystemId.createDrivetrainVelocitySystem(
-        motor,
-        50,
-        Units.inchesToMeters(2),
-        Units.inchesToMeters(12),
-        2.0,
-        5.0);
+    var plant =
+        LinearSystemId.createDrivetrainVelocitySystem(
+            motor, 50, Units.inchesToMeters(2), Units.inchesToMeters(12), 2.0, 5.0);
 
     var kinematics = new DifferentialDriveKinematics(Units.inchesToMeters(24));
-    var sim = new DifferentialDrivetrainSim(plant, motor, 5, kinematics.trackWidthMeters, Units.inchesToMeters(2), VecBuilder.fill(0, 0, 0.0001, 0.1, 0.1, 0.005, 0.005));
+    var sim =
+        new DifferentialDrivetrainSim(
+            plant,
+            motor,
+            5,
+            kinematics.trackWidthMeters,
+            Units.inchesToMeters(2),
+            VecBuilder.fill(0, 0, 0.0001, 0.1, 0.1, 0.005, 0.005));
 
     sim.setInputs(2, 4);
 
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java
index 8cbe3a0357..5a1498e8a1 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java
@@ -4,7 +4,8 @@
 
 package edu.wpi.first.wpilibj.simulation;
 
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.PWMVictorSPX;
@@ -13,9 +14,7 @@ import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.system.plant.DCMotor;
 import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
 import edu.wpi.first.wpiutil.math.VecBuilder;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.api.Assertions.assertTrue;
+import org.junit.jupiter.api.Test;
 
 public class ElevatorSimTest {
   @Test
@@ -24,8 +23,15 @@ public class ElevatorSimTest {
 
     var controller = new PIDController(10, 0, 0);
 
-    var sim = new ElevatorSim(DCMotor.getVex775Pro(4), 14.67, 8, 0.75 * 25.4 / 1000.0,
-        0.0, 3.0, VecBuilder.fill(0.01));
+    var sim =
+        new ElevatorSim(
+            DCMotor.getVex775Pro(4),
+            14.67,
+            8,
+            0.75 * 25.4 / 1000.0,
+            0.0,
+            3.0,
+            VecBuilder.fill(0.01));
 
     var motor = new PWMVictorSPX(0);
     var encoder = new Encoder(0, 1);
@@ -53,15 +59,19 @@ public class ElevatorSimTest {
 
   @Test
   public void testMinMax() {
-    var plant = LinearSystemId.createElevatorSystem(
-        DCMotor.getVex775Pro(4),
-        8.0,
-        0.75 * 25.4 / 1000.0,
-        14.67);
+    var plant =
+        LinearSystemId.createElevatorSystem(
+            DCMotor.getVex775Pro(4), 8.0, 0.75 * 25.4 / 1000.0, 14.67);
 
-    var sim = new ElevatorSim(plant,
-        DCMotor.getVex775Pro(4),
-        14.67, 0.75 * 25.4 / 1000.0, 0.0, 1.0, VecBuilder.fill(0.01));
+    var sim =
+        new ElevatorSim(
+            plant,
+            DCMotor.getVex775Pro(4),
+            14.67,
+            0.75 * 25.4 / 1000.0,
+            0.0,
+            1.0,
+            VecBuilder.fill(0.01));
 
     for (int i = 0; i < 100; i++) {
       sim.setInput(VecBuilder.fill(0));
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SimDeviceSimTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SimDeviceSimTest.java
index 5b47825dbc..f7ef6f0910 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SimDeviceSimTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SimDeviceSimTest.java
@@ -4,17 +4,15 @@
 
 package edu.wpi.first.wpilibj.simulation;
 
-import org.junit.jupiter.api.Test;
-
-import edu.wpi.first.hal.SimBoolean;
-import edu.wpi.first.hal.SimDevice;
-
-import java.util.concurrent.atomic.AtomicInteger;
-
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import edu.wpi.first.hal.SimBoolean;
+import edu.wpi.first.hal.SimDevice;
+import java.util.concurrent.atomic.AtomicInteger;
+import org.junit.jupiter.api.Test;
+
 class SimDeviceSimTest {
   @Test
   void testBasic() {
@@ -37,20 +35,31 @@ class SimDeviceSimTest {
 
     try (SimDevice otherdev = SimDevice.create("testnotDC");
         SimDevice dev1 = SimDevice.create("testDC1")) {
-      try (
-          CallbackStore callback1 = SimDeviceSim.registerDeviceCreatedCallback("testDC", (name, handle) -> {
-            callback1Counter.addAndGet(1);
-          }, false);
-          CallbackStore callback2 = SimDeviceSim.registerDeviceCreatedCallback("testDC", (name, handle) -> {
-            callback2Counter.addAndGet(1);
-          }, true)) {
+      try (CallbackStore callback1 =
+              SimDeviceSim.registerDeviceCreatedCallback(
+                  "testDC",
+                  (name, handle) -> {
+                    callback1Counter.addAndGet(1);
+                  },
+                  false);
+          CallbackStore callback2 =
+              SimDeviceSim.registerDeviceCreatedCallback(
+                  "testDC",
+                  (name, handle) -> {
+                    callback2Counter.addAndGet(1);
+                  },
+                  true)) {
         assertEquals(0, callback1Counter.get(), "Callback 1 called early");
-        assertEquals(1, callback2Counter.get(), "Callback 2 called early or not initialized with existing devices");
+        assertEquals(
+            1,
+            callback2Counter.get(),
+            "Callback 2 called early or not initialized with existing devices");
 
         SimDevice dev2 = SimDevice.create("testDC2");
         dev2.close();
 
-        assertEquals(1, callback1Counter.get(), "Callback 1 called either more than once or not at all");
+        assertEquals(
+            1, callback1Counter.get(), "Callback 1 called either more than once or not at all");
         assertEquals(2, callback2Counter.get(), "Callback 2 called either more or less than twice");
       }
 
@@ -67,9 +76,13 @@ class SimDeviceSimTest {
     AtomicInteger counter = new AtomicInteger(0);
 
     SimDevice dev1 = SimDevice.create("testDF1");
-    try (CallbackStore callback = SimDeviceSim.registerDeviceFreedCallback("testDF", (name, handle) -> {
-      counter.addAndGet(1);
-    }, false)) {
+    try (CallbackStore callback =
+        SimDeviceSim.registerDeviceFreedCallback(
+            "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");
@@ -89,19 +102,28 @@ class SimDeviceSimTest {
     try (SimDevice dev1 = SimDevice.create("testVM1")) {
       dev1.createBoolean("v1", false, false);
       SimDeviceSim sim = new SimDeviceSim("testVM1");
-      try (
-          CallbackStore callback1 = sim.registerValueCreatedCallback((name, handle, readonly, value) -> {
-            callback1Counter.addAndGet(1);
-          }, false);
-          CallbackStore callback2 = sim.registerValueCreatedCallback((name, handle, readonly, value) -> {
-            callback2Counter.addAndGet(1);
-          }, true)) {
+      try (CallbackStore callback1 =
+              sim.registerValueCreatedCallback(
+                  (name, handle, readonly, value) -> {
+                    callback1Counter.addAndGet(1);
+                  },
+                  false);
+          CallbackStore callback2 =
+              sim.registerValueCreatedCallback(
+                  (name, handle, readonly, value) -> {
+                    callback2Counter.addAndGet(1);
+                  },
+                  true)) {
         assertEquals(0, callback1Counter.get(), "Callback 1 called early");
-        assertEquals(1, callback2Counter.get(), "Callback 2 called early or not initialized with existing devices");
+        assertEquals(
+            1,
+            callback2Counter.get(),
+            "Callback 2 called early or not initialized with existing devices");
 
         dev1.createDouble("v2", false, 0);
 
-        assertEquals(1, callback1Counter.get(), "Callback 1 called either more than once or not at all");
+        assertEquals(
+            1, callback1Counter.get(), "Callback 1 called either more than once or not at all");
         assertEquals(2, callback2Counter.get(), "Callback 2 called either more or less than twice");
       }
       dev1.createBoolean("v3", false, false);
@@ -119,19 +141,30 @@ class SimDeviceSimTest {
     try (SimDevice dev1 = SimDevice.create("testVC1")) {
       SimBoolean val = dev1.createBoolean("v1", false, false);
       SimDeviceSim sim = new SimDeviceSim("testVM1");
-      try (
-          CallbackStore callback1 = sim.registerValueChangedCallback(val, (name, handle, readonly, value) -> {
-            callback1Counter.addAndGet(1);
-          }, false);
-          CallbackStore callback2 = sim.registerValueChangedCallback(val, (name, handle, readonly, value) -> {
-            callback2Counter.addAndGet(1);
-          }, true)) {
+      try (CallbackStore callback1 =
+              sim.registerValueChangedCallback(
+                  val,
+                  (name, handle, readonly, value) -> {
+                    callback1Counter.addAndGet(1);
+                  },
+                  false);
+          CallbackStore callback2 =
+              sim.registerValueChangedCallback(
+                  val,
+                  (name, handle, readonly, value) -> {
+                    callback2Counter.addAndGet(1);
+                  },
+                  true)) {
         assertEquals(0, callback1Counter.get(), "Callback 1 called early");
-        assertEquals(1, callback2Counter.get(), "Callback 2 called early or not initialized with existing devices");
+        assertEquals(
+            1,
+            callback2Counter.get(),
+            "Callback 2 called early or not initialized with existing devices");
 
         val.set(true);
 
-        assertEquals(1, callback1Counter.get(), "Callback 1 called either more than once or not at all");
+        assertEquals(
+            1, callback1Counter.get(), "Callback 1 called either more than once or not at all");
         assertEquals(2, callback2Counter.get(), "Callback 2 called either more or less than twice");
       }
       val.set(false);
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSimTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSimTest.java
index 4a98d430e5..a1449c2d2f 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSimTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSimTest.java
@@ -4,22 +4,24 @@
 
 package edu.wpi.first.wpilibj.simulation;
 
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import edu.wpi.first.wpilibj.system.plant.DCMotor;
 import edu.wpi.first.wpilibj.util.Units;
 import edu.wpi.first.wpiutil.math.VecBuilder;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
+import org.junit.jupiter.api.Test;
 
 public class SingleJointedArmSimTest {
-  SingleJointedArmSim m_sim = new SingleJointedArmSim(
-      DCMotor.getVex775Pro(2),
-      100,
-      3.0,
-      Units.inchesToMeters(19.0 / 2.0),
-      -Math.PI,
-      0.0, 10.0 / 2.2, true);
+  SingleJointedArmSim m_sim =
+      new SingleJointedArmSim(
+          DCMotor.getVex775Pro(2),
+          100,
+          3.0,
+          Units.inchesToMeters(19.0 / 2.0),
+          -Math.PI,
+          0.0,
+          10.0 / 2.2,
+          true);
 
   @Test
   public void testArmDisabled() {
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboardTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboardTest.java
index 112bc4625a..dfefddb890 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboardTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboardTest.java
@@ -4,15 +4,14 @@
 
 package edu.wpi.first.wpilibj.smartdashboard;
 
-import org.junit.jupiter.api.BeforeEach;
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertThrows;
 
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.UtilityClassTest;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.api.Assertions.assertThrows;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
 
 class SmartDashboardTest extends UtilityClassTest<SmartDashboard> {
   private final NetworkTable m_table = NetworkTableInstance.getDefault().getTable("SmartDashboard");
@@ -104,13 +103,14 @@ class SmartDashboardTest extends UtilityClassTest<SmartDashboard> {
 
   @Test
   void putStringNullKeyTest() {
-    assertThrows(NullPointerException.class,
-        () -> SmartDashboard.putString(null, "This should not work"));
+    assertThrows(
+        NullPointerException.class, () -> SmartDashboard.putString(null, "This should not work"));
   }
 
   @Test
   void putStringNullValueTest() {
-    assertThrows(NullPointerException.class,
+    assertThrows(
+        NullPointerException.class,
         () -> SmartDashboard.putString("KEY_SHOULD_NOT_BE_STORED", null));
   }
 }
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/util/ColorTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/util/ColorTest.java
index 601e465faa..64001d231b 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/util/ColorTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/util/ColorTest.java
@@ -4,16 +4,15 @@
 
 package edu.wpi.first.wpilibj.util;
 
-import java.util.stream.Stream;
-
-import org.junit.jupiter.params.ParameterizedTest;
-import org.junit.jupiter.params.provider.Arguments;
-import org.junit.jupiter.params.provider.MethodSource;
-
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.params.provider.Arguments.arguments;
 
+import java.util.stream.Stream;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.Arguments;
+import org.junit.jupiter.params.provider.MethodSource;
+
 class ColorTest {
   private static final double kEpsilon = 1e-3;
 
@@ -21,8 +20,7 @@ class ColorTest {
     assertAll(
         () -> assertEquals(red, color.red, kEpsilon),
         () -> assertEquals(green, color.green, kEpsilon),
-        () -> assertEquals(blue, color.blue, kEpsilon)
-    );
+        () -> assertEquals(blue, color.blue, kEpsilon));
   }
 
   @ParameterizedTest
@@ -39,9 +37,8 @@ class ColorTest {
 
   static Stream<Arguments> staticColorProvider() {
     return Stream.of(
-      arguments(0.0823529412, 0.376470589, 0.7411764706, Color.kDenim),
-      arguments(0.0, 0.4, 0.7019607844, Color.kFirstBlue),
-      arguments(0.9294117648, 0.1098039216, 0.1411764706, Color.kFirstRed)
-    );
+        arguments(0.0823529412, 0.376470589, 0.7411764706, Color.kDenim),
+        arguments(0.0, 0.4, 0.7019607844, Color.kFirstBlue),
+        arguments(0.9294117648, 0.1098039216, 0.1411764706, Color.kFirstRed));
   }
 }
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/util/ErrorMessagesTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/util/ErrorMessagesTest.java
index 533f3c51b9..e68fe65eb6 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/util/ErrorMessagesTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/util/ErrorMessagesTest.java
@@ -4,14 +4,13 @@
 
 package edu.wpi.first.wpilibj.util;
 
-import org.junit.jupiter.api.Test;
-
-import edu.wpi.first.wpilibj.UtilityClassTest;
-
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertThrows;
 
+import edu.wpi.first.wpilibj.UtilityClassTest;
+import org.junit.jupiter.api.Test;
+
 class ErrorMessagesTest extends UtilityClassTest<ErrorMessages> {
   ErrorMessagesTest() {
     super(ErrorMessages.class);
@@ -19,8 +18,8 @@ class ErrorMessagesTest extends UtilityClassTest<ErrorMessages> {
 
   @Test
   void requireNonNullParamNullTest() {
-    assertThrows(NullPointerException.class, () -> requireNonNullParam(null, "testParam",
-        "testMethod"));
+    assertThrows(
+        NullPointerException.class, () -> requireNonNullParam(null, "testParam", "testMethod"));
   }
 
   @Test
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/command/ReplaceMeCommand.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/command/ReplaceMeCommand.java
index 1aae598bae..5ca1ca1288 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/command/ReplaceMeCommand.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/command/ReplaceMeCommand.java
@@ -14,13 +14,11 @@ public class ReplaceMeCommand extends Command {
 
   // Called just before this Command runs the first time
   @Override
-  protected void initialize() {
-  }
+  protected void initialize() {}
 
   // Called repeatedly when this Command is scheduled to run
   @Override
-  protected void execute() {
-  }
+  protected void execute() {}
 
   // Make this return true when this Command no longer needs to run execute()
   @Override
@@ -30,12 +28,10 @@ public class ReplaceMeCommand extends Command {
 
   // Called once after isFinished returns true
   @Override
-  protected void end() {
-  }
+  protected void end() {}
 
   // Called when another command which requires one or more of the same
   // subsystems is scheduled to run
   @Override
-  protected void interrupted() {
-  }
+  protected void interrupted() {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/command2/ReplaceMeCommand.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/command2/ReplaceMeCommand.java
index 4b9e923f9c..a9a96ef35e 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/command2/ReplaceMeCommand.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/command2/ReplaceMeCommand.java
@@ -7,27 +7,22 @@ package edu.wpi.first.wpilibj.commands.command2;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 
 public class ReplaceMeCommand extends CommandBase {
-  /**
-   * Creates a new ReplaceMeCommand.
-   */
+  /** Creates a new ReplaceMeCommand. */
   public ReplaceMeCommand() {
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {
-  }
+  public void initialize() {}
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {
-  }
+  public void execute() {}
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {
-  }
+  public void end(boolean interrupted) {}
 
   // Returns true when the command should end.
   @Override
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/commandgroup/ReplaceMeCommandGroup.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/commandgroup/ReplaceMeCommandGroup.java
index d3e0a8391d..ba8e273022 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/commandgroup/ReplaceMeCommandGroup.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/commandgroup/ReplaceMeCommandGroup.java
@@ -7,9 +7,7 @@ package edu.wpi.first.wpilibj.commands.commandgroup;
 import edu.wpi.first.wpilibj.command.CommandGroup;
 
 public class ReplaceMeCommandGroup extends CommandGroup {
-  /**
-   * Add your docs here.
-   */
+  /** Add your docs here. */
   public ReplaceMeCommandGroup() {
     // Add Commands here:
     // e.g. addSequential(new Command1());
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/emptyclass/ReplaceMeEmptyClass.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/emptyclass/ReplaceMeEmptyClass.java
index a826aef76b..2e8a5fff9c 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/emptyclass/ReplaceMeEmptyClass.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/emptyclass/ReplaceMeEmptyClass.java
@@ -4,8 +4,5 @@
 
 package edu.wpi.first.wpilibj.commands.emptyclass;
 
-/**
- * Add your docs here.
- */
-public class ReplaceMeEmptyClass {
-}
+/** Add your docs here. */
+public class ReplaceMeEmptyClass {}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/instant/ReplaceMeInstantCommand.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/instant/ReplaceMeInstantCommand.java
index aab3f12e6e..769b595b9c 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/instant/ReplaceMeInstantCommand.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/instant/ReplaceMeInstantCommand.java
@@ -6,13 +6,9 @@ package edu.wpi.first.wpilibj.commands.instant;
 
 import edu.wpi.first.wpilibj.command.InstantCommand;
 
-/**
- * Add your docs here.
- */
+/** Add your docs here. */
 public class ReplaceMeInstantCommand extends InstantCommand {
-  /**
-   * Add your docs here.
-   */
+  /** Add your docs here. */
   public ReplaceMeInstantCommand() {
     super();
     // Use requires() here to declare subsystem dependencies
@@ -21,7 +17,5 @@ public class ReplaceMeInstantCommand extends InstantCommand {
 
   // Called once when the command executes
   @Override
-  protected void initialize() {
-  }
-
+  protected void initialize() {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/instantcommand/ReplaceMeInstantCommand.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/instantcommand/ReplaceMeInstantCommand.java
index b990ce0985..fe7fe9bb44 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/instantcommand/ReplaceMeInstantCommand.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/instantcommand/ReplaceMeInstantCommand.java
@@ -16,6 +16,5 @@ public class ReplaceMeInstantCommand extends InstantCommand {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {
-  }
+  public void initialize() {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/parallelcommandgroup/ReplaceMeParallelCommandGroup.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/parallelcommandgroup/ReplaceMeParallelCommandGroup.java
index af83a3bf55..ab4d0cc183 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/parallelcommandgroup/ReplaceMeParallelCommandGroup.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/parallelcommandgroup/ReplaceMeParallelCommandGroup.java
@@ -10,9 +10,7 @@ import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 // information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 public class ReplaceMeParallelCommandGroup extends ParallelCommandGroup {
-  /**
-   * Creates a new ReplaceMeParallelCommandGroup.
-   */
+  /** Creates a new ReplaceMeParallelCommandGroup. */
   public ReplaceMeParallelCommandGroup() {
     // Add your commands in the addCommands() call, e.g.
     // addCommands(new FooCommand(), new BarCommand());
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/paralleldeadlinegroup/ReplaceMeParallelDeadlineGroup.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/paralleldeadlinegroup/ReplaceMeParallelDeadlineGroup.java
index 7d6b820016..95c902dab8 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/paralleldeadlinegroup/ReplaceMeParallelDeadlineGroup.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/paralleldeadlinegroup/ReplaceMeParallelDeadlineGroup.java
@@ -11,9 +11,7 @@ import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
 // information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 public class ReplaceMeParallelDeadlineGroup extends ParallelDeadlineGroup {
-  /**
-   * Creates a new ReplaceMeParallelDeadlineGroup.
-   */
+  /** Creates a new ReplaceMeParallelDeadlineGroup. */
   public ReplaceMeParallelDeadlineGroup() {
     // Add the deadline command in the super() call. Add other commands using
     // addCommands().
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/parallelracegroup/ReplaceMeParallelRaceGroup.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/parallelracegroup/ReplaceMeParallelRaceGroup.java
index 337153050a..3de0c7f654 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/parallelracegroup/ReplaceMeParallelRaceGroup.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/parallelracegroup/ReplaceMeParallelRaceGroup.java
@@ -10,9 +10,7 @@ import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
 // information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 public class ReplaceMeParallelRaceGroup extends ParallelRaceGroup {
-  /**
-   * Creates a new ReplaceMeParallelRaceGroup.
-   */
+  /** Creates a new ReplaceMeParallelRaceGroup. */
   public ReplaceMeParallelRaceGroup() {
     // Add your commands in the addCommands() call, e.g.
     // addCommands(new FooCommand(), new BarCommand());
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidcommand/ReplaceMePIDCommand.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidcommand/ReplaceMePIDCommand.java
index 5d1d254fe1..ad2f053550 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidcommand/ReplaceMePIDCommand.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidcommand/ReplaceMePIDCommand.java
@@ -11,9 +11,7 @@ import edu.wpi.first.wpilibj2.command.PIDCommand;
 // information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 public class ReplaceMePIDCommand extends PIDCommand {
-  /**
-   * Creates a new ReplaceMePIDCommand.
-   */
+  /** Creates a new ReplaceMePIDCommand. */
   public ReplaceMePIDCommand() {
     super(
         // The controller that the command will use
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidsubsystem/ReplaceMePIDSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidsubsystem/ReplaceMePIDSubsystem.java
index a700300811..01e798729f 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidsubsystem/ReplaceMePIDSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidsubsystem/ReplaceMePIDSubsystem.java
@@ -6,13 +6,9 @@ package edu.wpi.first.wpilibj.commands.pidsubsystem;
 
 import edu.wpi.first.wpilibj.command.PIDSubsystem;
 
-/**
- * Add your docs here.
- */
+/** Add your docs here. */
 public class ReplaceMePIDSubsystem extends PIDSubsystem {
-  /**
-   * Add your docs here.
-   */
+  /** Add your docs here. */
   public ReplaceMePIDSubsystem() {
     // Intert a subsystem name and PID values here
     super("SubsystemName", 1, 2, 3);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidsubsystem2/ReplaceMePIDSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidsubsystem2/ReplaceMePIDSubsystem.java
index c228718ea4..a8db6be4b5 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidsubsystem2/ReplaceMePIDSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidsubsystem2/ReplaceMePIDSubsystem.java
@@ -8,9 +8,7 @@ import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj2.command.PIDSubsystem;
 
 public class ReplaceMePIDSubsystem extends PIDSubsystem {
-  /**
-   * Creates a new ReplaceMePIDSubsystem.
-   */
+  /** Creates a new ReplaceMePIDSubsystem. */
   public ReplaceMePIDSubsystem() {
     super(
         // The PIDController used by the subsystem
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.java
index 75ad8e3fae..8e0ca10eee 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.java
@@ -12,15 +12,15 @@ import edu.wpi.first.wpilibj2.command.ProfiledPIDCommand;
 // information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 public class ReplaceMeProfiledPIDCommand extends ProfiledPIDCommand {
-  /**
-   * Creates a new ReplaceMeProfiledPIDCommand.
-   */
+  /** Creates a new ReplaceMeProfiledPIDCommand. */
   public ReplaceMeProfiledPIDCommand() {
     super(
         // The ProfiledPIDController used by the command
         new ProfiledPIDController(
             // The PID gains
-            0, 0, 0,
+            0,
+            0,
+            0,
             // The motion profile constraints
             new TrapezoidProfile.Constraints(0, 0)),
         // This should return the measurement
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.java
index 15a20e031f..c46afd964d 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.java
@@ -9,15 +9,16 @@ import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
 import edu.wpi.first.wpilibj2.command.ProfiledPIDSubsystem;
 
 public class ReplaceMeProfiledPIDSubsystem extends ProfiledPIDSubsystem {
-  /**
-   * Creates a new ReplaceMeProfiledPIDSubsystem.
-   */
+  /** Creates a new ReplaceMeProfiledPIDSubsystem. */
   public ReplaceMeProfiledPIDSubsystem() {
     super(
         // The ProfiledPIDController used by the subsystem
-        new ProfiledPIDController(0, 0, 0,
-                                  // The motion profile constraints
-                                  new TrapezoidProfile.Constraints(0, 0)));
+        new ProfiledPIDController(
+            0,
+            0,
+            0,
+            // The motion profile constraints
+            new TrapezoidProfile.Constraints(0, 0)));
   }
 
   @Override
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/sequentialcommandgroup/ReplaceMeSequentialCommandGroup.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/sequentialcommandgroup/ReplaceMeSequentialCommandGroup.java
index a3a69fed7c..ca4488b5ed 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/sequentialcommandgroup/ReplaceMeSequentialCommandGroup.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/sequentialcommandgroup/ReplaceMeSequentialCommandGroup.java
@@ -10,9 +10,7 @@ import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 // information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 public class ReplaceMeSequentialCommandGroup extends SequentialCommandGroup {
-  /**
-   * Creates a new ReplaceMeSequentialCommandGroup.
-   */
+  /** Creates a new ReplaceMeSequentialCommandGroup. */
   public ReplaceMeSequentialCommandGroup() {
     // Add your commands in the addCommands() call, e.g.
     // addCommands(new FooCommand(), new BarCommand());
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/subsystem/ReplaceMeSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/subsystem/ReplaceMeSubsystem.java
index 9698179059..671daf15fe 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/subsystem/ReplaceMeSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/subsystem/ReplaceMeSubsystem.java
@@ -6,9 +6,7 @@ package edu.wpi.first.wpilibj.commands.subsystem;
 
 import edu.wpi.first.wpilibj.command.Subsystem;
 
-/**
- * Add your docs here.
- */
+/** Add your docs here. */
 public class ReplaceMeSubsystem extends Subsystem {
   // Put methods for controlling this subsystem
   // here. Call these from Commands.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/subsystem2/ReplaceMeSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/subsystem2/ReplaceMeSubsystem.java
index 65f126b5ef..f72539d712 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/subsystem2/ReplaceMeSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/subsystem2/ReplaceMeSubsystem.java
@@ -7,12 +7,8 @@ package edu.wpi.first.wpilibj.commands.subsystem2;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class ReplaceMeSubsystem extends SubsystemBase {
-  /**
-   * Creates a new ReplaceMeSubsystem.
-   */
-  public ReplaceMeSubsystem() {
-
-  }
+  /** Creates a new ReplaceMeSubsystem. */
+  public ReplaceMeSubsystem() {}
 
   @Override
   public void periodic() {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/timed/ReplaceMeTimedCommand.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/timed/ReplaceMeTimedCommand.java
index 1fec917364..6021382ac1 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/timed/ReplaceMeTimedCommand.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/timed/ReplaceMeTimedCommand.java
@@ -6,13 +6,9 @@ package edu.wpi.first.wpilibj.commands.timed;
 
 import edu.wpi.first.wpilibj.command.TimedCommand;
 
-/**
- * Add your docs here.
- */
+/** Add your docs here. */
 public class ReplaceMeTimedCommand extends TimedCommand {
-  /**
-   * Add your docs here.
-   */
+  /** Add your docs here. */
   public ReplaceMeTimedCommand(double timeout) {
     super(timeout);
     // Use requires() here to declare subsystem dependencies
@@ -21,22 +17,18 @@ public class ReplaceMeTimedCommand extends TimedCommand {
 
   // Called just before this Command runs the first time
   @Override
-  protected void initialize() {
-  }
+  protected void initialize() {}
 
   // Called repeatedly when this Command is scheduled to run
   @Override
-  protected void execute() {
-  }
+  protected void execute() {}
 
   // Called once after timeout
   @Override
-  protected void end() {
-  }
+  protected void end() {}
 
   // Called when another command which requires one or more of the same
   // subsystems is scheduled to run
   @Override
-  protected void interrupted() {
-  }
+  protected void interrupted() {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trapezoidprofilecommand/ReplaceMeTrapezoidProfileCommand.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trapezoidprofilecommand/ReplaceMeTrapezoidProfileCommand.java
index 88fa14fea9..c31819b928 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trapezoidprofilecommand/ReplaceMeTrapezoidProfileCommand.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trapezoidprofilecommand/ReplaceMeTrapezoidProfileCommand.java
@@ -11,9 +11,7 @@ import edu.wpi.first.wpilibj2.command.TrapezoidProfileCommand;
 // information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 public class ReplaceMeTrapezoidProfileCommand extends TrapezoidProfileCommand {
-  /**
-   * Creates a new ReplaceMeTrapezoidProfileCommand.
-   */
+  /** Creates a new ReplaceMeTrapezoidProfileCommand. */
   public ReplaceMeTrapezoidProfileCommand() {
     super(
         // The motion profile to be executed
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trapezoidprofilesubsystem/ReplaceMeTrapezoidProfileSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trapezoidprofilesubsystem/ReplaceMeTrapezoidProfileSubsystem.java
index 1b53cd8c07..c0660abf5b 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trapezoidprofilesubsystem/ReplaceMeTrapezoidProfileSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trapezoidprofilesubsystem/ReplaceMeTrapezoidProfileSubsystem.java
@@ -8,9 +8,7 @@ import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
 import edu.wpi.first.wpilibj2.command.TrapezoidProfileSubsystem;
 
 public class ReplaceMeTrapezoidProfileSubsystem extends TrapezoidProfileSubsystem {
-  /**
-   * Creates a new ReplaceMeTrapezoidProfileSubsystem.
-   */
+  /** Creates a new ReplaceMeTrapezoidProfileSubsystem. */
   public ReplaceMeTrapezoidProfileSubsystem() {
     super(
         // The constraints for the generated profiles
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trigger/ReplaceMeTrigger.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trigger/ReplaceMeTrigger.java
index e93b6fa3a4..c1343d93e2 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trigger/ReplaceMeTrigger.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trigger/ReplaceMeTrigger.java
@@ -6,9 +6,7 @@ package edu.wpi.first.wpilibj.commands.trigger;
 
 import edu.wpi.first.wpilibj.buttons.Trigger;
 
-/**
- * Add your docs here.
- */
+/** Add your docs here. */
 public class ReplaceMeTrigger extends Trigger {
   @Override
   public boolean get() {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled/Main.java
index 7f27176681..be4ecffa99 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.addressableled;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Main.java
index 34c5aa2bab..b451bc3f4b 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.arcadedrive;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java
index e28ed96139..14806d2bbd 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java
@@ -10,8 +10,8 @@ import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 
 /**
- * This is a demo program showing the use of the DifferentialDrive class.
- * Runs the motors with arcade steering.
+ * This is a demo program showing the use of the DifferentialDrive class. Runs the motors with
+ * arcade steering.
  */
 public class Robot extends TimedRobot {
   private final PWMVictorSPX m_leftMotor = new PWMVictorSPX(0);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Main.java
index b91909a462..2088c7b04f 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.arcadedrivexboxcontroller;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java
index 6b3a047ccb..61d8b6dd5a 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java
@@ -11,8 +11,8 @@ import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 
 /**
- * This is a demo program showing the use of the DifferentialDrive class.
- * Runs the motors with split arcade steering and an Xbox controller.
+ * This is a demo program showing the use of the DifferentialDrive class. Runs the motors with split
+ * arcade steering and an Xbox controller.
  */
 public class Robot extends TimedRobot {
   private final PWMVictorSPX m_leftMotor = new PWMVictorSPX(0);
@@ -25,7 +25,7 @@ public class Robot extends TimedRobot {
     // Drive with split arcade drive.
     // That means that the Y axis of the left stick moves forward
     // and backward, and the X of the right stick turns left and right.
-    m_robotDrive.arcadeDrive(m_driverController.getY(Hand.kLeft),
-        m_driverController.getX(Hand.kRight));
+    m_robotDrive.arcadeDrive(
+        m_driverController.getY(Hand.kLeft), m_driverController.getX(Hand.kRight));
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Constants.java
index b9c6ae228a..716bcb177c 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Constants.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Constants.java
@@ -6,8 +6,8 @@ package edu.wpi.first.wpilibj.examples.armbot;
 
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
- * constants.  This class should not be used for any other purpose.  All constants should be
- * declared globally (i.e. public static).  Do not put anything functional in this class.
+ * constants. This class should not be used for any other purpose. All constants should be declared
+ * globally (i.e. public static). Do not put anything functional in this class.
  *
  * <p>It is advised to statically import this class (or one of its inner classes) wherever the
  * constants are needed, to reduce verbosity.
@@ -19,8 +19,8 @@ public final class Constants {
     public static final int kRightMotor1Port = 2;
     public static final int kRightMotor2Port = 3;
 
-    public static final int[] kLeftEncoderPorts = new int[]{0, 1};
-    public static final int[] kRightEncoderPorts = new int[]{2, 3};
+    public static final int[] kLeftEncoderPorts = new int[] {0, 1};
+    public static final int[] kRightEncoderPorts = new int[] {2, 3};
     public static final boolean kLeftEncoderReversed = false;
     public static final boolean kRightEncoderReversed = true;
 
@@ -45,7 +45,7 @@ public final class Constants {
     public static final double kMaxVelocityRadPerSecond = 3;
     public static final double kMaxAccelerationRadPerSecSquared = 10;
 
-    public static final int[] kEncoderPorts = new int[]{4, 5};
+    public static final int[] kEncoderPorts = new int[] {4, 5};
     public static final int kEncoderPPR = 256;
     public static final double kEncoderDistancePerPulse = 2.0 * Math.PI / kEncoderPPR;
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Main.java
index d3547cf5d9..4d353a6fe4 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Main.java
@@ -12,8 +12,7 @@ import edu.wpi.first.wpilibj.RobotBase;
  * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Robot.java
index a669e9544b..3f91253443 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Robot.java
@@ -34,8 +34,8 @@ public class Robot extends TimedRobot {
    * This function is called every robot packet, no matter the mode. Use this for items like
    * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
    *
-   * <p>This runs after the mode specific periodic functions, but before
-   * LiveWindow and SmartDashboard integrated updating.
+   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
+   * SmartDashboard integrated updating.
    */
   @Override
   public void robotPeriodic() {
@@ -46,21 +46,16 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().run();
   }
 
-  /**
-   * This function is called once each time the robot enters Disabled mode.
-   */
+  /** This function is called once each time the robot enters Disabled mode. */
   @Override
   public void disabledInit() {
     m_robotContainer.disablePIDSubsystems();
   }
 
   @Override
-  public void disabledPeriodic() {
-  }
+  public void disabledPeriodic() {}
 
-  /**
-   * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
-   */
+  /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
   @Override
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
@@ -78,12 +73,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during autonomous.
-   */
+  /** This function is called periodically during autonomous. */
   @Override
-  public void autonomousPeriodic() {
-  }
+  public void autonomousPeriodic() {}
 
   @Override
   public void teleopInit() {
@@ -96,13 +88,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during operator control.
-   */
+  /** This function is called periodically during operator control. */
   @Override
-  public void teleopPeriodic() {
-
-  }
+  public void teleopPeriodic() {}
 
   @Override
   public void testInit() {
@@ -110,10 +98,7 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().cancelAll();
   }
 
-  /**
-   * This function is called periodically during test mode.
-   */
+  /** This function is called periodically during test mode. */
   @Override
-  public void testPeriodic() {
-  }
+  public void testPeriodic() {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.java
index 752b3f80d4..084589414a 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.java
@@ -4,24 +4,23 @@
 
 package edu.wpi.first.wpilibj.examples.armbot;
 
+import static edu.wpi.first.wpilibj.XboxController.Button;
+
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.examples.armbot.Constants.OIConstants;
+import edu.wpi.first.wpilibj.examples.armbot.subsystems.ArmSubsystem;
+import edu.wpi.first.wpilibj.examples.armbot.subsystems.DriveSubsystem;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 
-import edu.wpi.first.wpilibj.examples.armbot.Constants.OIConstants;
-import edu.wpi.first.wpilibj.examples.armbot.subsystems.ArmSubsystem;
-import edu.wpi.first.wpilibj.examples.armbot.subsystems.DriveSubsystem;
-
-import static edu.wpi.first.wpilibj.XboxController.Button;
-
 /**
- * This class is where the bulk of the robot should be declared.  Since Command-based is a
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
  * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
- * periodic methods (other than the scheduler calls).  Instead, the structure of the robot
- * (including subsystems, commands, and button mappings) should be declared here.
+ * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
+ * subsystems, commands, and button mappings) should be declared here.
  */
 public class RobotContainer {
   // The robot's subsystems
@@ -31,9 +30,7 @@ public class RobotContainer {
   // The driver's controller
   XboxController m_driverController = new XboxController(OIConstants.kDriverControllerPort);
 
-  /**
-   * The container for the robot.  Contains subsystems, OI devices, and commands.
-   */
+  /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     // Configure the button bindings
     configureButtonBindings();
@@ -43,37 +40,42 @@ public class RobotContainer {
     m_robotDrive.setDefaultCommand(
         // A split-stick arcade command, with forward/backward controlled by the left
         // hand, and turning controlled by the right.
-        new RunCommand(() -> m_robotDrive
-            .arcadeDrive(m_driverController.getY(GenericHID.Hand.kLeft),
-                m_driverController.getX(GenericHID.Hand.kRight)), m_robotDrive));
-
+        new RunCommand(
+            () ->
+                m_robotDrive.arcadeDrive(
+                    m_driverController.getY(GenericHID.Hand.kLeft),
+                    m_driverController.getX(GenericHID.Hand.kRight)),
+            m_robotDrive));
   }
 
   /**
-   * Use this method to define your button->command mappings.  Buttons can be created by
+   * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link GenericHID} or one of its subclasses ({@link
-   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
-   * {@link JoystickButton}.
+   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
+   * JoystickButton}.
    */
   private void configureButtonBindings() {
 
     // Move the arm to 2 radians above horizontal when the 'A' button is pressed.
     new JoystickButton(m_driverController, Button.kA.value)
-        .whenPressed(() -> {
-          m_robotArm.setGoal(2);
-          m_robotArm.enable();
-        }, m_robotArm);
+        .whenPressed(
+            () -> {
+              m_robotArm.setGoal(2);
+              m_robotArm.enable();
+            },
+            m_robotArm);
 
     // Move the arm to neutral position when the 'B' button is pressed.
     new JoystickButton(m_driverController, Button.kB.value)
-        .whenPressed(() -> {
-          m_robotArm.setGoal(Constants.ArmConstants.kArmOffsetRads);
-          m_robotArm.enable();
-        }, m_robotArm);
+        .whenPressed(
+            () -> {
+              m_robotArm.setGoal(Constants.ArmConstants.kArmOffsetRads);
+              m_robotArm.enable();
+            },
+            m_robotArm);
 
     // Disable the arm controller when Y is pressed.
-    new JoystickButton(m_driverController, Button.kY.value)
-        .whenPressed(m_robotArm::disable);
+    new JoystickButton(m_driverController, Button.kY.value).whenPressed(m_robotArm::disable);
 
     // Drive at half speed when the bumper is held
     new JoystickButton(m_driverController, Button.kBumperRight.value)
@@ -82,8 +84,8 @@ public class RobotContainer {
   }
 
   /**
-   * Disables all ProfiledPIDSubsystem and PIDSubsystem instances. This
-   * should be called on robot disable to prevent integral windup.
+   * Disables all ProfiledPIDSubsystem and PIDSubsystem instances. This should be called on robot
+   * disable to prevent integral windup.
    */
   public void disablePIDSubsystems() {
     m_robotArm.disable();
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java
index 53d15733ac..4a05418083 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java
@@ -8,28 +8,31 @@ import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.controller.ArmFeedforward;
 import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
+import edu.wpi.first.wpilibj.examples.armbot.Constants.ArmConstants;
 import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
 import edu.wpi.first.wpilibj2.command.ProfiledPIDSubsystem;
 
-import edu.wpi.first.wpilibj.examples.armbot.Constants.ArmConstants;
-
-/**
- * A robot arm subsystem that moves with a motion profile.
- */
+/** A robot arm subsystem that moves with a motion profile. */
 public class ArmSubsystem extends ProfiledPIDSubsystem {
   private final PWMVictorSPX m_motor = new PWMVictorSPX(ArmConstants.kMotorPort);
   private final Encoder m_encoder =
       new Encoder(ArmConstants.kEncoderPorts[0], ArmConstants.kEncoderPorts[1]);
   private final ArmFeedforward m_feedforward =
-      new ArmFeedforward(ArmConstants.kSVolts, ArmConstants.kCosVolts,
-                         ArmConstants.kVVoltSecondPerRad, ArmConstants.kAVoltSecondSquaredPerRad);
+      new ArmFeedforward(
+          ArmConstants.kSVolts, ArmConstants.kCosVolts,
+          ArmConstants.kVVoltSecondPerRad, ArmConstants.kAVoltSecondSquaredPerRad);
 
-  /**
-   * Create a new ArmSubsystem.
-   */
+  /** Create a new ArmSubsystem. */
   public ArmSubsystem() {
-    super(new ProfiledPIDController(ArmConstants.kP, 0, 0, new TrapezoidProfile.Constraints(
-        ArmConstants.kMaxVelocityRadPerSecond, ArmConstants.kMaxAccelerationRadPerSecSquared)), 0);
+    super(
+        new ProfiledPIDController(
+            ArmConstants.kP,
+            0,
+            0,
+            new TrapezoidProfile.Constraints(
+                ArmConstants.kMaxVelocityRadPerSecond,
+                ArmConstants.kMaxAccelerationRadPerSecSquared)),
+        0);
     m_encoder.setDistancePerPulse(ArmConstants.kEncoderDistancePerPulse);
     // Start arm at rest in neutral position
     setGoal(ArmConstants.kArmOffsetRads);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/DriveSubsystem.java
index 1dfe97d5b5..a8bc9a289b 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/DriveSubsystem.java
@@ -8,37 +8,40 @@ import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
 import edu.wpi.first.wpilibj.examples.armbot.Constants.DriveConstants;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class DriveSubsystem extends SubsystemBase {
   // The motors on the left side of the drive.
   private final SpeedControllerGroup m_leftMotors =
-      new SpeedControllerGroup(new PWMVictorSPX(DriveConstants.kLeftMotor1Port),
-                               new PWMVictorSPX(DriveConstants.kLeftMotor2Port));
+      new SpeedControllerGroup(
+          new PWMVictorSPX(DriveConstants.kLeftMotor1Port),
+          new PWMVictorSPX(DriveConstants.kLeftMotor2Port));
 
   // The motors on the right side of the drive.
   private final SpeedControllerGroup m_rightMotors =
-      new SpeedControllerGroup(new PWMVictorSPX(DriveConstants.kRightMotor1Port),
-                               new PWMVictorSPX(DriveConstants.kRightMotor2Port));
+      new SpeedControllerGroup(
+          new PWMVictorSPX(DriveConstants.kRightMotor1Port),
+          new PWMVictorSPX(DriveConstants.kRightMotor2Port));
 
   // The robot's drive
   private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);
 
   // The left-side drive encoder
   private final Encoder m_leftEncoder =
-      new Encoder(DriveConstants.kLeftEncoderPorts[0], DriveConstants.kLeftEncoderPorts[1],
-                  DriveConstants.kLeftEncoderReversed);
+      new Encoder(
+          DriveConstants.kLeftEncoderPorts[0],
+          DriveConstants.kLeftEncoderPorts[1],
+          DriveConstants.kLeftEncoderReversed);
 
   // The right-side drive encoder
   private final Encoder m_rightEncoder =
-      new Encoder(DriveConstants.kRightEncoderPorts[0], DriveConstants.kRightEncoderPorts[1],
-                  DriveConstants.kRightEncoderReversed);
+      new Encoder(
+          DriveConstants.kRightEncoderPorts[0],
+          DriveConstants.kRightEncoderPorts[1],
+          DriveConstants.kRightEncoderReversed);
 
-  /**
-   * Creates a new DriveSubsystem.
-   */
+  /** Creates a new DriveSubsystem. */
   public DriveSubsystem() {
     // Sets the distance per pulse for the encoders
     m_leftEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
@@ -55,9 +58,7 @@ public class DriveSubsystem extends SubsystemBase {
     m_drive.arcadeDrive(fwd, rot);
   }
 
-  /**
-   * Resets the drive encoders to currently read a position of 0.
-   */
+  /** Resets the drive encoders to currently read a position of 0. */
   public void resetEncoders() {
     m_leftEncoder.reset();
     m_rightEncoder.reset();
@@ -91,7 +92,7 @@ public class DriveSubsystem extends SubsystemBase {
   }
 
   /**
-   * Sets the max output of the drive.  Useful for scaling the drive to drive more slowly.
+   * Sets the max output of the drive. Useful for scaling the drive to drive more slowly.
    *
    * @param maxOutput the maximum output to which the drive will be constrained
    */
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/Constants.java
index 0093513454..8fcf0c0d6e 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/Constants.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/Constants.java
@@ -6,8 +6,8 @@ package edu.wpi.first.wpilibj.examples.armbotoffboard;
 
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
- * constants.  This class should not be used for any other purpose.  All constants should be
- * declared globally (i.e. public static).  Do not put anything functional in this class.
+ * constants. This class should not be used for any other purpose. All constants should be declared
+ * globally (i.e. public static). Do not put anything functional in this class.
  *
  * <p>It is advised to statically import this class (or one of its inner classes) wherever the
  * constants are needed, to reduce verbosity.
@@ -19,8 +19,8 @@ public final class Constants {
     public static final int kRightMotor1Port = 2;
     public static final int kRightMotor2Port = 3;
 
-    public static final int[] kLeftEncoderPorts = new int[]{0, 1};
-    public static final int[] kRightEncoderPorts = new int[]{2, 3};
+    public static final int[] kLeftEncoderPorts = new int[] {0, 1};
+    public static final int[] kRightEncoderPorts = new int[] {2, 3};
     public static final boolean kLeftEncoderReversed = false;
     public static final boolean kRightEncoderReversed = true;
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/ExampleSmartMotorController.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/ExampleSmartMotorController.java
index 9061a7d7cd..fa31d457fe 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/ExampleSmartMotorController.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/ExampleSmartMotorController.java
@@ -24,8 +24,7 @@ public class ExampleSmartMotorController implements SpeedController {
    * @param port The port for the controller.
    */
   @SuppressWarnings("PMD.UnusedFormalParameter")
-  public ExampleSmartMotorController(int port) {
-  }
+  public ExampleSmartMotorController(int port) {}
 
   /**
    * Example method for setting the PID gains of the smart controller.
@@ -34,8 +33,7 @@ public class ExampleSmartMotorController implements SpeedController {
    * @param ki The integral gain.
    * @param kd The derivative gain.
    */
-  public void setPID(double kp, double ki, double kd) {
-  }
+  public void setPID(double kp, double ki, double kd) {}
 
   /**
    * Example method for setting the setpoint of the smart controller in PID mode.
@@ -44,16 +42,14 @@ public class ExampleSmartMotorController implements SpeedController {
    * @param setpoint The controller setpoint.
    * @param arbFeedforward An arbitrary feedforward output (from -1 to 1).
    */
-  public void setSetpoint(PIDMode mode, double setpoint, double arbFeedforward) {
-  }
+  public void setSetpoint(PIDMode mode, double setpoint, double arbFeedforward) {}
 
   /**
    * Places this motor controller in follower mode.
    *
    * @param leader The leader to follow.
    */
-  public void follow(ExampleSmartMotorController leader) {
-  }
+  public void follow(ExampleSmartMotorController leader) {}
 
   /**
    * Returns the encoder distance.
@@ -73,15 +69,11 @@ public class ExampleSmartMotorController implements SpeedController {
     return 0;
   }
 
-  /**
-   * Resets the encoder to zero distance.
-   */
-  public void resetEncoder() {
-  }
+  /** Resets the encoder to zero distance. */
+  public void resetEncoder() {}
 
   @Override
-  public void set(double speed) {
-  }
+  public void set(double speed) {}
 
   @Override
   public double get() {
@@ -89,9 +81,7 @@ public class ExampleSmartMotorController implements SpeedController {
   }
 
   @Override
-  public void setInverted(boolean isInverted) {
-
-  }
+  public void setInverted(boolean isInverted) {}
 
   @Override
   public boolean getInverted() {
@@ -99,14 +89,11 @@ public class ExampleSmartMotorController implements SpeedController {
   }
 
   @Override
-  public void disable() {
-  }
+  public void disable() {}
 
   @Override
-  public void stopMotor() {
-  }
+  public void stopMotor() {}
 
   @Override
-  public void pidWrite(double output) {
-  }
+  public void pidWrite(double output) {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/Main.java
index f57e888368..ad36fce5a8 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/Main.java
@@ -12,8 +12,7 @@ import edu.wpi.first.wpilibj.RobotBase;
  * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/Robot.java
index 5482771482..e0c0c7b082 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/Robot.java
@@ -34,8 +34,8 @@ public class Robot extends TimedRobot {
    * This function is called every robot packet, no matter the mode. Use this for items like
    * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
    *
-   * <p>This runs after the mode specific periodic functions, but before
-   * LiveWindow and SmartDashboard integrated updating.
+   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
+   * SmartDashboard integrated updating.
    */
   @Override
   public void robotPeriodic() {
@@ -46,20 +46,14 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().run();
   }
 
-  /**
-   * This function is called once each time the robot enters Disabled mode.
-   */
+  /** This function is called once each time the robot enters Disabled mode. */
   @Override
-  public void disabledInit() {
-  }
+  public void disabledInit() {}
 
   @Override
-  public void disabledPeriodic() {
-  }
+  public void disabledPeriodic() {}
 
-  /**
-   * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
-   */
+  /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
   @Override
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
@@ -77,12 +71,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during autonomous.
-   */
+  /** This function is called periodically during autonomous. */
   @Override
-  public void autonomousPeriodic() {
-  }
+  public void autonomousPeriodic() {}
 
   @Override
   public void teleopInit() {
@@ -95,13 +86,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during operator control.
-   */
+  /** This function is called periodically during operator control. */
   @Override
-  public void teleopPeriodic() {
-
-  }
+  public void teleopPeriodic() {}
 
   @Override
   public void testInit() {
@@ -109,10 +96,7 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().cancelAll();
   }
 
-  /**
-   * This function is called periodically during test mode.
-   */
+  /** This function is called periodically during test mode. */
   @Override
-  public void testPeriodic() {
-  }
+  public void testPeriodic() {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/RobotContainer.java
index 553bc8cadb..ca6a3a5f08 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/RobotContainer.java
@@ -4,24 +4,23 @@
 
 package edu.wpi.first.wpilibj.examples.armbotoffboard;
 
+import static edu.wpi.first.wpilibj.XboxController.Button;
+
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.examples.armbotoffboard.Constants.OIConstants;
+import edu.wpi.first.wpilibj.examples.armbotoffboard.subsystems.ArmSubsystem;
+import edu.wpi.first.wpilibj.examples.armbotoffboard.subsystems.DriveSubsystem;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 
-import edu.wpi.first.wpilibj.examples.armbotoffboard.Constants.OIConstants;
-import edu.wpi.first.wpilibj.examples.armbotoffboard.subsystems.ArmSubsystem;
-import edu.wpi.first.wpilibj.examples.armbotoffboard.subsystems.DriveSubsystem;
-
-import static edu.wpi.first.wpilibj.XboxController.Button;
-
 /**
- * This class is where the bulk of the robot should be declared.  Since Command-based is a
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
  * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
- * periodic methods (other than the scheduler calls).  Instead, the structure of the robot
- * (including subsystems, commands, and button mappings) should be declared here.
+ * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
+ * subsystems, commands, and button mappings) should be declared here.
  */
 public class RobotContainer {
   // The robot's subsystems
@@ -31,9 +30,7 @@ public class RobotContainer {
   // The driver's controller
   XboxController m_driverController = new XboxController(OIConstants.kDriverControllerPort);
 
-  /**
-   * The container for the robot.  Contains subsystems, OI devices, and commands.
-   */
+  /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     // Configure the button bindings
     configureButtonBindings();
@@ -43,17 +40,19 @@ public class RobotContainer {
     m_robotDrive.setDefaultCommand(
         // A split-stick arcade command, with forward/backward controlled by the left
         // hand, and turning controlled by the right.
-        new RunCommand(() -> m_robotDrive
-            .arcadeDrive(m_driverController.getY(GenericHID.Hand.kLeft),
-                m_driverController.getX(GenericHID.Hand.kRight)), m_robotDrive));
-
+        new RunCommand(
+            () ->
+                m_robotDrive.arcadeDrive(
+                    m_driverController.getY(GenericHID.Hand.kLeft),
+                    m_driverController.getX(GenericHID.Hand.kRight)),
+            m_robotDrive));
   }
 
   /**
-   * Use this method to define your button->command mappings.  Buttons can be created by
+   * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link GenericHID} or one of its subclasses ({@link
-   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
-   * {@link JoystickButton}.
+   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
+   * JoystickButton}.
    */
   private void configureButtonBindings() {
 
@@ -71,7 +70,6 @@ public class RobotContainer {
         .whenReleased(() -> m_robotDrive.setMaxOutput(1));
   }
 
-
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.
    *
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/ArmSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/ArmSubsystem.java
index aa6cfd6fe4..acac10fabc 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/ArmSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/ArmSubsystem.java
@@ -5,29 +5,26 @@
 package edu.wpi.first.wpilibj.examples.armbotoffboard.subsystems;
 
 import edu.wpi.first.wpilibj.controller.ArmFeedforward;
+import edu.wpi.first.wpilibj.examples.armbotoffboard.Constants.ArmConstants;
+import edu.wpi.first.wpilibj.examples.armbotoffboard.ExampleSmartMotorController;
 import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
 import edu.wpi.first.wpilibj2.command.TrapezoidProfileSubsystem;
 
-import edu.wpi.first.wpilibj.examples.armbotoffboard.Constants.ArmConstants;
-import edu.wpi.first.wpilibj.examples.armbotoffboard.ExampleSmartMotorController;
-
-/**
- * A robot arm subsystem that moves with a motion profile.
- */
+/** A robot arm subsystem that moves with a motion profile. */
 public class ArmSubsystem extends TrapezoidProfileSubsystem {
   private final ExampleSmartMotorController m_motor =
       new ExampleSmartMotorController(ArmConstants.kMotorPort);
   private final ArmFeedforward m_feedforward =
-      new ArmFeedforward(ArmConstants.kSVolts, ArmConstants.kCosVolts,
-                         ArmConstants.kVVoltSecondPerRad, ArmConstants.kAVoltSecondSquaredPerRad);
+      new ArmFeedforward(
+          ArmConstants.kSVolts, ArmConstants.kCosVolts,
+          ArmConstants.kVVoltSecondPerRad, ArmConstants.kAVoltSecondSquaredPerRad);
 
-  /**
-   * Create a new ArmSubsystem.
-   */
+  /** Create a new ArmSubsystem. */
   public ArmSubsystem() {
-    super(new TrapezoidProfile.Constraints(ArmConstants.kMaxVelocityRadPerSecond,
-                                           ArmConstants.kMaxAccelerationRadPerSecSquared),
-          ArmConstants.kArmOffsetRads);
+    super(
+        new TrapezoidProfile.Constraints(
+            ArmConstants.kMaxVelocityRadPerSecond, ArmConstants.kMaxAccelerationRadPerSecSquared),
+        ArmConstants.kArmOffsetRads);
     m_motor.setPID(ArmConstants.kP, 0, 0);
   }
 
@@ -36,7 +33,7 @@ public class ArmSubsystem extends TrapezoidProfileSubsystem {
     // Calculate the feedforward from the sepoint
     double feedforward = m_feedforward.calculate(setpoint.position, setpoint.velocity);
     // Add the feedforward to the PID output to get the motor output
-    m_motor.setSetpoint(ExampleSmartMotorController.PIDMode.kPosition, setpoint.position,
-                        feedforward / 12.0);
+    m_motor.setSetpoint(
+        ExampleSmartMotorController.PIDMode.kPosition, setpoint.position, feedforward / 12.0);
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/DriveSubsystem.java
index da324292a2..29a8913284 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/DriveSubsystem.java
@@ -8,37 +8,40 @@ import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
 import edu.wpi.first.wpilibj.examples.armbotoffboard.Constants.DriveConstants;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class DriveSubsystem extends SubsystemBase {
   // The motors on the left side of the drive.
   private final SpeedControllerGroup m_leftMotors =
-      new SpeedControllerGroup(new PWMVictorSPX(DriveConstants.kLeftMotor1Port),
-                               new PWMVictorSPX(DriveConstants.kLeftMotor2Port));
+      new SpeedControllerGroup(
+          new PWMVictorSPX(DriveConstants.kLeftMotor1Port),
+          new PWMVictorSPX(DriveConstants.kLeftMotor2Port));
 
   // The motors on the right side of the drive.
   private final SpeedControllerGroup m_rightMotors =
-      new SpeedControllerGroup(new PWMVictorSPX(DriveConstants.kRightMotor1Port),
-                               new PWMVictorSPX(DriveConstants.kRightMotor2Port));
+      new SpeedControllerGroup(
+          new PWMVictorSPX(DriveConstants.kRightMotor1Port),
+          new PWMVictorSPX(DriveConstants.kRightMotor2Port));
 
   // The robot's drive
   private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);
 
   // The left-side drive encoder
   private final Encoder m_leftEncoder =
-      new Encoder(DriveConstants.kLeftEncoderPorts[0], DriveConstants.kLeftEncoderPorts[1],
-                  DriveConstants.kLeftEncoderReversed);
+      new Encoder(
+          DriveConstants.kLeftEncoderPorts[0],
+          DriveConstants.kLeftEncoderPorts[1],
+          DriveConstants.kLeftEncoderReversed);
 
   // The right-side drive encoder
   private final Encoder m_rightEncoder =
-      new Encoder(DriveConstants.kRightEncoderPorts[0], DriveConstants.kRightEncoderPorts[1],
-                  DriveConstants.kRightEncoderReversed);
+      new Encoder(
+          DriveConstants.kRightEncoderPorts[0],
+          DriveConstants.kRightEncoderPorts[1],
+          DriveConstants.kRightEncoderReversed);
 
-  /**
-   * Creates a new DriveSubsystem.
-   */
+  /** Creates a new DriveSubsystem. */
   public DriveSubsystem() {
     // Sets the distance per pulse for the encoders
     m_leftEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
@@ -55,9 +58,7 @@ public class DriveSubsystem extends SubsystemBase {
     m_drive.arcadeDrive(fwd, rot);
   }
 
-  /**
-   * Resets the drive encoders to currently read a position of 0.
-   */
+  /** Resets the drive encoders to currently read a position of 0. */
   public void resetEncoders() {
     m_leftEncoder.reset();
     m_rightEncoder.reset();
@@ -91,7 +92,7 @@ public class DriveSubsystem extends SubsystemBase {
   }
 
   /**
-   * Sets the max output of the drive.  Useful for scaling the drive to drive more slowly.
+   * Sets the max output of the drive. Useful for scaling the drive to drive more slowly.
    *
    * @param maxOutput the maximum output to which the drive will be constrained
    */
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Main.java
index 4e060f23fc..b980695d33 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.armsimulation;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java
index 8cb342326e..90b6ad1fbd 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java
@@ -10,17 +10,15 @@ import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.wpilibj.simulation.BatterySim;
 import edu.wpi.first.wpilibj.simulation.EncoderSim;
 import edu.wpi.first.wpilibj.simulation.RoboRioSim;
-import edu.wpi.first.wpilibj.simulation.BatterySim;
 import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim;
 import edu.wpi.first.wpilibj.system.plant.DCMotor;
 import edu.wpi.first.wpilibj.util.Units;
 import edu.wpi.first.wpiutil.math.VecBuilder;
 
-/**
- * This is a sample program to demonstrate the use of elevator simulation with existing code.
- */
+/** This is a sample program to demonstrate the use of elevator simulation with existing code. */
 public class Robot extends TimedRobot {
   private static final int kMotorPort = 0;
   private static final int kEncoderAChannel = 0;
@@ -49,16 +47,18 @@ public class Robot extends TimedRobot {
   private static final double m_armLength = Units.inchesToMeters(30);
   // This arm sim represents an arm that can travel from -180 degrees (rotated straight backwards)
   // to 0 degrees (rotated straight forwards).
-  private final SingleJointedArmSim m_armSim = new SingleJointedArmSim(m_armGearbox,
-      m_armReduction,
-      SingleJointedArmSim.estimateMOI(m_armLength, m_armMass),
-      m_armLength,
-      Units.degreesToRadians(-180),
-      Units.degreesToRadians(0),
-      m_armMass,
-      true,
-      VecBuilder.fill(Units.degreesToRadians(0.5)) // Add noise with a std-dev of 0.5 degrees
-      );
+  private final SingleJointedArmSim m_armSim =
+      new SingleJointedArmSim(
+          m_armGearbox,
+          m_armReduction,
+          SingleJointedArmSim.estimateMOI(m_armLength, m_armMass),
+          m_armLength,
+          Units.degreesToRadians(-180),
+          Units.degreesToRadians(0),
+          m_armMass,
+          true,
+          VecBuilder.fill(Units.degreesToRadians(0.5)) // Add noise with a std-dev of 0.5 degrees
+          );
   private final EncoderSim m_encoderSim = new EncoderSim(m_encoder);
 
   @Override
@@ -78,7 +78,8 @@ public class Robot extends TimedRobot {
     // Finally, we set our simulated encoder's readings and simulated battery voltage
     m_encoderSim.setDistance(m_armSim.getAngleRads());
     // SimBattery estimates loaded battery voltages
-    RoboRioSim.setVInVoltage(BatterySim.calculateDefaultBatteryLoadedVoltage(m_armSim.getCurrentDrawAmps()));
+    RoboRioSim.setVInVoltage(
+        BatterySim.calculateDefaultBatteryLoadedVoltage(m_armSim.getCurrentDrawAmps()));
   }
 
   @Override
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/axiscamera/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/axiscamera/Main.java
index 31a3bdb26c..cb1423d5e6 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/axiscamera/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/axiscamera/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.axiscamera;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/axiscamera/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/axiscamera/Robot.java
index ddbe037a3d..4d827fb7b8 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/axiscamera/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/axiscamera/Robot.java
@@ -4,63 +4,61 @@
 
 package edu.wpi.first.wpilibj.examples.axiscamera;
 
-import org.opencv.core.Mat;
-import org.opencv.core.Point;
-import org.opencv.core.Scalar;
-import org.opencv.imgproc.Imgproc;
-
 import edu.wpi.cscore.AxisCamera;
 import edu.wpi.cscore.CvSink;
 import edu.wpi.cscore.CvSource;
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.wpilibj.TimedRobot;
+import org.opencv.core.Mat;
+import org.opencv.core.Point;
+import org.opencv.core.Scalar;
+import org.opencv.imgproc.Imgproc;
 
 /**
- * This is a demo program showing the use of OpenCV to do vision processing. The
- * image is acquired from the Axis camera, then a rectangle is put on the image
- * and sent to the dashboard. OpenCV has many methods for different types of
- * processing.
+ * This is a demo program showing the use of OpenCV to do vision processing. The image is acquired
+ * from the Axis camera, then a rectangle is put on the image and sent to the dashboard. OpenCV has
+ * many methods for different types of processing.
  */
 public class Robot extends TimedRobot {
   Thread m_visionThread;
 
   @Override
   public void robotInit() {
-    m_visionThread = new Thread(() -> {
-      // Get the Axis camera from CameraServer
-      AxisCamera camera
-          = CameraServer.getInstance().addAxisCamera("axis-camera.local");
-      // Set the resolution
-      camera.setResolution(640, 480);
+    m_visionThread =
+        new Thread(
+            () -> {
+              // Get the Axis camera from CameraServer
+              AxisCamera camera = CameraServer.getInstance().addAxisCamera("axis-camera.local");
+              // Set the resolution
+              camera.setResolution(640, 480);
 
-      // Get a CvSink. This will capture Mats from the camera
-      CvSink cvSink = CameraServer.getInstance().getVideo();
-      // Setup a CvSource. This will send images back to the Dashboard
-      CvSource outputStream
-          = CameraServer.getInstance().putVideo("Rectangle", 640, 480);
+              // Get a CvSink. This will capture Mats from the camera
+              CvSink cvSink = CameraServer.getInstance().getVideo();
+              // Setup a CvSource. This will send images back to the Dashboard
+              CvSource outputStream = CameraServer.getInstance().putVideo("Rectangle", 640, 480);
 
-      // Mats are very memory expensive. Lets reuse this Mat.
-      Mat mat = new Mat();
+              // Mats are very memory expensive. Lets reuse this Mat.
+              Mat mat = new Mat();
 
-      // This cannot be 'true'. The program will never exit if it is. This
-      // lets the robot stop this thread when restarting robot code or
-      // deploying.
-      while (!Thread.interrupted()) {
-        // Tell the CvSink to grab a frame from the camera and put it
-        // in the source mat.  If there is an error notify the output.
-        if (cvSink.grabFrame(mat) == 0) {
-          // Send the output the error.
-          outputStream.notifyError(cvSink.getError());
-          // skip the rest of the current iteration
-          continue;
-        }
-        // Put a rectangle on the image
-        Imgproc.rectangle(mat, new Point(100, 100), new Point(400, 400),
-            new Scalar(255, 255, 255), 5);
-        // Give the output stream a new image to display
-        outputStream.putFrame(mat);
-      }
-    });
+              // This cannot be 'true'. The program will never exit if it is. This
+              // lets the robot stop this thread when restarting robot code or
+              // deploying.
+              while (!Thread.interrupted()) {
+                // Tell the CvSink to grab a frame from the camera and put it
+                // in the source mat.  If there is an error notify the output.
+                if (cvSink.grabFrame(mat) == 0) {
+                  // Send the output the error.
+                  outputStream.notifyError(cvSink.getError());
+                  // skip the rest of the current iteration
+                  continue;
+                }
+                // Put a rectangle on the image
+                Imgproc.rectangle(
+                    mat, new Point(100, 100), new Point(400, 400), new Scalar(255, 255, 255), 5);
+                // Give the output stream a new image to display
+                outputStream.putFrame(mat);
+              }
+            });
     m_visionThread.setDaemon(true);
     m_visionThread.start();
   }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Main.java
index 1bbb7dfd19..bafb3afbaa 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.canpdp;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java
index 5386424606..ba65e3ed6a 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java
@@ -16,9 +16,7 @@ import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
 
-/**
- * Represents a differential drive style drivetrain.
- */
+/** Represents a differential drive style drivetrain. */
 public class Drivetrain {
   public static final double kMaxSpeed = 3.0; // meters per second
   public static final double kMaxAngularSpeed = 2 * Math.PI; // one rotation per second
@@ -35,18 +33,18 @@ public class Drivetrain {
   private final Encoder m_leftEncoder = new Encoder(0, 1);
   private final Encoder m_rightEncoder = new Encoder(2, 3);
 
-  private final SpeedControllerGroup m_leftGroup
-      = new SpeedControllerGroup(m_leftLeader, m_leftFollower);
-  private final SpeedControllerGroup m_rightGroup
-      = new SpeedControllerGroup(m_rightLeader, m_rightFollower);
+  private final SpeedControllerGroup m_leftGroup =
+      new SpeedControllerGroup(m_leftLeader, m_leftFollower);
+  private final SpeedControllerGroup m_rightGroup =
+      new SpeedControllerGroup(m_rightLeader, m_rightFollower);
 
   private final AnalogGyro m_gyro = new AnalogGyro(0);
 
   private final PIDController m_leftPIDController = new PIDController(1, 0, 0);
   private final PIDController m_rightPIDController = new PIDController(1, 0, 0);
 
-  private final DifferentialDriveKinematics m_kinematics
-      = new DifferentialDriveKinematics(kTrackWidth);
+  private final DifferentialDriveKinematics m_kinematics =
+      new DifferentialDriveKinematics(kTrackWidth);
 
   private final DifferentialDriveOdometry m_odometry;
 
@@ -54,8 +52,8 @@ public class Drivetrain {
   private final SimpleMotorFeedforward m_feedforward = new SimpleMotorFeedforward(1, 3);
 
   /**
-   * Constructs a differential drive object.
-   * Sets the encoder distance per pulse and resets the gyro.
+   * Constructs a differential drive object. Sets the encoder distance per pulse and resets the
+   * gyro.
    */
   public Drivetrain() {
     m_gyro.reset();
@@ -81,10 +79,10 @@ public class Drivetrain {
     final double leftFeedforward = m_feedforward.calculate(speeds.leftMetersPerSecond);
     final double rightFeedforward = m_feedforward.calculate(speeds.rightMetersPerSecond);
 
-    final double leftOutput = m_leftPIDController.calculate(m_leftEncoder.getRate(),
-        speeds.leftMetersPerSecond);
-    final double rightOutput = m_rightPIDController.calculate(m_rightEncoder.getRate(),
-        speeds.rightMetersPerSecond);
+    final double leftOutput =
+        m_leftPIDController.calculate(m_leftEncoder.getRate(), speeds.leftMetersPerSecond);
+    final double rightOutput =
+        m_rightPIDController.calculate(m_rightEncoder.getRate(), speeds.rightMetersPerSecond);
     m_leftGroup.setVoltage(leftOutput + leftFeedforward);
     m_rightGroup.setVoltage(rightOutput + rightFeedforward);
   }
@@ -93,7 +91,7 @@ public class Drivetrain {
    * Drives the robot with the given linear velocity and angular velocity.
    *
    * @param xSpeed Linear velocity in m/s.
-   * @param rot    Angular velocity in rad/s.
+   * @param rot Angular velocity in rad/s.
    */
   @SuppressWarnings("ParameterName")
   public void drive(double xSpeed, double rot) {
@@ -101,11 +99,9 @@ public class Drivetrain {
     setSpeeds(wheelSpeeds);
   }
 
-  /**
-   * Updates the field-relative position.
-   */
+  /** Updates the field-relative position. */
   public void updateOdometry() {
-    m_odometry.update(m_gyro.getRotation2d(), m_leftEncoder.getDistance(),
-        m_rightEncoder.getDistance());
+    m_odometry.update(
+        m_gyro.getRotation2d(), m_leftEncoder.getDistance(), m_rightEncoder.getDistance());
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Main.java
index d514867b7e..89f8dae9db 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.differentialdrivebot;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Robot.java
index 0cbbd92e39..eed2e590d9 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Robot.java
@@ -17,7 +17,6 @@ public class Robot extends TimedRobot {
   private final SlewRateLimiter m_speedLimiter = new SlewRateLimiter(3);
   private final SlewRateLimiter m_rotLimiter = new SlewRateLimiter(3);
 
-
   @Override
   public void autonomousPeriodic() {
     teleopPeriodic();
@@ -29,8 +28,7 @@ public class Robot extends TimedRobot {
     // Get the x speed. We are inverting this because Xbox controllers return
     // negative values when we push forward.
     final var xSpeed =
-        -m_speedLimiter.calculate(m_controller.getY(GenericHID.Hand.kLeft))
-            * Drivetrain.kMaxSpeed;
+        -m_speedLimiter.calculate(m_controller.getY(GenericHID.Hand.kLeft)) * Drivetrain.kMaxSpeed;
 
     // Get the rate of angular rotation. We are inverting this because we want a
     // positive value when we pull to the left (remember, CCW is positive in
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
index e57890b4b9..224e49a641 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
@@ -13,6 +13,7 @@ import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
 import edu.wpi.first.wpilibj.estimator.DifferentialDrivePoseEstimator;
+import edu.wpi.first.wpilibj.examples.swervesdriveposeestimator.ExampleGlobalMeasurementSensor;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
@@ -20,11 +21,7 @@ import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
 import edu.wpi.first.wpilibj.util.Units;
 import edu.wpi.first.wpiutil.math.VecBuilder;
 
-import edu.wpi.first.wpilibj.examples.swervesdriveposeestimator.ExampleGlobalMeasurementSensor;
-
-/**
- * Represents a differential drive style drivetrain.
- */
+/** Represents a differential drive style drivetrain. */
 public class Drivetrain {
   public static final double kMaxSpeed = 3.0; // meters per second
   public static final double kMaxAngularSpeed = 2 * Math.PI; // one rotation per second
@@ -41,34 +38,35 @@ public class Drivetrain {
   private final Encoder m_leftEncoder = new Encoder(0, 1);
   private final Encoder m_rightEncoder = new Encoder(2, 3);
 
-  private final SpeedControllerGroup m_leftGroup
-      = new SpeedControllerGroup(m_leftLeader, m_leftFollower);
-  private final SpeedControllerGroup m_rightGroup
-      = new SpeedControllerGroup(m_rightLeader, m_rightFollower);
+  private final SpeedControllerGroup m_leftGroup =
+      new SpeedControllerGroup(m_leftLeader, m_leftFollower);
+  private final SpeedControllerGroup m_rightGroup =
+      new SpeedControllerGroup(m_rightLeader, m_rightFollower);
 
   private final AnalogGyro m_gyro = new AnalogGyro(0);
 
   private final PIDController m_leftPIDController = new PIDController(1, 0, 0);
   private final PIDController m_rightPIDController = new PIDController(1, 0, 0);
 
-  private final DifferentialDriveKinematics m_kinematics
-      = new DifferentialDriveKinematics(kTrackWidth);
+  private final DifferentialDriveKinematics m_kinematics =
+      new DifferentialDriveKinematics(kTrackWidth);
 
   /* Here we use DifferentialDrivePoseEstimator so that we can fuse odometry readings. The
   numbers used  below are robot specific, and should be tuned. */
-  private final DifferentialDrivePoseEstimator m_poseEstimator = new DifferentialDrivePoseEstimator(
-      m_gyro.getRotation2d(),
-      new Pose2d(),
-      VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(5), 0.01, 0.01),
-      VecBuilder.fill(0.02, 0.02, Units.degreesToRadians(1)),
-      VecBuilder.fill(0.5, 0.5, Units.degreesToRadians(30)));
+  private final DifferentialDrivePoseEstimator m_poseEstimator =
+      new DifferentialDrivePoseEstimator(
+          m_gyro.getRotation2d(),
+          new Pose2d(),
+          VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(5), 0.01, 0.01),
+          VecBuilder.fill(0.02, 0.02, Units.degreesToRadians(1)),
+          VecBuilder.fill(0.5, 0.5, Units.degreesToRadians(30)));
 
   // Gains are for example purposes only - must be determined for your own robot!
   private final SimpleMotorFeedforward m_feedforward = new SimpleMotorFeedforward(1, 3);
 
   /**
-   * Constructs a differential drive object.
-   * Sets the encoder distance per pulse and resets the gyro.
+   * Constructs a differential drive object. Sets the encoder distance per pulse and resets the
+   * gyro.
    */
   public Drivetrain() {
     m_gyro.reset();
@@ -92,10 +90,10 @@ public class Drivetrain {
     final double leftFeedforward = m_feedforward.calculate(speeds.leftMetersPerSecond);
     final double rightFeedforward = m_feedforward.calculate(speeds.rightMetersPerSecond);
 
-    final double leftOutput = m_leftPIDController.calculate(m_leftEncoder.getRate(),
-        speeds.leftMetersPerSecond);
-    final double rightOutput = m_rightPIDController.calculate(m_rightEncoder.getRate(),
-        speeds.rightMetersPerSecond);
+    final double leftOutput =
+        m_leftPIDController.calculate(m_leftEncoder.getRate(), speeds.leftMetersPerSecond);
+    final double rightOutput =
+        m_rightPIDController.calculate(m_rightEncoder.getRate(), speeds.rightMetersPerSecond);
     m_leftGroup.setVoltage(leftOutput + leftFeedforward);
     m_rightGroup.setVoltage(rightOutput + rightFeedforward);
   }
@@ -104,7 +102,7 @@ public class Drivetrain {
    * Drives the robot with the given linear velocity and angular velocity.
    *
    * @param xSpeed Linear velocity in m/s.
-   * @param rot    Angular velocity in rad/s.
+   * @param rot Angular velocity in rad/s.
    */
   @SuppressWarnings("ParameterName")
   public void drive(double xSpeed, double rot) {
@@ -112,13 +110,13 @@ public class Drivetrain {
     setSpeeds(wheelSpeeds);
   }
 
-  /**
-   * Updates the field-relative position.
-   */
+  /** Updates the field-relative position. */
   public void updateOdometry() {
-    m_poseEstimator.update(m_gyro.getRotation2d(),
+    m_poseEstimator.update(
+        m_gyro.getRotation2d(),
         new DifferentialDriveWheelSpeeds(m_leftEncoder.getRate(), m_rightEncoder.getRate()),
-        m_leftEncoder.getDistance(), m_rightEncoder.getDistance());
+        m_leftEncoder.getDistance(),
+        m_rightEncoder.getDistance());
 
     // Also apply vision measurements. We use 0.3 seconds in the past as an example -- on
     // a real robot, this must be calculated based either on latency or timestamps.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Main.java
index 5821b164a1..046c01a72b 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.differentialdriveposeestimator;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Robot.java
index f2ee3765cb..2e700aeb90 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Robot.java
@@ -17,7 +17,6 @@ public class Robot extends TimedRobot {
   private final SlewRateLimiter m_speedLimiter = new SlewRateLimiter(3);
   private final SlewRateLimiter m_rotLimiter = new SlewRateLimiter(3);
 
-
   @Override
   public void autonomousPeriodic() {
     teleopPeriodic();
@@ -29,8 +28,7 @@ public class Robot extends TimedRobot {
     // Get the x speed. We are inverting this because Xbox controllers return
     // negative values when we push forward.
     final var xSpeed =
-        -m_speedLimiter.calculate(m_controller.getY(GenericHID.Hand.kLeft))
-            * Drivetrain.kMaxSpeed;
+        -m_speedLimiter.calculate(m_controller.getY(GenericHID.Hand.kLeft)) * Drivetrain.kMaxSpeed;
 
     // Get the rate of angular rotation. We are inverting this because we want a
     // positive value when we pull to the left (remember, CCW is positive in
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Constants.java
index f3ddc2780f..b218ed5b02 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Constants.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Constants.java
@@ -6,8 +6,8 @@ package edu.wpi.first.wpilibj.examples.drivedistanceoffboard;
 
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
- * constants.  This class should not be used for any other purpose.  All constants should be
- * declared globally (i.e. public static).  Do not put anything functional in this class.
+ * constants. This class should not be used for any other purpose. All constants should be declared
+ * globally (i.e. public static). Do not put anything functional in this class.
  *
  * <p>It is advised to statically import this class (or one of its inner classes) wherever the
  * constants are needed, to reduce verbosity.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/ExampleSmartMotorController.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/ExampleSmartMotorController.java
index b6c5b00cfb..37a22cbe43 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/ExampleSmartMotorController.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/ExampleSmartMotorController.java
@@ -24,8 +24,7 @@ public class ExampleSmartMotorController implements SpeedController {
    * @param port The port for the controller.
    */
   @SuppressWarnings("PMD.UnusedFormalParameter")
-  public ExampleSmartMotorController(int port) {
-  }
+  public ExampleSmartMotorController(int port) {}
 
   /**
    * Example method for setting the PID gains of the smart controller.
@@ -34,8 +33,7 @@ public class ExampleSmartMotorController implements SpeedController {
    * @param ki The integral gain.
    * @param kd The derivative gain.
    */
-  public void setPID(double kp, double ki, double kd) {
-  }
+  public void setPID(double kp, double ki, double kd) {}
 
   /**
    * Example method for setting the setpoint of the smart controller in PID mode.
@@ -44,16 +42,14 @@ public class ExampleSmartMotorController implements SpeedController {
    * @param setpoint The controller setpoint.
    * @param arbFeedforward An arbitrary feedforward output (from -1 to 1).
    */
-  public void setSetpoint(PIDMode mode, double setpoint, double arbFeedforward) {
-  }
+  public void setSetpoint(PIDMode mode, double setpoint, double arbFeedforward) {}
 
   /**
    * Places this motor controller in follower mode.
    *
    * @param leader The leader to follow.
    */
-  public void follow(ExampleSmartMotorController leader) {
-  }
+  public void follow(ExampleSmartMotorController leader) {}
 
   /**
    * Returns the encoder distance.
@@ -73,15 +69,11 @@ public class ExampleSmartMotorController implements SpeedController {
     return 0;
   }
 
-  /**
-   * Resets the encoder to zero distance.
-   */
-  public void resetEncoder() {
-  }
+  /** Resets the encoder to zero distance. */
+  public void resetEncoder() {}
 
   @Override
-  public void set(double speed) {
-  }
+  public void set(double speed) {}
 
   @Override
   public double get() {
@@ -89,9 +81,7 @@ public class ExampleSmartMotorController implements SpeedController {
   }
 
   @Override
-  public void setInverted(boolean isInverted) {
-
-  }
+  public void setInverted(boolean isInverted) {}
 
   @Override
   public boolean getInverted() {
@@ -99,14 +89,11 @@ public class ExampleSmartMotorController implements SpeedController {
   }
 
   @Override
-  public void disable() {
-  }
+  public void disable() {}
 
   @Override
-  public void stopMotor() {
-  }
+  public void stopMotor() {}
 
   @Override
-  public void pidWrite(double output) {
-  }
+  public void pidWrite(double output) {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Main.java
index 318c03d2e0..3566c19967 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Main.java
@@ -12,8 +12,7 @@ import edu.wpi.first.wpilibj.RobotBase;
  * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Robot.java
index 4205afbf64..87c9d52fa0 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Robot.java
@@ -34,8 +34,8 @@ public class Robot extends TimedRobot {
    * This function is called every robot packet, no matter the mode. Use this for items like
    * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
    *
-   * <p>This runs after the mode specific periodic functions, but before
-   * LiveWindow and SmartDashboard integrated updating.
+   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
+   * SmartDashboard integrated updating.
    */
   @Override
   public void robotPeriodic() {
@@ -46,20 +46,14 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().run();
   }
 
-  /**
-   * This function is called once each time the robot enters Disabled mode.
-   */
+  /** This function is called once each time the robot enters Disabled mode. */
   @Override
-  public void disabledInit() {
-  }
+  public void disabledInit() {}
 
   @Override
-  public void disabledPeriodic() {
-  }
+  public void disabledPeriodic() {}
 
-  /**
-   * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
-   */
+  /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
   @Override
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
@@ -77,12 +71,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during autonomous.
-   */
+  /** This function is called periodically during autonomous. */
   @Override
-  public void autonomousPeriodic() {
-  }
+  public void autonomousPeriodic() {}
 
   @Override
   public void teleopInit() {
@@ -95,13 +86,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during operator control.
-   */
+  /** This function is called periodically during operator control. */
   @Override
-  public void teleopPeriodic() {
-
-  }
+  public void teleopPeriodic() {}
 
   @Override
   public void testInit() {
@@ -109,10 +96,7 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().cancelAll();
   }
 
-  /**
-   * This function is called periodically during test mode.
-   */
+  /** This function is called periodically during test mode. */
   @Override
-  public void testPeriodic() {
-  }
+  public void testPeriodic() {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java
index dd6bc16b3d..d70fdc16fd 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java
@@ -4,8 +4,14 @@
 
 package edu.wpi.first.wpilibj.examples.drivedistanceoffboard;
 
+import static edu.wpi.first.wpilibj.XboxController.Button;
+
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.DriveConstants;
+import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.OIConstants;
+import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.commands.DriveDistanceProfiled;
+import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.subsystems.DriveSubsystem;
 import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
@@ -13,18 +19,11 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.TrapezoidProfileCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 
-import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.DriveConstants;
-import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.OIConstants;
-import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.commands.DriveDistanceProfiled;
-import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.subsystems.DriveSubsystem;
-
-import static edu.wpi.first.wpilibj.XboxController.Button;
-
 /**
- * This class is where the bulk of the robot should be declared.  Since Command-based is a
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
  * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
- * periodic methods (other than the scheduler calls).  Instead, the structure of the robot
- * (including subsystems, commands, and button mappings) should be declared here.
+ * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
+ * subsystems, commands, and button mappings) should be declared here.
  */
 public class RobotContainer {
   // The robot's subsystems
@@ -33,9 +32,7 @@ public class RobotContainer {
   // The driver's controller
   XboxController m_driverController = new XboxController(OIConstants.kDriverControllerPort);
 
-  /**
-   * The container for the robot.  Contains subsystems, OI devices, and commands.
-   */
+  /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     // Configure the button bindings
     configureButtonBindings();
@@ -45,17 +42,19 @@ public class RobotContainer {
     m_robotDrive.setDefaultCommand(
         // A split-stick arcade command, with forward/backward controlled by the left
         // hand, and turning controlled by the right.
-        new RunCommand(() -> m_robotDrive
-            .arcadeDrive(m_driverController.getY(GenericHID.Hand.kLeft),
-                         m_driverController.getX(GenericHID.Hand.kRight)), m_robotDrive));
-
+        new RunCommand(
+            () ->
+                m_robotDrive.arcadeDrive(
+                    m_driverController.getY(GenericHID.Hand.kLeft),
+                    m_driverController.getX(GenericHID.Hand.kRight)),
+            m_robotDrive));
   }
 
   /**
-   * Use this method to define your button->command mappings.  Buttons can be created by
+   * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link GenericHID} or one of its subclasses ({@link
-   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
-   * {@link JoystickButton}.
+   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
+   * JoystickButton}.
    */
   private void configureButtonBindings() {
     // Drive forward by 3 meters when the 'A' button is pressed, with a timeout of 10 seconds
@@ -66,19 +65,17 @@ public class RobotContainer {
     new JoystickButton(m_driverController, Button.kB.value)
         .whenPressed(
             new TrapezoidProfileCommand(
-                new TrapezoidProfile(
-                    // Limit the max acceleration and velocity
-                    new TrapezoidProfile.Constraints(
-                        DriveConstants.kMaxSpeedMetersPerSecond,
-                        DriveConstants.kMaxAccelerationMetersPerSecondSquared),
-                    // End at desired position in meters; implicitly starts at 0
-                    new TrapezoidProfile.State(3, 0)),
-                // Pipe the profile state to the drive
-                setpointState -> m_robotDrive.setDriveStates(
-                    setpointState,
-                    setpointState),
-                // Require the drive
-                m_robotDrive)
+                    new TrapezoidProfile(
+                        // Limit the max acceleration and velocity
+                        new TrapezoidProfile.Constraints(
+                            DriveConstants.kMaxSpeedMetersPerSecond,
+                            DriveConstants.kMaxAccelerationMetersPerSecondSquared),
+                        // End at desired position in meters; implicitly starts at 0
+                        new TrapezoidProfile.State(3, 0)),
+                    // Pipe the profile state to the drive
+                    setpointState -> m_robotDrive.setDriveStates(setpointState, setpointState),
+                    // Require the drive
+                    m_robotDrive)
                 .beforeStarting(m_robotDrive::resetEncoders)
                 .withTimeout(10));
 
@@ -88,7 +85,6 @@ public class RobotContainer {
         .whenReleased(() -> m_robotDrive.setMaxOutput(1));
   }
 
-
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.
    *
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/commands/DriveDistanceProfiled.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/commands/DriveDistanceProfiled.java
index fac383b5f4..30dc602605 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/commands/DriveDistanceProfiled.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/commands/DriveDistanceProfiled.java
@@ -4,15 +4,12 @@
 
 package edu.wpi.first.wpilibj.examples.drivedistanceoffboard.commands;
 
+import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.DriveConstants;
+import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.subsystems.DriveSubsystem;
 import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
 import edu.wpi.first.wpilibj2.command.TrapezoidProfileCommand;
 
-import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.DriveConstants;
-import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.subsystems.DriveSubsystem;
-
-/**
- * Drives a set distance using a motion profile.
- */
+/** Drives a set distance using a motion profile. */
 public class DriveDistanceProfiled extends TrapezoidProfileCommand {
   /**
    * Creates a new DriveDistanceProfiled command.
@@ -24,8 +21,9 @@ public class DriveDistanceProfiled extends TrapezoidProfileCommand {
     super(
         new TrapezoidProfile(
             // Limit the max acceleration and velocity
-            new TrapezoidProfile.Constraints(DriveConstants.kMaxSpeedMetersPerSecond,
-                                             DriveConstants.kMaxAccelerationMetersPerSecondSquared),
+            new TrapezoidProfile.Constraints(
+                DriveConstants.kMaxSpeedMetersPerSecond,
+                DriveConstants.kMaxAccelerationMetersPerSecondSquared),
             // End at desired position in meters; implicitly starts at 0
             new TrapezoidProfile.State(meters, 0)),
         // Pipe the profile state to the drive
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java
index c7bcf68807..82373a834e 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java
@@ -6,11 +6,10 @@ package edu.wpi.first.wpilibj.examples.drivedistanceoffboard.subsystems;
 
 import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
 import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.DriveConstants;
 import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.ExampleSmartMotorController;
+import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class DriveSubsystem extends SubsystemBase {
   // The motors on the left side of the drive.
@@ -27,16 +26,15 @@ public class DriveSubsystem extends SubsystemBase {
       new ExampleSmartMotorController(DriveConstants.kRightMotor2Port);
 
   private final SimpleMotorFeedforward m_feedforward =
-      new SimpleMotorFeedforward(DriveConstants.ksVolts,
-                                 DriveConstants.kvVoltSecondsPerMeter,
-                                 DriveConstants.kaVoltSecondsSquaredPerMeter);
+      new SimpleMotorFeedforward(
+          DriveConstants.ksVolts,
+          DriveConstants.kvVoltSecondsPerMeter,
+          DriveConstants.kaVoltSecondsSquaredPerMeter);
 
   // The robot's drive
   private final DifferentialDrive m_drive = new DifferentialDrive(m_leftLeader, m_rightLeader);
 
-  /**
-   * Creates a new DriveSubsystem.
-   */
+  /** Creates a new DriveSubsystem. */
   public DriveSubsystem() {
     m_leftFollower.follow(m_leftLeader);
     m_rightFollower.follow(m_rightLeader);
@@ -62,12 +60,14 @@ public class DriveSubsystem extends SubsystemBase {
    * @param right The right wheel state.
    */
   public void setDriveStates(TrapezoidProfile.State left, TrapezoidProfile.State right) {
-    m_leftLeader.setSetpoint(ExampleSmartMotorController.PIDMode.kPosition,
-                             left.position,
-                             m_feedforward.calculate(left.velocity));
-    m_rightLeader.setSetpoint(ExampleSmartMotorController.PIDMode.kPosition,
-                              right.position,
-                              m_feedforward.calculate(right.velocity));
+    m_leftLeader.setSetpoint(
+        ExampleSmartMotorController.PIDMode.kPosition,
+        left.position,
+        m_feedforward.calculate(left.velocity));
+    m_rightLeader.setSetpoint(
+        ExampleSmartMotorController.PIDMode.kPosition,
+        right.position,
+        m_feedforward.calculate(right.velocity));
   }
 
   /**
@@ -88,16 +88,14 @@ public class DriveSubsystem extends SubsystemBase {
     return m_rightLeader.getEncoderDistance();
   }
 
-  /**
-   * Resets the drive encoders.
-   */
+  /** Resets the drive encoders. */
   public void resetEncoders() {
     m_leftLeader.resetEncoder();
     m_rightLeader.resetEncoder();
   }
 
   /**
-   * Sets the max output of the drive.  Useful for scaling the drive to drive more slowly.
+   * Sets the max output of the drive. Useful for scaling the drive to drive more slowly.
    *
    * @param maxOutput the maximum output to which the drive will be constrained
    */
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/dutycycleencoder/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/dutycycleencoder/Main.java
index ff0a8a0473..1ba73f5029 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/dutycycleencoder/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/dutycycleencoder/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.dutycycleencoder;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/dutycycleencoder/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/dutycycleencoder/Robot.java
index 73c24f1e99..01df9b0b58 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/dutycycleencoder/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/dutycycleencoder/Robot.java
@@ -39,5 +39,4 @@ public class Robot extends TimedRobot {
     SmartDashboard.putNumber("Output", output);
     SmartDashboard.putNumber("Distance", distance);
   }
-
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/dutycycleinput/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/dutycycleinput/Main.java
index 74fa0dfc1d..4558281a11 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/dutycycleinput/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/dutycycleinput/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.dutycycleinput;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/dutycycleinput/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/dutycycleinput/Robot.java
index 59cae6fb61..f58b23a5b1 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/dutycycleinput/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/dutycycleinput/Robot.java
@@ -32,5 +32,4 @@ public class Robot extends TimedRobot {
     SmartDashboard.putNumber("Frequency", frequency);
     SmartDashboard.putNumber("Duty Cycle", output);
   }
-
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Main.java
index 830acdf9a3..223b40d6a1 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.elevatorprofiledpid;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Main.java
index 181e4baedb..ab930d309d 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.elevatorsimulation;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java
index 1fe68a2e8a..2d75cb7f19 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java
@@ -10,17 +10,15 @@ import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.controller.PIDController;
-import edu.wpi.first.wpilibj.simulation.EncoderSim;
-import edu.wpi.first.wpilibj.simulation.RoboRioSim;
 import edu.wpi.first.wpilibj.simulation.BatterySim;
 import edu.wpi.first.wpilibj.simulation.ElevatorSim;
+import edu.wpi.first.wpilibj.simulation.EncoderSim;
+import edu.wpi.first.wpilibj.simulation.RoboRioSim;
 import edu.wpi.first.wpilibj.system.plant.DCMotor;
 import edu.wpi.first.wpilibj.util.Units;
 import edu.wpi.first.wpiutil.math.VecBuilder;
 
-/**
- * This is a sample program to demonstrate the use of elevator simulation with existing code.
- */
+/** This is a sample program to demonstrate the use of elevator simulation with existing code. */
 public class Robot extends TimedRobot {
   private static final int kMotorPort = 0;
   private static final int kEncoderAChannel = 0;
@@ -37,7 +35,8 @@ public class Robot extends TimedRobot {
 
   // distance per pulse = (distance per revolution) / (pulses per revolution)
   //  = (Pi * D) / ppr
-  private static final double kElevatorEncoderDistPerPulse = 2.0 * Math.PI * kElevatorDrumRadius / 4096;
+  private static final double kElevatorEncoderDistPerPulse =
+      2.0 * Math.PI * kElevatorDrumRadius / 4096;
 
   private final DCMotor m_elevatorGearbox = DCMotor.getVex775Pro(4);
 
@@ -48,13 +47,15 @@ public class Robot extends TimedRobot {
   private final Joystick m_joystick = new Joystick(kJoystickPort);
 
   // Simulation classes help us simulate what's going on, including gravity.
-  private final ElevatorSim m_elevatorSim = new ElevatorSim(m_elevatorGearbox,
-      kElevatorGearing,
-      kCarriageMass,
-      kElevatorDrumRadius,
-      kMinElevatorHeight,
-      kMaxElevatorHeight,
-      VecBuilder.fill(0.01));
+  private final ElevatorSim m_elevatorSim =
+      new ElevatorSim(
+          m_elevatorGearbox,
+          kElevatorGearing,
+          kCarriageMass,
+          kElevatorDrumRadius,
+          kMinElevatorHeight,
+          kMaxElevatorHeight,
+          VecBuilder.fill(0.01));
   private final EncoderSim m_encoderSim = new EncoderSim(m_encoder);
 
   @Override
@@ -74,7 +75,8 @@ public class Robot extends TimedRobot {
     // Finally, we set our simulated encoder's readings and simulated battery voltage
     m_encoderSim.setDistance(m_elevatorSim.getPositionMeters());
     // SimBattery estimates loaded battery voltages
-    RoboRioSim.setVInVoltage(BatterySim.calculateDefaultBatteryLoadedVoltage(m_elevatorSim.getCurrentDrawAmps()));
+    RoboRioSim.setVInVoltage(
+        BatterySim.calculateDefaultBatteryLoadedVoltage(m_elevatorSim.getCurrentDrawAmps()));
   }
 
   @Override
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/ExampleSmartMotorController.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/ExampleSmartMotorController.java
index eee44df9fc..1577770e6b 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/ExampleSmartMotorController.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/ExampleSmartMotorController.java
@@ -24,8 +24,7 @@ public class ExampleSmartMotorController implements SpeedController {
    * @param port The port for the controller.
    */
   @SuppressWarnings("PMD.UnusedFormalParameter")
-  public ExampleSmartMotorController(int port) {
-  }
+  public ExampleSmartMotorController(int port) {}
 
   /**
    * Example method for setting the PID gains of the smart controller.
@@ -34,8 +33,7 @@ public class ExampleSmartMotorController implements SpeedController {
    * @param ki The integral gain.
    * @param kd The derivative gain.
    */
-  public void setPID(double kp, double ki, double kd) {
-  }
+  public void setPID(double kp, double ki, double kd) {}
 
   /**
    * Example method for setting the setpoint of the smart controller in PID mode.
@@ -44,16 +42,14 @@ public class ExampleSmartMotorController implements SpeedController {
    * @param setpoint The controller setpoint.
    * @param arbFeedforward An arbitrary feedforward output (from -1 to 1).
    */
-  public void setSetpoint(PIDMode mode, double setpoint, double arbFeedforward) {
-  }
+  public void setSetpoint(PIDMode mode, double setpoint, double arbFeedforward) {}
 
   /**
    * Places this motor controller in follower mode.
    *
    * @param leader The leader to follow.
    */
-  public void follow(ExampleSmartMotorController leader) {
-  }
+  public void follow(ExampleSmartMotorController leader) {}
 
   /**
    * Returns the encoder distance.
@@ -73,15 +69,11 @@ public class ExampleSmartMotorController implements SpeedController {
     return 0;
   }
 
-  /**
-   * Resets the encoder to zero distance.
-   */
-  public void resetEncoder() {
-  }
+  /** Resets the encoder to zero distance. */
+  public void resetEncoder() {}
 
   @Override
-  public void set(double speed) {
-  }
+  public void set(double speed) {}
 
   @Override
   public double get() {
@@ -89,9 +81,7 @@ public class ExampleSmartMotorController implements SpeedController {
   }
 
   @Override
-  public void setInverted(boolean isInverted) {
-
-  }
+  public void setInverted(boolean isInverted) {}
 
   @Override
   public boolean getInverted() {
@@ -99,14 +89,11 @@ public class ExampleSmartMotorController implements SpeedController {
   }
 
   @Override
-  public void disable() {
-  }
+  public void disable() {}
 
   @Override
-  public void stopMotor() {
-  }
+  public void stopMotor() {}
 
   @Override
-  public void pidWrite(double output) {
-  }
+  public void pidWrite(double output) {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Main.java
index 5a61bbd3ef..5428143430 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.elevatortrapezoidprofile;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java
index 1122691588..5c574d6211 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java
@@ -46,7 +46,9 @@ public class Robot extends TimedRobot {
     m_setpoint = profile.calculate(kDt);
 
     // Send setpoint to offboard controller PID
-    m_motor.setSetpoint(ExampleSmartMotorController.PIDMode.kPosition, m_setpoint.position,
-                        m_feedforward.calculate(m_setpoint.velocity) / 12.0);
+    m_motor.setSetpoint(
+        ExampleSmartMotorController.PIDMode.kPosition,
+        m_setpoint.position,
+        m_feedforward.calculate(m_setpoint.velocity) / 12.0);
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/encoder/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/encoder/Main.java
index 0a5a70b9f9..4f723cc52c 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/encoder/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/encoder/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.encoder;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/encoder/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/encoder/Robot.java
index 1fd2d57600..3b715eb8e1 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/encoder/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/encoder/Robot.java
@@ -26,14 +26,13 @@ public class Robot extends TimedRobot {
    * The Encoder object is constructed with 4 parameters, the last two being optional. The first two
    * parameters (1, 2 in this case) refer to the ports on the roboRIO which the encoder uses.
    * Because a quadrature encoder has two signal wires, the signal from two DIO ports on the roboRIO
-   * are used. The third (optional)  parameter is a boolean which defaults to false. If you set this
-   *  parameter to true, the direction of the encoder will be reversed, in case it makes more sense
+   * are used. The third (optional) parameter is a boolean which defaults to false. If you set this
+   * parameter to true, the direction of the encoder will be reversed, in case it makes more sense
    * mechanically. The final (optional) parameter specifies encoding rate (k1X, k2X, or k4X) and
    * defaults to k4X. Faster (k4X) encoding gives greater positional precision but more noise in the
    * rate.
    */
-  private final Encoder m_encoder =
-      new Encoder(1, 2, false, CounterBase.EncodingType.k4X);
+  private final Encoder m_encoder = new Encoder(1, 2, false, CounterBase.EncodingType.k4X);
 
   @Override
   public void robotInit() {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Constants.java
index 9eab7082d6..3dab65e2b8 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Constants.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Constants.java
@@ -6,8 +6,8 @@ package edu.wpi.first.wpilibj.examples.frisbeebot;
 
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
- * constants.  This class should not be used for any other purpose.  All constants should be
- * declared globally (i.e. public static).  Do not put anything functional in this class.
+ * constants. This class should not be used for any other purpose. All constants should be declared
+ * globally (i.e. public static). Do not put anything functional in this class.
  *
  * <p>It is advised to statically import this class (or one of its inner classes) wherever the
  * constants are needed, to reduce verbosity.
@@ -19,8 +19,8 @@ public final class Constants {
     public static final int kRightMotor1Port = 2;
     public static final int kRightMotor2Port = 3;
 
-    public static final int[] kLeftEncoderPorts = new int[]{0, 1};
-    public static final int[] kRightEncoderPorts = new int[]{2, 3};
+    public static final int[] kLeftEncoderPorts = new int[] {0, 1};
+    public static final int[] kRightEncoderPorts = new int[] {2, 3};
     public static final boolean kLeftEncoderReversed = false;
     public static final boolean kRightEncoderReversed = true;
 
@@ -32,7 +32,7 @@ public final class Constants {
   }
 
   public static final class ShooterConstants {
-    public static final int[] kEncoderPorts = new int[]{4, 5};
+    public static final int[] kEncoderPorts = new int[] {4, 5};
     public static final boolean kEncoderReversed = false;
     public static final int kEncoderCPR = 1024;
     public static final double kEncoderDistancePerPulse =
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Main.java
index 155f91f7a4..48c3f40e49 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Main.java
@@ -12,8 +12,7 @@ import edu.wpi.first.wpilibj.RobotBase;
  * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Robot.java
index d0df034f88..a6b00239da 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Robot.java
@@ -34,8 +34,8 @@ public class Robot extends TimedRobot {
    * This function is called every robot packet, no matter the mode. Use this for items like
    * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
    *
-   * <p>This runs after the mode specific periodic functions, but before
-   * LiveWindow and SmartDashboard integrated updating.
+   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
+   * SmartDashboard integrated updating.
    */
   @Override
   public void robotPeriodic() {
@@ -46,20 +46,14 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().run();
   }
 
-  /**
-   * This function is called once each time the robot enters Disabled mode.
-   */
+  /** This function is called once each time the robot enters Disabled mode. */
   @Override
-  public void disabledInit() {
-  }
+  public void disabledInit() {}
 
   @Override
-  public void disabledPeriodic() {
-  }
+  public void disabledPeriodic() {}
 
-  /**
-   * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
-   */
+  /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
   @Override
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
@@ -77,12 +71,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during autonomous.
-   */
+  /** This function is called periodically during autonomous. */
   @Override
-  public void autonomousPeriodic() {
-  }
+  public void autonomousPeriodic() {}
 
   @Override
   public void teleopInit() {
@@ -95,13 +86,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during operator control.
-   */
+  /** This function is called periodically during operator control. */
   @Override
-  public void teleopPeriodic() {
-
-  }
+  public void teleopPeriodic() {}
 
   @Override
   public void testInit() {
@@ -109,10 +96,7 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().cancelAll();
   }
 
-  /**
-   * This function is called periodically during test mode.
-   */
+  /** This function is called periodically during test mode. */
   @Override
-  public void testPeriodic() {
-  }
+  public void testPeriodic() {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/RobotContainer.java
index 40884b2933..e600e9f7cb 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/RobotContainer.java
@@ -4,8 +4,14 @@
 
 package edu.wpi.first.wpilibj.examples.frisbeebot;
 
+import static edu.wpi.first.wpilibj.XboxController.Button;
+
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.AutoConstants;
+import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.OIConstants;
+import edu.wpi.first.wpilibj.examples.frisbeebot.subsystems.DriveSubsystem;
+import edu.wpi.first.wpilibj.examples.frisbeebot.subsystems.ShooterSubsystem;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.ConditionalCommand;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
@@ -14,18 +20,11 @@ import edu.wpi.first.wpilibj2.command.WaitCommand;
 import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 
-import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.AutoConstants;
-import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.OIConstants;
-import edu.wpi.first.wpilibj.examples.frisbeebot.subsystems.DriveSubsystem;
-import edu.wpi.first.wpilibj.examples.frisbeebot.subsystems.ShooterSubsystem;
-
-import static edu.wpi.first.wpilibj.XboxController.Button;
-
 /**
- * This class is where the bulk of the robot should be declared.  Since Command-based is a
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
  * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
- * periodic methods (other than the scheduler calls).  Instead, the structure of the robot
- * (including subsystems, commands, and button mappings) should be declared here.
+ * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
+ * subsystems, commands, and button mappings) should be declared here.
  */
 public class RobotContainer {
   // The robot's subsystems
@@ -35,28 +34,28 @@ public class RobotContainer {
   // A simple autonomous routine that shoots the loaded frisbees
   private final Command m_autoCommand =
       // Start the command by spinning up the shooter...
-      new InstantCommand(m_shooter::enable, m_shooter).andThen(
-          // Wait until the shooter is at speed before feeding the frisbees
-          new WaitUntilCommand(m_shooter::atSetpoint),
-          // Start running the feeder
-          new InstantCommand(m_shooter::runFeeder, m_shooter),
-          // Shoot for the specified time
-          new WaitCommand(AutoConstants.kAutoShootTimeSeconds))
+      new InstantCommand(m_shooter::enable, m_shooter)
+          .andThen(
+              // Wait until the shooter is at speed before feeding the frisbees
+              new WaitUntilCommand(m_shooter::atSetpoint),
+              // Start running the feeder
+              new InstantCommand(m_shooter::runFeeder, m_shooter),
+              // Shoot for the specified time
+              new WaitCommand(AutoConstants.kAutoShootTimeSeconds))
           // Add a timeout (will end the command if, for instance, the shooter never gets up to
           // speed)
           .withTimeout(AutoConstants.kAutoTimeoutSeconds)
           // When the command ends, turn off the shooter and the feeder
-          .andThen(() -> {
-            m_shooter.disable();
-            m_shooter.stopFeeder();
-          });
+          .andThen(
+              () -> {
+                m_shooter.disable();
+                m_shooter.stopFeeder();
+              });
 
   // The driver's controller
   XboxController m_driverController = new XboxController(OIConstants.kDriverControllerPort);
 
-  /**
-   * The container for the robot.  Contains subsystems, OI devices, and commands.
-   */
+  /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     // Configure the button bindings
     configureButtonBindings();
@@ -66,17 +65,19 @@ public class RobotContainer {
     m_robotDrive.setDefaultCommand(
         // A split-stick arcade command, with forward/backward controlled by the left
         // hand, and turning controlled by the right.
-        new RunCommand(() -> m_robotDrive
-            .arcadeDrive(m_driverController.getY(GenericHID.Hand.kLeft),
-                         m_driverController.getX(GenericHID.Hand.kRight)), m_robotDrive));
-
+        new RunCommand(
+            () ->
+                m_robotDrive.arcadeDrive(
+                    m_driverController.getY(GenericHID.Hand.kLeft),
+                    m_driverController.getX(GenericHID.Hand.kRight)),
+            m_robotDrive));
   }
 
   /**
-   * Use this method to define your button->command mappings.  Buttons can be created by
+   * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link GenericHID} or one of its subclasses ({@link
-   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
-   * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
+   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
+   * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
   private void configureButtonBindings() {
     // Spin up the shooter when the 'A' button is pressed
@@ -88,14 +89,17 @@ public class RobotContainer {
         .whenPressed(new InstantCommand(m_shooter::disable, m_shooter));
 
     // Run the feeder when the 'X' button is held, but only if the shooter is at speed
-    new JoystickButton(m_driverController, Button.kX.value).whenPressed(new ConditionalCommand(
-        // Run the feeder
-        new InstantCommand(m_shooter::runFeeder, m_shooter),
-        // Do nothing
-        new InstantCommand(),
-        // Determine which of the above to do based on whether the shooter has reached the
-        // desired speed
-        m_shooter::atSetpoint)).whenReleased(new InstantCommand(m_shooter::stopFeeder, m_shooter));
+    new JoystickButton(m_driverController, Button.kX.value)
+        .whenPressed(
+            new ConditionalCommand(
+                // Run the feeder
+                new InstantCommand(m_shooter::runFeeder, m_shooter),
+                // Do nothing
+                new InstantCommand(),
+                // Determine which of the above to do based on whether the shooter has reached the
+                // desired speed
+                m_shooter::atSetpoint))
+        .whenReleased(new InstantCommand(m_shooter::stopFeeder, m_shooter));
 
     // Drive at half speed when the bumper is held
     new JoystickButton(m_driverController, Button.kBumperRight.value)
@@ -103,7 +107,6 @@ public class RobotContainer {
         .whenReleased(() -> m_robotDrive.setMaxOutput(1));
   }
 
-
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.
    *
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/DriveSubsystem.java
index efcc790b44..8ecb11bef8 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/DriveSubsystem.java
@@ -8,37 +8,40 @@ import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
 import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.DriveConstants;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class DriveSubsystem extends SubsystemBase {
   // The motors on the left side of the drive.
   private final SpeedControllerGroup m_leftMotors =
-      new SpeedControllerGroup(new PWMVictorSPX(DriveConstants.kLeftMotor1Port),
-                               new PWMVictorSPX(DriveConstants.kLeftMotor2Port));
+      new SpeedControllerGroup(
+          new PWMVictorSPX(DriveConstants.kLeftMotor1Port),
+          new PWMVictorSPX(DriveConstants.kLeftMotor2Port));
 
   // The motors on the right side of the drive.
   private final SpeedControllerGroup m_rightMotors =
-      new SpeedControllerGroup(new PWMVictorSPX(DriveConstants.kRightMotor1Port),
-                               new PWMVictorSPX(DriveConstants.kRightMotor2Port));
+      new SpeedControllerGroup(
+          new PWMVictorSPX(DriveConstants.kRightMotor1Port),
+          new PWMVictorSPX(DriveConstants.kRightMotor2Port));
 
   // The robot's drive
   private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);
 
   // The left-side drive encoder
   private final Encoder m_leftEncoder =
-      new Encoder(DriveConstants.kLeftEncoderPorts[0], DriveConstants.kLeftEncoderPorts[1],
-                  DriveConstants.kLeftEncoderReversed);
+      new Encoder(
+          DriveConstants.kLeftEncoderPorts[0],
+          DriveConstants.kLeftEncoderPorts[1],
+          DriveConstants.kLeftEncoderReversed);
 
   // The right-side drive encoder
   private final Encoder m_rightEncoder =
-      new Encoder(DriveConstants.kRightEncoderPorts[0], DriveConstants.kRightEncoderPorts[1],
-                  DriveConstants.kRightEncoderReversed);
+      new Encoder(
+          DriveConstants.kRightEncoderPorts[0],
+          DriveConstants.kRightEncoderPorts[1],
+          DriveConstants.kRightEncoderReversed);
 
-  /**
-   * Creates a new DriveSubsystem.
-   */
+  /** Creates a new DriveSubsystem. */
   public DriveSubsystem() {
     // Sets the distance per pulse for the encoders
     m_leftEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
@@ -55,9 +58,7 @@ public class DriveSubsystem extends SubsystemBase {
     m_drive.arcadeDrive(fwd, rot);
   }
 
-  /**
-   * Resets the drive encoders to currently read a position of 0.
-   */
+  /** Resets the drive encoders to currently read a position of 0. */
   public void resetEncoders() {
     m_leftEncoder.reset();
     m_rightEncoder.reset();
@@ -91,7 +92,7 @@ public class DriveSubsystem extends SubsystemBase {
   }
 
   /**
-   * Sets the max output of the drive.  Useful for scaling the drive to drive more slowly.
+   * Sets the max output of the drive. Useful for scaling the drive to drive more slowly.
    *
    * @param maxOutput the maximum output to which the drive will be constrained
    */
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java
index 151124fa4f..6651a86711 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java
@@ -8,23 +8,22 @@ import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
-import edu.wpi.first.wpilibj2.command.PIDSubsystem;
-
 import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.ShooterConstants;
+import edu.wpi.first.wpilibj2.command.PIDSubsystem;
 
 public class ShooterSubsystem extends PIDSubsystem {
   private final PWMVictorSPX m_shooterMotor = new PWMVictorSPX(ShooterConstants.kShooterMotorPort);
   private final PWMVictorSPX m_feederMotor = new PWMVictorSPX(ShooterConstants.kFeederMotorPort);
   private final Encoder m_shooterEncoder =
-      new Encoder(ShooterConstants.kEncoderPorts[0], ShooterConstants.kEncoderPorts[1],
-                  ShooterConstants.kEncoderReversed);
+      new Encoder(
+          ShooterConstants.kEncoderPorts[0],
+          ShooterConstants.kEncoderPorts[1],
+          ShooterConstants.kEncoderReversed);
   private final SimpleMotorFeedforward m_shooterFeedforward =
-      new SimpleMotorFeedforward(ShooterConstants.kSVolts,
-                                 ShooterConstants.kVVoltSecondsPerRotation);
+      new SimpleMotorFeedforward(
+          ShooterConstants.kSVolts, ShooterConstants.kVVoltSecondsPerRotation);
 
-  /**
-   * The shooter subsystem for the robot.
-   */
+  /** The shooter subsystem for the robot. */
   public ShooterSubsystem() {
     super(new PIDController(ShooterConstants.kP, ShooterConstants.kI, ShooterConstants.kD));
     getController().setTolerance(ShooterConstants.kShooterToleranceRPS);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Main.java
index 40e1ad906e..8bf98fd23a 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Main.java
@@ -12,8 +12,7 @@ import edu.wpi.first.wpilibj.RobotBase;
  * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Robot.java
index 77b1b187fb..12fddb3934 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Robot.java
@@ -34,8 +34,8 @@ public class Robot extends TimedRobot {
    * This function is called every robot packet, no matter the mode. Use this for items like
    * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
    *
-   * <p>This runs after the mode specific periodic functions, but before
-   * LiveWindow and SmartDashboard integrated updating.
+   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
+   * SmartDashboard integrated updating.
    */
   @Override
   public void robotPeriodic() {
@@ -46,20 +46,14 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().run();
   }
 
-  /**
-   * This function is called once each time the robot enters Disabled mode.
-   */
+  /** This function is called once each time the robot enters Disabled mode. */
   @Override
-  public void disabledInit() {
-  }
+  public void disabledInit() {}
 
   @Override
-  public void disabledPeriodic() {
-  }
+  public void disabledPeriodic() {}
 
-  /**
-   * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
-   */
+  /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
   @Override
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
@@ -70,12 +64,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during autonomous.
-   */
+  /** This function is called periodically during autonomous. */
   @Override
-  public void autonomousPeriodic() {
-  }
+  public void autonomousPeriodic() {}
 
   @Override
   public void teleopInit() {
@@ -88,12 +79,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during operator control.
-   */
+  /** This function is called periodically during operator control. */
   @Override
-  public void teleopPeriodic() {
-  }
+  public void teleopPeriodic() {}
 
   @Override
   public void testInit() {
@@ -101,10 +89,7 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().cancelAll();
   }
 
-  /**
-   * This function is called periodically during test mode.
-   */
+  /** This function is called periodically during test mode. */
   @Override
-  public void testPeriodic() {
-  }
+  public void testPeriodic() {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/RobotContainer.java
index d1b737af67..31a4df556e 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/RobotContainer.java
@@ -8,11 +8,6 @@ import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.GenericHID.Hand;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.XboxController;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.CommandBase;
-import edu.wpi.first.wpilibj2.command.button.JoystickButton;
-
 import edu.wpi.first.wpilibj.examples.gearsbot.commands.Autonomous;
 import edu.wpi.first.wpilibj.examples.gearsbot.commands.CloseClaw;
 import edu.wpi.first.wpilibj.examples.gearsbot.commands.OpenClaw;
@@ -26,12 +21,16 @@ import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
 import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
 import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Elevator;
 import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Wrist;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 
 /**
- * This class is where the bulk of the robot should be declared.  Since Command-based is a
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
  * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
- * periodic methods (other than the scheduler calls).  Instead, the structure of the robot
- * (including subsystems, commands, and button mappings) should be declared here.
+ * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
+ * subsystems, commands, and button mappings) should be declared here.
  */
 public class RobotContainer {
   // The robot's subsystems and commands are defined here...
@@ -45,9 +44,7 @@ public class RobotContainer {
   private final CommandBase m_autonomousCommand =
       new Autonomous(m_drivetrain, m_claw, m_wrist, m_elevator);
 
-  /**
-   * The container for the robot.  Contains subsystems, OI devices, and commands.
-   */
+  /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     // Put Some buttons on the SmartDashboard
     SmartDashboard.putData("Elevator Bottom", new SetElevatorSetpoint(0, m_elevator));
@@ -60,12 +57,13 @@ public class RobotContainer {
     SmartDashboard.putData("Open Claw", new OpenClaw(m_claw));
     SmartDashboard.putData("Close Claw", new CloseClaw(m_claw));
 
-    SmartDashboard
-        .putData("Deliver Soda", new Autonomous(m_drivetrain, m_claw, m_wrist, m_elevator));
+    SmartDashboard.putData(
+        "Deliver Soda", new Autonomous(m_drivetrain, m_claw, m_wrist, m_elevator));
 
     // Assign default commands
-    m_drivetrain.setDefaultCommand(new TankDrive(() -> m_joystick.getY(Hand.kLeft),
-        () -> m_joystick.getY(Hand.kRight), m_drivetrain));
+    m_drivetrain.setDefaultCommand(
+        new TankDrive(
+            () -> m_joystick.getY(Hand.kLeft), () -> m_joystick.getY(Hand.kRight), m_drivetrain));
 
     // Show what command your subsystem is running on the SmartDashboard
     SmartDashboard.putData(m_drivetrain);
@@ -78,10 +76,10 @@ public class RobotContainer {
   }
 
   /**
-   * Use this method to define your button->command mappings.  Buttons can be created by
+   * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link GenericHID} or one of its subclasses ({@link
-   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
-   * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
+   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
+   * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
   private void configureButtonBindings() {
     // Create some buttons
@@ -106,7 +104,6 @@ public class RobotContainer {
     l2.whenPressed(new Autonomous(m_drivetrain, m_claw, m_wrist, m_elevator));
   }
 
-
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.
    *
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Autonomous.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Autonomous.java
index 7abaa9d5d0..9003f30ef2 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Autonomous.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Autonomous.java
@@ -4,20 +4,15 @@
 
 package edu.wpi.first.wpilibj.examples.gearsbot.commands;
 
-import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-
 import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
 import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
 import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Elevator;
 import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Wrist;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 
-/**
- * The main autonomous command to pickup and deliver the soda to the box.
- */
+/** The main autonomous command to pickup and deliver the soda to the box. */
 public class Autonomous extends SequentialCommandGroup {
-  /**
-   * Create a new autonomous command.
-   */
+  /** Create a new autonomous command. */
   public Autonomous(DriveTrain drive, Claw claw, Wrist wrist, Elevator elevator) {
     addCommands(
         new PrepareToPickup(claw, wrist, elevator),
@@ -27,10 +22,6 @@ public class Autonomous extends SequentialCommandGroup {
         new Place(claw, wrist, elevator),
         new SetDistanceToBox(0.60, drive),
         // new DriveStraight(-2), // Use Encoders if ultrasonic is broken
-        parallel(
-            new SetWristSetpoint(-45, wrist),
-            new CloseClaw(claw)
-        )
-    );
+        parallel(new SetWristSetpoint(-45, wrist), new CloseClaw(claw)));
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/CloseClaw.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/CloseClaw.java
index bd341476d0..8ef1deb52a 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/CloseClaw.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/CloseClaw.java
@@ -4,14 +4,11 @@
 
 package edu.wpi.first.wpilibj.examples.gearsbot.commands;
 
-import edu.wpi.first.wpilibj2.command.CommandBase;
-
 import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
 import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
+import edu.wpi.first.wpilibj2.command.CommandBase;
 
-/**
- * Closes the claw until the limit switch is tripped.
- */
+/** Closes the claw until the limit switch is tripped. */
 public class CloseClaw extends CommandBase {
   private final Claw m_claw;
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/DriveStraight.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/DriveStraight.java
index a5aca6c0de..780e33f942 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/DriveStraight.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/DriveStraight.java
@@ -5,28 +5,25 @@
 package edu.wpi.first.wpilibj.examples.gearsbot.commands;
 
 import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
 import edu.wpi.first.wpilibj2.command.PIDCommand;
 
-import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
-
 /**
- * Drive the given distance straight (negative values go backwards). Uses a
- * local PID controller to run a simple PID loop that is only enabled while this
- * command is running. The input is the averaged values of the left and right
- * encoders.
+ * Drive the given distance straight (negative values go backwards). Uses a local PID controller to
+ * run a simple PID loop that is only enabled while this command is running. The input is the
+ * averaged values of the left and right encoders.
  */
 public class DriveStraight extends PIDCommand {
   private final DriveTrain m_drivetrain;
 
   /**
    * Create a new DriveStraight command.
+   *
    * @param distance The distance to drive
    */
   public DriveStraight(double distance, DriveTrain drivetrain) {
-    super(new PIDController(4, 0, 0),
-        drivetrain::getDistance,
-        distance,
-        d -> drivetrain.drive(d, d));
+    super(
+        new PIDController(4, 0, 0), drivetrain::getDistance, distance, d -> drivetrain.drive(d, d));
 
     m_drivetrain = drivetrain;
     addRequirements(m_drivetrain);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/OpenClaw.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/OpenClaw.java
index db2cec8f6b..cf1754e549 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/OpenClaw.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/OpenClaw.java
@@ -4,13 +4,10 @@
 
 package edu.wpi.first.wpilibj.examples.gearsbot.commands;
 
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
 import edu.wpi.first.wpilibj2.command.WaitCommand;
 
-import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
-
-/**
- * Opens the claw for one second. Real robots should use sensors, stalling motors is BAD!
- */
+/** Opens the claw for one second. Real robots should use sensors, stalling motors is BAD! */
 public class OpenClaw extends WaitCommand {
   private final Claw m_claw;
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Pickup.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Pickup.java
index ac4b433ec5..4c7d267c55 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Pickup.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Pickup.java
@@ -4,12 +4,10 @@
 
 package edu.wpi.first.wpilibj.examples.gearsbot.commands;
 
-
-import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-
 import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
 import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Elevator;
 import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Wrist;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 
 /**
  * Pickup a soda can (if one is between the open claws) and get it in a safe state to drive around.
@@ -18,15 +16,13 @@ public class Pickup extends SequentialCommandGroup {
   /**
    * Create a new pickup command.
    *
-   * @param claw     The claw subsystem to use
-   * @param wrist    The wrist subsystem to use
+   * @param claw The claw subsystem to use
+   * @param wrist The wrist subsystem to use
    * @param elevator The elevator subsystem to use
    */
   public Pickup(Claw claw, Wrist wrist, Elevator elevator) {
     addCommands(
         new CloseClaw(claw),
-        parallel(
-            new SetWristSetpoint(-45, wrist),
-            new SetElevatorSetpoint(0.25, elevator)));
+        parallel(new SetWristSetpoint(-45, wrist), new SetElevatorSetpoint(0.25, elevator)));
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Place.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Place.java
index 621ba91911..442744c4f8 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Place.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Place.java
@@ -4,22 +4,18 @@
 
 package edu.wpi.first.wpilibj.examples.gearsbot.commands;
 
-
-import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-
 import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
 import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Elevator;
 import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Wrist;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 
-/**
- * Place a held soda can onto the platform.
- */
+/** Place a held soda can onto the platform. */
 public class Place extends SequentialCommandGroup {
   /**
    * Create a new place command.
    *
-   * @param claw     The claw subsystem to use
-   * @param wrist    The wrist subsystem to use
+   * @param claw The claw subsystem to use
+   * @param wrist The wrist subsystem to use
    * @param elevator The elevator subsystem to use
    */
   public Place(Claw claw, Wrist wrist, Elevator elevator) {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/PrepareToPickup.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/PrepareToPickup.java
index 55be45ce36..1ae599228d 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/PrepareToPickup.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/PrepareToPickup.java
@@ -4,28 +4,23 @@
 
 package edu.wpi.first.wpilibj.examples.gearsbot.commands;
 
-import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-
 import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
 import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Elevator;
 import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Wrist;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 
-/**
- * Make sure the robot is in a state to pickup soda cans.
- */
+/** Make sure the robot is in a state to pickup soda cans. */
 public class PrepareToPickup extends SequentialCommandGroup {
   /**
    * Create a new prepare to pickup command.
    *
-   * @param claw     The claw subsystem to use
-   * @param wrist    The wrist subsystem to use
+   * @param claw The claw subsystem to use
+   * @param wrist The wrist subsystem to use
    * @param elevator The elevator subsystem to use
    */
   public PrepareToPickup(Claw claw, Wrist wrist, Elevator elevator) {
     addCommands(
         new OpenClaw(claw),
-        parallel(
-            new SetWristSetpoint(0, wrist),
-            new SetElevatorSetpoint(0, elevator)));
+        parallel(new SetWristSetpoint(0, wrist), new SetElevatorSetpoint(0, elevator)));
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetDistanceToBox.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetDistanceToBox.java
index f8c76f8a89..588099e8da 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetDistanceToBox.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetDistanceToBox.java
@@ -5,16 +5,13 @@
 package edu.wpi.first.wpilibj.examples.gearsbot.commands;
 
 import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
 import edu.wpi.first.wpilibj2.command.PIDCommand;
 
-import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
-
-
 /**
- * Drive until the robot is the given distance away from the box. Uses a local
- * PID controller to run a simple PID loop that is only enabled while this
- * command is running. The input is the averaged values of the left and right
- * encoders.
+ * Drive until the robot is the given distance away from the box. Uses a local PID controller to run
+ * a simple PID loop that is only enabled while this command is running. The input is the averaged
+ * values of the left and right encoders.
  */
 public class SetDistanceToBox extends PIDCommand {
   private final DriveTrain m_drivetrain;
@@ -25,8 +22,10 @@ public class SetDistanceToBox extends PIDCommand {
    * @param distance The distance away from the box to drive to
    */
   public SetDistanceToBox(double distance, DriveTrain drivetrain) {
-    super(new PIDController(-2, 0, 0),
-        drivetrain::getDistanceToObstacle, distance,
+    super(
+        new PIDController(-2, 0, 0),
+        drivetrain::getDistanceToObstacle,
+        distance,
         d -> drivetrain.drive(d, d));
 
     m_drivetrain = drivetrain;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetElevatorSetpoint.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetElevatorSetpoint.java
index 2761d01e21..a32330535e 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetElevatorSetpoint.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetElevatorSetpoint.java
@@ -4,10 +4,8 @@
 
 package edu.wpi.first.wpilibj.examples.gearsbot.commands;
 
-import edu.wpi.first.wpilibj2.command.CommandBase;
-
 import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Elevator;
-
+import edu.wpi.first.wpilibj2.command.CommandBase;
 
 /**
  * Move the elevator to a given location. This command finishes when it is within the tolerance, but
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetWristSetpoint.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetWristSetpoint.java
index 150ff79f75..4c45ddf005 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetWristSetpoint.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetWristSetpoint.java
@@ -4,10 +4,8 @@
 
 package edu.wpi.first.wpilibj.examples.gearsbot.commands;
 
-import edu.wpi.first.wpilibj2.command.CommandBase;
-
 import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Wrist;
-
+import edu.wpi.first.wpilibj2.command.CommandBase;
 
 /**
  * Move the wrist to a given angle. This command finishes when it is within the tolerance, but
@@ -22,7 +20,7 @@ public class SetWristSetpoint extends CommandBase {
    * Create a new SetWristSetpoint command.
    *
    * @param setpoint The setpoint to set the wrist to
-   * @param wrist    The wrist to use
+   * @param wrist The wrist to use
    */
   public SetWristSetpoint(double setpoint, Wrist wrist) {
     m_wrist = wrist;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/TankDrive.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/TankDrive.java
index c2e92f6ac2..d0a48ffdb5 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/TankDrive.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/TankDrive.java
@@ -4,16 +4,11 @@
 
 package edu.wpi.first.wpilibj.examples.gearsbot.commands;
 
-
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
+import edu.wpi.first.wpilibj2.command.CommandBase;
 import java.util.function.DoubleSupplier;
 
-import edu.wpi.first.wpilibj2.command.CommandBase;
-
-import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
-
-/**
- * Have the robot drive tank style.
- */
+/** Have the robot drive tank style. */
 public class TankDrive extends CommandBase {
   private final DriveTrain m_drivetrain;
   private final DoubleSupplier m_left;
@@ -22,8 +17,8 @@ public class TankDrive extends CommandBase {
   /**
    * Creates a new TankDrive command.
    *
-   * @param left       The control input for the left side of the drive
-   * @param right      The control input for the right sight of the drive
+   * @param left The control input for the left side of the drive
+   * @param right The control input for the right sight of the drive
    * @param drivetrain The drivetrain subsystem to drive
    */
   public TankDrive(DoubleSupplier left, DoubleSupplier right, DriveTrain drivetrain) {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Claw.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Claw.java
index 96ac39f8e8..b25c7ea428 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Claw.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Claw.java
@@ -17,9 +17,7 @@ public class Claw extends SubsystemBase {
   private final Victor m_motor = new Victor(7);
   private final DigitalInput m_contact = new DigitalInput(5);
 
-  /**
-   * Create a new claw subsystem.
-   */
+  /** Create a new claw subsystem. */
   public Claw() {
     // Let's name everything on the LiveWindow
     addChild("Motor", m_motor);
@@ -30,37 +28,27 @@ public class Claw extends SubsystemBase {
     SmartDashboard.putData("Claw switch", m_contact);
   }
 
-  /**
-   * Set the claw motor to move in the open direction.
-   */
+  /** Set the claw motor to move in the open direction. */
   public void open() {
     m_motor.set(-1);
   }
 
-  /**
-   * Set the claw motor to move in the close direction.
-   */
+  /** Set the claw motor to move in the close direction. */
   public void close() {
     m_motor.set(1);
   }
 
-  /**
-   * Stops the claw motor from moving.
-   */
+  /** Stops the claw motor from moving. */
   public void stop() {
     m_motor.set(0);
   }
 
-  /**
-   * Return true when the robot is grabbing an object hard enough to trigger the limit switch.
-   */
+  /** Return true when the robot is grabbing an object hard enough to trigger the limit switch. */
   public boolean isGrabbing() {
     return m_contact.get();
   }
 
-  /**
-   * Call log method every loop.
-   */
+  /** Call log method every loop. */
   @Override
   public void periodic() {
     log();
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java
index 6072038c3b..32c97b1e1b 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java
@@ -11,11 +11,10 @@ import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
-
 public class DriveTrain extends SubsystemBase {
   /**
    * The DriveTrain subsystem incorporates the sensors and actuators attached to the robots chassis.
@@ -23,6 +22,7 @@ public class DriveTrain extends SubsystemBase {
    */
   private final SpeedController m_leftMotor =
       new SpeedControllerGroup(new PWMVictorSPX(0), new PWMVictorSPX(1));
+
   private final SpeedController m_rightMotor =
       new SpeedControllerGroup(new PWMVictorSPX(2), new PWMVictorSPX(3));
 
@@ -33,9 +33,7 @@ public class DriveTrain extends SubsystemBase {
   private final AnalogInput m_rangefinder = new AnalogInput(6);
   private final AnalogGyro m_gyro = new AnalogGyro(1);
 
-  /**
-   * Create a new drive train subsystem.
-   */
+  /** Create a new drive train subsystem. */
   public DriveTrain() {
     super();
 
@@ -61,9 +59,7 @@ public class DriveTrain extends SubsystemBase {
     addChild("Gyro", m_gyro);
   }
 
-  /**
-   * The log method puts interesting information to the SmartDashboard.
-   */
+  /** The log method puts interesting information to the SmartDashboard. */
   public void log() {
     SmartDashboard.putNumber("Left Distance", m_leftEncoder.getDistance());
     SmartDashboard.putNumber("Right Distance", m_rightEncoder.getDistance());
@@ -75,7 +71,7 @@ public class DriveTrain extends SubsystemBase {
   /**
    * Tank style driving for the DriveTrain.
    *
-   * @param left  Speed in range [-1,1]
+   * @param left Speed in range [-1,1]
    * @param right Speed in range [-1,1]
    */
   public void drive(double left, double right) {
@@ -91,9 +87,7 @@ public class DriveTrain extends SubsystemBase {
     return m_gyro.getAngle();
   }
 
-  /**
-   * Reset the robots sensors to the zero states.
-   */
+  /** Reset the robots sensors to the zero states. */
   public void reset() {
     m_gyro.reset();
     m_leftEncoder.reset();
@@ -119,9 +113,7 @@ public class DriveTrain extends SubsystemBase {
     return m_rangefinder.getAverageVoltage();
   }
 
-  /**
-   * Call log method every loop.
-   */
+  /** Call log method every loop. */
   @Override
   public void periodic() {
     log();
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Elevator.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Elevator.java
index dd10f545f7..fc38bf8717 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Elevator.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Elevator.java
@@ -7,11 +7,10 @@ package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
 import edu.wpi.first.wpilibj.AnalogPotentiometer;
 import edu.wpi.first.wpilibj.Victor;
 import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.PIDSubsystem;
 
-import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
-
 /**
  * The elevator subsystem uses PID to go to a given height. Unfortunately, in it's current state PID
  * values for simulation are different than in the real world do to minor differences.
@@ -25,9 +24,7 @@ public class Elevator extends PIDSubsystem {
   private static final double kP_simulation = 18;
   private static final double kI_simulation = 0.2;
 
-  /**
-   * Create a new elevator subsystem.
-   */
+  /** Create a new elevator subsystem. */
   public Elevator() {
     super(new PIDController(kP_real, kI_real, 0));
     if (Robot.isSimulation()) { // Check for simulation and update PID values
@@ -50,9 +47,7 @@ public class Elevator extends PIDSubsystem {
     addChild("Pot", m_pot);
   }
 
-  /**
-   * The log method puts interesting information to the SmartDashboard.
-   */
+  /** The log method puts interesting information to the SmartDashboard. */
   public void log() {
     SmartDashboard.putData("Elevator Pot", m_pot);
   }
@@ -65,17 +60,13 @@ public class Elevator extends PIDSubsystem {
     return m_pot.get();
   }
 
-  /**
-   * Use the motor as the PID output. This method is automatically called by the subsystem.
-   */
+  /** Use the motor as the PID output. This method is automatically called by the subsystem. */
   @Override
   public void useOutput(double output, double setpoint) {
     m_motor.set(output);
   }
 
-  /**
-   * Call log method every loop.
-   */
+  /** Call log method every loop. */
   @Override
   public void periodic() {
     log();
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java
index ae0d5346d3..7421433be3 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java
@@ -7,11 +7,10 @@ package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
 import edu.wpi.first.wpilibj.AnalogPotentiometer;
 import edu.wpi.first.wpilibj.Victor;
 import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.PIDSubsystem;
 
-import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
-
 /**
  * The wrist subsystem is like the elevator, but with a rotational joint instead of a linear joint.
  */
@@ -22,9 +21,7 @@ public class Wrist extends PIDSubsystem {
   private static final double kP_real = 1;
   private static final double kP_simulation = 0.05;
 
-  /**
-   * Create a new wrist subsystem.
-   */
+  /** Create a new wrist subsystem. */
   public Wrist() {
     super(new PIDController(kP_real, 0, 0));
     if (Robot.isSimulation()) { // Check for simulation and update PID values
@@ -47,9 +44,7 @@ public class Wrist extends PIDSubsystem {
     addChild("Pot", m_pot);
   }
 
-  /**
-   * The log method puts interesting information to the SmartDashboard.
-   */
+  /** The log method puts interesting information to the SmartDashboard. */
   public void log() {
     SmartDashboard.putData("Wrist Angle", m_pot);
   }
@@ -62,17 +57,13 @@ public class Wrist extends PIDSubsystem {
     return m_pot.get();
   }
 
-  /**
-   * Use the motor as the PID output. This method is automatically called by the subsystem.
-   */
+  /** Use the motor as the PID output. This method is automatically called by the subsystem. */
   @Override
   public void useOutput(double output, double setpoint) {
     m_motor.set(output);
   }
 
-  /**
-   * Call log method every loop.
-   */
+  /** Call log method every loop. */
   @Override
   public void periodic() {
     log();
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Main.java
index 71182c3c0f..dd467ee827 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.gettingstarted;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
index 0f6597a9f9..0c463affb4 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
@@ -11,38 +11,32 @@ import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 
 /**
- * The VM is configured to automatically run this class, and to call the
- * functions corresponding to each mode, as described in the TimedRobot
- * documentation. If you change the name of this class or the package after
- * creating this project, you must also update the manifest file in the resource
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * the package after creating this project, you must also update the manifest file in the resource
  * directory.
  */
 public class Robot extends TimedRobot {
-  private final DifferentialDrive m_robotDrive
-      = new DifferentialDrive(new PWMVictorSPX(0), new PWMVictorSPX(1));
+  private final DifferentialDrive m_robotDrive =
+      new DifferentialDrive(new PWMVictorSPX(0), new PWMVictorSPX(1));
   private final Joystick m_stick = new Joystick(0);
   private final Timer m_timer = new Timer();
 
   /**
-   * This function is run when the robot is first started up and should be
-   * used for any initialization code.
+   * This function is run when the robot is first started up and should be used for any
+   * initialization code.
    */
   @Override
-  public void robotInit() {
-  }
+  public void robotInit() {}
 
-  /**
-   * This function is run once each time the robot enters autonomous mode.
-   */
+  /** This function is run once each time the robot enters autonomous mode. */
   @Override
   public void autonomousInit() {
     m_timer.reset();
     m_timer.start();
   }
 
-  /**
-   * This function is called periodically during autonomous.
-   */
+  /** This function is called periodically during autonomous. */
   @Override
   public void autonomousPeriodic() {
     // Drive for 2 seconds
@@ -53,25 +47,17 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called once each time the robot enters teleoperated mode.
-   */
+  /** This function is called once each time the robot enters teleoperated mode. */
   @Override
-  public void teleopInit() {
-  }
+  public void teleopInit() {}
 
-  /**
-   * This function is called periodically during teleoperated mode.
-   */
+  /** This function is called periodically during teleoperated mode. */
   @Override
   public void teleopPeriodic() {
     m_robotDrive.arcadeDrive(m_stick.getY(), m_stick.getX());
   }
 
-  /**
-   * This function is called periodically during test mode.
-   */
+  /** This function is called periodically during test mode. */
   @Override
-  public void testPeriodic() {
-  }
+  public void testPeriodic() {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Main.java
index 7a5fa0c7e3..e8f2df6f2f 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.gyro;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java
index 61048be037..6bdc549682 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java
@@ -11,9 +11,9 @@ import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 
 /**
- * This is a sample program to demonstrate how to use a gyro sensor to make a
- * robot drive straight. This program uses a joystick to drive forwards and
- * backwards while the gyro is used for direction keeping.
+ * This is a sample program to demonstrate how to use a gyro sensor to make a robot drive straight.
+ * This program uses a joystick to drive forwards and backwards while the gyro is used for direction
+ * keeping.
  */
 public class Robot extends TimedRobot {
   private static final double kAngleSetpoint = 0.0;
@@ -28,9 +28,8 @@ public class Robot extends TimedRobot {
   private static final int kGyroPort = 0;
   private static final int kJoystickPort = 0;
 
-  private final DifferentialDrive m_myRobot
-      = new DifferentialDrive(new PWMVictorSPX(kLeftMotorPort),
-          new PWMVictorSPX(kRightMotorPort));
+  private final DifferentialDrive m_myRobot =
+      new DifferentialDrive(new PWMVictorSPX(kLeftMotorPort), new PWMVictorSPX(kRightMotorPort));
   private final AnalogGyro m_gyro = new AnalogGyro(kGyroPort);
   private final Joystick m_joystick = new Joystick(kJoystickPort);
 
@@ -40,8 +39,8 @@ public class Robot extends TimedRobot {
   }
 
   /**
-   * The motor speed is set from the joystick while the RobotDrive turning
-   * value is assigned from the error between the setpoint and the gyro angle.
+   * The motor speed is set from the joystick while the RobotDrive turning value is assigned from
+   * the error between the setpoint and the gyro angle.
    */
   @Override
   public void teleopPeriodic() {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Constants.java
index e5eded8cea..dd6aa962b4 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Constants.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Constants.java
@@ -6,8 +6,8 @@ package edu.wpi.first.wpilibj.examples.gyrodrivecommands;
 
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
- * constants.  This class should not be used for any other purpose.  All constants should be
- * declared globally (i.e. public static).  Do not put anything functional in this class.
+ * constants. This class should not be used for any other purpose. All constants should be declared
+ * globally (i.e. public static). Do not put anything functional in this class.
  *
  * <p>It is advised to statically import this class (or one of its inner classes) wherever the
  * constants are needed, to reduce verbosity.
@@ -19,8 +19,8 @@ public final class Constants {
     public static final int kRightMotor1Port = 2;
     public static final int kRightMotor2Port = 3;
 
-    public static final int[] kLeftEncoderPorts = new int[]{0, 1};
-    public static final int[] kRightEncoderPorts = new int[]{2, 3};
+    public static final int[] kLeftEncoderPorts = new int[] {0, 1};
+    public static final int[] kRightEncoderPorts = new int[] {2, 3};
     public static final boolean kLeftEncoderReversed = false;
     public static final boolean kRightEncoderReversed = true;
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Main.java
index 2353ead7c0..9e6bfe73a5 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Main.java
@@ -12,8 +12,7 @@ import edu.wpi.first.wpilibj.RobotBase;
  * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Robot.java
index ec908d9b61..fff4d8ca91 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Robot.java
@@ -34,8 +34,8 @@ public class Robot extends TimedRobot {
    * This function is called every robot packet, no matter the mode. Use this for items like
    * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
    *
-   * <p>This runs after the mode specific periodic functions, but before
-   * LiveWindow and SmartDashboard integrated updating.
+   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
+   * SmartDashboard integrated updating.
    */
   @Override
   public void robotPeriodic() {
@@ -46,20 +46,14 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().run();
   }
 
-  /**
-   * This function is called once each time the robot enters Disabled mode.
-   */
+  /** This function is called once each time the robot enters Disabled mode. */
   @Override
-  public void disabledInit() {
-  }
+  public void disabledInit() {}
 
   @Override
-  public void disabledPeriodic() {
-  }
+  public void disabledPeriodic() {}
 
-  /**
-   * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
-   */
+  /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
   @Override
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
@@ -77,12 +71,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during autonomous.
-   */
+  /** This function is called periodically during autonomous. */
   @Override
-  public void autonomousPeriodic() {
-  }
+  public void autonomousPeriodic() {}
 
   @Override
   public void teleopInit() {
@@ -95,13 +86,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during operator control.
-   */
+  /** This function is called periodically during operator control. */
   @Override
-  public void teleopPeriodic() {
-
-  }
+  public void teleopPeriodic() {}
 
   @Override
   public void testInit() {
@@ -109,10 +96,7 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().cancelAll();
   }
 
-  /**
-   * This function is called periodically during test mode.
-   */
+  /** This function is called periodically during test mode. */
   @Override
-  public void testPeriodic() {
-  }
+  public void testPeriodic() {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java
index ac0990c422..e6f7d33bf5 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java
@@ -4,28 +4,27 @@
 
 package edu.wpi.first.wpilibj.examples.gyrodrivecommands;
 
+import static edu.wpi.first.wpilibj.XboxController.Button;
+
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants;
+import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.OIConstants;
+import edu.wpi.first.wpilibj.examples.gyrodrivecommands.commands.TurnToAngle;
+import edu.wpi.first.wpilibj.examples.gyrodrivecommands.commands.TurnToAngleProfiled;
+import edu.wpi.first.wpilibj.examples.gyrodrivecommands.subsystems.DriveSubsystem;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.PIDCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 
-import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants;
-import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.OIConstants;
-import edu.wpi.first.wpilibj.examples.gyrodrivecommands.commands.TurnToAngle;
-import edu.wpi.first.wpilibj.examples.gyrodrivecommands.commands.TurnToAngleProfiled;
-import edu.wpi.first.wpilibj.examples.gyrodrivecommands.subsystems.DriveSubsystem;
-
-import static edu.wpi.first.wpilibj.XboxController.Button;
-
 /**
- * This class is where the bulk of the robot should be declared.  Since Command-based is a
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
  * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
- * periodic methods (other than the scheduler calls).  Instead, the structure of the robot
- * (including subsystems, commands, and button mappings) should be declared here.
+ * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
+ * subsystems, commands, and button mappings) should be declared here.
  */
 public class RobotContainer {
   // The robot's subsystems
@@ -34,9 +33,7 @@ public class RobotContainer {
   // The driver's controller
   XboxController m_driverController = new XboxController(OIConstants.kDriverControllerPort);
 
-  /**
-   * The container for the robot.  Contains subsystems, OI devices, and commands.
-   */
+  /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     // Configure the button bindings
     configureButtonBindings();
@@ -46,17 +43,19 @@ public class RobotContainer {
     m_robotDrive.setDefaultCommand(
         // A split-stick arcade command, with forward/backward controlled by the left
         // hand, and turning controlled by the right.
-        new RunCommand(() -> m_robotDrive
-            .arcadeDrive(m_driverController.getY(GenericHID.Hand.kLeft),
-                         m_driverController.getX(GenericHID.Hand.kRight)), m_robotDrive));
-
+        new RunCommand(
+            () ->
+                m_robotDrive.arcadeDrive(
+                    m_driverController.getY(GenericHID.Hand.kLeft),
+                    m_driverController.getX(GenericHID.Hand.kRight)),
+            m_robotDrive));
   }
 
   /**
-   * Use this method to define your button->command mappings.  Buttons can be created by
+   * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link GenericHID} or one of its subclasses ({@link
-   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
-   * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
+   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
+   * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
   private void configureButtonBindings() {
     // Drive at half speed when the right bumper is held
@@ -65,17 +64,23 @@ public class RobotContainer {
         .whenReleased(() -> m_robotDrive.setMaxOutput(1));
 
     // Stabilize robot to drive straight with gyro when left bumper is held
-    new JoystickButton(m_driverController, Button.kBumperLeft.value).whenHeld(new PIDCommand(
-        new PIDController(DriveConstants.kStabilizationP, DriveConstants.kStabilizationI,
-                          DriveConstants.kStabilizationD),
-        // Close the loop on the turn rate
-        m_robotDrive::getTurnRate,
-        // Setpoint is 0
-        0,
-        // Pipe the output to the turning controls
-        output -> m_robotDrive.arcadeDrive(m_driverController.getY(GenericHID.Hand.kLeft), output),
-        // Require the robot drive
-        m_robotDrive));
+    new JoystickButton(m_driverController, Button.kBumperLeft.value)
+        .whenHeld(
+            new PIDCommand(
+                new PIDController(
+                    DriveConstants.kStabilizationP,
+                    DriveConstants.kStabilizationI,
+                    DriveConstants.kStabilizationD),
+                // Close the loop on the turn rate
+                m_robotDrive::getTurnRate,
+                // Setpoint is 0
+                0,
+                // Pipe the output to the turning controls
+                output ->
+                    m_robotDrive.arcadeDrive(
+                        m_driverController.getY(GenericHID.Hand.kLeft), output),
+                // Require the robot drive
+                m_robotDrive));
 
     // Turn to 90 degrees when the 'X' button is pressed, with a 5 second timeout
     new JoystickButton(m_driverController, Button.kX.value)
@@ -86,7 +91,6 @@ public class RobotContainer {
         .whenPressed(new TurnToAngleProfiled(-90, m_robotDrive).withTimeout(5));
   }
 
-
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.
    *
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngle.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngle.java
index 6b8d3f9e59..481df5cb13 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngle.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngle.java
@@ -5,20 +5,17 @@
 package edu.wpi.first.wpilibj.examples.gyrodrivecommands.commands;
 
 import edu.wpi.first.wpilibj.controller.PIDController;
-import edu.wpi.first.wpilibj2.command.PIDCommand;
-
 import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants;
 import edu.wpi.first.wpilibj.examples.gyrodrivecommands.subsystems.DriveSubsystem;
+import edu.wpi.first.wpilibj2.command.PIDCommand;
 
-/**
- * A command that will turn the robot to the specified angle.
- */
+/** A command that will turn the robot to the specified angle. */
 public class TurnToAngle extends PIDCommand {
   /**
    * Turns to robot to the specified angle.
    *
    * @param targetAngleDegrees The angle to turn to
-   * @param drive              The drive subsystem to use
+   * @param drive The drive subsystem to use
    */
   public TurnToAngle(double targetAngleDegrees, DriveSubsystem drive) {
     super(
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngleProfiled.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngleProfiled.java
index d87e81514e..14bcfed26a 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngleProfiled.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngleProfiled.java
@@ -5,28 +5,28 @@
 package edu.wpi.first.wpilibj.examples.gyrodrivecommands.commands;
 
 import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
+import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants;
+import edu.wpi.first.wpilibj.examples.gyrodrivecommands.subsystems.DriveSubsystem;
 import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
 import edu.wpi.first.wpilibj2.command.ProfiledPIDCommand;
 
-import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants;
-import edu.wpi.first.wpilibj.examples.gyrodrivecommands.subsystems.DriveSubsystem;
-
-/**
- * A command that will turn the robot to the specified angle using a motion profile.
- */
+/** A command that will turn the robot to the specified angle using a motion profile. */
 public class TurnToAngleProfiled extends ProfiledPIDCommand {
   /**
    * Turns to robot to the specified angle using a motion profile.
    *
    * @param targetAngleDegrees The angle to turn to
-   * @param drive              The drive subsystem to use
+   * @param drive The drive subsystem to use
    */
   public TurnToAngleProfiled(double targetAngleDegrees, DriveSubsystem drive) {
     super(
-        new ProfiledPIDController(DriveConstants.kTurnP, DriveConstants.kTurnI,
-                                  DriveConstants.kTurnD, new TrapezoidProfile.Constraints(
-            DriveConstants.kMaxTurnRateDegPerS,
-            DriveConstants.kMaxTurnAccelerationDegPerSSquared)),
+        new ProfiledPIDController(
+            DriveConstants.kTurnP,
+            DriveConstants.kTurnI,
+            DriveConstants.kTurnD,
+            new TrapezoidProfile.Constraints(
+                DriveConstants.kMaxTurnRateDegPerS,
+                DriveConstants.kMaxTurnAccelerationDegPerSSquared)),
         // Close loop on heading
         drive::getHeading,
         // Set reference to target
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/subsystems/DriveSubsystem.java
index cd62099ce8..2b70171ceb 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/subsystems/DriveSubsystem.java
@@ -9,41 +9,44 @@ import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants;
 import edu.wpi.first.wpilibj.interfaces.Gyro;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants;
-
 public class DriveSubsystem extends SubsystemBase {
   // The motors on the left side of the drive.
   private final SpeedControllerGroup m_leftMotors =
-      new SpeedControllerGroup(new PWMVictorSPX(DriveConstants.kLeftMotor1Port),
-                               new PWMVictorSPX(DriveConstants.kLeftMotor2Port));
+      new SpeedControllerGroup(
+          new PWMVictorSPX(DriveConstants.kLeftMotor1Port),
+          new PWMVictorSPX(DriveConstants.kLeftMotor2Port));
 
   // The motors on the right side of the drive.
   private final SpeedControllerGroup m_rightMotors =
-      new SpeedControllerGroup(new PWMVictorSPX(DriveConstants.kRightMotor1Port),
-                               new PWMVictorSPX(DriveConstants.kRightMotor2Port));
+      new SpeedControllerGroup(
+          new PWMVictorSPX(DriveConstants.kRightMotor1Port),
+          new PWMVictorSPX(DriveConstants.kRightMotor2Port));
 
   // The robot's drive
   private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);
 
   // The left-side drive encoder
   private final Encoder m_leftEncoder =
-      new Encoder(DriveConstants.kLeftEncoderPorts[0], DriveConstants.kLeftEncoderPorts[1],
-                  DriveConstants.kLeftEncoderReversed);
+      new Encoder(
+          DriveConstants.kLeftEncoderPorts[0],
+          DriveConstants.kLeftEncoderPorts[1],
+          DriveConstants.kLeftEncoderReversed);
 
   // The right-side drive encoder
   private final Encoder m_rightEncoder =
-      new Encoder(DriveConstants.kRightEncoderPorts[0], DriveConstants.kRightEncoderPorts[1],
-                  DriveConstants.kRightEncoderReversed);
+      new Encoder(
+          DriveConstants.kRightEncoderPorts[0],
+          DriveConstants.kRightEncoderPorts[1],
+          DriveConstants.kRightEncoderReversed);
 
   // The gyro sensor
   private final Gyro m_gyro = new ADXRS450_Gyro();
 
-  /**
-   * Creates a new DriveSubsystem.
-   */
+  /** Creates a new DriveSubsystem. */
   public DriveSubsystem() {
     // Sets the distance per pulse for the encoders
     m_leftEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
@@ -60,9 +63,7 @@ public class DriveSubsystem extends SubsystemBase {
     m_drive.arcadeDrive(fwd, rot);
   }
 
-  /**
-   * Resets the drive encoders to currently read a position of 0.
-   */
+  /** Resets the drive encoders to currently read a position of 0. */
   public void resetEncoders() {
     m_leftEncoder.reset();
     m_rightEncoder.reset();
@@ -96,7 +97,7 @@ public class DriveSubsystem extends SubsystemBase {
   }
 
   /**
-   * Sets the max output of the drive.  Useful for scaling the drive to drive more slowly.
+   * Sets the max output of the drive. Useful for scaling the drive to drive more slowly.
    *
    * @param maxOutput the maximum output to which the drive will be constrained
    */
@@ -104,9 +105,7 @@ public class DriveSubsystem extends SubsystemBase {
     m_drive.setMaxOutput(maxOutput);
   }
 
-  /**
-   * Zeroes the heading of the robot.
-   */
+  /** Zeroes the heading of the robot. */
   public void zeroHeading() {
     m_gyro.reset();
   }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Main.java
index f34a90b74c..8c952f1f1b 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.gyromecanum;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java
index 19cdcf7dda..463b10ed67 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java
@@ -11,9 +11,8 @@ import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.drive.MecanumDrive;
 
 /**
- * This is a sample program that uses mecanum drive with a gyro sensor to
- * maintain rotation vectorsin relation to the starting orientation of the robot
- * (field-oriented controls).
+ * This is a sample program that uses mecanum drive with a gyro sensor to maintain rotation
+ * vectorsin relation to the starting orientation of the robot (field-oriented controls).
  */
 public class Robot extends TimedRobot {
   // gyro calibration constant, may need to be adjusted;
@@ -48,12 +47,10 @@ public class Robot extends TimedRobot {
     m_gyro.setSensitivity(kVoltsPerDegreePerSecond);
   }
 
-  /**
-   * Mecanum drive is used with the gyro angle as an input.
-   */
+  /** Mecanum drive is used with the gyro angle as an input. */
   @Override
   public void teleopPeriodic() {
-    m_robotDrive.driveCartesian(m_joystick.getX(), m_joystick.getY(),
-        m_joystick.getZ(), m_gyro.getAngle());
+    m_robotDrive.driveCartesian(
+        m_joystick.getX(), m_joystick.getY(), m_joystick.getZ(), m_gyro.getAngle());
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Constants.java
index 3a9f304b28..bd9497caf1 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Constants.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Constants.java
@@ -6,8 +6,8 @@ package edu.wpi.first.wpilibj.examples.hatchbotinlined;
 
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
- * constants.  This class should not be used for any other purpose.  All constants should be
- * declared globally (i.e. public static).  Do not put anything functional in this class.
+ * constants. This class should not be used for any other purpose. All constants should be declared
+ * globally (i.e. public static). Do not put anything functional in this class.
  *
  * <p>It is advised to statically import this class (or one of its inner classes) wherever the
  * constants are needed, to reduce verbosity.
@@ -19,8 +19,8 @@ public final class Constants {
     public static final int kRightMotor1Port = 2;
     public static final int kRightMotor2Port = 3;
 
-    public static final int[] kLeftEncoderPorts = new int[]{0, 1};
-    public static final int[] kRightEncoderPorts = new int[]{2, 3};
+    public static final int[] kLeftEncoderPorts = new int[] {0, 1};
+    public static final int[] kRightEncoderPorts = new int[] {2, 3};
     public static final boolean kLeftEncoderReversed = false;
     public static final boolean kRightEncoderReversed = true;
 
@@ -33,7 +33,7 @@ public final class Constants {
 
   public static final class HatchConstants {
     public static final int kHatchSolenoidModule = 0;
-    public static final int[] kHatchSolenoidPorts = new int[]{0, 1};
+    public static final int[] kHatchSolenoidPorts = new int[] {0, 1};
   }
 
   public static final class AutoConstants {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Main.java
index d88648723d..114bc1442d 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Main.java
@@ -12,8 +12,7 @@ import edu.wpi.first.wpilibj.RobotBase;
  * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Robot.java
index c3f7d2d999..8f16ce56ba 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Robot.java
@@ -34,8 +34,8 @@ public class Robot extends TimedRobot {
    * This function is called every robot packet, no matter the mode. Use this for items like
    * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
    *
-   * <p>This runs after the mode specific periodic functions, but before
-   * LiveWindow and SmartDashboard integrated updating.
+   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
+   * SmartDashboard integrated updating.
    */
   @Override
   public void robotPeriodic() {
@@ -46,20 +46,14 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().run();
   }
 
-  /**
-   * This function is called once each time the robot enters Disabled mode.
-   */
+  /** This function is called once each time the robot enters Disabled mode. */
   @Override
-  public void disabledInit() {
-  }
+  public void disabledInit() {}
 
   @Override
-  public void disabledPeriodic() {
-  }
+  public void disabledPeriodic() {}
 
-  /**
-   * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
-   */
+  /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
   @Override
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
@@ -70,12 +64,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during autonomous.
-   */
+  /** This function is called periodically during autonomous. */
   @Override
-  public void autonomousPeriodic() {
-  }
+  public void autonomousPeriodic() {}
 
   @Override
   public void teleopInit() {
@@ -88,12 +79,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during operator control.
-   */
+  /** This function is called periodically during operator control. */
   @Override
-  public void teleopPeriodic() {
-  }
+  public void teleopPeriodic() {}
 
   @Override
   public void testInit() {
@@ -101,10 +89,7 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().cancelAll();
   }
 
-  /**
-   * This function is called periodically during test mode.
-   */
+  /** This function is called periodically during test mode. */
   @Override
-  public void testPeriodic() {
-  }
+  public void testPeriodic() {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java
index 1b7ef1c967..f4f85f347f 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java
@@ -4,8 +4,15 @@
 
 package edu.wpi.first.wpilibj.examples.hatchbotinlined;
 
+import static edu.wpi.first.wpilibj.XboxController.Button;
+
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.AutoConstants;
+import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.OIConstants;
+import edu.wpi.first.wpilibj.examples.hatchbotinlined.commands.ComplexAutoCommand;
+import edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems.DriveSubsystem;
+import edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems.HatchSubsystem;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -14,19 +21,11 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 
-import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.AutoConstants;
-import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.OIConstants;
-import edu.wpi.first.wpilibj.examples.hatchbotinlined.commands.ComplexAutoCommand;
-import edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems.DriveSubsystem;
-import edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems.HatchSubsystem;
-
-import static edu.wpi.first.wpilibj.XboxController.Button;
-
 /**
- * This class is where the bulk of the robot should be declared.  Since Command-based is a
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
  * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
- * periodic methods (other than the scheduler calls).  Instead, the structure of the robot
- * (including subsystems, commands, and button mappings) should be declared here.
+ * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
+ * subsystems, commands, and button mappings) should be declared here.
  */
 public class RobotContainer {
   // The robot's subsystems
@@ -36,18 +35,18 @@ public class RobotContainer {
   // The autonomous routines
 
   // A simple auto routine that drives forward a specified distance, and then stops.
-  private final Command m_simpleAuto = new FunctionalCommand(
-      // Reset encoders on command start
-      m_robotDrive::resetEncoders,
-      // Drive forward while the command is executing
-      () -> m_robotDrive.arcadeDrive(AutoConstants.kAutoDriveSpeed, 0),
-      // Stop driving at the end of the command
-      interrupt -> m_robotDrive.arcadeDrive(0, 0),
-      // End the command when the robot's driven distance exceeds the desired value
-      () -> m_robotDrive.getAverageEncoderDistance() >= AutoConstants.kAutoDriveDistanceInches,
-      // Require the drive subsystem
-      m_robotDrive
-  );
+  private final Command m_simpleAuto =
+      new FunctionalCommand(
+          // Reset encoders on command start
+          m_robotDrive::resetEncoders,
+          // Drive forward while the command is executing
+          () -> m_robotDrive.arcadeDrive(AutoConstants.kAutoDriveSpeed, 0),
+          // Stop driving at the end of the command
+          interrupt -> m_robotDrive.arcadeDrive(0, 0),
+          // End the command when the robot's driven distance exceeds the desired value
+          () -> m_robotDrive.getAverageEncoderDistance() >= AutoConstants.kAutoDriveDistanceInches,
+          // Require the drive subsystem
+          m_robotDrive);
 
   // A complex auto routine that drives forward, drops a hatch, and then drives backward.
   private final Command m_complexAuto = new ComplexAutoCommand(m_robotDrive, m_hatchSubsystem);
@@ -58,9 +57,7 @@ public class RobotContainer {
   // The driver's controller
   XboxController m_driverController = new XboxController(OIConstants.kDriverControllerPort);
 
-  /**
-   * The container for the robot.  Contains subsystems, OI devices, and commands.
-   */
+  /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     // Configure the button bindings
     configureButtonBindings();
@@ -70,9 +67,12 @@ public class RobotContainer {
     m_robotDrive.setDefaultCommand(
         // A split-stick arcade command, with forward/backward controlled by the left
         // hand, and turning controlled by the right.
-        new RunCommand(() -> m_robotDrive
-            .arcadeDrive(m_driverController.getY(GenericHID.Hand.kLeft),
-                         m_driverController.getX(GenericHID.Hand.kRight)), m_robotDrive));
+        new RunCommand(
+            () ->
+                m_robotDrive.arcadeDrive(
+                    m_driverController.getY(GenericHID.Hand.kLeft),
+                    m_driverController.getX(GenericHID.Hand.kRight)),
+            m_robotDrive));
 
     // Add commands to the autonomous command chooser
     m_chooser.setDefaultOption("Simple Auto", m_simpleAuto);
@@ -83,10 +83,10 @@ public class RobotContainer {
   }
 
   /**
-   * Use this method to define your button->command mappings.  Buttons can be created by
+   * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link GenericHID} or one of its subclasses ({@link
-   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
-   * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
+   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
+   * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
   private void configureButtonBindings() {
     // Grab the hatch when the 'A' button is pressed.
@@ -101,7 +101,6 @@ public class RobotContainer {
         .whenReleased(() -> m_robotDrive.setMaxOutput(1));
   }
 
-
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.
    *
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/commands/ComplexAutoCommand.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/commands/ComplexAutoCommand.java
index c0674da986..1faf45a1d1 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/commands/ComplexAutoCommand.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/commands/ComplexAutoCommand.java
@@ -4,17 +4,14 @@
 
 package edu.wpi.first.wpilibj.examples.hatchbotinlined.commands;
 
+import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.AutoConstants;
+import edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems.DriveSubsystem;
+import edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems.HatchSubsystem;
 import edu.wpi.first.wpilibj2.command.FunctionalCommand;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 
-import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.AutoConstants;
-import edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems.DriveSubsystem;
-import edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems.HatchSubsystem;
-
-/**
- * A complex auto command that drives forward, releases a hatch, and then drives backward.
- */
+/** A complex auto command that drives forward, releases a hatch, and then drives backward. */
 public class ComplexAutoCommand extends SequentialCommandGroup {
   /**
    * Creates a new ComplexAutoCommand.
@@ -33,11 +30,11 @@ public class ComplexAutoCommand extends SequentialCommandGroup {
             // Stop driving at the end of the command
             interrupt -> driveSubsystem.arcadeDrive(0, 0),
             // End the command when the robot's driven distance exceeds the desired value
-            () -> driveSubsystem.getAverageEncoderDistance()
-                >= AutoConstants.kAutoDriveDistanceInches,
+            () ->
+                driveSubsystem.getAverageEncoderDistance()
+                    >= AutoConstants.kAutoDriveDistanceInches,
             // Require the drive subsystem
-            driveSubsystem
-        ),
+            driveSubsystem),
 
         // Release the hatch
         new InstantCommand(hatchSubsystem::releaseHatch, hatchSubsystem),
@@ -51,12 +48,10 @@ public class ComplexAutoCommand extends SequentialCommandGroup {
             // Stop driving at the end of the command
             interrupt -> driveSubsystem.arcadeDrive(0, 0),
             // End the command when the robot's driven distance exceeds the desired value
-            () -> driveSubsystem.getAverageEncoderDistance()
-                <= AutoConstants.kAutoBackupDistanceInches,
+            () ->
+                driveSubsystem.getAverageEncoderDistance()
+                    <= AutoConstants.kAutoBackupDistanceInches,
             // Require the drive subsystem
-            driveSubsystem
-        )
-    );
+            driveSubsystem));
   }
-
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/DriveSubsystem.java
index 22ce73a643..fc9b8968fd 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/DriveSubsystem.java
@@ -8,37 +8,40 @@ import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
 import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.DriveConstants;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class DriveSubsystem extends SubsystemBase {
   // The motors on the left side of the drive.
   private final SpeedControllerGroup m_leftMotors =
-      new SpeedControllerGroup(new PWMVictorSPX(DriveConstants.kLeftMotor1Port),
-                               new PWMVictorSPX(DriveConstants.kLeftMotor2Port));
+      new SpeedControllerGroup(
+          new PWMVictorSPX(DriveConstants.kLeftMotor1Port),
+          new PWMVictorSPX(DriveConstants.kLeftMotor2Port));
 
   // The motors on the right side of the drive.
   private final SpeedControllerGroup m_rightMotors =
-      new SpeedControllerGroup(new PWMVictorSPX(DriveConstants.kRightMotor1Port),
-                               new PWMVictorSPX(DriveConstants.kRightMotor2Port));
+      new SpeedControllerGroup(
+          new PWMVictorSPX(DriveConstants.kRightMotor1Port),
+          new PWMVictorSPX(DriveConstants.kRightMotor2Port));
 
   // The robot's drive
   private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);
 
   // The left-side drive encoder
   private final Encoder m_leftEncoder =
-      new Encoder(DriveConstants.kLeftEncoderPorts[0], DriveConstants.kLeftEncoderPorts[1],
-                  DriveConstants.kLeftEncoderReversed);
+      new Encoder(
+          DriveConstants.kLeftEncoderPorts[0],
+          DriveConstants.kLeftEncoderPorts[1],
+          DriveConstants.kLeftEncoderReversed);
 
   // The right-side drive encoder
   private final Encoder m_rightEncoder =
-      new Encoder(DriveConstants.kRightEncoderPorts[0], DriveConstants.kRightEncoderPorts[1],
-                  DriveConstants.kRightEncoderReversed);
+      new Encoder(
+          DriveConstants.kRightEncoderPorts[0],
+          DriveConstants.kRightEncoderPorts[1],
+          DriveConstants.kRightEncoderReversed);
 
-  /**
-   * Creates a new DriveSubsystem.
-   */
+  /** Creates a new DriveSubsystem. */
   public DriveSubsystem() {
     // Sets the distance per pulse for the encoders
     m_leftEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
@@ -55,9 +58,7 @@ public class DriveSubsystem extends SubsystemBase {
     m_drive.arcadeDrive(fwd, rot);
   }
 
-  /**
-   * Resets the drive encoders to currently read a position of 0.
-   */
+  /** Resets the drive encoders to currently read a position of 0. */
   public void resetEncoders() {
     m_leftEncoder.reset();
     m_rightEncoder.reset();
@@ -91,7 +92,7 @@ public class DriveSubsystem extends SubsystemBase {
   }
 
   /**
-   * Sets the max output of the drive.  Useful for scaling the drive to drive more slowly.
+   * Sets the max output of the drive. Useful for scaling the drive to drive more slowly.
    *
    * @param maxOutput the maximum output to which the drive will be constrained
    */
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/HatchSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/HatchSubsystem.java
index b6d869fc7f..a1843848b4 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/HatchSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/HatchSubsystem.java
@@ -4,32 +4,27 @@
 
 package edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems;
 
-import edu.wpi.first.wpilibj.DoubleSolenoid;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.HatchConstants;
-
 import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kForward;
 import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kReverse;
 
-/**
- * A hatch mechanism actuated by a single {@link edu.wpi.first.wpilibj.DoubleSolenoid}.
- */
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.HatchConstants;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+/** A hatch mechanism actuated by a single {@link edu.wpi.first.wpilibj.DoubleSolenoid}. */
 public class HatchSubsystem extends SubsystemBase {
   private final DoubleSolenoid m_hatchSolenoid =
-      new DoubleSolenoid(HatchConstants.kHatchSolenoidModule, HatchConstants.kHatchSolenoidPorts[0],
-                         HatchConstants.kHatchSolenoidPorts[1]);
+      new DoubleSolenoid(
+          HatchConstants.kHatchSolenoidModule,
+          HatchConstants.kHatchSolenoidPorts[0],
+          HatchConstants.kHatchSolenoidPorts[1]);
 
-  /**
-   * Grabs the hatch.
-   */
+  /** Grabs the hatch. */
   public void grabHatch() {
     m_hatchSolenoid.set(kForward);
   }
 
-  /**
-   * Releases the hatch.
-   */
+  /** Releases the hatch. */
   public void releaseHatch() {
     m_hatchSolenoid.set(kReverse);
   }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Constants.java
index 319a047f45..f47550769a 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Constants.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Constants.java
@@ -6,8 +6,8 @@ package edu.wpi.first.wpilibj.examples.hatchbottraditional;
 
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
- * constants.  This class should not be used for any other purpose.  All constants should be
- * declared globally (i.e. public static).  Do not put anything functional in this class.
+ * constants. This class should not be used for any other purpose. All constants should be declared
+ * globally (i.e. public static). Do not put anything functional in this class.
  *
  * <p>It is advised to statically import this class (or one of its inner classes) wherever the
  * constants are needed, to reduce verbosity.
@@ -19,8 +19,8 @@ public final class Constants {
     public static final int kRightMotor1Port = 2;
     public static final int kRightMotor2Port = 3;
 
-    public static final int[] kLeftEncoderPorts = new int[]{0, 1};
-    public static final int[] kRightEncoderPorts = new int[]{2, 3};
+    public static final int[] kLeftEncoderPorts = new int[] {0, 1};
+    public static final int[] kRightEncoderPorts = new int[] {2, 3};
     public static final boolean kLeftEncoderReversed = false;
     public static final boolean kRightEncoderReversed = true;
 
@@ -33,7 +33,7 @@ public final class Constants {
 
   public static final class HatchConstants {
     public static final int kHatchSolenoidModule = 0;
-    public static final int[] kHatchSolenoidPorts = new int[]{0, 1};
+    public static final int[] kHatchSolenoidPorts = new int[] {0, 1};
   }
 
   public static final class AutoConstants {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Main.java
index 469254876d..0d084c3bc7 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Main.java
@@ -12,8 +12,7 @@ import edu.wpi.first.wpilibj.RobotBase;
  * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java
index 4a285ace1e..f6bcdcd4d1 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java
@@ -34,8 +34,8 @@ public class Robot extends TimedRobot {
    * This function is called every robot packet, no matter the mode. Use this for items like
    * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
    *
-   * <p>This runs after the mode specific periodic functions, but before
-   * LiveWindow and SmartDashboard integrated updating.
+   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
+   * SmartDashboard integrated updating.
    */
   @Override
   public void robotPeriodic() {
@@ -46,20 +46,14 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().run();
   }
 
-  /**
-   * This function is called once each time the robot enters Disabled mode.
-   */
+  /** This function is called once each time the robot enters Disabled mode. */
   @Override
-  public void disabledInit() {
-  }
+  public void disabledInit() {}
 
   @Override
-  public void disabledPeriodic() {
-  }
+  public void disabledPeriodic() {}
 
-  /**
-   * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
-   */
+  /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
   @Override
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
@@ -77,12 +71,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during autonomous.
-   */
+  /** This function is called periodically during autonomous. */
   @Override
-  public void autonomousPeriodic() {
-  }
+  public void autonomousPeriodic() {}
 
   @Override
   public void teleopInit() {
@@ -95,12 +86,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during operator control.
-   */
+  /** This function is called periodically during operator control. */
   @Override
-  public void teleopPeriodic() {
-  }
+  public void teleopPeriodic() {}
 
   @Override
   public void testInit() {
@@ -108,10 +96,7 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().cancelAll();
   }
 
-  /**
-   * This function is called periodically during test mode.
-   */
+  /** This function is called periodically during test mode. */
   @Override
-  public void testPeriodic() {
-  }
+  public void testPeriodic() {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
index 0be93da222..ff1c4610c9 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
@@ -4,13 +4,10 @@
 
 package edu.wpi.first.wpilibj.examples.hatchbottraditional;
 
+import static edu.wpi.first.wpilibj.XboxController.Button;
+
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.button.JoystickButton;
-
 import edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.AutoConstants;
 import edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.OIConstants;
 import edu.wpi.first.wpilibj.examples.hatchbottraditional.commands.ComplexAuto;
@@ -21,14 +18,16 @@ import edu.wpi.first.wpilibj.examples.hatchbottraditional.commands.HalveDriveSpe
 import edu.wpi.first.wpilibj.examples.hatchbottraditional.commands.ReleaseHatch;
 import edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems.DriveSubsystem;
 import edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems.HatchSubsystem;
-
-import static edu.wpi.first.wpilibj.XboxController.Button;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 
 /**
- * This class is where the bulk of the robot should be declared.  Since Command-based is a
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
  * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
- * periodic methods (other than the scheduler calls).  Instead, the structure of the robot
- * (including subsystems, commands, and button mappings) should be declared here.
+ * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
+ * subsystems, commands, and button mappings) should be declared here.
  */
 public class RobotContainer {
   // The robot's subsystems
@@ -39,8 +38,8 @@ public class RobotContainer {
 
   // A simple auto routine that drives forward a specified distance, and then stops.
   private final Command m_simpleAuto =
-      new DriveDistance(AutoConstants.kAutoDriveDistanceInches, AutoConstants.kAutoDriveSpeed,
-                        m_robotDrive);
+      new DriveDistance(
+          AutoConstants.kAutoDriveDistanceInches, AutoConstants.kAutoDriveSpeed, m_robotDrive);
 
   // A complex auto routine that drives forward, drops a hatch, and then drives backward.
   private final Command m_complexAuto = new ComplexAuto(m_robotDrive, m_hatchSubsystem);
@@ -51,9 +50,7 @@ public class RobotContainer {
   // The driver's controller
   XboxController m_driverController = new XboxController(OIConstants.kDriverControllerPort);
 
-  /**
-   * The container for the robot.  Contains subsystems, OI devices, and commands.
-   */
+  /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     // Configure the button bindings
     configureButtonBindings();
@@ -77,10 +74,10 @@ public class RobotContainer {
   }
 
   /**
-   * Use this method to define your button->command mappings.  Buttons can be created by
+   * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link GenericHID} or one of its subclasses ({@link
-   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
-   * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
+   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
+   * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
   private void configureButtonBindings() {
     // Grab the hatch when the 'A' button is pressed.
@@ -94,7 +91,6 @@ public class RobotContainer {
         .whenHeld(new HalveDriveSpeed(m_robotDrive));
   }
 
-
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.
    *
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/ComplexAuto.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/ComplexAuto.java
index b874af00c5..736a8d9756 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/ComplexAuto.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/ComplexAuto.java
@@ -4,15 +4,12 @@
 
 package edu.wpi.first.wpilibj.examples.hatchbottraditional.commands;
 
-import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-
 import edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.AutoConstants;
 import edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems.DriveSubsystem;
 import edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems.HatchSubsystem;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 
-/**
- * A complex auto command that drives forward, releases a hatch, and then drives backward.
- */
+/** A complex auto command that drives forward, releases a hatch, and then drives backward. */
 public class ComplexAuto extends SequentialCommandGroup {
   /**
    * Creates a new ComplexAuto.
@@ -23,15 +20,14 @@ public class ComplexAuto extends SequentialCommandGroup {
   public ComplexAuto(DriveSubsystem drive, HatchSubsystem hatch) {
     addCommands(
         // Drive forward the specified distance
-        new DriveDistance(AutoConstants.kAutoDriveDistanceInches, AutoConstants.kAutoDriveSpeed,
-                          drive),
+        new DriveDistance(
+            AutoConstants.kAutoDriveDistanceInches, AutoConstants.kAutoDriveSpeed, drive),
 
         // Release the hatch
         new ReleaseHatch(hatch),
 
         // Drive backward the specified distance
-        new DriveDistance(AutoConstants.kAutoBackupDistanceInches, -AutoConstants.kAutoDriveSpeed,
-                          drive));
+        new DriveDistance(
+            AutoConstants.kAutoBackupDistanceInches, -AutoConstants.kAutoDriveSpeed, drive));
   }
-
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/DefaultDrive.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/DefaultDrive.java
index fe96be6791..460e787bb4 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/DefaultDrive.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/DefaultDrive.java
@@ -4,11 +4,9 @@
 
 package edu.wpi.first.wpilibj.examples.hatchbottraditional.commands;
 
-import java.util.function.DoubleSupplier;
-
-import edu.wpi.first.wpilibj2.command.CommandBase;
-
 import edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems.DriveSubsystem;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import java.util.function.DoubleSupplier;
 
 /**
  * A command to drive the robot with joystick input (passed in as {@link DoubleSupplier}s). Written
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/DriveDistance.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/DriveDistance.java
index caa4c1f4a1..04a3c0bf27 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/DriveDistance.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/DriveDistance.java
@@ -4,9 +4,8 @@
 
 package edu.wpi.first.wpilibj.examples.hatchbottraditional.commands;
 
-import edu.wpi.first.wpilibj2.command.CommandBase;
-
 import edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems.DriveSubsystem;
+import edu.wpi.first.wpilibj2.command.CommandBase;
 
 public class DriveDistance extends CommandBase {
   private final DriveSubsystem m_drive;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/GrabHatch.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/GrabHatch.java
index d35e84354d..9cd1550611 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/GrabHatch.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/GrabHatch.java
@@ -4,13 +4,12 @@
 
 package edu.wpi.first.wpilibj.examples.hatchbottraditional.commands;
 
+import edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems.HatchSubsystem;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 
-import edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems.HatchSubsystem;
-
 /**
- * A simple command that grabs a hatch with the {@link HatchSubsystem}.  Written explicitly for
- * pedagogical purposes.  Actual code should inline a command this simple with {@link
+ * A simple command that grabs a hatch with the {@link HatchSubsystem}. Written explicitly for
+ * pedagogical purposes. Actual code should inline a command this simple with {@link
  * edu.wpi.first.wpilibj2.command.InstantCommand}.
  */
 public class GrabHatch extends CommandBase {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/HalveDriveSpeed.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/HalveDriveSpeed.java
index 09d85049a1..c34d951642 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/HalveDriveSpeed.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/HalveDriveSpeed.java
@@ -4,9 +4,8 @@
 
 package edu.wpi.first.wpilibj.examples.hatchbottraditional.commands;
 
-import edu.wpi.first.wpilibj2.command.CommandBase;
-
 import edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems.DriveSubsystem;
+import edu.wpi.first.wpilibj2.command.CommandBase;
 
 public class HalveDriveSpeed extends CommandBase {
   private final DriveSubsystem m_drive;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/ReleaseHatch.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/ReleaseHatch.java
index fdb493c88d..6320486243 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/ReleaseHatch.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/ReleaseHatch.java
@@ -4,13 +4,10 @@
 
 package edu.wpi.first.wpilibj.examples.hatchbottraditional.commands;
 
+import edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems.HatchSubsystem;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 
-import edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems.HatchSubsystem;
-
-/**
- * A command that releases the hatch.
- */
+/** A command that releases the hatch. */
 public class ReleaseHatch extends InstantCommand {
   public ReleaseHatch(HatchSubsystem subsystem) {
     super(subsystem::releaseHatch, subsystem);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/DriveSubsystem.java
index 690c6373cc..3c24b2d383 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/DriveSubsystem.java
@@ -8,37 +8,40 @@ import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
 import edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.DriveConstants;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class DriveSubsystem extends SubsystemBase {
   // The motors on the left side of the drive.
   private final SpeedControllerGroup m_leftMotors =
-      new SpeedControllerGroup(new PWMVictorSPX(DriveConstants.kLeftMotor1Port),
-                               new PWMVictorSPX(DriveConstants.kLeftMotor2Port));
+      new SpeedControllerGroup(
+          new PWMVictorSPX(DriveConstants.kLeftMotor1Port),
+          new PWMVictorSPX(DriveConstants.kLeftMotor2Port));
 
   // The motors on the right side of the drive.
   private final SpeedControllerGroup m_rightMotors =
-      new SpeedControllerGroup(new PWMVictorSPX(DriveConstants.kRightMotor1Port),
-                               new PWMVictorSPX(DriveConstants.kRightMotor2Port));
+      new SpeedControllerGroup(
+          new PWMVictorSPX(DriveConstants.kRightMotor1Port),
+          new PWMVictorSPX(DriveConstants.kRightMotor2Port));
 
   // The robot's drive
   private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);
 
   // The left-side drive encoder
   private final Encoder m_leftEncoder =
-      new Encoder(DriveConstants.kLeftEncoderPorts[0], DriveConstants.kLeftEncoderPorts[1],
-                  DriveConstants.kLeftEncoderReversed);
+      new Encoder(
+          DriveConstants.kLeftEncoderPorts[0],
+          DriveConstants.kLeftEncoderPorts[1],
+          DriveConstants.kLeftEncoderReversed);
 
   // The right-side drive encoder
   private final Encoder m_rightEncoder =
-      new Encoder(DriveConstants.kRightEncoderPorts[0], DriveConstants.kRightEncoderPorts[1],
-                  DriveConstants.kRightEncoderReversed);
+      new Encoder(
+          DriveConstants.kRightEncoderPorts[0],
+          DriveConstants.kRightEncoderPorts[1],
+          DriveConstants.kRightEncoderReversed);
 
-  /**
-   * Creates a new DriveSubsystem.
-   */
+  /** Creates a new DriveSubsystem. */
   public DriveSubsystem() {
     // Sets the distance per pulse for the encoders
     m_leftEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
@@ -55,9 +58,7 @@ public class DriveSubsystem extends SubsystemBase {
     m_drive.arcadeDrive(fwd, rot);
   }
 
-  /**
-   * Resets the drive encoders to currently read a position of 0.
-   */
+  /** Resets the drive encoders to currently read a position of 0. */
   public void resetEncoders() {
     m_leftEncoder.reset();
     m_rightEncoder.reset();
@@ -91,7 +92,7 @@ public class DriveSubsystem extends SubsystemBase {
   }
 
   /**
-   * Sets the max output of the drive.  Useful for scaling the drive to drive more slowly.
+   * Sets the max output of the drive. Useful for scaling the drive to drive more slowly.
    *
    * @param maxOutput the maximum output to which the drive will be constrained
    */
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/HatchSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/HatchSubsystem.java
index 4880194690..8efb500dee 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/HatchSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/HatchSubsystem.java
@@ -4,32 +4,27 @@
 
 package edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems;
 
-import edu.wpi.first.wpilibj.DoubleSolenoid;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-import edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.HatchConstants;
-
 import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kForward;
 import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kReverse;
 
-/**
- * A hatch mechanism actuated by a single {@link DoubleSolenoid}.
- */
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.HatchConstants;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+/** A hatch mechanism actuated by a single {@link DoubleSolenoid}. */
 public class HatchSubsystem extends SubsystemBase {
   private final DoubleSolenoid m_hatchSolenoid =
-      new DoubleSolenoid(HatchConstants.kHatchSolenoidModule, HatchConstants.kHatchSolenoidPorts[0],
-                         HatchConstants.kHatchSolenoidPorts[1]);
+      new DoubleSolenoid(
+          HatchConstants.kHatchSolenoidModule,
+          HatchConstants.kHatchSolenoidPorts[0],
+          HatchConstants.kHatchSolenoidPorts[1]);
 
-  /**
-   * Grabs the hatch.
-   */
+  /** Grabs the hatch. */
   public void grabHatch() {
     m_hatchSolenoid.set(kForward);
   }
 
-  /**
-   * Releases the hatch.
-   */
+  /** Releases the hatch. */
   public void releaseHatch() {
     m_hatchSolenoid.set(kReverse);
   }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hidrumble/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hidrumble/Main.java
index 756f6b1b4a..5d139ca30f 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hidrumble/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hidrumble/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.hidrumble;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hidrumble/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hidrumble/Robot.java
old mode 100755
new mode 100644
index 8825d659c0..1c07516885
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hidrumble/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hidrumble/Robot.java
@@ -8,9 +8,7 @@ import edu.wpi.first.wpilibj.GenericHID.RumbleType;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.XboxController;
 
-/**
- * This is a demo program showing the use of GenericHID's rumble feature.
- */
+/** This is a demo program showing the use of GenericHID's rumble feature. */
 public class Robot extends TimedRobot {
   private final XboxController m_hid = new XboxController(0);
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/intermediatevision/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/intermediatevision/Main.java
index 058c1a5d38..f2fb11fafd 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/intermediatevision/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/intermediatevision/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.intermediatevision;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/intermediatevision/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/intermediatevision/Robot.java
index 47a15ed18a..6395da29b4 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/intermediatevision/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/intermediatevision/Robot.java
@@ -4,62 +4,61 @@
 
 package edu.wpi.first.wpilibj.examples.intermediatevision;
 
-import org.opencv.core.Mat;
-import org.opencv.core.Point;
-import org.opencv.core.Scalar;
-import org.opencv.imgproc.Imgproc;
-
 import edu.wpi.cscore.CvSink;
 import edu.wpi.cscore.CvSource;
 import edu.wpi.cscore.UsbCamera;
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.wpilibj.TimedRobot;
+import org.opencv.core.Mat;
+import org.opencv.core.Point;
+import org.opencv.core.Scalar;
+import org.opencv.imgproc.Imgproc;
 
 /**
- * This is a demo program showing the use of OpenCV to do vision processing. The
- * image is acquired from the USB camera, then a rectangle is put on the image
- * and sent to the dashboard. OpenCV has many methods for different types of
- * processing.
+ * This is a demo program showing the use of OpenCV to do vision processing. The image is acquired
+ * from the USB camera, then a rectangle is put on the image and sent to the dashboard. OpenCV has
+ * many methods for different types of processing.
  */
 public class Robot extends TimedRobot {
   Thread m_visionThread;
 
   @Override
   public void robotInit() {
-    m_visionThread = new Thread(() -> {
-      // Get the UsbCamera from CameraServer
-      UsbCamera camera = CameraServer.getInstance().startAutomaticCapture();
-      // Set the resolution
-      camera.setResolution(640, 480);
+    m_visionThread =
+        new Thread(
+            () -> {
+              // Get the UsbCamera from CameraServer
+              UsbCamera camera = CameraServer.getInstance().startAutomaticCapture();
+              // Set the resolution
+              camera.setResolution(640, 480);
 
-      // Get a CvSink. This will capture Mats from the camera
-      CvSink cvSink = CameraServer.getInstance().getVideo();
-      // Setup a CvSource. This will send images back to the Dashboard
-      CvSource outputStream
-          = CameraServer.getInstance().putVideo("Rectangle", 640, 480);
+              // Get a CvSink. This will capture Mats from the camera
+              CvSink cvSink = CameraServer.getInstance().getVideo();
+              // Setup a CvSource. This will send images back to the Dashboard
+              CvSource outputStream = CameraServer.getInstance().putVideo("Rectangle", 640, 480);
 
-      // Mats are very memory expensive. Lets reuse this Mat.
-      Mat mat = new Mat();
+              // Mats are very memory expensive. Lets reuse this Mat.
+              Mat mat = new Mat();
 
-      // This cannot be 'true'. The program will never exit if it is. This
-      // lets the robot stop this thread when restarting robot code or
-      // deploying.
-      while (!Thread.interrupted()) {
-        // Tell the CvSink to grab a frame from the camera and put it
-        // in the source mat.  If there is an error notify the output.
-        if (cvSink.grabFrame(mat) == 0) {
-          // Send the output the error.
-          outputStream.notifyError(cvSink.getError());
-          // skip the rest of the current iteration
-          continue;
-        }
-        // Put a rectangle on the image
-        Imgproc.rectangle(mat, new Point(100, 100), new Point(400, 400),
-            new Scalar(255, 255, 255), 5);
-        // Give the output stream a new image to display
-        outputStream.putFrame(mat);
-      }
-    });
+              // This cannot be 'true'. The program will never exit if it is. This
+              // lets the robot stop this thread when restarting robot code or
+              // deploying.
+              while (!Thread.interrupted()) {
+                // Tell the CvSink to grab a frame from the camera and put it
+                // in the source mat.  If there is an error notify the output.
+                if (cvSink.grabFrame(mat) == 0) {
+                  // Send the output the error.
+                  outputStream.notifyError(cvSink.getError());
+                  // skip the rest of the current iteration
+                  continue;
+                }
+                // Put a rectangle on the image
+                Imgproc.rectangle(
+                    mat, new Point(100, 100), new Point(400, 400), new Scalar(255, 255, 255), 5);
+                // Give the output stream a new image to display
+                outputStream.putFrame(mat);
+              }
+            });
     m_visionThread.setDaemon(true);
     m_visionThread.start();
   }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
index 1240974355..4f60c713a5 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
@@ -16,9 +16,7 @@ import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics;
 import edu.wpi.first.wpilibj.kinematics.MecanumDriveOdometry;
 import edu.wpi.first.wpilibj.kinematics.MecanumDriveWheelSpeeds;
 
-/**
- * Represents a mecanum drive style drivetrain.
- */
+/** Represents a mecanum drive style drivetrain. */
 @SuppressWarnings("PMD.TooManyFields")
 public class Drivetrain {
   public static final double kMaxSpeed = 3.0; // 3 meters per second
@@ -46,19 +44,17 @@ public class Drivetrain {
 
   private final AnalogGyro m_gyro = new AnalogGyro(0);
 
-  private final MecanumDriveKinematics m_kinematics = new MecanumDriveKinematics(
-      m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation
-  );
+  private final MecanumDriveKinematics m_kinematics =
+      new MecanumDriveKinematics(
+          m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation);
 
-  private final MecanumDriveOdometry m_odometry = new MecanumDriveOdometry(m_kinematics,
-      m_gyro.getRotation2d());
+  private final MecanumDriveOdometry m_odometry =
+      new MecanumDriveOdometry(m_kinematics, m_gyro.getRotation2d());
 
   // Gains are for example purposes only - must be determined for your own robot!
   private final SimpleMotorFeedforward m_feedforward = new SimpleMotorFeedforward(1, 3);
 
-  /**
-   * Constructs a MecanumDrive and resets the gyro.
-   */
+  /** Constructs a MecanumDrive and resets the gyro. */
   public Drivetrain() {
     m_gyro.reset();
   }
@@ -73,8 +69,7 @@ public class Drivetrain {
         m_frontLeftEncoder.getRate(),
         m_frontRightEncoder.getRate(),
         m_backLeftEncoder.getRate(),
-        m_backRightEncoder.getRate()
-    );
+        m_backRightEncoder.getRate());
   }
 
   /**
@@ -88,18 +83,18 @@ public class Drivetrain {
     final double backLeftFeedforward = m_feedforward.calculate(speeds.rearLeftMetersPerSecond);
     final double backRightFeedforward = m_feedforward.calculate(speeds.rearRightMetersPerSecond);
 
-    final double frontLeftOutput = m_frontLeftPIDController.calculate(
-        m_frontLeftEncoder.getRate(), speeds.frontLeftMetersPerSecond
-    );
-    final double frontRightOutput = m_frontRightPIDController.calculate(
-        m_frontRightEncoder.getRate(), speeds.frontRightMetersPerSecond
-    );
-    final double backLeftOutput = m_backLeftPIDController.calculate(
-        m_backLeftEncoder.getRate(), speeds.rearLeftMetersPerSecond
-    );
-    final double backRightOutput = m_backRightPIDController.calculate(
-        m_backRightEncoder.getRate(), speeds.rearRightMetersPerSecond
-    );
+    final double frontLeftOutput =
+        m_frontLeftPIDController.calculate(
+            m_frontLeftEncoder.getRate(), speeds.frontLeftMetersPerSecond);
+    final double frontRightOutput =
+        m_frontRightPIDController.calculate(
+            m_frontRightEncoder.getRate(), speeds.frontRightMetersPerSecond);
+    final double backLeftOutput =
+        m_backLeftPIDController.calculate(
+            m_backLeftEncoder.getRate(), speeds.rearLeftMetersPerSecond);
+    final double backRightOutput =
+        m_backRightPIDController.calculate(
+            m_backRightEncoder.getRate(), speeds.rearRightMetersPerSecond);
 
     m_frontLeftMotor.setVoltage(frontLeftOutput + frontLeftFeedforward);
     m_frontRightMotor.setVoltage(frontRightOutput + frontRightFeedforward);
@@ -110,25 +105,23 @@ public class Drivetrain {
   /**
    * Method to drive the robot using joystick info.
    *
-   * @param xSpeed        Speed of the robot in the x direction (forward).
-   * @param ySpeed        Speed of the robot in the y direction (sideways).
-   * @param rot           Angular rate of the robot.
+   * @param xSpeed Speed of the robot in the x direction (forward).
+   * @param ySpeed Speed of the robot in the y direction (sideways).
+   * @param rot Angular rate of the robot.
    * @param fieldRelative Whether the provided x and y speeds are relative to the field.
    */
   @SuppressWarnings("ParameterName")
   public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative) {
-    var mecanumDriveWheelSpeeds = m_kinematics.toWheelSpeeds(
-        fieldRelative ? ChassisSpeeds.fromFieldRelativeSpeeds(
-            xSpeed, ySpeed, rot, m_gyro.getRotation2d()
-        ) : new ChassisSpeeds(xSpeed, ySpeed, rot)
-    );
+    var mecanumDriveWheelSpeeds =
+        m_kinematics.toWheelSpeeds(
+            fieldRelative
+                ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeed, ySpeed, rot, m_gyro.getRotation2d())
+                : new ChassisSpeeds(xSpeed, ySpeed, rot));
     mecanumDriveWheelSpeeds.normalize(kMaxSpeed);
     setSpeeds(mecanumDriveWheelSpeeds);
   }
 
-  /**
-   * Updates the field relative position of the robot.
-   */
+  /** Updates the field relative position of the robot. */
   public void updateOdometry() {
     m_odometry.update(m_gyro.getRotation2d(), getCurrentState());
   }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Main.java
index d7aa37453a..338365e1ef 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.mecanumbot;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Robot.java
index a81cf69dc4..e219a118c2 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Robot.java
@@ -33,15 +33,13 @@ public class Robot extends TimedRobot {
     // Get the x speed. We are inverting this because Xbox controllers return
     // negative values when we push forward.
     final var xSpeed =
-        -m_xspeedLimiter.calculate(m_controller.getY(GenericHID.Hand.kLeft))
-            * Drivetrain.kMaxSpeed;
+        -m_xspeedLimiter.calculate(m_controller.getY(GenericHID.Hand.kLeft)) * Drivetrain.kMaxSpeed;
 
     // Get the y speed or sideways/strafe speed. We are inverting this because
     // we want a positive value when we pull to the left. Xbox controllers
     // return positive values when you pull to the right by default.
     final var ySpeed =
-        -m_yspeedLimiter.calculate(m_controller.getX(GenericHID.Hand.kLeft))
-            * Drivetrain.kMaxSpeed;
+        -m_yspeedLimiter.calculate(m_controller.getX(GenericHID.Hand.kLeft)) * Drivetrain.kMaxSpeed;
 
     // Get the rate of angular rotation. We are inverting this because we want a
     // positive value when we pull to the left (remember, CCW is positive in
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Constants.java
index e2cd322393..5d3070fa45 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Constants.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Constants.java
@@ -11,8 +11,8 @@ import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
 
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
- * constants.  This class should not be used for any other purpose.  All constants should be
- * declared globally (i.e. public static).  Do not put anything functional in this class.
+ * constants. This class should not be used for any other purpose. All constants should be declared
+ * globally (i.e. public static). Do not put anything functional in this class.
  *
  * <p>It is advised to statically import this class (or one of its inner classes) wherever the
  * constants are needed, to reduce verbosity.
@@ -24,10 +24,10 @@ public final class Constants {
     public static final int kFrontRightMotorPort = 2;
     public static final int kRearRightMotorPort = 3;
 
-    public static final int[] kFrontLeftEncoderPorts = new int[]{0, 1};
-    public static final int[] kRearLeftEncoderPorts = new int[]{2, 3};
-    public static final int[] kFrontRightEncoderPorts = new int[]{4, 5};
-    public static final int[] kRearRightEncoderPorts = new int[]{5, 6};
+    public static final int[] kFrontLeftEncoderPorts = new int[] {0, 1};
+    public static final int[] kRearLeftEncoderPorts = new int[] {2, 3};
+    public static final int[] kFrontRightEncoderPorts = new int[] {4, 5};
+    public static final int[] kRearRightEncoderPorts = new int[] {5, 6};
 
     public static final boolean kFrontLeftEncoderReversed = false;
     public static final boolean kRearLeftEncoderReversed = true;
@@ -65,12 +65,10 @@ public final class Constants {
     public static final double kPRearLeftVel = 0.5;
     public static final double kPFrontRightVel = 0.5;
     public static final double kPRearRightVel = 0.5;
-
   }
 
   public static final class OIConstants {
     public static final int kDriverControllerPort = 1;
-
   }
 
   public static final class AutoConstants {
@@ -83,10 +81,9 @@ public final class Constants {
     public static final double kPYController = 0.5;
     public static final double kPThetaController = 0.5;
 
-    //Constraint for the motion profilied robot angle controller
+    // Constraint for the motion profilied robot angle controller
     public static final TrapezoidProfile.Constraints kThetaControllerConstraints =
-        new TrapezoidProfile.Constraints(kMaxAngularSpeedRadiansPerSecond,
-        kMaxAngularSpeedRadiansPerSecondSquared);
-
+        new TrapezoidProfile.Constraints(
+            kMaxAngularSpeedRadiansPerSecond, kMaxAngularSpeedRadiansPerSecondSquared);
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Main.java
index 779fd53e1f..3398c216d7 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Main.java
@@ -12,8 +12,7 @@ import edu.wpi.first.wpilibj.RobotBase;
  * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Robot.java
index 5bc13acdaa..3913f5d1db 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Robot.java
@@ -34,8 +34,8 @@ public class Robot extends TimedRobot {
    * This function is called every robot packet, no matter the mode. Use this for items like
    * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
    *
-   * <p>This runs after the mode specific periodic functions, but before
-   * LiveWindow and SmartDashboard integrated updating.
+   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
+   * SmartDashboard integrated updating.
    */
   @Override
   public void robotPeriodic() {
@@ -46,20 +46,14 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().run();
   }
 
-  /**
-   * This function is called once each time the robot enters Disabled mode.
-   */
+  /** This function is called once each time the robot enters Disabled mode. */
   @Override
-  public void disabledInit() {
-  }
+  public void disabledInit() {}
 
   @Override
-  public void disabledPeriodic() {
-  }
+  public void disabledPeriodic() {}
 
-  /**
-   * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
-   */
+  /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
   @Override
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
@@ -77,12 +71,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during autonomous.
-   */
+  /** This function is called periodically during autonomous. */
   @Override
-  public void autonomousPeriodic() {
-  }
+  public void autonomousPeriodic() {}
 
   @Override
   public void teleopInit() {
@@ -95,13 +86,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during operator control.
-   */
+  /** This function is called periodically during operator control. */
   @Override
-  public void teleopPeriodic() {
-
-  }
+  public void teleopPeriodic() {}
 
   @Override
   public void testInit() {
@@ -109,10 +96,7 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().cancelAll();
   }
 
-  /**
-   * This function is called periodically during test mode.
-   */
+  /** This function is called periodically during test mode. */
   @Override
-  public void testPeriodic() {
-  }
+  public void testPeriodic() {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java
index 1203f6e3d3..f66a7c98ab 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java
@@ -4,13 +4,15 @@
 
 package edu.wpi.first.wpilibj.examples.mecanumcontrollercommand;
 
-import java.util.List;
-
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.XboxController.Button;
 import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
+import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.AutoConstants;
+import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.DriveConstants;
+import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.OIConstants;
+import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.subsystems.DriveSubsystem;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.geometry.Translation2d;
@@ -21,11 +23,7 @@ import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.MecanumControllerCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
-
-import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.AutoConstants;
-import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.DriveConstants;
-import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.OIConstants;
-import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.subsystems.DriveSubsystem;
+import java.util.List;
 
 /*
  * This class is where the bulk of the robot should be declared.  Since Command-based is a
@@ -41,9 +39,7 @@ public class RobotContainer {
   // The driver's controller
   XboxController m_driverController = new XboxController(OIConstants.kDriverControllerPort);
 
-  /**
-   * The container for the robot.  Contains subsystems, OI devices, and commands.
-   */
+  /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     // Configure the button bindings
     configureButtonBindings();
@@ -53,15 +49,17 @@ public class RobotContainer {
     m_robotDrive.setDefaultCommand(
         // A split-stick arcade command, with forward/backward controlled by the left
         // hand, and turning controlled by the right.
-        new RunCommand(() -> m_robotDrive.drive(
-            m_driverController.getY(GenericHID.Hand.kLeft),
-            m_driverController.getX(GenericHID.Hand.kRight),
-            m_driverController.getX(GenericHID.Hand.kLeft), false)));
-
+        new RunCommand(
+            () ->
+                m_robotDrive.drive(
+                    m_driverController.getY(GenericHID.Hand.kLeft),
+                    m_driverController.getX(GenericHID.Hand.kRight),
+                    m_driverController.getX(GenericHID.Hand.kLeft),
+                    false)));
   }
 
   /**
-   * Use this method to define your button->command mappings.  Buttons can be created by
+   * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link GenericHID} or one of its subclasses ({@link
    * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then calling passing it to a
    * {@link JoystickButton}.
@@ -71,7 +69,6 @@ public class RobotContainer {
     new JoystickButton(m_driverController, Button.kBumperRight.value)
         .whenPressed(() -> m_robotDrive.setMaxOutput(0.5))
         .whenReleased(() -> m_robotDrive.setMaxOutput(1));
-
   }
 
   /**
@@ -82,53 +79,47 @@ public class RobotContainer {
   public Command getAutonomousCommand() {
     // Create config for trajectory
     TrajectoryConfig config =
-        new TrajectoryConfig(AutoConstants.kMaxSpeedMetersPerSecond,
-                             AutoConstants.kMaxAccelerationMetersPerSecondSquared)
+        new TrajectoryConfig(
+                AutoConstants.kMaxSpeedMetersPerSecond,
+                AutoConstants.kMaxAccelerationMetersPerSecondSquared)
             // Add kinematics to ensure max speed is actually obeyed
             .setKinematics(DriveConstants.kDriveKinematics);
 
     // An example trajectory to follow.  All units in meters.
-    Trajectory exampleTrajectory = TrajectoryGenerator.generateTrajectory(
-        // Start at the origin facing the +X direction
-        new Pose2d(0, 0, new Rotation2d(0)),
-        // Pass through these two interior waypoints, making an 's' curve path
-        List.of(
-            new Translation2d(1, 1),
-            new Translation2d(2, -1)
-        ),
-        // End 3 meters straight ahead of where we started, facing forward
-        new Pose2d(3, 0, new Rotation2d(0)),
-        config
-    );
+    Trajectory exampleTrajectory =
+        TrajectoryGenerator.generateTrajectory(
+            // Start at the origin facing the +X direction
+            new Pose2d(0, 0, new Rotation2d(0)),
+            // Pass through these two interior waypoints, making an 's' curve path
+            List.of(new Translation2d(1, 1), new Translation2d(2, -1)),
+            // End 3 meters straight ahead of where we started, facing forward
+            new Pose2d(3, 0, new Rotation2d(0)),
+            config);
 
-    MecanumControllerCommand mecanumControllerCommand = new MecanumControllerCommand(
-        exampleTrajectory,
-        m_robotDrive::getPose,
+    MecanumControllerCommand mecanumControllerCommand =
+        new MecanumControllerCommand(
+            exampleTrajectory,
+            m_robotDrive::getPose,
+            DriveConstants.kFeedforward,
+            DriveConstants.kDriveKinematics,
 
-        DriveConstants.kFeedforward,
-        DriveConstants.kDriveKinematics,
+            // Position contollers
+            new PIDController(AutoConstants.kPXController, 0, 0),
+            new PIDController(AutoConstants.kPYController, 0, 0),
+            new ProfiledPIDController(
+                AutoConstants.kPThetaController, 0, 0, AutoConstants.kThetaControllerConstraints),
 
-        //Position contollers
-        new PIDController(AutoConstants.kPXController, 0, 0),
-        new PIDController(AutoConstants.kPYController, 0, 0),
-        new ProfiledPIDController(AutoConstants.kPThetaController, 0, 0,
-                                  AutoConstants.kThetaControllerConstraints),
+            // Needed for normalizing wheel speeds
+            AutoConstants.kMaxSpeedMetersPerSecond,
 
-        //Needed for normalizing wheel speeds
-        AutoConstants.kMaxSpeedMetersPerSecond,
-
-        //Velocity PID's
-        new PIDController(DriveConstants.kPFrontLeftVel, 0, 0),
-        new PIDController(DriveConstants.kPRearLeftVel, 0, 0),
-        new PIDController(DriveConstants.kPFrontRightVel, 0, 0),
-        new PIDController(DriveConstants.kPRearRightVel, 0, 0),
-
-        m_robotDrive::getCurrentWheelSpeeds,
-
-        m_robotDrive::setDriveSpeedControllersVolts, //Consumer for the output motor voltages
-
-        m_robotDrive
-    );
+            // Velocity PID's
+            new PIDController(DriveConstants.kPFrontLeftVel, 0, 0),
+            new PIDController(DriveConstants.kPRearLeftVel, 0, 0),
+            new PIDController(DriveConstants.kPFrontRightVel, 0, 0),
+            new PIDController(DriveConstants.kPRearRightVel, 0, 0),
+            m_robotDrive::getCurrentWheelSpeeds,
+            m_robotDrive::setDriveSpeedControllersVolts, // Consumer for the output motor voltages
+            m_robotDrive);
 
     // Reset odometry to the starting pose of the trajectory.
     m_robotDrive.resetOdometry(exampleTrajectory.getInitialPose());
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java
index 62bcd8211f..6a536aa695 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java
@@ -8,6 +8,7 @@ import edu.wpi.first.wpilibj.ADXRS450_Gyro;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.drive.MecanumDrive;
+import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.DriveConstants;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.interfaces.Gyro;
 import edu.wpi.first.wpilibj.kinematics.MecanumDriveMotorVoltages;
@@ -15,43 +16,42 @@ import edu.wpi.first.wpilibj.kinematics.MecanumDriveOdometry;
 import edu.wpi.first.wpilibj.kinematics.MecanumDriveWheelSpeeds;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.DriveConstants;
-
 public class DriveSubsystem extends SubsystemBase {
   private final PWMVictorSPX m_frontLeft = new PWMVictorSPX(DriveConstants.kFrontLeftMotorPort);
   private final PWMVictorSPX m_rearLeft = new PWMVictorSPX(DriveConstants.kRearLeftMotorPort);
   private final PWMVictorSPX m_frontRight = new PWMVictorSPX(DriveConstants.kFrontRightMotorPort);
   private final PWMVictorSPX m_rearRight = new PWMVictorSPX(DriveConstants.kRearRightMotorPort);
 
-  private final MecanumDrive m_drive = new MecanumDrive(
-      m_frontLeft,
-      m_rearLeft,
-      m_frontRight,
-      m_rearRight);
+  private final MecanumDrive m_drive =
+      new MecanumDrive(m_frontLeft, m_rearLeft, m_frontRight, m_rearRight);
 
   // The front-left-side drive encoder
   private final Encoder m_frontLeftEncoder =
-      new Encoder(DriveConstants.kFrontLeftEncoderPorts[0],
-                  DriveConstants.kFrontLeftEncoderPorts[1],
-                  DriveConstants.kFrontLeftEncoderReversed);
+      new Encoder(
+          DriveConstants.kFrontLeftEncoderPorts[0],
+          DriveConstants.kFrontLeftEncoderPorts[1],
+          DriveConstants.kFrontLeftEncoderReversed);
 
   // The rear-left-side drive encoder
   private final Encoder m_rearLeftEncoder =
-      new Encoder(DriveConstants.kRearLeftEncoderPorts[0],
-                  DriveConstants.kRearLeftEncoderPorts[1],
-                  DriveConstants.kRearLeftEncoderReversed);
+      new Encoder(
+          DriveConstants.kRearLeftEncoderPorts[0],
+          DriveConstants.kRearLeftEncoderPorts[1],
+          DriveConstants.kRearLeftEncoderReversed);
 
   // The front-right--side drive encoder
   private final Encoder m_frontRightEncoder =
-      new Encoder(DriveConstants.kFrontRightEncoderPorts[0],
-                  DriveConstants.kFrontRightEncoderPorts[1],
-                  DriveConstants.kFrontRightEncoderReversed);
+      new Encoder(
+          DriveConstants.kFrontRightEncoderPorts[0],
+          DriveConstants.kFrontRightEncoderPorts[1],
+          DriveConstants.kFrontRightEncoderReversed);
 
   // The rear-right-side drive encoder
   private final Encoder m_rearRightEncoder =
-      new Encoder(DriveConstants.kRearRightEncoderPorts[0],
-                  DriveConstants.kRearRightEncoderPorts[1],
-                  DriveConstants.kRearRightEncoderReversed);
+      new Encoder(
+          DriveConstants.kRearRightEncoderPorts[0],
+          DriveConstants.kRearRightEncoderPorts[1],
+          DriveConstants.kRearRightEncoderReversed);
 
   // The gyro sensor
   private final Gyro m_gyro = new ADXRS450_Gyro();
@@ -60,9 +60,7 @@ public class DriveSubsystem extends SubsystemBase {
   MecanumDriveOdometry m_odometry =
       new MecanumDriveOdometry(DriveConstants.kDriveKinematics, m_gyro.getRotation2d());
 
-  /**
-   * Creates a new DriveSubsystem.
-   */
+  /** Creates a new DriveSubsystem. */
   public DriveSubsystem() {
     // Sets the distance per pulse for the encoders
     m_frontLeftEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
@@ -74,12 +72,13 @@ public class DriveSubsystem extends SubsystemBase {
   @Override
   public void periodic() {
     // Update the odometry in the periodic block
-    m_odometry.update(m_gyro.getRotation2d(),
-                      new MecanumDriveWheelSpeeds(
-                          m_frontLeftEncoder.getRate(),
-                          m_rearLeftEncoder.getRate(),
-                          m_frontRightEncoder.getRate(),
-                          m_rearRightEncoder.getRate()));
+    m_odometry.update(
+        m_gyro.getRotation2d(),
+        new MecanumDriveWheelSpeeds(
+            m_frontLeftEncoder.getRate(),
+            m_rearLeftEncoder.getRate(),
+            m_frontRightEncoder.getRate(),
+            m_rearRightEncoder.getRate()));
   }
 
   /**
@@ -104,9 +103,9 @@ public class DriveSubsystem extends SubsystemBase {
    * Drives the robot at given x, y and theta speeds. Speeds range from [-1, 1] and the linear
    * speeds have no effect on the angular speed.
    *
-   * @param xSpeed        Speed of the robot in the x direction (forward/backwards).
-   * @param ySpeed        Speed of the robot in the y direction (sideways).
-   * @param rot           Angular rate of the robot.
+   * @param xSpeed Speed of the robot in the x direction (forward/backwards).
+   * @param ySpeed Speed of the robot in the y direction (sideways).
+   * @param rot Angular rate of the robot.
    * @param fieldRelative Whether the provided x and y speeds are relative to the field.
    */
   @SuppressWarnings("ParameterName")
@@ -116,12 +115,9 @@ public class DriveSubsystem extends SubsystemBase {
     } else {
       m_drive.driveCartesian(ySpeed, xSpeed, rot);
     }
-
   }
 
-  /**
-   * Sets the front left drive SpeedController to a voltage.
-   */
+  /** Sets the front left drive SpeedController to a voltage. */
   public void setDriveSpeedControllersVolts(MecanumDriveMotorVoltages volts) {
     m_frontLeft.setVoltage(volts.frontLeftVoltage);
     m_rearLeft.setVoltage(volts.rearLeftVoltage);
@@ -129,10 +125,7 @@ public class DriveSubsystem extends SubsystemBase {
     m_rearRight.setVoltage(volts.rearRightVoltage);
   }
 
-
-  /**
-   * Resets the drive encoders to currently read a position of 0.
-   */
+  /** Resets the drive encoders to currently read a position of 0. */
   public void resetEncoders() {
     m_frontLeftEncoder.reset();
     m_rearLeftEncoder.reset();
@@ -145,7 +138,6 @@ public class DriveSubsystem extends SubsystemBase {
    *
    * @return the front left drive encoder
    */
-
   public Encoder getFrontLeftEncoder() {
     return m_frontLeftEncoder;
   }
@@ -155,7 +147,6 @@ public class DriveSubsystem extends SubsystemBase {
    *
    * @return the rear left drive encoder
    */
-
   public Encoder getRearLeftEncoder() {
     return m_rearLeftEncoder;
   }
@@ -165,7 +156,6 @@ public class DriveSubsystem extends SubsystemBase {
    *
    * @return the front right drive encoder
    */
-
   public Encoder getFrontRightEncoder() {
     return m_frontRightEncoder;
   }
@@ -175,7 +165,6 @@ public class DriveSubsystem extends SubsystemBase {
    *
    * @return the rear right encoder
    */
-
   public Encoder getRearRightEncoder() {
     return m_rearRightEncoder;
   }
@@ -185,15 +174,14 @@ public class DriveSubsystem extends SubsystemBase {
    *
    * @return the current wheel speeds in a MecanumDriveWheelSpeeds object.
    */
-
   public MecanumDriveWheelSpeeds getCurrentWheelSpeeds() {
-    return new MecanumDriveWheelSpeeds(m_frontLeftEncoder.getRate(),
-                                       m_rearLeftEncoder.getRate(),
-                                       m_frontRightEncoder.getRate(),
-                                       m_rearRightEncoder.getRate());
+    return new MecanumDriveWheelSpeeds(
+        m_frontLeftEncoder.getRate(),
+        m_rearLeftEncoder.getRate(),
+        m_frontRightEncoder.getRate(),
+        m_rearRightEncoder.getRate());
   }
 
-
   /**
    * Sets the max output of the drive. Useful for scaling the drive to drive more slowly.
    *
@@ -203,9 +191,7 @@ public class DriveSubsystem extends SubsystemBase {
     m_drive.setMaxOutput(maxOutput);
   }
 
-  /**
-   * Zeroes the heading of the robot.
-   */
+  /** Zeroes the heading of the robot. */
   public void zeroHeading() {
     m_gyro.reset();
   }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Main.java
index 717e8815c9..b44186cb81 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.mecanumdrive;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java
old mode 100755
new mode 100644
index 37dbaee76f..34ef521fe1
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java
@@ -9,10 +9,7 @@ import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.drive.MecanumDrive;
 
-/**
- * This is a demo program showing how to use Mecanum control with the RobotDrive
- * class.
- */
+/** This is a demo program showing how to use Mecanum control with the RobotDrive class. */
 public class Robot extends TimedRobot {
   private static final int kFrontLeftChannel = 2;
   private static final int kRearLeftChannel = 3;
@@ -45,7 +42,6 @@ public class Robot extends TimedRobot {
   public void teleopPeriodic() {
     // Use the joystick X axis for lateral movement, Y axis for forward
     // movement, and Z axis for rotation.
-    m_robotDrive.driveCartesian(m_stick.getX(), m_stick.getY(),
-        m_stick.getZ(), 0.0);
+    m_robotDrive.driveCartesian(m_stick.getX(), m_stick.getY(), m_stick.getZ(), 0.0);
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java
index 9b688d47bd..f5cfd2620e 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java
@@ -12,6 +12,7 @@ import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
 import edu.wpi.first.wpilibj.estimator.MecanumDrivePoseEstimator;
+import edu.wpi.first.wpilibj.examples.swervesdriveposeestimator.ExampleGlobalMeasurementSensor;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Translation2d;
 import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
@@ -20,11 +21,7 @@ import edu.wpi.first.wpilibj.kinematics.MecanumDriveWheelSpeeds;
 import edu.wpi.first.wpilibj.util.Units;
 import edu.wpi.first.wpiutil.math.VecBuilder;
 
-import edu.wpi.first.wpilibj.examples.swervesdriveposeestimator.ExampleGlobalMeasurementSensor;
-
-/**
- * Represents a mecanum drive style drivetrain.
- */
+/** Represents a mecanum drive style drivetrain. */
 @SuppressWarnings("PMD.TooManyFields")
 public class Drivetrain {
   public static final double kMaxSpeed = 3.0; // 3 meters per second
@@ -52,26 +49,25 @@ public class Drivetrain {
 
   private final AnalogGyro m_gyro = new AnalogGyro(0);
 
-  private final MecanumDriveKinematics m_kinematics = new MecanumDriveKinematics(
-      m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation
-  );
+  private final MecanumDriveKinematics m_kinematics =
+      new MecanumDriveKinematics(
+          m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation);
 
   /* Here we use MecanumDrivePoseEstimator so that we can fuse odometry readings. The numbers used
-   below are robot specific, and should be tuned. */
-  private final MecanumDrivePoseEstimator m_poseEstimator = new MecanumDrivePoseEstimator(
-      m_gyro.getRotation2d(),
-      new Pose2d(),
-      m_kinematics,
-      VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(5)),
-      VecBuilder.fill(Units.degreesToRadians(0.01)),
-      VecBuilder.fill(0.5, 0.5, Units.degreesToRadians(30)));
+  below are robot specific, and should be tuned. */
+  private final MecanumDrivePoseEstimator m_poseEstimator =
+      new MecanumDrivePoseEstimator(
+          m_gyro.getRotation2d(),
+          new Pose2d(),
+          m_kinematics,
+          VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(5)),
+          VecBuilder.fill(Units.degreesToRadians(0.01)),
+          VecBuilder.fill(0.5, 0.5, Units.degreesToRadians(30)));
 
   // Gains are for example purposes only - must be determined for your own robot!
   private final SimpleMotorFeedforward m_feedforward = new SimpleMotorFeedforward(1, 3);
 
-  /**
-   * Constructs a MecanumDrive and resets the gyro.
-   */
+  /** Constructs a MecanumDrive and resets the gyro. */
   public Drivetrain() {
     m_gyro.reset();
   }
@@ -86,8 +82,7 @@ public class Drivetrain {
         m_frontLeftEncoder.getRate(),
         m_frontRightEncoder.getRate(),
         m_backLeftEncoder.getRate(),
-        m_backRightEncoder.getRate()
-    );
+        m_backRightEncoder.getRate());
   }
 
   /**
@@ -101,18 +96,18 @@ public class Drivetrain {
     final double backLeftFeedforward = m_feedforward.calculate(speeds.rearLeftMetersPerSecond);
     final double backRightFeedforward = m_feedforward.calculate(speeds.rearRightMetersPerSecond);
 
-    final double frontLeftOutput = m_frontLeftPIDController.calculate(
-        m_frontLeftEncoder.getRate(), speeds.frontLeftMetersPerSecond
-    );
-    final double frontRightOutput = m_frontRightPIDController.calculate(
-        m_frontRightEncoder.getRate(), speeds.frontRightMetersPerSecond
-    );
-    final double backLeftOutput = m_backLeftPIDController.calculate(
-        m_backLeftEncoder.getRate(), speeds.rearLeftMetersPerSecond
-    );
-    final double backRightOutput = m_backRightPIDController.calculate(
-        m_backRightEncoder.getRate(), speeds.rearRightMetersPerSecond
-    );
+    final double frontLeftOutput =
+        m_frontLeftPIDController.calculate(
+            m_frontLeftEncoder.getRate(), speeds.frontLeftMetersPerSecond);
+    final double frontRightOutput =
+        m_frontRightPIDController.calculate(
+            m_frontRightEncoder.getRate(), speeds.frontRightMetersPerSecond);
+    final double backLeftOutput =
+        m_backLeftPIDController.calculate(
+            m_backLeftEncoder.getRate(), speeds.rearLeftMetersPerSecond);
+    final double backRightOutput =
+        m_backRightPIDController.calculate(
+            m_backRightEncoder.getRate(), speeds.rearRightMetersPerSecond);
 
     m_frontLeftMotor.setVoltage(frontLeftOutput + frontLeftFeedforward);
     m_frontRightMotor.setVoltage(frontRightOutput + frontRightFeedforward);
@@ -123,25 +118,23 @@ public class Drivetrain {
   /**
    * Method to drive the robot using joystick info.
    *
-   * @param xSpeed        Speed of the robot in the x direction (forward).
-   * @param ySpeed        Speed of the robot in the y direction (sideways).
-   * @param rot           Angular rate of the robot.
+   * @param xSpeed Speed of the robot in the x direction (forward).
+   * @param ySpeed Speed of the robot in the y direction (sideways).
+   * @param rot Angular rate of the robot.
    * @param fieldRelative Whether the provided x and y speeds are relative to the field.
    */
   @SuppressWarnings("ParameterName")
   public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative) {
-    var mecanumDriveWheelSpeeds = m_kinematics.toWheelSpeeds(
-        fieldRelative ? ChassisSpeeds.fromFieldRelativeSpeeds(
-            xSpeed, ySpeed, rot, m_gyro.getRotation2d()
-        ) : new ChassisSpeeds(xSpeed, ySpeed, rot)
-    );
+    var mecanumDriveWheelSpeeds =
+        m_kinematics.toWheelSpeeds(
+            fieldRelative
+                ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeed, ySpeed, rot, m_gyro.getRotation2d())
+                : new ChassisSpeeds(xSpeed, ySpeed, rot));
     mecanumDriveWheelSpeeds.normalize(kMaxSpeed);
     setSpeeds(mecanumDriveWheelSpeeds);
   }
 
-  /**
-   * Updates the field relative position of the robot.
-   */
+  /** Updates the field relative position of the robot. */
   public void updateOdometry() {
     m_poseEstimator.update(m_gyro.getRotation2d(), getCurrentState());
 
@@ -149,7 +142,7 @@ public class Drivetrain {
     // a real robot, this must be calculated based either on latency or timestamps.
     m_poseEstimator.addVisionMeasurement(
         ExampleGlobalMeasurementSensor.getEstimatedGlobalPose(
-          m_poseEstimator.getEstimatedPosition()),
+            m_poseEstimator.getEstimatedPosition()),
         Timer.getFPGATimestamp() - 0.3);
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/ExampleGlobalMeasurementSensor.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/ExampleGlobalMeasurementSensor.java
index 19de154ed3..c38cf1799d 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/ExampleGlobalMeasurementSensor.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/ExampleGlobalMeasurementSensor.java
@@ -10,9 +10,7 @@ import edu.wpi.first.wpilibj.math.StateSpaceUtil;
 import edu.wpi.first.wpilibj.util.Units;
 import edu.wpi.first.wpiutil.math.VecBuilder;
 
-/**
- * This dummy class represents a global measurement sensor, such as a computer vision solution.
- */
+/** This dummy class represents a global measurement sensor, such as a computer vision solution. */
 public final class ExampleGlobalMeasurementSensor {
   private ExampleGlobalMeasurementSensor() {
     // Utility class
@@ -24,11 +22,11 @@ public final class ExampleGlobalMeasurementSensor {
    * @param estimatedRobotPose The robot pose.
    */
   public static Pose2d getEstimatedGlobalPose(Pose2d estimatedRobotPose) {
-    var rand = StateSpaceUtil.makeWhiteNoiseVector(VecBuilder.fill(0.5, 0.5,
-        Units.degreesToRadians(30)));
-    return new Pose2d(estimatedRobotPose.getX() + rand.get(0, 0),
+    var rand =
+        StateSpaceUtil.makeWhiteNoiseVector(VecBuilder.fill(0.5, 0.5, Units.degreesToRadians(30)));
+    return new Pose2d(
+        estimatedRobotPose.getX() + rand.get(0, 0),
         estimatedRobotPose.getY() + rand.get(1, 0),
         estimatedRobotPose.getRotation().plus(new Rotation2d(rand.get(2, 0))));
   }
-
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Main.java
index db67cadaed..a6c5ccce67 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.mecanumdriveposeestimator;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Robot.java
index 75c1d9a6ac..1e758a479e 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Robot.java
@@ -33,15 +33,13 @@ public class Robot extends TimedRobot {
     // Get the x speed. We are inverting this because Xbox controllers return
     // negative values when we push forward.
     final var xSpeed =
-        -m_xspeedLimiter.calculate(m_controller.getY(GenericHID.Hand.kLeft))
-            * Drivetrain.kMaxSpeed;
+        -m_xspeedLimiter.calculate(m_controller.getY(GenericHID.Hand.kLeft)) * Drivetrain.kMaxSpeed;
 
     // Get the y speed or sideways/strafe speed. We are inverting this because
     // we want a positive value when we pull to the left. Xbox controllers
     // return positive values when you pull to the right by default.
     final var ySpeed =
-        -m_yspeedLimiter.calculate(m_controller.getX(GenericHID.Hand.kLeft))
-            * Drivetrain.kMaxSpeed;
+        -m_yspeedLimiter.calculate(m_controller.getX(GenericHID.Hand.kLeft)) * Drivetrain.kMaxSpeed;
 
     // Get the rate of angular rotation. We are inverting this because we want a
     // positive value when we pull to the left (remember, CCW is positive in
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Main.java
index 772d8c2840..abd3c945a8 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.motorcontrol;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Robot.java
old mode 100755
new mode 100644
index f1f6fd40bf..e421ba284e
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Robot.java
@@ -10,12 +10,11 @@ import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.TimedRobot;
 
 /**
- * This sample program shows how to control a motor using a joystick. In the
- * operator control part of the program, the joystick is read and the value is
- * written to the motor.
+ * This sample program shows how to control a motor using a joystick. In the operator control part
+ * of the program, the joystick is read and the value is written to the motor.
  *
- * <p>Joystick analog values range from -1 to 1 and speed controller inputs also
- * range from -1 to 1 making it easy to work together.
+ * <p>Joystick analog values range from -1 to 1 and speed controller inputs also range from -1 to 1
+ * making it easy to work together.
  */
 public class Robot extends TimedRobot {
   private static final int kMotorPort = 0;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrolencoder/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrolencoder/Main.java
index 73d8942f11..0ca48f61bf 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrolencoder/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrolencoder/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.motorcontrolencoder;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrolencoder/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrolencoder/Robot.java
index 43388fc2f8..13ffe6f9fd 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrolencoder/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrolencoder/Robot.java
@@ -12,15 +12,14 @@ import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 /**
- * This sample program shows how to control a motor using a joystick. In the
- * operator control part of the program, the joystick is read and the value is
- * written to the motor.
+ * This sample program shows how to control a motor using a joystick. In the operator control part
+ * of the program, the joystick is read and the value is written to the motor.
  *
- * <p>Joystick analog values range from -1 to 1 and speed controller inputs also
- * range from -1 to 1 making it easy to work together.
+ * <p>Joystick analog values range from -1 to 1 and speed controller inputs also range from -1 to 1
+ * making it easy to work together.
  *
- * <p>In addition, the encoder value of an encoder connected to ports 0 and 1 is
- * consistently sent to the Dashboard.
+ * <p>In addition, the encoder value of an encoder connected to ports 0 and 1 is consistently sent
+ * to the Dashboard.
  */
 public class Robot extends TimedRobot {
   private static final int kMotorPort = 0;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/Main.java
index 0bcac60b49..65e9315f2e 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.pacgoat;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/OI.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/OI.java
index a43f00812b..b877bcb00a 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/OI.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/OI.java
@@ -6,8 +6,6 @@ package edu.wpi.first.wpilibj.examples.pacgoat;
 
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.buttons.JoystickButton;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-
 import edu.wpi.first.wpilibj.examples.pacgoat.commands.Collect;
 import edu.wpi.first.wpilibj.examples.pacgoat.commands.DriveForward;
 import edu.wpi.first.wpilibj.examples.pacgoat.commands.LowGoal;
@@ -17,38 +15,31 @@ import edu.wpi.first.wpilibj.examples.pacgoat.commands.Shoot;
 import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Collector;
 import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Pivot;
 import edu.wpi.first.wpilibj.examples.pacgoat.triggers.DoubleButton;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 /**
- * The operator interface of the robot, it has been simplified from the real
- * robot to allow control with a single PS3 joystick. As a result, not all
- * functionality from the real robot is available.
+ * The operator interface of the robot, it has been simplified from the real robot to allow control
+ * with a single PS3 joystick. As a result, not all functionality from the real robot is available.
  */
 public class OI {
   public Joystick m_joystick = new Joystick(0);
 
-  /**
-   * Create a new OI and all of the buttons on it.
-   */
+  /** Create a new OI and all of the buttons on it. */
   public OI() {
     new JoystickButton(m_joystick, 12).whenPressed(new LowGoal());
     new JoystickButton(m_joystick, 10).whenPressed(new Collect());
 
-    new JoystickButton(m_joystick, 11).whenPressed(
-        new SetPivotSetpoint(Pivot.kShoot));
-    new JoystickButton(m_joystick, 9).whenPressed(
-        new SetPivotSetpoint(Pivot.kShootNear));
+    new JoystickButton(m_joystick, 11).whenPressed(new SetPivotSetpoint(Pivot.kShoot));
+    new JoystickButton(m_joystick, 9).whenPressed(new SetPivotSetpoint(Pivot.kShootNear));
 
     new DoubleButton(m_joystick, 2, 3).whenActive(new Shoot());
 
     // SmartDashboard Buttons
     SmartDashboard.putData("Drive Forward", new DriveForward(2.25));
     SmartDashboard.putData("Drive Backward", new DriveForward(-2.25));
-    SmartDashboard.putData("Start Rollers",
-        new SetCollectionSpeed(Collector.kForward));
-    SmartDashboard.putData("Stop Rollers",
-        new SetCollectionSpeed(Collector.kStop));
-    SmartDashboard.putData("Reverse Rollers",
-        new SetCollectionSpeed(Collector.kReverse));
+    SmartDashboard.putData("Start Rollers", new SetCollectionSpeed(Collector.kForward));
+    SmartDashboard.putData("Stop Rollers", new SetCollectionSpeed(Collector.kStop));
+    SmartDashboard.putData("Reverse Rollers", new SetCollectionSpeed(Collector.kReverse));
   }
 
   public Joystick getJoystick() {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/Robot.java
index 9d7b1fa3d8..216a87f6b9 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/Robot.java
@@ -7,9 +7,6 @@ package edu.wpi.first.wpilibj.examples.pacgoat;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.command.Command;
 import edu.wpi.first.wpilibj.command.Scheduler;
-import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-
 import edu.wpi.first.wpilibj.examples.pacgoat.commands.DriveAndShootAutonomous;
 import edu.wpi.first.wpilibj.examples.pacgoat.commands.DriveForward;
 import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Collector;
@@ -17,15 +14,16 @@ import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.DriveTrain;
 import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Pivot;
 import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Pneumatics;
 import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Shooter;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 /**
  * This is the main class for running the PacGoat code.
  *
- * <p>The VM is configured to automatically run this class, and to call the
- * functions corresponding to each mode, as described in the TimedRobot
- * documentation. If you change the name of this class or the package after
- * creating this project, you must also update the manifest file in the resource
- * directory.
+ * <p>The VM is configured to automatically run this class, and to call the functions corresponding
+ * to each mode, as described in the TimedRobot documentation. If you change the name of this class
+ * or the package after creating this project, you must also update the manifest file in the
+ * resource directory.
  */
 public class Robot extends TimedRobot {
   Command m_autonomousCommand;
@@ -97,8 +95,7 @@ public class Robot extends TimedRobot {
 
   // This function called periodically during test mode
   @Override
-  public void testPeriodic() {
-  }
+  public void testPeriodic() {}
 
   @Override
   public void disabledInit() {
@@ -111,15 +108,11 @@ public class Robot extends TimedRobot {
     log();
   }
 
-  /**
-   * Log interesting values to the SmartDashboard.
-   */
+  /** Log interesting values to the SmartDashboard. */
   private void log() {
     Robot.pneumatics.writePressure();
     SmartDashboard.putNumber("Pivot Pot Value", Robot.pivot.getAngle());
-    SmartDashboard.putNumber("Left Distance",
-        drivetrain.getLeftEncoder().getDistance());
-    SmartDashboard.putNumber("Right Distance",
-        drivetrain.getRightEncoder().getDistance());
+    SmartDashboard.putNumber("Left Distance", drivetrain.getLeftEncoder().getDistance());
+    SmartDashboard.putNumber("Right Distance", drivetrain.getRightEncoder().getDistance());
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/CheckForHotGoal.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/CheckForHotGoal.java
index 4c48da24ab..a02b780a63 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/CheckForHotGoal.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/CheckForHotGoal.java
@@ -5,14 +5,12 @@
 package edu.wpi.first.wpilibj.examples.pacgoat.commands;
 
 import edu.wpi.first.wpilibj.command.Command;
-
 import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
 
 /**
- * This command looks for the hot goal and waits until it's detected or timed
- * out. The timeout is because it's better to shoot and get some autonomous
- * points than get none. When called sequentially, this command will block until
- * the hot goal is detected or until it is timed out.
+ * This command looks for the hot goal and waits until it's detected or timed out. The timeout is
+ * because it's better to shoot and get some autonomous points than get none. When called
+ * sequentially, this command will block until the hot goal is detected or until it is timed out.
  */
 public class CheckForHotGoal extends Command {
   public CheckForHotGoal(double time) {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/CloseClaw.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/CloseClaw.java
index bade14f0a5..cacffdb17c 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/CloseClaw.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/CloseClaw.java
@@ -5,14 +5,12 @@
 package edu.wpi.first.wpilibj.examples.pacgoat.commands;
 
 import edu.wpi.first.wpilibj.command.InstantCommand;
-
 import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
 
 /**
  * Close the claw.
  *
- * <p>NOTE: It doesn't wait for the claw to close since there is no sensor to
- * detect that.
+ * <p>NOTE: It doesn't wait for the claw to close since there is no sensor to detect that.
  */
 public class CloseClaw extends InstantCommand {
   public CloseClaw() {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/Collect.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/Collect.java
index b6155b81d7..33f02437d3 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/Collect.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/Collect.java
@@ -5,17 +5,12 @@
 package edu.wpi.first.wpilibj.examples.pacgoat.commands;
 
 import edu.wpi.first.wpilibj.command.CommandGroup;
-
 import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Collector;
 import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Pivot;
 
-/**
- * Get the robot set to collect balls.
- */
+/** Get the robot set to collect balls. */
 public class Collect extends CommandGroup {
-  /**
-   * Create a new collect command.
-   */
+  /** Create a new collect command. */
   public Collect() {
     addSequential(new SetCollectionSpeed(Collector.kForward));
     addParallel(new CloseClaw());
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/DriveAndShootAutonomous.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/DriveAndShootAutonomous.java
index 6bcdf308b5..071d439820 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/DriveAndShootAutonomous.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/DriveAndShootAutonomous.java
@@ -5,17 +5,14 @@
 package edu.wpi.first.wpilibj.examples.pacgoat.commands;
 
 import edu.wpi.first.wpilibj.command.CommandGroup;
-
 import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
 
 /**
- * Drive over the line and then shoot the ball. If the hot goal is not detected,
- * it will wait briefly.
+ * Drive over the line and then shoot the ball. If the hot goal is not detected, it will wait
+ * briefly.
  */
 public class DriveAndShootAutonomous extends CommandGroup {
-  /**
-   * Create a new drive and shoot autonomous.
-   */
+  /** Create a new drive and shoot autonomous. */
   public DriveAndShootAutonomous() {
     addSequential(new CloseClaw());
     addSequential(new WaitForPressure(), 2);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/DriveForward.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/DriveForward.java
index d4123a2b07..78542dcf3d 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/DriveForward.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/DriveForward.java
@@ -5,12 +5,11 @@
 package edu.wpi.first.wpilibj.examples.pacgoat.commands;
 
 import edu.wpi.first.wpilibj.command.Command;
-
 import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
 
 /**
- * This command drives the robot over a given distance with simple proportional
- * control This command will drive a given distance limiting to a maximum speed.
+ * This command drives the robot over a given distance with simple proportional control This command
+ * will drive a given distance limiting to a maximum speed.
  */
 public class DriveForward extends Command {
   private final double m_driveForwardSpeed;
@@ -29,6 +28,7 @@ public class DriveForward extends Command {
 
   /**
    * Create a new drive forward command.
+   *
    * @param dist The distance to drive
    * @param maxSpeed The maximum speed to drive at
    */
@@ -50,8 +50,8 @@ public class DriveForward extends Command {
     if (m_driveForwardSpeed * kP * m_error >= m_driveForwardSpeed) {
       Robot.drivetrain.tankDrive(m_driveForwardSpeed, m_driveForwardSpeed);
     } else {
-      Robot.drivetrain.tankDrive(m_driveForwardSpeed * kP * m_error,
-          m_driveForwardSpeed * kP * m_error);
+      Robot.drivetrain.tankDrive(
+          m_driveForwardSpeed * kP * m_error, m_driveForwardSpeed * kP * m_error);
     }
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/DriveWithJoystick.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/DriveWithJoystick.java
index 0ae647f7b3..ac73701db1 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/DriveWithJoystick.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/DriveWithJoystick.java
@@ -5,12 +5,11 @@
 package edu.wpi.first.wpilibj.examples.pacgoat.commands;
 
 import edu.wpi.first.wpilibj.command.Command;
-
 import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
 
 /**
- * This command allows PS3 joystick to drive the robot. It is always running
- * except when interrupted by another command.
+ * This command allows PS3 joystick to drive the robot. It is always running except when interrupted
+ * by another command.
  */
 public class DriveWithJoystick extends Command {
   public DriveWithJoystick() {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/ExtendShooter.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/ExtendShooter.java
index a22db47fd5..166d78c11b 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/ExtendShooter.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/ExtendShooter.java
@@ -5,12 +5,9 @@
 package edu.wpi.first.wpilibj.examples.pacgoat.commands;
 
 import edu.wpi.first.wpilibj.command.TimedCommand;
-
 import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
 
-/**
- * Extend the shooter and then retract it after a second.
- */
+/** Extend the shooter and then retract it after a second. */
 public class ExtendShooter extends TimedCommand {
   public ExtendShooter() {
     super(1);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/LowGoal.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/LowGoal.java
index 84e9e53d17..3f9d0bdce3 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/LowGoal.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/LowGoal.java
@@ -5,18 +5,12 @@
 package edu.wpi.first.wpilibj.examples.pacgoat.commands;
 
 import edu.wpi.first.wpilibj.command.CommandGroup;
-
 import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Collector;
 import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Pivot;
 
-/**
- * Spit the ball out into the low goal assuming that the robot is in front of
- * it.
- */
+/** Spit the ball out into the low goal assuming that the robot is in front of it. */
 public class LowGoal extends CommandGroup {
-  /**
-   * Create a new low goal command.
-   */
+  /** Create a new low goal command. */
   public LowGoal() {
     addSequential(new SetPivotSetpoint(Pivot.kLowGoal));
     addSequential(new SetCollectionSpeed(Collector.kReverse));
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/OpenClaw.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/OpenClaw.java
index 16e664cbcb..f36ced58bf 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/OpenClaw.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/OpenClaw.java
@@ -5,12 +5,9 @@
 package edu.wpi.first.wpilibj.examples.pacgoat.commands;
 
 import edu.wpi.first.wpilibj.command.Command;
-
 import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
 
-/**
- * Opens the claw.
- */
+/** Opens the claw. */
 public class OpenClaw extends Command {
   public OpenClaw() {
     requires(Robot.collector);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/SetCollectionSpeed.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/SetCollectionSpeed.java
index aa480ae3ea..33859d9fa0 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/SetCollectionSpeed.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/SetCollectionSpeed.java
@@ -5,13 +5,12 @@
 package edu.wpi.first.wpilibj.examples.pacgoat.commands;
 
 import edu.wpi.first.wpilibj.command.InstantCommand;
-
 import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
 
 /**
- * This command sets the collector rollers spinning at the given speed. Since
- * there is no sensor for detecting speed, it finishes immediately. As a result,
- * the spinners may still be adjusting their speed.
+ * This command sets the collector rollers spinning at the given speed. Since there is no sensor for
+ * detecting speed, it finishes immediately. As a result, the spinners may still be adjusting their
+ * speed.
  */
 public class SetCollectionSpeed extends InstantCommand {
   private final double m_speed;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/SetPivotSetpoint.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/SetPivotSetpoint.java
index 6167ecb46d..6d839fb972 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/SetPivotSetpoint.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/SetPivotSetpoint.java
@@ -5,13 +5,12 @@
 package edu.wpi.first.wpilibj.examples.pacgoat.commands;
 
 import edu.wpi.first.wpilibj.command.Command;
-
 import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
 
 /**
- * Moves the pivot to a given angle. This command finishes when it is within the
- * tolerance, but leaves the PID loop running to maintain the position. Other
- * commands using the pivot should make sure they disable PID!
+ * Moves the pivot to a given angle. This command finishes when it is within the tolerance, but
+ * leaves the PID loop running to maintain the position. Other commands using the pivot should make
+ * sure they disable PID!
  */
 public class SetPivotSetpoint extends Command {
   private final double m_setpoint;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/Shoot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/Shoot.java
index eb4777fa95..c1594df9ce 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/Shoot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/Shoot.java
@@ -5,16 +5,11 @@
 package edu.wpi.first.wpilibj.examples.pacgoat.commands;
 
 import edu.wpi.first.wpilibj.command.CommandGroup;
-
 import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Collector;
 
-/**
- * Shoot the ball at the current angle.
- */
+/** Shoot the ball at the current angle. */
 public class Shoot extends CommandGroup {
-  /**
-   * Create a new shoot command.
-   */
+  /** Create a new shoot command. */
   public Shoot() {
     addSequential(new WaitForPressure());
     addSequential(new SetCollectionSpeed(Collector.kStop));
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/WaitForBall.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/WaitForBall.java
index 591e4eddc4..1cceaa4de9 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/WaitForBall.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/WaitForBall.java
@@ -5,13 +5,11 @@
 package edu.wpi.first.wpilibj.examples.pacgoat.commands;
 
 import edu.wpi.first.wpilibj.command.Command;
-
 import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
 
 /**
- * Wait until the collector senses that it has the ball. This command does
- * nothing and is intended to be used in command groups to wait for this
- * condition.
+ * Wait until the collector senses that it has the ball. This command does nothing and is intended
+ * to be used in command groups to wait for this condition.
  */
 public class WaitForBall extends Command {
   public WaitForBall() {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/WaitForPressure.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/WaitForPressure.java
index 87b4d6e8e1..ead238e14a 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/WaitForPressure.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/WaitForPressure.java
@@ -5,12 +5,11 @@
 package edu.wpi.first.wpilibj.examples.pacgoat.commands;
 
 import edu.wpi.first.wpilibj.command.Command;
-
 import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
 
 /**
- * Wait until the pneumatics are fully pressurized. This command does nothing
- * and is intended to be used in command groups to wait for this condition.
+ * Wait until the pneumatics are fully pressurized. This command does nothing and is intended to be
+ * used in command groups to wait for this condition.
  */
 public class WaitForPressure extends Command {
   public WaitForPressure() {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Collector.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Collector.java
index 8b7b4424fb..6dfdc5594b 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Collector.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Collector.java
@@ -11,9 +11,8 @@ import edu.wpi.first.wpilibj.Victor;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 /**
- * The Collector subsystem has one motor for the rollers, a limit switch for
- * ball detection, a piston for opening and closing the claw, and a reed switch
- * to check if the piston is open.
+ * The Collector subsystem has one motor for the rollers, a limit switch for ball detection, a
+ * piston for opening and closing the claw, and a reed switch to check if the piston is open.
  */
 public class Collector extends Subsystem implements AutoCloseable {
   // Constants for some useful speeds
@@ -27,9 +26,7 @@ public class Collector extends Subsystem implements AutoCloseable {
   private final DigitalInput m_openDetector = new DigitalInput(6);
   private final Solenoid m_piston = new Solenoid(1, 1);
 
-  /**
-   * Create a new collector subsystem.
-   */
+  /** Create a new collector subsystem. */
   public Collector() {
     // Put everything to the LiveWindow for testing.
     addChild("Roller Motor", (Victor) m_rollerMotor);
@@ -41,9 +38,8 @@ public class Collector extends Subsystem implements AutoCloseable {
   /**
    * Whether or not the robot has the ball.
    *
-   * <p>NOTE: The current simulation model uses the the lower part of the claw
-   * since the limit switch wasn't exported. At some point, this will be
-   * updated.
+   * <p>NOTE: The current simulation model uses the the lower part of the claw since the limit
+   * switch wasn't exported. At some point, this will be updated.
    *
    * @return Whether or not the robot has the ball.
    */
@@ -60,9 +56,7 @@ public class Collector extends Subsystem implements AutoCloseable {
     m_rollerMotor.set(-speed);
   }
 
-  /**
-   * Stop the rollers from spinning.
-   */
+  /** Stop the rollers from spinning. */
   public void stop() {
     m_rollerMotor.set(0);
   }
@@ -76,25 +70,18 @@ public class Collector extends Subsystem implements AutoCloseable {
     return m_openDetector.get(); // TODO: prepend ! to reflect real robot
   }
 
-  /**
-   * Open the claw up (For shooting).
-   */
+  /** Open the claw up (For shooting). */
   public void open() {
     m_piston.set(true);
   }
 
-  /**
-   * Close the claw (For collecting and driving).
-   */
+  /** Close the claw (For collecting and driving). */
   @Override
   public void close() {
     m_piston.set(false);
   }
 
-  /**
-   * No default command.
-   */
+  /** No default command. */
   @Override
-  protected void initDefaultCommand() {
-  }
+  protected void initDefaultCommand() {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/DriveTrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/DriveTrain.java
index d6cf090ef9..2ce6a7cf41 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/DriveTrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/DriveTrain.java
@@ -13,13 +13,12 @@ import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.Victor;
 import edu.wpi.first.wpilibj.command.Subsystem;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-
 import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
 import edu.wpi.first.wpilibj.examples.pacgoat.commands.DriveWithJoystick;
 
 /**
- * The DriveTrain subsystem controls the robot's chassis and reads in
- * information about it's speed and position.
+ * The DriveTrain subsystem controls the robot's chassis and reads in information about it's speed
+ * and position.
  */
 public class DriveTrain extends Subsystem {
   // Subsystem devices
@@ -27,18 +26,16 @@ public class DriveTrain extends Subsystem {
   private final SpeedController m_frontRightCIM = new Victor(2);
   private final SpeedController m_rearLeftCIM = new Victor(3);
   private final SpeedController m_rearRightCIM = new Victor(4);
-  private final SpeedControllerGroup m_leftCIMs = new SpeedControllerGroup(
-      m_frontLeftCIM, m_rearLeftCIM);
-  private final SpeedControllerGroup m_rightCIMs = new SpeedControllerGroup(
-      m_frontRightCIM, m_rearRightCIM);
+  private final SpeedControllerGroup m_leftCIMs =
+      new SpeedControllerGroup(m_frontLeftCIM, m_rearLeftCIM);
+  private final SpeedControllerGroup m_rightCIMs =
+      new SpeedControllerGroup(m_frontRightCIM, m_rearRightCIM);
   private final DifferentialDrive m_drive;
   private final Encoder m_rightEncoder = new Encoder(1, 2, true, EncodingType.k4X);
   private final Encoder m_leftEncoder = new Encoder(3, 4, false, EncodingType.k4X);
   private final AnalogGyro m_gyro = new AnalogGyro(0);
 
-  /**
-   * Create a new drive train subsystem.
-   */
+  /** Create a new drive train subsystem. */
   public DriveTrain() {
     // Configure drive motors
     addChild("Front Left CIM", (Victor) m_frontLeftCIM);
@@ -59,10 +56,8 @@ public class DriveTrain extends Subsystem {
       m_leftEncoder.setDistancePerPulse(0.0785398);
     } else {
       // Circumference = diameter in feet * pi. 360 tick simulated encoders.
-      m_rightEncoder.setDistancePerPulse(
-          (4.0/* in */ * Math.PI) / (360.0 * 12.0/* in/ft */));
-      m_leftEncoder.setDistancePerPulse(
-          (4.0/* in */ * Math.PI) / (360.0 * 12.0/* in/ft */));
+      m_rightEncoder.setDistancePerPulse((4.0 /* in */ * Math.PI) / (360.0 * 12.0 /* in/ft */));
+      m_leftEncoder.setDistancePerPulse((4.0 /* in */ * Math.PI) / (360.0 * 12.0 /* in/ft */));
     }
 
     addChild("Right Encoder", m_rightEncoder);
@@ -75,10 +70,7 @@ public class DriveTrain extends Subsystem {
     addChild("Gyro", m_gyro);
   }
 
-  /**
-   * When other commands aren't using the drivetrain, allow tank drive with
-   * the joystick.
-   */
+  /** When other commands aren't using the drivetrain, allow tank drive with the joystick. */
   @Override
   public void initDefaultCommand() {
     setDefaultCommand(new DriveWithJoystick());
@@ -103,32 +95,22 @@ public class DriveTrain extends Subsystem {
     m_drive.tankDrive(leftAxis, rightAxis);
   }
 
-  /**
-   * Stop the drivetrain from moving.
-   */
+  /** Stop the drivetrain from moving. */
   public void stop() {
     m_drive.tankDrive(0, 0);
   }
 
-  /**
-   * The encoder getting the distance and speed of left side of the
-   * drivetrain.
-   */
+  /** The encoder getting the distance and speed of left side of the drivetrain. */
   public Encoder getLeftEncoder() {
     return m_leftEncoder;
   }
 
-  /**
-   * The encoder getting the distance and speed of right side of the
-   * drivetrain.
-   */
+  /** The encoder getting the distance and speed of right side of the drivetrain. */
   public Encoder getRightEncoder() {
     return m_rightEncoder;
   }
 
-  /**
-   * The current angle of the drivetrain as measured by the Gyro.
-   */
+  /** The current angle of the drivetrain as measured by the Gyro. */
   public double getAngle() {
     return m_gyro.getAngle();
   }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Pivot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Pivot.java
index b4647f50a3..916ef56a1f 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Pivot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Pivot.java
@@ -9,13 +9,12 @@ import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.Victor;
 import edu.wpi.first.wpilibj.command.PIDSubsystem;
+import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
 import edu.wpi.first.wpilibj.interfaces.Potentiometer;
 
-import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
-
 /**
- * The Pivot subsystem contains the Van-door motor and the pot for PID control
- * of angle of the pivot and claw.
+ * The Pivot subsystem contains the Van-door motor and the pot for PID control of angle of the pivot
+ * and claw.
  */
 public class Pivot extends PIDSubsystem {
   // Constants for some useful angles
@@ -35,9 +34,7 @@ public class Pivot extends PIDSubsystem {
   // Motor to move the pivot.
   private final SpeedController m_motor = new Victor(5);
 
-  /**
-   * Create a new pivot subsystem.
-   */
+  /** Create a new pivot subsystem. */
   public Pivot() {
     super("Pivot", 7.0, 0.0, 8.0);
     setAbsoluteTolerance(0.005);
@@ -55,49 +52,35 @@ public class Pivot extends PIDSubsystem {
     addChild("PIDSubsystem Controller", getPIDController());
   }
 
-  /**
-   * No default command, if PID is enabled, the current setpoint will be
-   * maintained.
-   */
+  /** No default command, if PID is enabled, the current setpoint will be maintained. */
   @Override
-  public void initDefaultCommand() {
-  }
+  public void initDefaultCommand() {}
 
-  /**
-   * The angle read in by the potentiometer.
-   */
+  /** The angle read in by the potentiometer. */
   @Override
   protected double returnPIDInput() {
     return m_pot.get();
   }
 
-  /**
-   * Set the motor speed based off of the PID output.
-   */
+  /** Set the motor speed based off of the PID output. */
   @Override
   protected void usePIDOutput(double output) {
     m_motor.pidWrite(output);
   }
 
-  /**
-   * If the pivot is at its upper limit.
-   */
+  /** If the pivot is at its upper limit. */
   public boolean isAtUpperLimit() {
     // TODO: inverted from real robot (prefix with !)
     return m_upperLimitSwitch.get();
   }
 
-  /**
-   * If the pivot is at its lower limit.
-   */
+  /** If the pivot is at its lower limit. */
   public boolean isAtLowerLimit() {
     // TODO: inverted from real robot (prefix with !)
     return m_lowerLimitSwitch.get();
   }
 
-  /**
-   * The current angle of the pivot.
-   */
+  /** The current angle of the pivot. */
   public double getAngle() {
     return m_pot.get();
   }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Pneumatics.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Pneumatics.java
index c05cee226c..a7a29cda9e 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Pneumatics.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Pneumatics.java
@@ -6,15 +6,13 @@ package edu.wpi.first.wpilibj.examples.pacgoat.subsystems;
 
 import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.command.Subsystem;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-
 import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 /**
  * The Pneumatics subsystem contains a pressure sensor.
  *
- * <p>NOTE: The simulator currently doesn't support the compressor or pressure
- * sensors.
+ * <p>NOTE: The simulator currently doesn't support the compressor or pressure sensors.
  */
 public class Pneumatics extends Subsystem {
   AnalogInput m_pressureSensor = new AnalogInput(3);
@@ -25,16 +23,11 @@ public class Pneumatics extends Subsystem {
     addChild("Pressure Sensor", m_pressureSensor);
   }
 
-  /**
-   * No default command.
-   */
+  /** No default command. */
   @Override
-  public void initDefaultCommand() {
-  }
+  public void initDefaultCommand() {}
 
-  /**
-   * Whether or not the system is fully pressurized.
-   */
+  /** Whether or not the system is fully pressurized. */
   public boolean isPressurized() {
     if (Robot.isReal()) {
       return kMaxPressure <= m_pressureSensor.getVoltage();
@@ -43,9 +36,7 @@ public class Pneumatics extends Subsystem {
     }
   }
 
-  /**
-   * Puts the pressure on the SmartDashboard.
-   */
+  /** Puts the pressure on the SmartDashboard. */
   public void writePressure() {
     SmartDashboard.putNumber("Pressure", m_pressureSensor.getVoltage());
   }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Shooter.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Shooter.java
index 8b6b470c67..a0acc797d7 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Shooter.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Shooter.java
@@ -10,14 +10,13 @@ import edu.wpi.first.wpilibj.Solenoid;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 /**
- * The Shooter subsystem handles shooting. The mechanism for shooting is
- * slightly complicated because it has to pneumatic cylinders for shooting, and
- * a third latch to allow the pressure to partially build up and reduce the
- * effect of the airflow. For shorter shots, when full power isn't needed, only
- * one cylinder fires.
+ * The Shooter subsystem handles shooting. The mechanism for shooting is slightly complicated
+ * because it has to pneumatic cylinders for shooting, and a third latch to allow the pressure to
+ * partially build up and reduce the effect of the airflow. For shorter shots, when full power isn't
+ * needed, only one cylinder fires.
  *
- * <p>NOTE: Simulation currently approximates this as as single pneumatic
- * cylinder and ignores the latch.
+ * <p>NOTE: Simulation currently approximates this as as single pneumatic cylinder and ignores the
+ * latch.
  */
 public class Shooter extends Subsystem {
   // Devices
@@ -26,12 +25,10 @@ public class Shooter extends Subsystem {
   Solenoid m_latchPiston = new Solenoid(1, 2);
   DigitalInput m_piston1ReedSwitchFront = new DigitalInput(9);
   DigitalInput m_piston1ReedSwitchBack = new DigitalInput(11);
-  //NOTE: currently ignored in simulation
+  // NOTE: currently ignored in simulation
   DigitalInput m_hotGoalSensor = new DigitalInput(7);
 
-  /**
-   * Create a new shooter subsystem.
-   */
+  /** Create a new shooter subsystem. */
   public Shooter() {
     // Put everything to the LiveWindow for testing.
     addChild("Hot Goal Sensor", m_hotGoalSensor);
@@ -40,94 +37,71 @@ public class Shooter extends Subsystem {
     addChild("Latch Piston", m_latchPiston);
   }
 
-  /**
-   * No default command.
-   */
+  /** No default command. */
   @Override
-  public void initDefaultCommand() {
-  }
+  public void initDefaultCommand() {}
 
-  /**
-   * Extend both solenoids to shoot.
-   */
+  /** Extend both solenoids to shoot. */
   public void extendBoth() {
     m_piston1.set(DoubleSolenoid.Value.kForward);
     m_piston2.set(DoubleSolenoid.Value.kForward);
   }
 
-  /**
-   * Retract both solenoids to prepare to shoot.
-   */
+  /** Retract both solenoids to prepare to shoot. */
   public void retractBoth() {
     m_piston1.set(DoubleSolenoid.Value.kReverse);
     m_piston2.set(DoubleSolenoid.Value.kReverse);
   }
 
-  /**
-   * Extend solenoid 1 to shoot.
-   */
+  /** Extend solenoid 1 to shoot. */
   public void extend1() {
     m_piston1.set(DoubleSolenoid.Value.kForward);
   }
 
-  /**
-   * Retract solenoid 1 to prepare to shoot.
-   */
+  /** Retract solenoid 1 to prepare to shoot. */
   public void retract1() {
     m_piston1.set(DoubleSolenoid.Value.kReverse);
   }
 
-  /**
-   * Extend solenoid 2 to shoot.
-   */
+  /** Extend solenoid 2 to shoot. */
   public void extend2() {
     m_piston2.set(DoubleSolenoid.Value.kReverse);
   }
 
-  /**
-   * Retract solenoid 2 to prepare to shoot.
-   */
+  /** Retract solenoid 2 to prepare to shoot. */
   public void retract2() {
     m_piston2.set(DoubleSolenoid.Value.kForward);
   }
 
   /**
-   * Turns off the piston1 double solenoid. This won't actuate anything
-   * because double solenoids preserve their state when turned off. This
-   * should be called in order to reduce the amount of time that the coils
-   * are powered.
+   * Turns off the piston1 double solenoid. This won't actuate anything because double solenoids
+   * preserve their state when turned off. This should be called in order to reduce the amount of
+   * time that the coils are powered.
    */
   public void off1() {
     m_piston1.set(DoubleSolenoid.Value.kOff);
   }
 
   /**
-   * Turns off the piston2 double solenoid. This won't actuate anything
-   * because double solenoids preserve their state when turned off. This
-   * should be called in order to reduce the amount of time that the coils
-   * are powered.
+   * Turns off the piston2 double solenoid. This won't actuate anything because double solenoids
+   * preserve their state when turned off. This should be called in order to reduce the amount of
+   * time that the coils are powered.
    */
   public void off2() {
     m_piston2.set(DoubleSolenoid.Value.kOff);
   }
 
-  /**
-   * Release the latch so that we can shoot.
-   */
+  /** Release the latch so that we can shoot. */
   public void unlatch() {
     m_latchPiston.set(true);
   }
 
-  /**
-   * Latch so that pressure can build up and we aren't limited by air flow.
-   */
+  /** Latch so that pressure can build up and we aren't limited by air flow. */
   public void latch() {
     m_latchPiston.set(false);
   }
 
-  /**
-   * Toggles the latch postions.
-   */
+  /** Toggles the latch postions. */
   public void toggleLatchPosition() {
     m_latchPiston.set(!m_latchPiston.get());
   }
@@ -151,9 +125,8 @@ public class Shooter extends Subsystem {
   }
 
   /**
-   * Turns off all double solenoids. Double solenoids hold their position when
-   * they are turned off. We should turn them off whenever possible to extend
-   * the life of the coils.
+   * Turns off all double solenoids. Double solenoids hold their position when they are turned off.
+   * We should turn them off whenever possible to extend the life of the coils.
    */
   public void offBoth() {
     m_piston1.set(DoubleSolenoid.Value.kOff);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/triggers/DoubleButton.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/triggers/DoubleButton.java
index d8fd52fab4..8c8b1e9064 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/triggers/DoubleButton.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/triggers/DoubleButton.java
@@ -7,10 +7,7 @@ package edu.wpi.first.wpilibj.examples.pacgoat.triggers;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.buttons.Trigger;
 
-/**
- * A custom button that is triggered when TWO buttons on a Joystick are
- * simultaneously pressed.
- */
+/** A custom button that is triggered when TWO buttons on a Joystick are simultaneously pressed. */
 public class DoubleButton extends Trigger {
   private final Joystick m_joy;
   private final int m_button1;
@@ -18,6 +15,7 @@ public class DoubleButton extends Trigger {
 
   /**
    * Create a new double button trigger.
+   *
    * @param joy The joystick
    * @param button1 The first button
    * @param button2 The second button
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Main.java
index dd66d3a558..21bcb5ff3c 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.potentiometerpid;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java
index 766c3c4159..1a7f0825b4 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java
@@ -12,9 +12,8 @@ import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.controller.PIDController;
 
 /**
- * This is a sample program to demonstrate how to use a soft potentiometer and a
- * PID controller to reach and maintain position setpoints on an elevator
- * mechanism.
+ * This is a sample program to demonstrate how to use a soft potentiometer and a PID controller to
+ * reach and maintain position setpoints on an elevator mechanism.
  */
 public class Robot extends TimedRobot {
   private static final int kPotChannel = 1;
@@ -52,8 +51,7 @@ public class Robot extends TimedRobot {
   @Override
   public void teleopPeriodic() {
     // Run the PID Controller
-    double pidOut
-        = m_pidController.calculate(m_potentiometer.getAverageVoltage());
+    double pidOut = m_pidController.calculate(m_potentiometer.getAverageVoltage());
     m_elevatorMotor.set(pidOut);
 
     // when the button is pressed once, the selected elevator setpoint
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/quickvision/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/quickvision/Main.java
index d58dada69c..f3925a079e 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/quickvision/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/quickvision/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.quickvision;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/quickvision/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/quickvision/Robot.java
index 25acfc4f6c..dc84dc80b7 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/quickvision/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/quickvision/Robot.java
@@ -8,10 +8,9 @@ import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.wpilibj.TimedRobot;
 
 /**
- * Uses the CameraServer class to automatically capture video from a USB webcam
- * and send it to the FRC dashboard without doing any vision processing. This
- * is the easiest way to get camera images to the dashboard. Just add this to
- * the robotInit() method in your program.
+ * Uses the CameraServer class to automatically capture video from a USB webcam and send it to the
+ * FRC dashboard without doing any vision processing. This is the easiest way to get camera images
+ * to the dashboard. Just add this to the robotInit() method in your program.
  */
 public class Robot extends TimedRobot {
   @Override
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java
index 255b353c4e..e3f2a43fa9 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java
@@ -8,8 +8,8 @@ import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
 
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
- * constants.  This class should not be used for any other purpose.  All constants should be
- * declared globally (i.e. public static).  Do not put anything functional in this class.
+ * constants. This class should not be used for any other purpose. All constants should be declared
+ * globally (i.e. public static). Do not put anything functional in this class.
  *
  * <p>It is advised to statically import this class (or one of its inner classes) wherever the
  * constants are needed, to reduce verbosity.
@@ -21,8 +21,8 @@ public final class Constants {
     public static final int kRightMotor1Port = 2;
     public static final int kRightMotor2Port = 3;
 
-    public static final int[] kLeftEncoderPorts = new int[]{0, 1};
-    public static final int[] kRightEncoderPorts = new int[]{2, 3};
+    public static final int[] kLeftEncoderPorts = new int[] {0, 1};
+    public static final int[] kRightEncoderPorts = new int[] {2, 3};
     public static final boolean kLeftEncoderReversed = false;
     public static final boolean kRightEncoderReversed = true;
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Main.java
index 91e2e822f9..462edd450e 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Main.java
@@ -12,8 +12,7 @@ import edu.wpi.first.wpilibj.RobotBase;
  * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Robot.java
index 40ece76ebc..49f19757ac 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Robot.java
@@ -34,8 +34,8 @@ public class Robot extends TimedRobot {
    * This function is called every robot packet, no matter the mode. Use this for items like
    * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
    *
-   * <p>This runs after the mode specific periodic functions, but before
-   * LiveWindow and SmartDashboard integrated updating.
+   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
+   * SmartDashboard integrated updating.
    */
   @Override
   public void robotPeriodic() {
@@ -46,20 +46,14 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().run();
   }
 
-  /**
-   * This function is called once each time the robot enters Disabled mode.
-   */
+  /** This function is called once each time the robot enters Disabled mode. */
   @Override
-  public void disabledInit() {
-  }
+  public void disabledInit() {}
 
   @Override
-  public void disabledPeriodic() {
-  }
+  public void disabledPeriodic() {}
 
-  /**
-   * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
-   */
+  /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
   @Override
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
@@ -77,12 +71,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during autonomous.
-   */
+  /** This function is called periodically during autonomous. */
   @Override
-  public void autonomousPeriodic() {
-  }
+  public void autonomousPeriodic() {}
 
   @Override
   public void teleopInit() {
@@ -95,13 +86,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during operator control.
-   */
+  /** This function is called periodically during operator control. */
   @Override
-  public void teleopPeriodic() {
-
-  }
+  public void teleopPeriodic() {}
 
   @Override
   public void testInit() {
@@ -109,10 +96,7 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().cancelAll();
   }
 
-  /**
-   * This function is called periodically during test mode.
-   */
+  /** This function is called periodically during test mode. */
   @Override
-  public void testPeriodic() {
-  }
+  public void testPeriodic() {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
index 26297d120e..12d361e84a 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
@@ -4,13 +4,17 @@
 
 package edu.wpi.first.wpilibj.examples.ramsetecommand;
 
-import java.util.List;
+import static edu.wpi.first.wpilibj.XboxController.Button;
 
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.controller.RamseteController;
 import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
+import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.AutoConstants;
+import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants;
+import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.OIConstants;
+import edu.wpi.first.wpilibj.examples.ramsetecommand.subsystems.DriveSubsystem;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.geometry.Translation2d;
@@ -22,19 +26,13 @@ import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.RamseteCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
-
-import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.AutoConstants;
-import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants;
-import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.OIConstants;
-import edu.wpi.first.wpilibj.examples.ramsetecommand.subsystems.DriveSubsystem;
-
-import static edu.wpi.first.wpilibj.XboxController.Button;
+import java.util.List;
 
 /**
- * This class is where the bulk of the robot should be declared.  Since Command-based is a
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
  * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
- * periodic methods (other than the scheduler calls).  Instead, the structure of the robot
- * (including subsystems, commands, and button mappings) should be declared here.
+ * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
+ * subsystems, commands, and button mappings) should be declared here.
  */
 public class RobotContainer {
   // The robot's subsystems
@@ -43,9 +41,7 @@ public class RobotContainer {
   // The driver's controller
   XboxController m_driverController = new XboxController(OIConstants.kDriverControllerPort);
 
-  /**
-   * The container for the robot.  Contains subsystems, OI devices, and commands.
-   */
+  /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     // Configure the button bindings
     configureButtonBindings();
@@ -55,14 +51,16 @@ public class RobotContainer {
     m_robotDrive.setDefaultCommand(
         // A split-stick arcade command, with forward/backward controlled by the left
         // hand, and turning controlled by the right.
-        new RunCommand(() -> m_robotDrive
-            .arcadeDrive(m_driverController.getY(GenericHID.Hand.kLeft),
-                         m_driverController.getX(GenericHID.Hand.kRight)), m_robotDrive));
-
+        new RunCommand(
+            () ->
+                m_robotDrive.arcadeDrive(
+                    m_driverController.getY(GenericHID.Hand.kLeft),
+                    m_driverController.getX(GenericHID.Hand.kRight)),
+            m_robotDrive));
   }
 
   /**
-   * Use this method to define your button->command mappings.  Buttons can be created by
+   * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link GenericHID} or one of its subclasses ({@link
    * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then calling passing it to a
    * {@link JoystickButton}.
@@ -72,10 +70,8 @@ public class RobotContainer {
     new JoystickButton(m_driverController, Button.kBumperRight.value)
         .whenPressed(() -> m_robotDrive.setMaxOutput(0.5))
         .whenReleased(() -> m_robotDrive.setMaxOutput(1));
-
   }
 
-
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.
    *
@@ -86,51 +82,51 @@ public class RobotContainer {
     // Create a voltage constraint to ensure we don't accelerate too fast
     var autoVoltageConstraint =
         new DifferentialDriveVoltageConstraint(
-            new SimpleMotorFeedforward(DriveConstants.ksVolts,
-                                       DriveConstants.kvVoltSecondsPerMeter,
-                                       DriveConstants.kaVoltSecondsSquaredPerMeter),
+            new SimpleMotorFeedforward(
+                DriveConstants.ksVolts,
+                DriveConstants.kvVoltSecondsPerMeter,
+                DriveConstants.kaVoltSecondsSquaredPerMeter),
             DriveConstants.kDriveKinematics,
             10);
 
     // Create config for trajectory
     TrajectoryConfig config =
-        new TrajectoryConfig(AutoConstants.kMaxSpeedMetersPerSecond,
-                             AutoConstants.kMaxAccelerationMetersPerSecondSquared)
+        new TrajectoryConfig(
+                AutoConstants.kMaxSpeedMetersPerSecond,
+                AutoConstants.kMaxAccelerationMetersPerSecondSquared)
             // Add kinematics to ensure max speed is actually obeyed
             .setKinematics(DriveConstants.kDriveKinematics)
             // Apply the voltage constraint
             .addConstraint(autoVoltageConstraint);
 
     // An example trajectory to follow.  All units in meters.
-    Trajectory exampleTrajectory = TrajectoryGenerator.generateTrajectory(
-        // Start at the origin facing the +X direction
-        new Pose2d(0, 0, new Rotation2d(0)),
-        // Pass through these two interior waypoints, making an 's' curve path
-        List.of(
-            new Translation2d(1, 1),
-            new Translation2d(2, -1)
-        ),
-        // End 3 meters straight ahead of where we started, facing forward
-        new Pose2d(3, 0, new Rotation2d(0)),
-        // Pass config
-        config
-    );
+    Trajectory exampleTrajectory =
+        TrajectoryGenerator.generateTrajectory(
+            // Start at the origin facing the +X direction
+            new Pose2d(0, 0, new Rotation2d(0)),
+            // Pass through these two interior waypoints, making an 's' curve path
+            List.of(new Translation2d(1, 1), new Translation2d(2, -1)),
+            // End 3 meters straight ahead of where we started, facing forward
+            new Pose2d(3, 0, new Rotation2d(0)),
+            // Pass config
+            config);
 
-    RamseteCommand ramseteCommand = new RamseteCommand(
-        exampleTrajectory,
-        m_robotDrive::getPose,
-        new RamseteController(AutoConstants.kRamseteB, AutoConstants.kRamseteZeta),
-        new SimpleMotorFeedforward(DriveConstants.ksVolts,
-                                   DriveConstants.kvVoltSecondsPerMeter,
-                                   DriveConstants.kaVoltSecondsSquaredPerMeter),
-        DriveConstants.kDriveKinematics,
-        m_robotDrive::getWheelSpeeds,
-        new PIDController(DriveConstants.kPDriveVel, 0, 0),
-        new PIDController(DriveConstants.kPDriveVel, 0, 0),
-        // RamseteCommand passes volts to the callback
-        m_robotDrive::tankDriveVolts,
-        m_robotDrive
-    );
+    RamseteCommand ramseteCommand =
+        new RamseteCommand(
+            exampleTrajectory,
+            m_robotDrive::getPose,
+            new RamseteController(AutoConstants.kRamseteB, AutoConstants.kRamseteZeta),
+            new SimpleMotorFeedforward(
+                DriveConstants.ksVolts,
+                DriveConstants.kvVoltSecondsPerMeter,
+                DriveConstants.kaVoltSecondsSquaredPerMeter),
+            DriveConstants.kDriveKinematics,
+            m_robotDrive::getWheelSpeeds,
+            new PIDController(DriveConstants.kPDriveVel, 0, 0),
+            new PIDController(DriveConstants.kPDriveVel, 0, 0),
+            // RamseteCommand passes volts to the callback
+            m_robotDrive::tankDriveVolts,
+            m_robotDrive);
 
     // Reset odometry to the starting pose of the trajectory.
     m_robotDrive.resetOdometry(exampleTrajectory.getInitialPose());
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
index 214763db9e..04326142ff 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
@@ -9,37 +9,42 @@ import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.interfaces.Gyro;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants;
-
 public class DriveSubsystem extends SubsystemBase {
   // The motors on the left side of the drive.
   private final SpeedControllerGroup m_leftMotors =
-      new SpeedControllerGroup(new PWMVictorSPX(DriveConstants.kLeftMotor1Port),
-                               new PWMVictorSPX(DriveConstants.kLeftMotor2Port));
+      new SpeedControllerGroup(
+          new PWMVictorSPX(DriveConstants.kLeftMotor1Port),
+          new PWMVictorSPX(DriveConstants.kLeftMotor2Port));
 
   // The motors on the right side of the drive.
   private final SpeedControllerGroup m_rightMotors =
-      new SpeedControllerGroup(new PWMVictorSPX(DriveConstants.kRightMotor1Port),
-                               new PWMVictorSPX(DriveConstants.kRightMotor2Port));
+      new SpeedControllerGroup(
+          new PWMVictorSPX(DriveConstants.kRightMotor1Port),
+          new PWMVictorSPX(DriveConstants.kRightMotor2Port));
 
   // The robot's drive
   private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);
 
   // The left-side drive encoder
   private final Encoder m_leftEncoder =
-      new Encoder(DriveConstants.kLeftEncoderPorts[0], DriveConstants.kLeftEncoderPorts[1],
-                  DriveConstants.kLeftEncoderReversed);
+      new Encoder(
+          DriveConstants.kLeftEncoderPorts[0],
+          DriveConstants.kLeftEncoderPorts[1],
+          DriveConstants.kLeftEncoderReversed);
 
   // The right-side drive encoder
   private final Encoder m_rightEncoder =
-      new Encoder(DriveConstants.kRightEncoderPorts[0], DriveConstants.kRightEncoderPorts[1],
-                  DriveConstants.kRightEncoderReversed);
+      new Encoder(
+          DriveConstants.kRightEncoderPorts[0],
+          DriveConstants.kRightEncoderPorts[1],
+          DriveConstants.kRightEncoderReversed);
 
   // The gyro sensor
   private final Gyro m_gyro = new ADXRS450_Gyro();
@@ -47,9 +52,7 @@ public class DriveSubsystem extends SubsystemBase {
   // Odometry class for tracking robot pose
   private final DifferentialDriveOdometry m_odometry;
 
-  /**
-   * Creates a new DriveSubsystem.
-   */
+  /** Creates a new DriveSubsystem. */
   public DriveSubsystem() {
     // Sets the distance per pulse for the encoders
     m_leftEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
@@ -62,8 +65,8 @@ public class DriveSubsystem extends SubsystemBase {
   @Override
   public void periodic() {
     // Update the odometry in the periodic block
-    m_odometry.update(m_gyro.getRotation2d(), m_leftEncoder.getDistance(),
-                      m_rightEncoder.getDistance());
+    m_odometry.update(
+        m_gyro.getRotation2d(), m_leftEncoder.getDistance(), m_rightEncoder.getDistance());
   }
 
   /**
@@ -107,7 +110,7 @@ public class DriveSubsystem extends SubsystemBase {
   /**
    * Controls the left and right sides of the drive directly with voltages.
    *
-   * @param leftVolts  the commanded left output
+   * @param leftVolts the commanded left output
    * @param rightVolts the commanded right output
    */
   public void tankDriveVolts(double leftVolts, double rightVolts) {
@@ -116,9 +119,7 @@ public class DriveSubsystem extends SubsystemBase {
     m_drive.feed();
   }
 
-  /**
-   * Resets the drive encoders to currently read a position of 0.
-   */
+  /** Resets the drive encoders to currently read a position of 0. */
   public void resetEncoders() {
     m_leftEncoder.reset();
     m_rightEncoder.reset();
@@ -152,7 +153,7 @@ public class DriveSubsystem extends SubsystemBase {
   }
 
   /**
-   * Sets the max output of the drive.  Useful for scaling the drive to drive more slowly.
+   * Sets the max output of the drive. Useful for scaling the drive to drive more slowly.
    *
    * @param maxOutput the maximum output to which the drive will be constrained
    */
@@ -160,9 +161,7 @@ public class DriveSubsystem extends SubsystemBase {
     m_drive.setMaxOutput(maxOutput);
   }
 
-  /**
-   * Zeroes the heading of the robot.
-   */
+  /** Zeroes the heading of the robot. */
   public void zeroHeading() {
     m_gyro.reset();
   }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Drivetrain.java
index 167dbe1da6..5c7486b0ed 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Drivetrain.java
@@ -17,9 +17,7 @@ import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
 
-/**
- * Represents a differential drive style drivetrain.
- */
+/** Represents a differential drive style drivetrain. */
 public class Drivetrain {
   public static final double kMaxSpeed = 3.0; // meters per second
   public static final double kMaxAngularSpeed = 2 * Math.PI; // one rotation per second
@@ -36,18 +34,18 @@ public class Drivetrain {
   private final Encoder m_leftEncoder = new Encoder(0, 1);
   private final Encoder m_rightEncoder = new Encoder(2, 3);
 
-  private final SpeedControllerGroup m_leftGroup
-      = new SpeedControllerGroup(m_leftLeader, m_leftFollower);
-  private final SpeedControllerGroup m_rightGroup
-      = new SpeedControllerGroup(m_rightLeader, m_rightFollower);
+  private final SpeedControllerGroup m_leftGroup =
+      new SpeedControllerGroup(m_leftLeader, m_leftFollower);
+  private final SpeedControllerGroup m_rightGroup =
+      new SpeedControllerGroup(m_rightLeader, m_rightFollower);
 
   private final AnalogGyro m_gyro = new AnalogGyro(0);
 
   private final PIDController m_leftPIDController = new PIDController(1, 0, 0);
   private final PIDController m_rightPIDController = new PIDController(1, 0, 0);
 
-  private final DifferentialDriveKinematics m_kinematics
-      = new DifferentialDriveKinematics(kTrackWidth);
+  private final DifferentialDriveKinematics m_kinematics =
+      new DifferentialDriveKinematics(kTrackWidth);
 
   private final DifferentialDriveOdometry m_odometry;
 
@@ -55,8 +53,8 @@ public class Drivetrain {
   private final SimpleMotorFeedforward m_feedforward = new SimpleMotorFeedforward(1, 3);
 
   /**
-   * Constructs a differential drive object.
-   * Sets the encoder distance per pulse and resets the gyro.
+   * Constructs a differential drive object. Sets the encoder distance per pulse and resets the
+   * gyro.
    */
   public Drivetrain() {
     m_gyro.reset();
@@ -82,10 +80,10 @@ public class Drivetrain {
     final double leftFeedforward = m_feedforward.calculate(speeds.leftMetersPerSecond);
     final double rightFeedforward = m_feedforward.calculate(speeds.rightMetersPerSecond);
 
-    final double leftOutput = m_leftPIDController.calculate(m_leftEncoder.getRate(),
-        speeds.leftMetersPerSecond);
-    final double rightOutput = m_rightPIDController.calculate(m_rightEncoder.getRate(),
-        speeds.rightMetersPerSecond);
+    final double leftOutput =
+        m_leftPIDController.calculate(m_leftEncoder.getRate(), speeds.leftMetersPerSecond);
+    final double rightOutput =
+        m_rightPIDController.calculate(m_rightEncoder.getRate(), speeds.rightMetersPerSecond);
     m_leftGroup.setVoltage(leftOutput + leftFeedforward);
     m_rightGroup.setVoltage(rightOutput + rightFeedforward);
   }
@@ -94,7 +92,7 @@ public class Drivetrain {
    * Drives the robot with the given linear velocity and angular velocity.
    *
    * @param xSpeed Linear velocity in m/s.
-   * @param rot    Angular velocity in rad/s.
+   * @param rot Angular velocity in rad/s.
    */
   @SuppressWarnings("ParameterName")
   public void drive(double xSpeed, double rot) {
@@ -102,16 +100,15 @@ public class Drivetrain {
     setSpeeds(wheelSpeeds);
   }
 
-  /**
-   * Updates the field-relative position.
-   */
+  /** Updates the field-relative position. */
   public void updateOdometry() {
-    m_odometry.update(m_gyro.getRotation2d(), m_leftEncoder.getDistance(),
-        m_rightEncoder.getDistance());
+    m_odometry.update(
+        m_gyro.getRotation2d(), m_leftEncoder.getDistance(), m_rightEncoder.getDistance());
   }
 
   /**
    * Resets the field-relative position to a specific location.
+   *
    * @param pose The position to reset to.
    */
   public void resetOdometry(Pose2d pose) {
@@ -120,6 +117,7 @@ public class Drivetrain {
 
   /**
    * Returns the pose of the robot.
+   *
    * @return The pose of the robot.
    */
   public Pose2d getPose() {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Main.java
index aec9a9e99e..0b59d82f95 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.ramsetecontroller;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java
index 029d12412f..80ea79aba2 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java
@@ -4,8 +4,6 @@
 
 package edu.wpi.first.wpilibj.examples.ramsetecontroller;
 
-import java.util.List;
-
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.SlewRateLimiter;
 import edu.wpi.first.wpilibj.TimedRobot;
@@ -19,6 +17,7 @@ import edu.wpi.first.wpilibj.trajectory.Trajectory;
 import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
 import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
 import edu.wpi.first.wpilibj.util.Units;
+import java.util.List;
 
 public class Robot extends TimedRobot {
   private final XboxController m_controller = new XboxController(0);
@@ -41,12 +40,12 @@ public class Robot extends TimedRobot {
   public void robotInit() {
     // Create the trajectory to follow in autonomous. It is best to initialize
     // trajectories here to avoid wasting time in autonomous.
-    m_trajectory = TrajectoryGenerator.generateTrajectory(
-        new Pose2d(0, 0, Rotation2d.fromDegrees(0)),
-        List.of(new Translation2d(1, 1), new Translation2d(2, -1)),
-        new Pose2d(3, 0, Rotation2d.fromDegrees(0)),
-        new TrajectoryConfig(Units.feetToMeters(3.0), Units.feetToMeters(3.0))
-    );
+    m_trajectory =
+        TrajectoryGenerator.generateTrajectory(
+            new Pose2d(0, 0, Rotation2d.fromDegrees(0)),
+            List.of(new Translation2d(1, 1), new Translation2d(2, -1)),
+            new Pose2d(3, 0, Rotation2d.fromDegrees(0)),
+            new TrajectoryConfig(Units.feetToMeters(3.0), Units.feetToMeters(3.0)));
   }
 
   @Override
@@ -83,8 +82,7 @@ public class Robot extends TimedRobot {
     // Get the x speed. We are inverting this because Xbox controllers return
     // negative values when we push forward.
     final var xSpeed =
-        -m_speedLimiter.calculate(m_controller.getY(GenericHID.Hand.kLeft))
-            * Drivetrain.kMaxSpeed;
+        -m_speedLimiter.calculate(m_controller.getY(GenericHID.Hand.kLeft)) * Drivetrain.kMaxSpeed;
 
     // Get the rate of angular rotation. We are inverting this because we want a
     // positive value when we pull to the left (remember, CCW is positive in
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/relay/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/relay/Main.java
index b8a6c816a2..c005ec73e6 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/relay/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/relay/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.relay;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/relay/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/relay/Robot.java
index 0e6dc37df5..39e505e1f1 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/relay/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/relay/Robot.java
@@ -15,7 +15,6 @@ import edu.wpi.first.wpilibj.TimedRobot;
  * compressor. This program uses two buttons on a joystick and each button corresponds to one
  * output; pressing the button sets the output to 12V and releasing sets it to 0V.
  */
-
 public class Robot extends TimedRobot {
   private final Joystick m_stick = new Joystick(0);
   private final Relay m_relay = new Relay(0);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Constants.java
index fa4765a72b..2ebfb922bf 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Constants.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Constants.java
@@ -6,11 +6,10 @@ package edu.wpi.first.wpilibj.examples.romireference;
 
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
- * constants.  This class should not be used for any other purpose.  All constants should be
- * declared globally (i.e. public static).  Do not put anything functional in this class.
+ * constants. This class should not be used for any other purpose. All constants should be declared
+ * globally (i.e. public static). Do not put anything functional in this class.
  *
  * <p>It is advised to statically import this class (or one of its inner classes) wherever the
  * constants are needed, to reduce verbosity.
  */
-public final class Constants {
-}
+public final class Constants {}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Main.java
index d85d933fb8..aa21a587c6 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Main.java
@@ -12,8 +12,7 @@ import edu.wpi.first.wpilibj.RobotBase;
  * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Robot.java
index b61ce2d3b7..f04b6a156a 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Robot.java
@@ -34,8 +34,8 @@ public class Robot extends TimedRobot {
    * This function is called every robot packet, no matter the mode. Use this for items like
    * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
    *
-   * <p>This runs after the mode specific periodic functions, but before
-   * LiveWindow and SmartDashboard integrated updating.
+   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
+   * SmartDashboard integrated updating.
    */
   @Override
   public void robotPeriodic() {
@@ -46,20 +46,14 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().run();
   }
 
-  /**
-   * This function is called once each time the robot enters Disabled mode.
-   */
+  /** This function is called once each time the robot enters Disabled mode. */
   @Override
-  public void disabledInit() {
-  }
+  public void disabledInit() {}
 
   @Override
-  public void disabledPeriodic() {
-  }
+  public void disabledPeriodic() {}
 
-  /**
-   * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
-   */
+  /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
   @Override
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
@@ -70,12 +64,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during autonomous.
-   */
+  /** This function is called periodically during autonomous. */
   @Override
-  public void autonomousPeriodic() {
-  }
+  public void autonomousPeriodic() {}
 
   @Override
   public void teleopInit() {
@@ -88,12 +79,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during operator control.
-   */
+  /** This function is called periodically during operator control. */
   @Override
-  public void teleopPeriodic() {
-  }
+  public void teleopPeriodic() {}
 
   @Override
   public void testInit() {
@@ -101,10 +89,7 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().cancelAll();
   }
 
-  /**
-   * This function is called periodically during test mode.
-   */
+  /** This function is called periodically during test mode. */
   @Override
-  public void testPeriodic() {
-  }
+  public void testPeriodic() {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/RobotContainer.java
index def9c47b0c..5e3a7facc4 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/RobotContainer.java
@@ -7,21 +7,19 @@ package edu.wpi.first.wpilibj.examples.romireference;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.XboxController;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.PrintCommand;
-import edu.wpi.first.wpilibj2.command.button.Button;
-
 import edu.wpi.first.wpilibj.examples.romireference.commands.TeleopArcadeDrive;
 import edu.wpi.first.wpilibj.examples.romireference.subsystems.Drivetrain;
 import edu.wpi.first.wpilibj.examples.romireference.subsystems.OnBoardIO;
 import edu.wpi.first.wpilibj.examples.romireference.subsystems.OnBoardIO.ChannelMode;
-
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.PrintCommand;
+import edu.wpi.first.wpilibj2.command.button.Button;
 
 /**
- * This class is where the bulk of the robot should be declared.  Since Command-based is a
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
  * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
- * periodic methods (other than the scheduler calls).  Instead, the structure of the robot
- * (including subsystems, commands, and button mappings) should be declared here.
+ * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
+ * subsystems, commands, and button mappings) should be declared here.
  */
 public class RobotContainer {
   // The robot's subsystems and commands are defined here...
@@ -42,25 +40,23 @@ public class RobotContainer {
   //
   // Your subsystem configuration should take the overlays into account
 
-  /**
-   * The container for the robot.  Contains subsystems, OI devices, and commands.
-   */
+  /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     // Configure the button bindings
     configureButtonBindings();
   }
 
   /**
-   * Use this method to define your button->command mappings.  Buttons can be created by
+   * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link GenericHID} or one of its subclasses ({@link
-   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
-   * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
+   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
+   * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
   private void configureButtonBindings() {
     // Also set default commands here
-    m_drivetrain.setDefaultCommand(new TeleopArcadeDrive(m_drivetrain,
-        () -> m_controller.getRawAxis(1),
-        () -> -m_controller.getRawAxis(2)));
+    m_drivetrain.setDefaultCommand(
+        new TeleopArcadeDrive(
+            m_drivetrain, () -> m_controller.getRawAxis(1), () -> -m_controller.getRawAxis(2)));
 
     // Example of how to use the onboard IO
     Button onboardButtonA = new Button(m_onboardIO::getButtonAPressed);
@@ -69,7 +65,6 @@ public class RobotContainer {
         .whenInactive(new PrintCommand("Button A Released"));
   }
 
-
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.
    *
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/commands/TeleopArcadeDrive.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/commands/TeleopArcadeDrive.java
index 8fa82e8d4b..1b171cca0c 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/commands/TeleopArcadeDrive.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/commands/TeleopArcadeDrive.java
@@ -4,21 +4,19 @@
 
 package edu.wpi.first.wpilibj.examples.romireference.commands;
 
-import java.util.function.Supplier;
-
-import edu.wpi.first.wpilibj2.command.CommandBase;
-
 import edu.wpi.first.wpilibj.examples.romireference.subsystems.Drivetrain;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import java.util.function.Supplier;
 
 public class TeleopArcadeDrive extends CommandBase {
   private final Drivetrain m_drivetrain;
   private final Supplier<Double> m_xaxisSpeedSupplier;
   private final Supplier<Double> m_zaxisRotateSupplier;
 
-  /**
-   * Creates a new TeleopArcadeDrive.
-   */
-  public TeleopArcadeDrive(Drivetrain drivetrain, Supplier<Double> xaxisSpeedSupplier,
+  /** Creates a new TeleopArcadeDrive. */
+  public TeleopArcadeDrive(
+      Drivetrain drivetrain,
+      Supplier<Double> xaxisSpeedSupplier,
       Supplier<Double> zaxisRotateSuppplier) {
     m_drivetrain = drivetrain;
     m_xaxisSpeedSupplier = xaxisSpeedSupplier;
@@ -29,8 +27,7 @@ public class TeleopArcadeDrive extends CommandBase {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {
-  }
+  public void initialize() {}
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
@@ -40,8 +37,7 @@ public class TeleopArcadeDrive extends CommandBase {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {
-  }
+  public void end(boolean interrupted) {}
 
   // Returns true when the command should end.
   @Override
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/subsystems/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/subsystems/Drivetrain.java
index 08803c3f24..1537741591 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/subsystems/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/subsystems/Drivetrain.java
@@ -26,9 +26,7 @@ public class Drivetrain extends SubsystemBase {
   // Set up the differential drive controller
   private final DifferentialDrive m_diffDrive = new DifferentialDrive(m_leftMotor, m_rightMotor);
 
-  /**
-   * Creates a new Drivetrain.
-   */
+  /** Creates a new Drivetrain. */
   public Drivetrain() {
     // DifferentialDrive defaults to having the right side flipped
     // We don't need to do this because the Romi has accounted for this
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/subsystems/OnBoardIO.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/subsystems/OnBoardIO.java
index 825ec41386..848aff54f3 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/subsystems/OnBoardIO.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/subsystems/OnBoardIO.java
@@ -11,14 +11,11 @@ import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 /**
- * This class represents the onboard IO of the Romi
- * reference robot. This includes the pushbuttons and
- * LEDs.
+ * This class represents the onboard IO of the Romi reference robot. This includes the pushbuttons
+ * and LEDs.
  *
- * <p>DIO 0 - Button A (input only)
- * DIO 1 - Button B (input) or Green LED (output)
- * DIO 2 - Button C (input) or Red LED (output)
- * DIO 3 - Yellow LED (output only)
+ * <p>DIO 0 - Button A (input only) DIO 1 - Button B (input) or Green LED (output) DIO 2 - Button C
+ * (input) or Red LED (output) DIO 3 - Yellow LED (output only)
  */
 public class OnBoardIO extends SubsystemBase {
   private final DigitalInput m_buttonA = new DigitalInput(0);
@@ -60,16 +57,12 @@ public class OnBoardIO extends SubsystemBase {
     }
   }
 
-  /**
-   * Gets if the A button is pressed.
-   */
+  /** Gets if the A button is pressed. */
   public boolean getButtonAPressed() {
     return m_buttonA.get();
   }
 
-  /**
-   * Gets if the B button is pressed.
-   */
+  /** Gets if the B button is pressed. */
   public boolean getButtonBPressed() {
     if (m_buttonB != null) {
       return m_buttonB.get();
@@ -83,9 +76,7 @@ public class OnBoardIO extends SubsystemBase {
     return false;
   }
 
-  /**
-   * Gets if the C button is pressed.
-   */
+  /** Gets if the C button is pressed. */
   public boolean getButtonCPressed() {
     if (m_buttonC != null) {
       return m_buttonC.get();
@@ -99,9 +90,7 @@ public class OnBoardIO extends SubsystemBase {
     return false;
   }
 
-  /**
-   * Sets the green LED.
-   */
+  /** Sets the green LED. */
   public void setGreenLed(boolean value) {
     if (m_greenLed != null) {
       m_greenLed.set(value);
@@ -114,9 +103,7 @@ public class OnBoardIO extends SubsystemBase {
     }
   }
 
-  /**
-   * Sets the red LED.
-   */
+  /** Sets the red LED. */
   public void setRedLed(boolean value) {
     if (m_redLed != null) {
       m_redLed.set(value);
@@ -129,9 +116,7 @@ public class OnBoardIO extends SubsystemBase {
     }
   }
 
-  /**
-   * Sets the yellow LED.
-   */
+  /** Sets the yellow LED. */
   public void setYellowLed(boolean value) {
     m_yellowLed.set(value);
   }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/Constants.java
index b1a7cb454d..6d3b1e6f0e 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/Constants.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/Constants.java
@@ -6,17 +6,17 @@ package edu.wpi.first.wpilibj.examples.schedulereventlogging;
 
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
- * constants.  This class should not be used for any other purpose.  All constants should be
- * declared globally (i.e. public static).  Do not put anything functional in this class.
+ * constants. This class should not be used for any other purpose. All constants should be declared
+ * globally (i.e. public static). Do not put anything functional in this class.
  *
  * <p>It is advised to statically import this class (or one of its inner classes) wherever the
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
   /**
-   * Example of an inner class.  One can "import static [...].Constants.OIConstants.*" to gain
-   * access to the constants contained within without having to preface the names with the class,
-   * greatly reducing the amount of text required.
+   * Example of an inner class. One can "import static [...].Constants.OIConstants.*" to gain access
+   * to the constants contained within without having to preface the names with the class, greatly
+   * reducing the amount of text required.
    */
   public static final class OIConstants {
     // Example: the port of the driver's controller
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/Main.java
index 6523324ef8..8e7a679c78 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/Main.java
@@ -12,8 +12,7 @@ import edu.wpi.first.wpilibj.RobotBase;
  * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/Robot.java
index e31d5a3552..b61794c3be 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/Robot.java
@@ -34,8 +34,8 @@ public class Robot extends TimedRobot {
    * This function is called every robot packet, no matter the mode. Use this for items like
    * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
    *
-   * <p>This runs after the mode specific periodic functions, but before
-   * LiveWindow and SmartDashboard integrated updating.
+   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
+   * SmartDashboard integrated updating.
    */
   @Override
   public void robotPeriodic() {
@@ -46,20 +46,14 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().run();
   }
 
-  /**
-   * This function is called once each time the robot enters Disabled mode.
-   */
+  /** This function is called once each time the robot enters Disabled mode. */
   @Override
-  public void disabledInit() {
-  }
+  public void disabledInit() {}
 
   @Override
-  public void disabledPeriodic() {
-  }
+  public void disabledPeriodic() {}
 
-  /**
-   * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
-   */
+  /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
   @Override
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
@@ -77,12 +71,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during autonomous.
-   */
+  /** This function is called periodically during autonomous. */
   @Override
-  public void autonomousPeriodic() {
-  }
+  public void autonomousPeriodic() {}
 
   @Override
   public void teleopInit() {
@@ -95,12 +86,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during operator control.
-   */
+  /** This function is called periodically during operator control. */
   @Override
-  public void teleopPeriodic() {
-  }
+  public void teleopPeriodic() {}
 
   @Override
   public void testInit() {
@@ -108,10 +96,7 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().cancelAll();
   }
 
-  /**
-   * This function is called periodically during test mode.
-   */
+  /** This function is called periodically during test mode. */
   @Override
-  public void testPeriodic() {
-  }
+  public void testPeriodic() {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/RobotContainer.java
index eb27eb8c9b..c7986009f9 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/RobotContainer.java
@@ -4,8 +4,11 @@
 
 package edu.wpi.first.wpilibj.examples.schedulereventlogging;
 
+import static edu.wpi.first.wpilibj.XboxController.Button;
+
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.examples.schedulereventlogging.Constants.OIConstants;
 import edu.wpi.first.wpilibj.shuffleboard.EventImportance;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -15,15 +18,11 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.WaitCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 
-import edu.wpi.first.wpilibj.examples.schedulereventlogging.Constants.OIConstants;
-
-import static edu.wpi.first.wpilibj.XboxController.Button;
-
 /**
- * This class is where the bulk of the robot should be declared.  Since Command-based is a
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
  * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
- * periodic methods (other than the scheduler calls).  Instead, the structure of the robot
- * (including subsystems, commands, and button mappings) should be declared here.
+ * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
+ * subsystems, commands, and button mappings) should be declared here.
  */
 public class RobotContainer {
   // The driver's controller
@@ -35,9 +34,7 @@ public class RobotContainer {
   private final CommandBase m_instantCommand2 = new InstantCommand();
   private final CommandBase m_waitCommand = new WaitCommand(5);
 
-  /**
-   * The container for the robot.  Contains subsystems, OI devices, and commands.
-   */
+  /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     // Set names of commands
     m_instantCommand1.setName("Instant Command 1");
@@ -45,22 +42,31 @@ public class RobotContainer {
     m_waitCommand.setName("Wait 5 Seconds Command");
 
     // Set the scheduler to log Shuffleboard events for command initialize, interrupt, finish
-    CommandScheduler.getInstance().onCommandInitialize(command -> Shuffleboard.addEventMarker(
-        "Command initialized", command.getName(), EventImportance.kNormal));
-    CommandScheduler.getInstance().onCommandInterrupt(command -> Shuffleboard.addEventMarker(
-        "Command interrupted", command.getName(), EventImportance.kNormal));
-    CommandScheduler.getInstance().onCommandFinish(command -> Shuffleboard.addEventMarker(
-        "Command finished", command.getName(), EventImportance.kNormal));
+    CommandScheduler.getInstance()
+        .onCommandInitialize(
+            command ->
+                Shuffleboard.addEventMarker(
+                    "Command initialized", command.getName(), EventImportance.kNormal));
+    CommandScheduler.getInstance()
+        .onCommandInterrupt(
+            command ->
+                Shuffleboard.addEventMarker(
+                    "Command interrupted", command.getName(), EventImportance.kNormal));
+    CommandScheduler.getInstance()
+        .onCommandFinish(
+            command ->
+                Shuffleboard.addEventMarker(
+                    "Command finished", command.getName(), EventImportance.kNormal));
 
     // Configure the button bindings
     configureButtonBindings();
   }
 
   /**
-   * Use this method to define your button->command mappings.  Buttons can be created by
+   * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link GenericHID} or one of its subclasses ({@link
-   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
-   * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
+   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
+   * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
   private void configureButtonBindings() {
     // Run instant command 1 when the 'A' button is pressed
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Constants.java
index 23c39b60a8..593cdfadff 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Constants.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Constants.java
@@ -6,17 +6,17 @@ package edu.wpi.first.wpilibj.examples.selectcommand;
 
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
- * constants.  This class should not be used for any other purpose.  All constants should be
- * declared globally (i.e. public static).  Do not put anything functional in this class.
+ * constants. This class should not be used for any other purpose. All constants should be declared
+ * globally (i.e. public static). Do not put anything functional in this class.
  *
  * <p>It is advised to statically import this class (or one of its inner classes) wherever the
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
   /**
-   * Example of an inner class.  One can "import static [...].Constants.OIConstants.*" to gain
-   * access to the constants contained within without having to preface the names with the class,
-   * greatly reducing the amount of text required.
+   * Example of an inner class. One can "import static [...].Constants.OIConstants.*" to gain access
+   * to the constants contained within without having to preface the names with the class, greatly
+   * reducing the amount of text required.
    */
   public static final class OIConstants {
     // Example: the port of the driver's controller
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Main.java
index 026fdb482b..1ad2aff0a9 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Main.java
@@ -12,8 +12,7 @@ import edu.wpi.first.wpilibj.RobotBase;
  * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Robot.java
index 9137dac22f..8bd49e8053 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Robot.java
@@ -34,8 +34,8 @@ public class Robot extends TimedRobot {
    * This function is called every robot packet, no matter the mode. Use this for items like
    * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
    *
-   * <p>This runs after the mode specific periodic functions, but before
-   * LiveWindow and SmartDashboard integrated updating.
+   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
+   * SmartDashboard integrated updating.
    */
   @Override
   public void robotPeriodic() {
@@ -46,20 +46,14 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().run();
   }
 
-  /**
-   * This function is called once each time the robot enters Disabled mode.
-   */
+  /** This function is called once each time the robot enters Disabled mode. */
   @Override
-  public void disabledInit() {
-  }
+  public void disabledInit() {}
 
   @Override
-  public void disabledPeriodic() {
-  }
+  public void disabledPeriodic() {}
 
-  /**
-   * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
-   */
+  /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
   @Override
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
@@ -77,12 +71,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during autonomous.
-   */
+  /** This function is called periodically during autonomous. */
   @Override
-  public void autonomousPeriodic() {
-  }
+  public void autonomousPeriodic() {}
 
   @Override
   public void teleopInit() {
@@ -95,12 +86,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during operator control.
-   */
+  /** This function is called periodically during operator control. */
   @Override
-  public void teleopPeriodic() {
-  }
+  public void teleopPeriodic() {}
 
   @Override
   public void testInit() {
@@ -108,10 +96,7 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().cancelAll();
   }
 
-  /**
-   * This function is called periodically during test mode.
-   */
+  /** This function is called periodically during test mode. */
   @Override
-  public void testPeriodic() {
-  }
+  public void testPeriodic() {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/RobotContainer.java
index 645f7b0819..b6aed819eb 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/RobotContainer.java
@@ -4,24 +4,25 @@
 
 package edu.wpi.first.wpilibj.examples.selectcommand;
 
-import java.util.Map;
-
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.PrintCommand;
 import edu.wpi.first.wpilibj2.command.SelectCommand;
+import java.util.Map;
 
 /**
- * This class is where the bulk of the robot should be declared.  Since Command-based is a
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
  * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
- * periodic methods (other than the scheduler calls).  Instead, the structure of the robot
- * (including subsystems, commands, and button mappings) should be declared here.
+ * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
+ * subsystems, commands, and button mappings) should be declared here.
  */
 public class RobotContainer {
   // The enum used as keys for selecting the command to run.
   private enum CommandSelector {
-    ONE, TWO, THREE
+    ONE,
+    TWO,
+    THREE
   }
 
   // An example selector method for the selectcommand.  Returns the selector that will select
@@ -40,10 +41,8 @@ public class RobotContainer {
           Map.ofEntries(
               Map.entry(CommandSelector.ONE, new PrintCommand("Command one was selected!")),
               Map.entry(CommandSelector.TWO, new PrintCommand("Command two was selected!")),
-              Map.entry(CommandSelector.THREE, new PrintCommand("Command three was selected!"))
-          ),
-          this::select
-      );
+              Map.entry(CommandSelector.THREE, new PrintCommand("Command three was selected!"))),
+          this::select);
 
   public RobotContainer() {
     // Configure the button bindings
@@ -51,13 +50,12 @@ public class RobotContainer {
   }
 
   /**
-   * Use this method to define your button->command mappings.  Buttons can be created by
+   * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link GenericHID} or one of its subclasses ({@link
    * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then calling passing it to a
    * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
-  private void configureButtonBindings() {
-  }
+  private void configureButtonBindings() {}
 
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Main.java
index 9e157c3013..8a7a1c82c7 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.shuffleboard;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Robot.java
index 8c7613436f..ca0ac16658 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Robot.java
@@ -15,8 +15,8 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 
 public class Robot extends TimedRobot {
-  private final DifferentialDrive m_tankDrive = new DifferentialDrive(new PWMVictorSPX(0),
-                                                                      new PWMVictorSPX(1));
+  private final DifferentialDrive m_tankDrive =
+      new DifferentialDrive(new PWMVictorSPX(0), new PWMVictorSPX(1));
   private final Encoder m_leftEncoder = new Encoder(0, 1);
   private final Encoder m_rightEncoder = new Encoder(2, 3);
 
@@ -28,20 +28,20 @@ public class Robot extends TimedRobot {
   public void robotInit() {
     // Add a 'max speed' widget to a tab named 'Configuration', using a number slider
     // The widget will be placed in the second column and row and will be TWO columns wide
-    m_maxSpeed = Shuffleboard.getTab("Configuration")
-                           .add("Max Speed", 1)
-                           .withWidget("Number Slider")
-                           .withPosition(1, 1)
-                           .withSize(2, 1)
-                           .getEntry();
+    m_maxSpeed =
+        Shuffleboard.getTab("Configuration")
+            .add("Max Speed", 1)
+            .withWidget("Number Slider")
+            .withPosition(1, 1)
+            .withSize(2, 1)
+            .getEntry();
 
     // Add the tank drive and encoders to a 'Drivebase' tab
     ShuffleboardTab driveBaseTab = Shuffleboard.getTab("Drivebase");
     driveBaseTab.add("Tank Drive", m_tankDrive);
     // Put both encoders in a list layout
-    ShuffleboardLayout encoders = driveBaseTab.getLayout("List Layout", "Encoders")
-                                              .withPosition(0, 0)
-                                              .withSize(2, 2);
+    ShuffleboardLayout encoders =
+        driveBaseTab.getLayout("List Layout", "Encoders").withPosition(0, 0).withSize(2, 2);
     encoders.add("Left Encoder", m_leftEncoder);
     encoders.add("Right Encoder", m_rightEncoder);
 
@@ -56,5 +56,4 @@ public class Robot extends TimedRobot {
     // Read the value of the 'max speed' widget from the dashboard
     m_tankDrive.setMaxOutput(m_maxSpeed.getDouble(1.0));
   }
-
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
index 6b75f1d55f..55338a02c3 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
@@ -42,10 +42,10 @@ public class Drivetrain {
   private final PWMVictorSPX m_rightLeader = new PWMVictorSPX(3);
   private final PWMVictorSPX m_rightFollower = new PWMVictorSPX(4);
 
-  private final SpeedControllerGroup m_leftGroup
-      = new SpeedControllerGroup(m_leftLeader, m_leftFollower);
-  private final SpeedControllerGroup m_rightGroup
-      = new SpeedControllerGroup(m_rightLeader, m_rightFollower);
+  private final SpeedControllerGroup m_leftGroup =
+      new SpeedControllerGroup(m_leftLeader, m_leftFollower);
+  private final SpeedControllerGroup m_rightGroup =
+      new SpeedControllerGroup(m_rightLeader, m_rightFollower);
 
   private final Encoder m_leftEncoder = new Encoder(0, 1);
   private final Encoder m_rightEncoder = new Encoder(2, 3);
@@ -55,10 +55,10 @@ public class Drivetrain {
 
   private final AnalogGyro m_gyro = new AnalogGyro(0);
 
-  private final DifferentialDriveKinematics m_kinematics
-      = new DifferentialDriveKinematics(kTrackWidth);
-  private final DifferentialDriveOdometry m_odometry
-      = new DifferentialDriveOdometry(m_gyro.getRotation2d());
+  private final DifferentialDriveKinematics m_kinematics =
+      new DifferentialDriveKinematics(kTrackWidth);
+  private final DifferentialDriveOdometry m_odometry =
+      new DifferentialDriveOdometry(m_gyro.getRotation2d());
 
   // Gains are for example purposes only - must be determined for your own
   // robot!
@@ -69,11 +69,11 @@ public class Drivetrain {
   private final EncoderSim m_leftEncoderSim = new EncoderSim(m_leftEncoder);
   private final EncoderSim m_rightEncoderSim = new EncoderSim(m_rightEncoder);
   private final Field2d m_fieldSim = new Field2d();
-  private final LinearSystem<N2, N2, N2> m_drivetrainSystem
-      = LinearSystemId.identifyDrivetrainSystem(1.98, 0.2, 1.5, 0.3);
-  private final DifferentialDrivetrainSim m_drivetrainSimulator
-      = new DifferentialDrivetrainSim(m_drivetrainSystem, DCMotor.getCIM(2), 8, kTrackWidth,
-      kWheelRadius, null);
+  private final LinearSystem<N2, N2, N2> m_drivetrainSystem =
+      LinearSystemId.identifyDrivetrainSystem(1.98, 0.2, 1.5, 0.3);
+  private final DifferentialDrivetrainSim m_drivetrainSimulator =
+      new DifferentialDrivetrainSim(
+          m_drivetrainSystem, DCMotor.getCIM(2), 8, kTrackWidth, kWheelRadius, null);
 
   public Drivetrain() {
     // Set the distance per pulse for the drive encoders. We can simply use the
@@ -92,10 +92,10 @@ public class Drivetrain {
   public void setSpeeds(DifferentialDriveWheelSpeeds speeds) {
     var leftFeedforward = m_feedforward.calculate(speeds.leftMetersPerSecond);
     var rightFeedforward = m_feedforward.calculate(speeds.rightMetersPerSecond);
-    double leftOutput = m_leftPIDController.calculate(m_leftEncoder.getRate(),
-        speeds.leftMetersPerSecond);
-    double rightOutput = m_rightPIDController.calculate(m_rightEncoder.getRate(),
-        speeds.rightMetersPerSecond);
+    double leftOutput =
+        m_leftPIDController.calculate(m_leftEncoder.getRate(), speeds.leftMetersPerSecond);
+    double rightOutput =
+        m_rightPIDController.calculate(m_rightEncoder.getRate(), speeds.rightMetersPerSecond);
 
     m_leftGroup.setVoltage(leftOutput + leftFeedforward);
     m_rightGroup.setVoltage(rightOutput + rightFeedforward);
@@ -106,8 +106,8 @@ public class Drivetrain {
   }
 
   public void updateOdometry() {
-    m_odometry.update(m_gyro.getRotation2d(), m_leftEncoder.getDistance(),
-        m_rightEncoder.getDistance());
+    m_odometry.update(
+        m_gyro.getRotation2d(), m_leftEncoder.getDistance(), m_rightEncoder.getDistance());
   }
 
   public void resetOdometry(Pose2d pose) {
@@ -126,7 +126,8 @@ public class Drivetrain {
     // simulation, and write the simulated positions and velocities to our
     // simulated encoder and gyro. We negate the right side so that positive
     // voltages make the right side move forward.
-    m_drivetrainSimulator.setInputs(m_leftLeader.get() * RobotController.getInputVoltage(),
+    m_drivetrainSimulator.setInputs(
+        m_leftLeader.get() * RobotController.getInputVoltage(),
         -m_rightLeader.get() * RobotController.getInputVoltage());
     m_drivetrainSimulator.update(0.02);
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Main.java
index 50c9475c36..576b2d3745 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.simpledifferentialdrivesimulation;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Robot.java
index 095103578f..9b0bedb265 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Robot.java
@@ -4,8 +4,6 @@
 
 package edu.wpi.first.wpilibj.examples.simpledifferentialdrivesimulation;
 
-import java.util.List;
-
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.SlewRateLimiter;
 import edu.wpi.first.wpilibj.TimedRobot;
@@ -18,6 +16,7 @@ import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.trajectory.Trajectory;
 import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
 import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
+import java.util.List;
 
 public class Robot extends TimedRobot {
   private final XboxController m_controller = new XboxController(0);
@@ -34,10 +33,12 @@ public class Robot extends TimedRobot {
 
   @Override
   public void robotInit() {
-    m_trajectory = TrajectoryGenerator.generateTrajectory(
-        new Pose2d(2, 2, new Rotation2d()), List.of(), new Pose2d(6, 4, new Rotation2d()),
-        new TrajectoryConfig(2, 2)
-    );
+    m_trajectory =
+        TrajectoryGenerator.generateTrajectory(
+            new Pose2d(2, 2, new Rotation2d()),
+            List.of(),
+            new Pose2d(6, 4, new Rotation2d()),
+            new TrajectoryConfig(2, 2));
   }
 
   @Override
@@ -65,15 +66,16 @@ public class Robot extends TimedRobot {
   public void teleopPeriodic() {
     // Get the x speed. We are inverting this because Xbox controllers return
     // negative values when we push forward.
-    double xSpeed = -m_speedLimiter.calculate(m_controller.getY(GenericHID.Hand.kLeft))
-        * Drivetrain.kMaxSpeed;
+    double xSpeed =
+        -m_speedLimiter.calculate(m_controller.getY(GenericHID.Hand.kLeft)) * Drivetrain.kMaxSpeed;
 
     // Get the rate of angular rotation. We are inverting this because we want a
     // positive value when we pull to the left (remember, CCW is positive in
     // mathematics). Xbox controllers return positive values when you pull to
     // the right by default.
-    double rot = -m_rotLimiter.calculate(m_controller.getX(GenericHID.Hand.kRight))
-        * Drivetrain.kMaxAngularSpeed;
+    double rot =
+        -m_rotLimiter.calculate(m_controller.getX(GenericHID.Hand.kRight))
+            * Drivetrain.kMaxAngularSpeed;
     m_drive.drive(xSpeed, rot);
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Main.java
index 401193beb8..78218ad13b 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.solenoid;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java
index 6613a9f982..11c6872558 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java
@@ -20,7 +20,6 @@ import edu.wpi.first.wpilibj.TimedRobot;
  * state. Additionally, double solenoids take up two channels on your PCM whereas single solenoids
  * only take a single channel.
  */
-
 public class Robot extends TimedRobot {
   private final Joystick m_stick = new Joystick(0);
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacearm/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacearm/Main.java
index bb816c7791..204e8e3845 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacearm/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacearm/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.statespacearm;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacearm/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacearm/Robot.java
index dabf971bd8..cb2273b9f0 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacearm/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacearm/Robot.java
@@ -23,8 +23,7 @@ import edu.wpi.first.wpiutil.math.numbers.N1;
 import edu.wpi.first.wpiutil.math.numbers.N2;
 
 /**
- * This is a sample program to demonstrate how to use a state-space controller
- * to control an arm.
+ * This is a sample program to demonstrate how to use a state-space controller to control an arm.
  */
 public class Robot extends TimedRobot {
   private static final int kMotorPort = 0;
@@ -42,8 +41,10 @@ public class Robot extends TimedRobot {
   // the motors, this number should be greater than one.
   private static final double kArmGearing = 10.0;
 
-  private final TrapezoidProfile.Constraints m_constraints = new TrapezoidProfile.Constraints(
-        Units.degreesToRadians(45), Units.degreesToRadians(90)); // Max arm speed and acceleration.
+  private final TrapezoidProfile.Constraints m_constraints =
+      new TrapezoidProfile.Constraints(
+          Units.degreesToRadians(45),
+          Units.degreesToRadians(90)); // Max arm speed and acceleration.
   private TrapezoidProfile.State m_lastProfiledReference = new TrapezoidProfile.State();
 
   // The plant holds a state-space model of our arm. This system has the following properties:
@@ -52,42 +53,40 @@ public class Robot extends TimedRobot {
   // Inputs (what we can "put in"): [voltage], in volts.
   // Outputs (what we can measure): [position], in radians.
   private final LinearSystem<N2, N1, N1> m_armPlant =
-      LinearSystemId.createSingleJointedArmSystem(
-        DCMotor.getNEO(2),
-        kArmMOI,
-        kArmGearing);
+      LinearSystemId.createSingleJointedArmSystem(DCMotor.getNEO(2), kArmMOI, kArmGearing);
 
   // The observer fuses our encoder data and voltage inputs to reject noise.
-  private final KalmanFilter<N2, N1, N1> m_observer = new KalmanFilter<>(
-        Nat.N2(), Nat.N1(),
-        m_armPlant,
-        VecBuilder.fill(0.015, 0.17), // How accurate we
-        // think our model is, in radians and radians/sec
-        VecBuilder.fill(0.01), // How accurate we think our encoder position
-        // data is. In this case we very highly trust our encoder position reading.
-        0.020);
+  private final KalmanFilter<N2, N1, N1> m_observer =
+      new KalmanFilter<>(
+          Nat.N2(),
+          Nat.N1(),
+          m_armPlant,
+          VecBuilder.fill(0.015, 0.17), // How accurate we
+          // think our model is, in radians and radians/sec
+          VecBuilder.fill(0.01), // How accurate we think our encoder position
+          // data is. In this case we very highly trust our encoder position reading.
+          0.020);
 
   // A LQR uses feedback to create voltage commands.
-  private final LinearQuadraticRegulator<N2, N1, N1> m_controller
-        = new LinearQuadraticRegulator<>(m_armPlant,
-        VecBuilder.fill(Units.degreesToRadians(1.0), Units.degreesToRadians(10.0)), // qelms.
-        // Position and velocity error tolerances, in radians and radians per second. Decrease this
-        // to more heavily penalize state excursion, or make the controller behave more
-        // aggressively. In this example we weight position much more highly than velocity, but this
-        // can be tuned to balance the two.
-        VecBuilder.fill(12.0), // relms. Control effort (voltage) tolerance. Decrease this to more
-        // heavily penalize control effort, or make the controller less aggressive. 12 is a good
-        // starting point because that is the (approximate) maximum voltage of a battery.
-        0.020); // Nominal time between loops. 0.020 for TimedRobot, but can be
+  private final LinearQuadraticRegulator<N2, N1, N1> m_controller =
+      new LinearQuadraticRegulator<>(
+          m_armPlant,
+          VecBuilder.fill(Units.degreesToRadians(1.0), Units.degreesToRadians(10.0)), // qelms.
+          // Position and velocity error tolerances, in radians and radians per second. Decrease
+          // this
+          // to more heavily penalize state excursion, or make the controller behave more
+          // aggressively. In this example we weight position much more highly than velocity, but
+          // this
+          // can be tuned to balance the two.
+          VecBuilder.fill(12.0), // relms. Control effort (voltage) tolerance. Decrease this to more
+          // heavily penalize control effort, or make the controller less aggressive. 12 is a good
+          // starting point because that is the (approximate) maximum voltage of a battery.
+          0.020); // Nominal time between loops. 0.020 for TimedRobot, but can be
   // lower if using notifiers.
 
   // The state-space loop combines a controller, observer, feedforward and plant for easy control.
-  private final LinearSystemLoop<N2, N1, N1> m_loop = new LinearSystemLoop<>(
-      m_armPlant,
-        m_controller,
-        m_observer,
-        12.0,
-        0.020);
+  private final LinearSystemLoop<N2, N1, N1> m_loop =
+      new LinearSystemLoop<>(m_armPlant, m_controller, m_observer, 12.0, 0.020);
 
   // An encoder set up to measure arm position in radians.
   private final Encoder m_encoder = new Encoder(kEncoderAChannel, kEncoderBChannel);
@@ -109,8 +108,8 @@ public class Robot extends TimedRobot {
     m_loop.reset(VecBuilder.fill(m_encoder.getDistance(), m_encoder.getRate()));
 
     // Reset our last reference to the current state.
-    m_lastProfiledReference = new TrapezoidProfile.State(m_encoder.getDistance(),
-          m_encoder.getRate());
+    m_lastProfiledReference =
+        new TrapezoidProfile.State(m_encoder.getDistance(), m_encoder.getRate());
   }
 
   @Override
@@ -126,8 +125,8 @@ public class Robot extends TimedRobot {
       goal = new TrapezoidProfile.State(kLoweredPosition, 0.0);
     }
     // Step our TrapezoidalProfile forward 20ms and set it as our next reference
-    m_lastProfiledReference = (new TrapezoidProfile(m_constraints, goal, m_lastProfiledReference))
-          .calculate(0.020);
+    m_lastProfiledReference =
+        (new TrapezoidProfile(m_constraints, goal, m_lastProfiledReference)).calculate(0.020);
     m_loop.setNextR(m_lastProfiledReference.position, m_lastProfiledReference.velocity);
 
     // Correct our Kalman filter's state vector estimate with encoder data.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/Constants.java
index cc1b9fcc5f..a0e0d04372 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/Constants.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/Constants.java
@@ -12,8 +12,8 @@ import edu.wpi.first.wpiutil.math.numbers.N2;
 
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
- * constants.  This class should not be used for any other purpose.  All constants should be
- * declared globally (i.e. public static).  Do not put anything functional in this class.
+ * constants. This class should not be used for any other purpose. All constants should be declared
+ * globally (i.e. public static). Do not put anything functional in this class.
  *
  * <p>It is advised to statically import this class (or one of its inner classes) wherever the
  * constants are needed, to reduce verbosity.
@@ -25,20 +25,20 @@ public final class Constants {
     public static final int kRightMotor1Port = 2;
     public static final int kRightMotor2Port = 3;
 
-    public static final int[] kLeftEncoderPorts = new int[]{0, 1};
-    public static final int[] kRightEncoderPorts = new int[]{2, 3};
+    public static final int[] kLeftEncoderPorts = new int[] {0, 1};
+    public static final int[] kRightEncoderPorts = new int[] {2, 3};
     public static final boolean kLeftEncoderReversed = false;
     public static final boolean kRightEncoderReversed = true;
 
     public static final double kTrackwidthMeters = 0.69;
     public static final DifferentialDriveKinematics kDriveKinematics =
-          new DifferentialDriveKinematics(kTrackwidthMeters);
+        new DifferentialDriveKinematics(kTrackwidthMeters);
 
     public static final int kEncoderCPR = 1024;
     public static final double kWheelDiameterMeters = 0.15;
     public static final double kEncoderDistancePerPulse =
-          // Assumes the encoders are directly mounted on the wheel shafts
-          (kWheelDiameterMeters * Math.PI) / (double) kEncoderCPR;
+        // Assumes the encoders are directly mounted on the wheel shafts
+        (kWheelDiameterMeters * Math.PI) / (double) kEncoderCPR;
 
     public static final boolean kGyroReversed = true;
 
@@ -59,8 +59,11 @@ public final class Constants {
     public static final double kaVoltSecondsSquaredPerRadian = 0.3;
 
     public static final LinearSystem<N2, N2, N2> kDrivetrainPlant =
-          LinearSystemId.identifyDrivetrainSystem(kvVoltSecondsPerMeter, kaVoltSecondsSquaredPerMeter,
-                kvVoltSecondsPerRadian, kaVoltSecondsSquaredPerRadian);
+        LinearSystemId.identifyDrivetrainSystem(
+            kvVoltSecondsPerMeter,
+            kaVoltSecondsSquaredPerMeter,
+            kvVoltSecondsPerRadian,
+            kaVoltSecondsSquaredPerRadian);
 
     // Example values only -- use what's on your physical robot!
     public static final DCMotor kDriveGearbox = DCMotor.getCIM(2);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/Main.java
index 93fa762a3e..bccc25aa5c 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/Robot.java
index 5e8bd6524b..8eca311821 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/Robot.java
@@ -5,14 +5,14 @@
 package edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation;
 
 import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj.simulation.RoboRioSim;
 import edu.wpi.first.wpilibj.simulation.BatterySim;
+import edu.wpi.first.wpilibj.simulation.RoboRioSim;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
 /**
- * This is a sample program to demonstrate the use of state-space classes in robot simulation.
- * This robot has a flywheel, elevator, arm and differential drivetrain, and interfaces with
- * the sim GUI's {@link edu.wpi.first.wpilibj.simulation.Field2d} class.
+ * This is a sample program to demonstrate the use of state-space classes in robot simulation. This
+ * robot has a flywheel, elevator, arm and differential drivetrain, and interfaces with the sim
+ * GUI's {@link edu.wpi.first.wpilibj.simulation.Field2d} class.
  */
 public class Robot extends TimedRobot {
   private RobotContainer m_robotContainer;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java
index 7392d879cc..e5e0266163 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java
@@ -4,6 +4,8 @@
 
 package edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation;
 
+import static edu.wpi.first.wpilibj.XboxController.Button;
+
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.controller.PIDController;
@@ -20,27 +22,23 @@ import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.RamseteCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
-
 import java.util.List;
 
-import static edu.wpi.first.wpilibj.XboxController.Button;
-
 /**
- * This class is where the bulk of the robot should be declared.  Since Command-based is a
- * "declarative" paradigm, very little robot logic should actually be handled in the Robot
- * periodic methods (other than the scheduler calls).  Instead, the structure of the robot
- * (including subsystems, commands, and button mappings) should be declared here.
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
+ * "declarative" paradigm, very little robot logic should actually be handled in the Robot periodic
+ * methods (other than the scheduler calls). Instead, the structure of the robot (including
+ * subsystems, commands, and button mappings) should be declared here.
  */
 public class RobotContainer {
   // The robot's subsystems
   private final DriveSubsystem m_robotDrive = new DriveSubsystem();
 
   // The driver's controller
-  XboxController m_driverController = new XboxController(Constants.OIConstants.kDriverControllerPort);
+  XboxController m_driverController =
+      new XboxController(Constants.OIConstants.kDriverControllerPort);
 
-  /**
-   * The container for the robot.  Contains subsystems, OI devices, and commands.
-   */
+  /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     // Configure the button bindings
     configureButtonBindings();
@@ -50,14 +48,16 @@ public class RobotContainer {
     m_robotDrive.setDefaultCommand(
         // A split-stick arcade command, with forward/backward controlled by the left
         // hand, and turning controlled by the right.
-        new RunCommand(() -> m_robotDrive
-            .arcadeDrive(-m_driverController.getY(GenericHID.Hand.kRight),
-                m_driverController.getX(GenericHID.Hand.kLeft)), m_robotDrive));
-
+        new RunCommand(
+            () ->
+                m_robotDrive.arcadeDrive(
+                    -m_driverController.getY(GenericHID.Hand.kRight),
+                    m_driverController.getX(GenericHID.Hand.kLeft)),
+            m_robotDrive));
   }
 
   /**
-   * Use this method to define your button->command mappings.  Buttons can be created by
+   * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link GenericHID} or one of its subclasses ({@link
    * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then calling passing it to a
    * {@link JoystickButton}.
@@ -67,16 +67,13 @@ public class RobotContainer {
     new JoystickButton(m_driverController, Button.kBumperRight.value)
         .whenPressed(() -> m_robotDrive.setMaxOutput(0.5))
         .whenReleased(() -> m_robotDrive.setMaxOutput(1));
-
   }
 
   public DriveSubsystem getRobotDrive() {
     return m_robotDrive;
   }
 
-  /**
-   * Zeros the outputs of all subsystems.
-   */
+  /** Zeros the outputs of all subsystems. */
   public void zeroAllOutputs() {
     m_robotDrive.tankDriveVolts(0, 0);
   }
@@ -91,7 +88,8 @@ public class RobotContainer {
     // Create a voltage constraint to ensure we don't accelerate too fast
     var autoVoltageConstraint =
         new DifferentialDriveVoltageConstraint(
-            new SimpleMotorFeedforward(Constants.DriveConstants.ksVolts,
+            new SimpleMotorFeedforward(
+                Constants.DriveConstants.ksVolts,
                 Constants.DriveConstants.kvVoltSecondsPerMeter,
                 Constants.DriveConstants.kaVoltSecondsSquaredPerMeter),
             Constants.DriveConstants.kDriveKinematics,
@@ -99,40 +97,43 @@ public class RobotContainer {
 
     // Create config for trajectory
     TrajectoryConfig config =
-        new TrajectoryConfig(Constants.AutoConstants.kMaxSpeedMetersPerSecond,
-            Constants.AutoConstants.kMaxAccelerationMetersPerSecondSquared)
+        new TrajectoryConfig(
+                Constants.AutoConstants.kMaxSpeedMetersPerSecond,
+                Constants.AutoConstants.kMaxAccelerationMetersPerSecondSquared)
             // Add kinematics to ensure max speed is actually obeyed
             .setKinematics(Constants.DriveConstants.kDriveKinematics)
             // Apply the voltage constraint
             .addConstraint(autoVoltageConstraint);
 
     // An example trajectory to follow.  All units in meters.
-    Trajectory exampleTrajectory = TrajectoryGenerator.generateTrajectory(
-        // Start at the origin facing the +X direction
-        new Pose2d(0, 0, new Rotation2d(0)),
-        // Pass through these two interior waypoints, making an 's' curve path
-        List.of(),
-        // End 3 meters straight ahead of where we started, facing forward
-        new Pose2d(6, 6, new Rotation2d(0)),
-        // Pass config
-        config
-    );
+    Trajectory exampleTrajectory =
+        TrajectoryGenerator.generateTrajectory(
+            // Start at the origin facing the +X direction
+            new Pose2d(0, 0, new Rotation2d(0)),
+            // Pass through these two interior waypoints, making an 's' curve path
+            List.of(),
+            // End 3 meters straight ahead of where we started, facing forward
+            new Pose2d(6, 6, new Rotation2d(0)),
+            // Pass config
+            config);
 
-    RamseteCommand ramseteCommand = new RamseteCommand(
-        exampleTrajectory,
-        m_robotDrive::getPose,
-        new RamseteController(Constants.AutoConstants.kRamseteB, Constants.AutoConstants.kRamseteZeta),
-        new SimpleMotorFeedforward(Constants.DriveConstants.ksVolts,
-            Constants.DriveConstants.kvVoltSecondsPerMeter,
-            Constants.DriveConstants.kaVoltSecondsSquaredPerMeter),
-        Constants.DriveConstants.kDriveKinematics,
-        m_robotDrive::getWheelSpeeds,
-        new PIDController(Constants.DriveConstants.kPDriveVel, 0, 0),
-        new PIDController(Constants.DriveConstants.kPDriveVel, 0, 0),
-        // RamseteCommand passes volts to the callback
-        m_robotDrive::tankDriveVolts,
-        m_robotDrive
-    );
+    RamseteCommand ramseteCommand =
+        new RamseteCommand(
+            exampleTrajectory,
+            m_robotDrive::getPose,
+            new RamseteController(
+                Constants.AutoConstants.kRamseteB, Constants.AutoConstants.kRamseteZeta),
+            new SimpleMotorFeedforward(
+                Constants.DriveConstants.ksVolts,
+                Constants.DriveConstants.kvVoltSecondsPerMeter,
+                Constants.DriveConstants.kaVoltSecondsSquaredPerMeter),
+            Constants.DriveConstants.kDriveKinematics,
+            m_robotDrive::getWheelSpeeds,
+            new PIDController(Constants.DriveConstants.kPDriveVel, 0, 0),
+            new PIDController(Constants.DriveConstants.kPDriveVel, 0, 0),
+            // RamseteCommand passes volts to the callback
+            m_robotDrive::tankDriveVolts,
+            m_robotDrive);
 
     // Reset odometry to starting pose of trajectory.
     m_robotDrive.resetOdometry(exampleTrajectory.getInitialPose());
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
index 9326cdd6a5..e81a320136 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
@@ -27,28 +27,32 @@ import edu.wpi.first.wpiutil.math.VecBuilder;
 public class DriveSubsystem extends SubsystemBase {
   // The motors on the left side of the drive.
   private final SpeedControllerGroup m_leftMotors =
-        new SpeedControllerGroup(new PWMVictorSPX(Constants.DriveConstants.kLeftMotor1Port),
-              new PWMVictorSPX(Constants.DriveConstants.kLeftMotor2Port));
+      new SpeedControllerGroup(
+          new PWMVictorSPX(Constants.DriveConstants.kLeftMotor1Port),
+          new PWMVictorSPX(Constants.DriveConstants.kLeftMotor2Port));
 
   // The motors on the right side of the drive.
   private final SpeedControllerGroup m_rightMotors =
-        new SpeedControllerGroup(new PWMVictorSPX(Constants.DriveConstants.kRightMotor1Port),
-              new PWMVictorSPX(Constants.DriveConstants.kRightMotor2Port));
+      new SpeedControllerGroup(
+          new PWMVictorSPX(Constants.DriveConstants.kRightMotor1Port),
+          new PWMVictorSPX(Constants.DriveConstants.kRightMotor2Port));
 
   // The robot's drive
   private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);
 
   // The left-side drive encoder
   private final Encoder m_leftEncoder =
-        new Encoder(Constants.DriveConstants.kLeftEncoderPorts[0],
-              Constants.DriveConstants.kLeftEncoderPorts[1],
-              Constants.DriveConstants.kLeftEncoderReversed);
+      new Encoder(
+          Constants.DriveConstants.kLeftEncoderPorts[0],
+          Constants.DriveConstants.kLeftEncoderPorts[1],
+          Constants.DriveConstants.kLeftEncoderReversed);
 
   // The right-side drive encoder
   private final Encoder m_rightEncoder =
-        new Encoder(Constants.DriveConstants.kRightEncoderPorts[0],
-              Constants.DriveConstants.kRightEncoderPorts[1],
-              Constants.DriveConstants.kRightEncoderReversed);
+      new Encoder(
+          Constants.DriveConstants.kRightEncoderPorts[0],
+          Constants.DriveConstants.kRightEncoderPorts[1],
+          Constants.DriveConstants.kRightEncoderReversed);
 
   // The gyro sensor
   private final ADXRS450_Gyro m_gyro = new ADXRS450_Gyro();
@@ -64,9 +68,7 @@ public class DriveSubsystem extends SubsystemBase {
   private Field2d m_fieldSim;
   private ADXRS450_GyroSim m_gyroSim;
 
-  /**
-   * Creates a new DriveSubsystem.
-   */
+  /** Creates a new DriveSubsystem. */
   public DriveSubsystem() {
     // Sets the distance per pulse for the encoders
     m_leftEncoder.setDistancePerPulse(Constants.DriveConstants.kEncoderDistancePerPulse);
@@ -77,13 +79,14 @@ public class DriveSubsystem extends SubsystemBase {
 
     if (RobotBase.isSimulation()) { // If our robot is simulated
       // This class simulates our drivetrain's motion around the field.
-      m_drivetrainSimulator = new DifferentialDrivetrainSim(
-            Constants.DriveConstants.kDrivetrainPlant,
-            Constants.DriveConstants.kDriveGearbox,
-            Constants.DriveConstants.kDriveGearing,
-            Constants.DriveConstants.kTrackwidthMeters,
-          Constants.DriveConstants.kWheelDiameterMeters / 2.0,
-            VecBuilder.fill(0, 0, 0.0001, 0.1, 0.1, 0.005, 0.005));
+      m_drivetrainSimulator =
+          new DifferentialDrivetrainSim(
+              Constants.DriveConstants.kDrivetrainPlant,
+              Constants.DriveConstants.kDriveGearbox,
+              Constants.DriveConstants.kDriveGearing,
+              Constants.DriveConstants.kTrackwidthMeters,
+              Constants.DriveConstants.kWheelDiameterMeters / 2.0,
+              VecBuilder.fill(0, 0, 0.0001, 0.1, 0.1, 0.005, 0.005));
 
       // The encoder and gyro angle sims let us set simulated sensor readings
       m_leftEncoderSim = new EncoderSim(m_leftEncoder);
@@ -99,8 +102,10 @@ public class DriveSubsystem extends SubsystemBase {
   @Override
   public void periodic() {
     // Update the odometry in the periodic block
-    m_odometry.update(Rotation2d.fromDegrees(getHeading()), m_leftEncoder.getDistance(),
-          m_rightEncoder.getDistance());
+    m_odometry.update(
+        Rotation2d.fromDegrees(getHeading()),
+        m_leftEncoder.getDistance(),
+        m_rightEncoder.getDistance());
     m_fieldSim.setRobotPose(getPose());
   }
 
@@ -110,8 +115,9 @@ public class DriveSubsystem extends SubsystemBase {
     // and write the simulated positions and velocities to our simulated encoder and gyro.
     // We negate the right side so that positive voltages make the right side
     // move forward.
-    m_drivetrainSimulator.setInputs(m_leftMotors.get() * RobotController.getBatteryVoltage(),
-          -m_rightMotors.get() * RobotController.getBatteryVoltage());
+    m_drivetrainSimulator.setInputs(
+        m_leftMotors.get() * RobotController.getBatteryVoltage(),
+        -m_rightMotors.get() * RobotController.getBatteryVoltage());
     m_drivetrainSimulator.update(0.020);
 
     m_leftEncoderSim.setDistance(m_drivetrainSimulator.getLeftPositionMeters());
@@ -122,9 +128,8 @@ public class DriveSubsystem extends SubsystemBase {
   }
 
   /**
-   * Returns the current being drawn by the drivetrain. This works in SIMULATION ONLY!
-   * If you want it to work elsewhere, use the code in
-   * {@link DifferentialDrivetrainSim#getCurrentDrawAmps()}
+   * Returns the current being drawn by the drivetrain. This works in SIMULATION ONLY! If you want
+   * it to work elsewhere, use the code in {@link DifferentialDrivetrainSim#getCurrentDrawAmps()}
    *
    * @return The drawn current in Amps.
    */
@@ -174,13 +179,12 @@ public class DriveSubsystem extends SubsystemBase {
   /**
    * Controls the left and right sides of the drive directly with voltages.
    *
-   * @param leftVolts  the commanded left output
+   * @param leftVolts the commanded left output
    * @param rightVolts the commanded right output
    */
   public void tankDriveVolts(double leftVolts, double rightVolts) {
     var batteryVoltage = RobotController.getBatteryVoltage();
-    if (Math.max(Math.abs(leftVolts), Math.abs(rightVolts))
-          > batteryVoltage) {
+    if (Math.max(Math.abs(leftVolts), Math.abs(rightVolts)) > batteryVoltage) {
       leftVolts *= batteryVoltage / 12.0;
       rightVolts *= batteryVoltage / 12.0;
     }
@@ -189,9 +193,7 @@ public class DriveSubsystem extends SubsystemBase {
     m_drive.feed();
   }
 
-  /**
-   * Resets the drive encoders to currently read a position of 0.
-   */
+  /** Resets the drive encoders to currently read a position of 0. */
   public void resetEncoders() {
     m_leftEncoder.reset();
     m_rightEncoder.reset();
@@ -225,7 +227,7 @@ public class DriveSubsystem extends SubsystemBase {
   }
 
   /**
-   * Sets the max output of the drive.  Useful for scaling the drive to drive more slowly.
+   * Sets the max output of the drive. Useful for scaling the drive to drive more slowly.
    *
    * @param maxOutput the maximum output to which the drive will be constrained
    */
@@ -233,9 +235,7 @@ public class DriveSubsystem extends SubsystemBase {
     m_drive.setMaxOutput(maxOutput);
   }
 
-  /**
-   * Zeroes the heading of the robot.
-   */
+  /** Zeroes the heading of the robot. */
   public void zeroHeading() {
     m_gyro.reset();
   }
@@ -246,7 +246,7 @@ public class DriveSubsystem extends SubsystemBase {
    * @return the robot's heading in degrees, from -180 to 180
    */
   public double getHeading() {
-    return Math.IEEEremainder(m_gyro.getAngle(), 360) * (Constants.DriveConstants.kGyroReversed ? -1.0 : 1.0);
+    return Math.IEEEremainder(m_gyro.getAngle(), 360)
+        * (Constants.DriveConstants.kGyroReversed ? -1.0 : 1.0);
   }
-
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceelevator/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceelevator/Main.java
index ac1568de4d..a4bad42618 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceelevator/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceelevator/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.statespaceelevator;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceelevator/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceelevator/Robot.java
index b9c2f2e4f9..a75428b710 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceelevator/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceelevator/Robot.java
@@ -23,8 +23,8 @@ import edu.wpi.first.wpiutil.math.numbers.N1;
 import edu.wpi.first.wpiutil.math.numbers.N2;
 
 /**
- * This is a sample program to demonstrate how to use a state-space controller
- * to control an elevator.
+ * This is a sample program to demonstrate how to use a state-space controller to control an
+ * elevator.
  */
 public class Robot extends TimedRobot {
   private static final int kMotorPort = 0;
@@ -43,8 +43,9 @@ public class Robot extends TimedRobot {
   // the motors, this number should be greater than one.
   private static final double kElevatorGearing = 6.0;
 
-  private final TrapezoidProfile.Constraints m_constraints = new TrapezoidProfile.Constraints(
-        Units.feetToMeters(3.0), Units.feetToMeters(6.0)); // Max elevator speed and acceleration.
+  private final TrapezoidProfile.Constraints m_constraints =
+      new TrapezoidProfile.Constraints(
+          Units.feetToMeters(3.0), Units.feetToMeters(6.0)); // Max elevator speed and acceleration.
   private TrapezoidProfile.State m_lastProfiledReference = new TrapezoidProfile.State();
 
   /* The plant holds a state-space model of our elevator. This system has the following properties:
@@ -55,44 +56,40 @@ public class Robot extends TimedRobot {
 
   This elevator is driven by two NEO motors.
    */
-  private final LinearSystem<N2, N1, N1> m_elevatorPlant = LinearSystemId.createElevatorSystem(
-        DCMotor.getNEO(2),
-        kCarriageMass,
-        kDrumRadius,
-        kElevatorGearing
-  );
+  private final LinearSystem<N2, N1, N1> m_elevatorPlant =
+      LinearSystemId.createElevatorSystem(
+          DCMotor.getNEO(2), kCarriageMass, kDrumRadius, kElevatorGearing);
 
   // The observer fuses our encoder data and voltage inputs to reject noise.
-  private final KalmanFilter<N2, N1, N1> m_observer = new KalmanFilter<>(
-        Nat.N2(), Nat.N1(),
-        m_elevatorPlant,
-        VecBuilder.fill(Units.inchesToMeters(2), Units.inchesToMeters(40)), // How accurate we
-        // think our model is, in meters and meters/second.
-        VecBuilder.fill(0.001), // How accurate we think our encoder position
-        // data is. In this case we very highly trust our encoder position reading.
-        0.020);
+  private final KalmanFilter<N2, N1, N1> m_observer =
+      new KalmanFilter<>(
+          Nat.N2(),
+          Nat.N1(),
+          m_elevatorPlant,
+          VecBuilder.fill(Units.inchesToMeters(2), Units.inchesToMeters(40)), // How accurate we
+          // think our model is, in meters and meters/second.
+          VecBuilder.fill(0.001), // How accurate we think our encoder position
+          // data is. In this case we very highly trust our encoder position reading.
+          0.020);
 
   // A LQR uses feedback to create voltage commands.
-  private final LinearQuadraticRegulator<N2, N1, N1> m_controller
-        = new LinearQuadraticRegulator<>(m_elevatorPlant,
-        VecBuilder.fill(Units.inchesToMeters(1.0), Units.inchesToMeters(10.0)), // qelms. Position
-        // and velocity error tolerances, in meters and meters per second. Decrease this to more
-        // heavily penalize state excursion, or make the controller behave more aggressively. In
-        // this example we weight position much more highly than velocity, but this can be
-        // tuned to balance the two.
-        VecBuilder.fill(12.0), // relms. Control effort (voltage) tolerance. Decrease this to more
-        // heavily penalize control effort, or make the controller less aggressive. 12 is a good
-        // starting point because that is the (approximate) maximum voltage of a battery.
-        0.020); // Nominal time between loops. 0.020 for TimedRobot, but can be
+  private final LinearQuadraticRegulator<N2, N1, N1> m_controller =
+      new LinearQuadraticRegulator<>(
+          m_elevatorPlant,
+          VecBuilder.fill(Units.inchesToMeters(1.0), Units.inchesToMeters(10.0)), // qelms. Position
+          // and velocity error tolerances, in meters and meters per second. Decrease this to more
+          // heavily penalize state excursion, or make the controller behave more aggressively. In
+          // this example we weight position much more highly than velocity, but this can be
+          // tuned to balance the two.
+          VecBuilder.fill(12.0), // relms. Control effort (voltage) tolerance. Decrease this to more
+          // heavily penalize control effort, or make the controller less aggressive. 12 is a good
+          // starting point because that is the (approximate) maximum voltage of a battery.
+          0.020); // Nominal time between loops. 0.020 for TimedRobot, but can be
   // lower if using notifiers.
 
   // The state-space loop combines a controller, observer, feedforward and plant for easy control.
-  private final LinearSystemLoop<N2, N1, N1> m_loop = new LinearSystemLoop<>(
-      m_elevatorPlant,
-        m_controller,
-        m_observer,
-        12.0,
-        0.020);
+  private final LinearSystemLoop<N2, N1, N1> m_loop =
+      new LinearSystemLoop<>(m_elevatorPlant, m_controller, m_observer, 12.0, 0.020);
 
   // An encoder set up to measure elevator height in meters.
   private final Encoder m_encoder = new Encoder(kEncoderAChannel, kEncoderBChannel);
@@ -114,8 +111,8 @@ public class Robot extends TimedRobot {
     m_loop.reset(VecBuilder.fill(m_encoder.getDistance(), m_encoder.getRate()));
 
     // Reset our last reference to the current state.
-    m_lastProfiledReference = new TrapezoidProfile.State(m_encoder.getDistance(),
-          m_encoder.getRate());
+    m_lastProfiledReference =
+        new TrapezoidProfile.State(m_encoder.getDistance(), m_encoder.getRate());
   }
 
   @Override
@@ -131,8 +128,8 @@ public class Robot extends TimedRobot {
       goal = new TrapezoidProfile.State(kLowGoalPosition, 0.0);
     }
     // Step our TrapezoidalProfile forward 20ms and set it as our next reference
-    m_lastProfiledReference = (new TrapezoidProfile(m_constraints, goal, m_lastProfiledReference))
-          .calculate(0.020);
+    m_lastProfiledReference =
+        (new TrapezoidProfile(m_constraints, goal, m_lastProfiledReference)).calculate(0.020);
     m_loop.setNextR(m_lastProfiledReference.position, m_lastProfiledReference.velocity);
 
     // Correct our Kalman filter's state vector estimate with encoder data.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Main.java
index 1c5b2b649c..9e48d52e79 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.statespaceflywheel;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
index 8a891da43f..f59d4aea72 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
@@ -21,8 +21,8 @@ import edu.wpi.first.wpiutil.math.VecBuilder;
 import edu.wpi.first.wpiutil.math.numbers.N1;
 
 /**
- * This is a sample program to demonstrate how to use a state-space controller
- * to control a flywheel.
+ * This is a sample program to demonstrate how to use a state-space controller to control a
+ * flywheel.
  */
 public class Robot extends TimedRobot {
   private static final int kMotorPort = 0;
@@ -42,39 +42,37 @@ public class Robot extends TimedRobot {
   // States: [velocity], in radians per second.
   // Inputs (what we can "put in"): [voltage], in volts.
   // Outputs (what we can measure): [velocity], in radians per second.
-  private final LinearSystem<N1, N1, N1> m_flywheelPlant = LinearSystemId.createFlywheelSystem(
-        DCMotor.getNEO(2),
-        kFlywheelMomentOfInertia,
-        kFlywheelGearing);
+  private final LinearSystem<N1, N1, N1> m_flywheelPlant =
+      LinearSystemId.createFlywheelSystem(
+          DCMotor.getNEO(2), kFlywheelMomentOfInertia, kFlywheelGearing);
 
   // The observer fuses our encoder data and voltage inputs to reject noise.
-  private final KalmanFilter<N1, N1, N1> m_observer = new KalmanFilter<>(
-        Nat.N1(), Nat.N1(),
-        m_flywheelPlant,
-        VecBuilder.fill(3.0), // How accurate we think our model is
-        VecBuilder.fill(0.01), // How accurate we think our encoder
-        // data is
-        0.020);
+  private final KalmanFilter<N1, N1, N1> m_observer =
+      new KalmanFilter<>(
+          Nat.N1(),
+          Nat.N1(),
+          m_flywheelPlant,
+          VecBuilder.fill(3.0), // How accurate we think our model is
+          VecBuilder.fill(0.01), // How accurate we think our encoder
+          // data is
+          0.020);
 
   // A LQR uses feedback to create voltage commands.
-  private final LinearQuadraticRegulator<N1, N1, N1> m_controller
-        = new LinearQuadraticRegulator<>(m_flywheelPlant,
-        VecBuilder.fill(8.0), // qelms. Velocity error tolerance, in radians per second. Decrease
-        // this to more heavily penalize state excursion, or make the controller behave more
-        // aggressively.
-        VecBuilder.fill(12.0), // relms. Control effort (voltage) tolerance. Decrease this to more
-        // heavily penalize control effort, or make the controller less aggressive. 12 is a good
-        // starting point because that is the (approximate) maximum voltage of a battery.
-        0.020); // Nominal time between loops. 0.020 for TimedRobot, but can be
+  private final LinearQuadraticRegulator<N1, N1, N1> m_controller =
+      new LinearQuadraticRegulator<>(
+          m_flywheelPlant,
+          VecBuilder.fill(8.0), // qelms. Velocity error tolerance, in radians per second. Decrease
+          // this to more heavily penalize state excursion, or make the controller behave more
+          // aggressively.
+          VecBuilder.fill(12.0), // relms. Control effort (voltage) tolerance. Decrease this to more
+          // heavily penalize control effort, or make the controller less aggressive. 12 is a good
+          // starting point because that is the (approximate) maximum voltage of a battery.
+          0.020); // Nominal time between loops. 0.020 for TimedRobot, but can be
   // lower if using notifiers.
 
   // The state-space loop combines a controller, observer, feedforward and plant for easy control.
-  private final LinearSystemLoop<N1, N1, N1> m_loop = new LinearSystemLoop<>(
-      m_flywheelPlant,
-        m_controller,
-        m_observer,
-        12.0,
-        0.020);
+  private final LinearSystemLoop<N1, N1, N1> m_loop =
+      new LinearSystemLoop<>(m_flywheelPlant, m_controller, m_observer, 12.0, 0.020);
 
   // An encoder set up to measure flywheel velocity in radians per second.
   private final Encoder m_encoder = new Encoder(kEncoderAChannel, kEncoderBChannel);
@@ -87,8 +85,7 @@ public class Robot extends TimedRobot {
   @Override
   public void robotInit() {
     // We go 2 pi radians per 4096 clicks.
-    m_encoder.setDistancePerPulse(
-          2.0 * Math.PI / 4096.0);
+    m_encoder.setDistancePerPulse(2.0 * Math.PI / 4096.0);
   }
 
   @Override
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Main.java
index 33d290b619..67941f699b 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.statespaceflywheelsysid;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Robot.java
index b25c2f48ac..08f7fe9288 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Robot.java
@@ -20,8 +20,8 @@ import edu.wpi.first.wpiutil.math.VecBuilder;
 import edu.wpi.first.wpiutil.math.numbers.N1;
 
 /**
- * This is a sample program to demonstrate how to use a state-space controller
- * to control a flywheel.
+ * This is a sample program to demonstrate how to use a state-space controller to control a
+ * flywheel.
  */
 public class Robot extends TimedRobot {
   private static final int kMotorPort = 0;
@@ -43,32 +43,31 @@ public class Robot extends TimedRobot {
   // Outputs (what we can measure): [velocity], in radians per second.
   //
   // The Kv and Ka constants are found using the FRC Characterization toolsuite.
-  private final LinearSystem<N1, N1, N1> m_flywheelPlant = LinearSystemId.identifyVelocitySystem(
-        kFlywheelKv, kFlywheelKa);
+  private final LinearSystem<N1, N1, N1> m_flywheelPlant =
+      LinearSystemId.identifyVelocitySystem(kFlywheelKv, kFlywheelKa);
 
   // The observer fuses our encoder data and voltage inputs to reject noise.
-  private final KalmanFilter<N1, N1, N1> m_observer = new KalmanFilter<>(
-        Nat.N1(), Nat.N1(),
-        m_flywheelPlant,
-        VecBuilder.fill(3.0), // How accurate we think our model is
-        VecBuilder.fill(0.01), // How accurate we think our encoder
-        // data is
-        0.020);
+  private final KalmanFilter<N1, N1, N1> m_observer =
+      new KalmanFilter<>(
+          Nat.N1(),
+          Nat.N1(),
+          m_flywheelPlant,
+          VecBuilder.fill(3.0), // How accurate we think our model is
+          VecBuilder.fill(0.01), // How accurate we think our encoder
+          // data is
+          0.020);
 
   // A LQR uses feedback to create voltage commands.
-  private final LinearQuadraticRegulator<N1, N1, N1> m_controller
-        = new LinearQuadraticRegulator<>(m_flywheelPlant,
-        VecBuilder.fill(8.0), // Velocity error tolerance
-        VecBuilder.fill(12.0), // Control effort (voltage) tolerance
-        0.020);
+  private final LinearQuadraticRegulator<N1, N1, N1> m_controller =
+      new LinearQuadraticRegulator<>(
+          m_flywheelPlant,
+          VecBuilder.fill(8.0), // Velocity error tolerance
+          VecBuilder.fill(12.0), // Control effort (voltage) tolerance
+          0.020);
 
   // The state-space loop combines a controller, observer, feedforward and plant for easy control.
-  private final LinearSystemLoop<N1, N1, N1> m_loop = new LinearSystemLoop<>(
-      m_flywheelPlant,
-        m_controller,
-        m_observer,
-        12.0,
-        0.020);
+  private final LinearSystemLoop<N1, N1, N1> m_loop =
+      new LinearSystemLoop<>(m_flywheelPlant, m_controller, m_observer, 12.0, 0.020);
 
   // An encoder set up to measure flywheel velocity in radians per second.
   private final Encoder m_encoder = new Encoder(kEncoderAChannel, kEncoderBChannel);
@@ -81,8 +80,7 @@ public class Robot extends TimedRobot {
   @Override
   public void robotInit() {
     // We go 2 pi radians per 4096 clicks.
-    m_encoder.setDistancePerPulse(
-          2.0 * Math.PI / 4096.0);
+    m_encoder.setDistancePerPulse(2.0 * Math.PI / 4096.0);
   }
 
   @Override
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java
index 52aba990e1..10ab169224 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java
@@ -10,9 +10,7 @@ import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
 import edu.wpi.first.wpilibj.kinematics.SwerveDriveOdometry;
 
-/**
- * Represents a swerve drive style drivetrain.
- */
+/** Represents a swerve drive style drivetrain. */
 public class Drivetrain {
   public static final double kMaxSpeed = 3.0; // 3 meters per second
   public static final double kMaxAngularSpeed = Math.PI; // 1/2 rotation per second
@@ -29,12 +27,12 @@ public class Drivetrain {
 
   private final AnalogGyro m_gyro = new AnalogGyro(0);
 
-  private final SwerveDriveKinematics m_kinematics = new SwerveDriveKinematics(
-      m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation
-  );
+  private final SwerveDriveKinematics m_kinematics =
+      new SwerveDriveKinematics(
+          m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation);
 
-  private final SwerveDriveOdometry m_odometry = new SwerveDriveOdometry(m_kinematics,
-      m_gyro.getRotation2d());
+  private final SwerveDriveOdometry m_odometry =
+      new SwerveDriveOdometry(m_kinematics, m_gyro.getRotation2d());
 
   public Drivetrain() {
     m_gyro.reset();
@@ -43,18 +41,18 @@ public class Drivetrain {
   /**
    * Method to drive the robot using joystick info.
    *
-   * @param xSpeed        Speed of the robot in the x direction (forward).
-   * @param ySpeed        Speed of the robot in the y direction (sideways).
-   * @param rot           Angular rate of the robot.
+   * @param xSpeed Speed of the robot in the x direction (forward).
+   * @param ySpeed Speed of the robot in the y direction (sideways).
+   * @param rot Angular rate of the robot.
    * @param fieldRelative Whether the provided x and y speeds are relative to the field.
    */
   @SuppressWarnings("ParameterName")
   public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative) {
-    var swerveModuleStates = m_kinematics.toSwerveModuleStates(
-        fieldRelative ? ChassisSpeeds.fromFieldRelativeSpeeds(
-            xSpeed, ySpeed, rot, m_gyro.getRotation2d())
-            : new ChassisSpeeds(xSpeed, ySpeed, rot)
-    );
+    var swerveModuleStates =
+        m_kinematics.toSwerveModuleStates(
+            fieldRelative
+                ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeed, ySpeed, rot, m_gyro.getRotation2d())
+                : new ChassisSpeeds(xSpeed, ySpeed, rot));
     SwerveDriveKinematics.normalizeWheelSpeeds(swerveModuleStates, kMaxSpeed);
     m_frontLeft.setDesiredState(swerveModuleStates[0]);
     m_frontRight.setDesiredState(swerveModuleStates[1]);
@@ -62,16 +60,13 @@ public class Drivetrain {
     m_backRight.setDesiredState(swerveModuleStates[3]);
   }
 
-  /**
-   * Updates the field relative position of the robot.
-   */
+  /** Updates the field relative position of the robot. */
   public void updateOdometry() {
     m_odometry.update(
         m_gyro.getRotation2d(),
         m_frontLeft.getState(),
         m_frontRight.getState(),
         m_backLeft.getState(),
-        m_backRight.getState()
-    );
+        m_backRight.getState());
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Main.java
index 90f2cfba0b..31707aa30e 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.swervebot;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
index ccf8dcd5f0..469403f529 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
@@ -19,8 +19,8 @@ public class SwerveModule {
   private static final int kEncoderResolution = 4096;
 
   private static final double kModuleMaxAngularVelocity = Drivetrain.kMaxAngularSpeed;
-  private static final double kModuleMaxAngularAcceleration
-      = 2 * Math.PI; // radians per second squared
+  private static final double kModuleMaxAngularAcceleration =
+      2 * Math.PI; // radians per second squared
 
   private final SpeedController m_driveMotor;
   private final SpeedController m_turningMotor;
@@ -30,10 +30,13 @@ public class SwerveModule {
 
   private final PIDController m_drivePIDController = new PIDController(1, 0, 0);
 
-  private final ProfiledPIDController m_turningPIDController
-      = new ProfiledPIDController(1, 0, 0,
-          new TrapezoidProfile.Constraints(kModuleMaxAngularVelocity,
-              kModuleMaxAngularAcceleration));
+  private final ProfiledPIDController m_turningPIDController =
+      new ProfiledPIDController(
+          1,
+          0,
+          0,
+          new TrapezoidProfile.Constraints(
+              kModuleMaxAngularVelocity, kModuleMaxAngularAcceleration));
 
   // Gains are for example purposes only - must be determined for your own robot!
   private final SimpleMotorFeedforward m_driveFeedforward = new SimpleMotorFeedforward(1, 3);
@@ -42,7 +45,7 @@ public class SwerveModule {
   /**
    * Constructs a SwerveModule.
    *
-   * @param driveMotorChannel   ID for the drive motor.
+   * @param driveMotorChannel ID for the drive motor.
    * @param turningMotorChannel ID for the turning motor.
    */
   public SwerveModule(int driveMotorChannel, int turningMotorChannel) {
@@ -80,15 +83,14 @@ public class SwerveModule {
    */
   public void setDesiredState(SwerveModuleState state) {
     // Calculate the drive output from the drive PID controller.
-    final double driveOutput = m_drivePIDController.calculate(
-        m_driveEncoder.getRate(), state.speedMetersPerSecond);
+    final double driveOutput =
+        m_drivePIDController.calculate(m_driveEncoder.getRate(), state.speedMetersPerSecond);
 
     final double driveFeedforward = m_driveFeedforward.calculate(state.speedMetersPerSecond);
 
     // Calculate the turning motor output from the turning PID controller.
-    final double turnOutput = m_turningPIDController.calculate(
-        m_turningEncoder.get(), state.angle.getRadians()
-    );
+    final double turnOutput =
+        m_turningPIDController.calculate(m_turningEncoder.get(), state.angle.getRadians());
 
     final double turnFeedforward =
         m_turnFeedforward.calculate(m_turningPIDController.getSetpoint().velocity);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Constants.java
index c0d3e959e6..3352deed82 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Constants.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Constants.java
@@ -10,8 +10,8 @@ import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
 
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
- * constants.  This class should not be used for any other purpose.  All constants should be
- * declared globally (i.e. public static).  Do not put anything functional in this class.
+ * constants. This class should not be used for any other purpose. All constants should be declared
+ * globally (i.e. public static). Do not put anything functional in this class.
  *
  * <p>It is advised to statically import this class (or one of its inner classes) wherever the
  * constants are needed, to reduce verbosity.
@@ -28,31 +28,30 @@ public final class Constants {
     public static final int kFrontRightTurningMotorPort = 5;
     public static final int kRearRightTurningMotorPort = 7;
 
-    public static final int[] kFrontLeftTurningEncoderPorts = new int[]{0, 1};
-    public static final int[] kRearLeftTurningEncoderPorts = new int[]{2, 3};
-    public static final int[] kFrontRightTurningEncoderPorts = new int[]{4, 5};
-    public static final int[] kRearRightTurningEncoderPorts = new int[]{5, 6};
+    public static final int[] kFrontLeftTurningEncoderPorts = new int[] {0, 1};
+    public static final int[] kRearLeftTurningEncoderPorts = new int[] {2, 3};
+    public static final int[] kFrontRightTurningEncoderPorts = new int[] {4, 5};
+    public static final int[] kRearRightTurningEncoderPorts = new int[] {5, 6};
 
     public static final boolean kFrontLeftTurningEncoderReversed = false;
     public static final boolean kRearLeftTurningEncoderReversed = true;
     public static final boolean kFrontRightTurningEncoderReversed = false;
     public static final boolean kRearRightTurningEncoderReversed = true;
 
-    public static final int[] kFrontLeftDriveEncoderPorts = new int[]{7, 8};
-    public static final int[] kRearLeftDriveEncoderPorts = new int[]{9, 10};
-    public static final int[] kFrontRightDriveEncoderPorts = new int[]{11, 12};
-    public static final int[] kRearRightDriveEncoderPorts = new int[]{13, 14};
+    public static final int[] kFrontLeftDriveEncoderPorts = new int[] {7, 8};
+    public static final int[] kRearLeftDriveEncoderPorts = new int[] {9, 10};
+    public static final int[] kFrontRightDriveEncoderPorts = new int[] {11, 12};
+    public static final int[] kRearRightDriveEncoderPorts = new int[] {13, 14};
 
     public static final boolean kFrontLeftDriveEncoderReversed = false;
     public static final boolean kRearLeftDriveEncoderReversed = true;
     public static final boolean kFrontRightDriveEncoderReversed = false;
     public static final boolean kRearRightDriveEncoderReversed = true;
 
-
     public static final double kTrackWidth = 0.5;
-    //Distance between centers of right and left wheels on robot
+    // Distance between centers of right and left wheels on robot
     public static final double kWheelBase = 0.7;
-    //Distance between front and back wheels on robot
+    // Distance between front and back wheels on robot
     public static final SwerveDriveKinematics kDriveKinematics =
         new SwerveDriveKinematics(
             new Translation2d(kWheelBase / 2, kTrackWidth / 2),
@@ -91,12 +90,10 @@ public final class Constants {
     public static final double kPModuleTurningController = 1;
 
     public static final double kPModuleDriveController = 1;
-
   }
 
   public static final class OIConstants {
     public static final int kDriverControllerPort = 1;
-
   }
 
   public static final class AutoConstants {
@@ -109,10 +106,9 @@ public final class Constants {
     public static final double kPYController = 1;
     public static final double kPThetaController = 1;
 
-    //Constraint for the motion profilied robot angle controller
+    // Constraint for the motion profilied robot angle controller
     public static final TrapezoidProfile.Constraints kThetaControllerConstraints =
-        new TrapezoidProfile.Constraints(kMaxAngularSpeedRadiansPerSecond,
-          kMaxAngularSpeedRadiansPerSecondSquared);
-
+        new TrapezoidProfile.Constraints(
+            kMaxAngularSpeedRadiansPerSecond, kMaxAngularSpeedRadiansPerSecondSquared);
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Main.java
index e3dce4032c..af62a0931e 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Main.java
@@ -12,8 +12,7 @@ import edu.wpi.first.wpilibj.RobotBase;
  * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Robot.java
index 874d1ee8b8..800b70f41d 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Robot.java
@@ -34,8 +34,8 @@ public class Robot extends TimedRobot {
    * This function is called every robot packet, no matter the mode. Use this for items like
    * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
    *
-   * <p>This runs after the mode specific periodic functions, but before
-   * LiveWindow and SmartDashboard integrated updating.
+   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
+   * SmartDashboard integrated updating.
    */
   @Override
   public void robotPeriodic() {
@@ -46,20 +46,14 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().run();
   }
 
-  /**
-   * This function is called once each time the robot enters Disabled mode.
-   */
+  /** This function is called once each time the robot enters Disabled mode. */
   @Override
-  public void disabledInit() {
-  }
+  public void disabledInit() {}
 
   @Override
-  public void disabledPeriodic() {
-  }
+  public void disabledPeriodic() {}
 
-  /**
-   * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
-   */
+  /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
   @Override
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
@@ -77,12 +71,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during autonomous.
-   */
+  /** This function is called periodically during autonomous. */
   @Override
-  public void autonomousPeriodic() {
-  }
+  public void autonomousPeriodic() {}
 
   @Override
   public void teleopInit() {
@@ -95,13 +86,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during operator control.
-   */
+  /** This function is called periodically during operator control. */
   @Override
-  public void teleopPeriodic() {
-
-  }
+  public void teleopPeriodic() {}
 
   @Override
   public void testInit() {
@@ -109,10 +96,7 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().cancelAll();
   }
 
-  /**
-   * This function is called periodically during test mode.
-   */
+  /** This function is called periodically during test mode. */
   @Override
-  public void testPeriodic() {
-  }
+  public void testPeriodic() {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
index 3d266d0825..20075a95d3 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
@@ -4,12 +4,14 @@
 
 package edu.wpi.first.wpilibj.examples.swervecontrollercommand;
 
-import java.util.List;
-
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
+import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.AutoConstants;
+import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.DriveConstants;
+import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.OIConstants;
+import edu.wpi.first.wpilibj.examples.swervecontrollercommand.subsystems.DriveSubsystem;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.geometry.Translation2d;
@@ -20,11 +22,7 @@ import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SwerveControllerCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
-
-import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.AutoConstants;
-import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.DriveConstants;
-import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.OIConstants;
-import edu.wpi.first.wpilibj.examples.swervecontrollercommand.subsystems.DriveSubsystem;
+import java.util.List;
 
 /*
  * This class is where the bulk of the robot should be declared.  Since Command-based is a
@@ -39,9 +37,7 @@ public class RobotContainer {
   // The driver's controller
   XboxController m_driverController = new XboxController(OIConstants.kDriverControllerPort);
 
-  /**
-   * The container for the robot.  Contains subsystems, OI devices, and commands.
-   */
+  /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     // Configure the button bindings
     configureButtonBindings();
@@ -51,22 +47,22 @@ public class RobotContainer {
     m_robotDrive.setDefaultCommand(
         // A split-stick arcade command, with forward/backward controlled by the left
         // hand, and turning controlled by the right.
-        new RunCommand(() -> m_robotDrive.drive(
-            m_driverController.getY(GenericHID.Hand.kLeft),
-            m_driverController.getX(GenericHID.Hand.kRight),
-            m_driverController.getX(GenericHID.Hand.kLeft), false)));
-
+        new RunCommand(
+            () ->
+                m_robotDrive.drive(
+                    m_driverController.getY(GenericHID.Hand.kLeft),
+                    m_driverController.getX(GenericHID.Hand.kRight),
+                    m_driverController.getX(GenericHID.Hand.kLeft),
+                    false)));
   }
 
   /**
-   * Use this method to define your button->command mappings.  Buttons can be created by
+   * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link GenericHID} or one of its subclasses ({@link
    * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then calling passing it to a
    * {@link JoystickButton}.
    */
-  private void configureButtonBindings() {
-  }
-
+  private void configureButtonBindings() {}
 
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.
@@ -76,43 +72,40 @@ public class RobotContainer {
   public Command getAutonomousCommand() {
     // Create config for trajectory
     TrajectoryConfig config =
-        new TrajectoryConfig(AutoConstants.kMaxSpeedMetersPerSecond,
-                             AutoConstants.kMaxAccelerationMetersPerSecondSquared)
+        new TrajectoryConfig(
+                AutoConstants.kMaxSpeedMetersPerSecond,
+                AutoConstants.kMaxAccelerationMetersPerSecondSquared)
             // Add kinematics to ensure max speed is actually obeyed
             .setKinematics(DriveConstants.kDriveKinematics);
 
     // An example trajectory to follow.  All units in meters.
-    Trajectory exampleTrajectory = TrajectoryGenerator.generateTrajectory(
-        // Start at the origin facing the +X direction
-        new Pose2d(0, 0, new Rotation2d(0)),
-        // Pass through these two interior waypoints, making an 's' curve path
-        List.of(
-            new Translation2d(1, 1),
-            new Translation2d(2, -1)
-        ),
-        // End 3 meters straight ahead of where we started, facing forward
-        new Pose2d(3, 0, new Rotation2d(0)),
-        config
-    );
+    Trajectory exampleTrajectory =
+        TrajectoryGenerator.generateTrajectory(
+            // Start at the origin facing the +X direction
+            new Pose2d(0, 0, new Rotation2d(0)),
+            // Pass through these two interior waypoints, making an 's' curve path
+            List.of(new Translation2d(1, 1), new Translation2d(2, -1)),
+            // End 3 meters straight ahead of where we started, facing forward
+            new Pose2d(3, 0, new Rotation2d(0)),
+            config);
 
-    var thetaController = new ProfiledPIDController(AutoConstants.kPThetaController, 0, 0,
-        AutoConstants.kThetaControllerConstraints);
+    var thetaController =
+        new ProfiledPIDController(
+            AutoConstants.kPThetaController, 0, 0, AutoConstants.kThetaControllerConstraints);
     thetaController.enableContinuousInput(-Math.PI, Math.PI);
 
-    SwerveControllerCommand swerveControllerCommand = new SwerveControllerCommand(
-        exampleTrajectory,
-        m_robotDrive::getPose, //Functional interface to feed supplier
-        DriveConstants.kDriveKinematics,
+    SwerveControllerCommand swerveControllerCommand =
+        new SwerveControllerCommand(
+            exampleTrajectory,
+            m_robotDrive::getPose, // Functional interface to feed supplier
+            DriveConstants.kDriveKinematics,
 
-        //Position controllers
-        new PIDController(AutoConstants.kPXController, 0, 0),
-        new PIDController(AutoConstants.kPYController, 0, 0), thetaController,
-
-        m_robotDrive::setModuleStates,
-
-        m_robotDrive
-
-    );
+            // Position controllers
+            new PIDController(AutoConstants.kPXController, 0, 0),
+            new PIDController(AutoConstants.kPYController, 0, 0),
+            thetaController,
+            m_robotDrive::setModuleStates,
+            m_robotDrive);
 
     // Reset odometry to the starting pose of the trajectory.
     m_robotDrive.resetOdometry(exampleTrajectory.getInitialPose());
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/DriveSubsystem.java
index 18df385a71..11d7f2cb73 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/DriveSubsystem.java
@@ -5,6 +5,7 @@
 package edu.wpi.first.wpilibj.examples.swervecontrollercommand.subsystems;
 
 import edu.wpi.first.wpilibj.ADXRS450_Gyro;
+import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.DriveConstants;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.interfaces.Gyro;
@@ -14,43 +15,44 @@ import edu.wpi.first.wpilibj.kinematics.SwerveDriveOdometry;
 import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.DriveConstants;
-
 @SuppressWarnings("PMD.ExcessiveImports")
 public class DriveSubsystem extends SubsystemBase {
-  //Robot swerve modules
-  private final SwerveModule m_frontLeft
-      = new SwerveModule(DriveConstants.kFrontLeftDriveMotorPort,
-                         DriveConstants.kFrontLeftTurningMotorPort,
-                         DriveConstants.kFrontLeftDriveEncoderPorts,
-                         DriveConstants.kFrontLeftTurningEncoderPorts,
-                         DriveConstants.kFrontLeftDriveEncoderReversed,
-                         DriveConstants.kFrontLeftTurningEncoderReversed);
+  // Robot swerve modules
+  private final SwerveModule m_frontLeft =
+      new SwerveModule(
+          DriveConstants.kFrontLeftDriveMotorPort,
+          DriveConstants.kFrontLeftTurningMotorPort,
+          DriveConstants.kFrontLeftDriveEncoderPorts,
+          DriveConstants.kFrontLeftTurningEncoderPorts,
+          DriveConstants.kFrontLeftDriveEncoderReversed,
+          DriveConstants.kFrontLeftTurningEncoderReversed);
 
   private final SwerveModule m_rearLeft =
-      new SwerveModule(DriveConstants.kRearLeftDriveMotorPort,
-                       DriveConstants.kRearLeftTurningMotorPort,
-                       DriveConstants.kRearLeftDriveEncoderPorts,
-                       DriveConstants.kRearLeftTurningEncoderPorts,
-                       DriveConstants.kRearLeftDriveEncoderReversed,
-                       DriveConstants.kRearLeftTurningEncoderReversed);
-
+      new SwerveModule(
+          DriveConstants.kRearLeftDriveMotorPort,
+          DriveConstants.kRearLeftTurningMotorPort,
+          DriveConstants.kRearLeftDriveEncoderPorts,
+          DriveConstants.kRearLeftTurningEncoderPorts,
+          DriveConstants.kRearLeftDriveEncoderReversed,
+          DriveConstants.kRearLeftTurningEncoderReversed);
 
   private final SwerveModule m_frontRight =
-      new SwerveModule(DriveConstants.kFrontRightDriveMotorPort,
-                       DriveConstants.kFrontRightTurningMotorPort,
-                       DriveConstants.kFrontRightDriveEncoderPorts,
-                       DriveConstants.kFrontRightTurningEncoderPorts,
-                       DriveConstants.kFrontRightDriveEncoderReversed,
-                       DriveConstants.kFrontRightTurningEncoderReversed);
+      new SwerveModule(
+          DriveConstants.kFrontRightDriveMotorPort,
+          DriveConstants.kFrontRightTurningMotorPort,
+          DriveConstants.kFrontRightDriveEncoderPorts,
+          DriveConstants.kFrontRightTurningEncoderPorts,
+          DriveConstants.kFrontRightDriveEncoderReversed,
+          DriveConstants.kFrontRightTurningEncoderReversed);
 
   private final SwerveModule m_rearRight =
-      new SwerveModule(DriveConstants.kRearRightDriveMotorPort,
-                       DriveConstants.kRearRightTurningMotorPort,
-                       DriveConstants.kRearRightDriveEncoderPorts,
-                       DriveConstants.kRearRightTurningEncoderPorts,
-                       DriveConstants.kRearRightDriveEncoderReversed,
-                       DriveConstants.kRearRightTurningEncoderReversed);
+      new SwerveModule(
+          DriveConstants.kRearRightDriveMotorPort,
+          DriveConstants.kRearRightTurningMotorPort,
+          DriveConstants.kRearRightDriveEncoderPorts,
+          DriveConstants.kRearRightTurningEncoderPorts,
+          DriveConstants.kRearRightDriveEncoderReversed,
+          DriveConstants.kRearRightTurningEncoderReversed);
 
   // The gyro sensor
   private final Gyro m_gyro = new ADXRS450_Gyro();
@@ -59,11 +61,8 @@ public class DriveSubsystem extends SubsystemBase {
   SwerveDriveOdometry m_odometry =
       new SwerveDriveOdometry(DriveConstants.kDriveKinematics, m_gyro.getRotation2d());
 
-  /**
-   * Creates a new DriveSubsystem.
-   */
-  public DriveSubsystem() {
-  }
+  /** Creates a new DriveSubsystem. */
+  public DriveSubsystem() {}
 
   @Override
   public void periodic() {
@@ -97,20 +96,20 @@ public class DriveSubsystem extends SubsystemBase {
   /**
    * Method to drive the robot using joystick info.
    *
-   * @param xSpeed        Speed of the robot in the x direction (forward).
-   * @param ySpeed        Speed of the robot in the y direction (sideways).
-   * @param rot           Angular rate of the robot.
+   * @param xSpeed Speed of the robot in the x direction (forward).
+   * @param ySpeed Speed of the robot in the y direction (sideways).
+   * @param rot Angular rate of the robot.
    * @param fieldRelative Whether the provided x and y speeds are relative to the field.
    */
   @SuppressWarnings("ParameterName")
   public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative) {
-    var swerveModuleStates = DriveConstants.kDriveKinematics.toSwerveModuleStates(
-        fieldRelative ? ChassisSpeeds.fromFieldRelativeSpeeds(
-            xSpeed, ySpeed, rot, m_gyro.getRotation2d())
-            : new ChassisSpeeds(xSpeed, ySpeed, rot)
-    );
-    SwerveDriveKinematics.normalizeWheelSpeeds(swerveModuleStates,
-                                               DriveConstants.kMaxSpeedMetersPerSecond);
+    var swerveModuleStates =
+        DriveConstants.kDriveKinematics.toSwerveModuleStates(
+            fieldRelative
+                ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeed, ySpeed, rot, m_gyro.getRotation2d())
+                : new ChassisSpeeds(xSpeed, ySpeed, rot));
+    SwerveDriveKinematics.normalizeWheelSpeeds(
+        swerveModuleStates, DriveConstants.kMaxSpeedMetersPerSecond);
     m_frontLeft.setDesiredState(swerveModuleStates[0]);
     m_frontRight.setDesiredState(swerveModuleStates[1]);
     m_rearLeft.setDesiredState(swerveModuleStates[2]);
@@ -123,17 +122,15 @@ public class DriveSubsystem extends SubsystemBase {
    * @param desiredStates The desired SwerveModule states.
    */
   public void setModuleStates(SwerveModuleState[] desiredStates) {
-    SwerveDriveKinematics.normalizeWheelSpeeds(desiredStates,
-                                               DriveConstants.kMaxSpeedMetersPerSecond);
+    SwerveDriveKinematics.normalizeWheelSpeeds(
+        desiredStates, DriveConstants.kMaxSpeedMetersPerSecond);
     m_frontLeft.setDesiredState(desiredStates[0]);
     m_frontRight.setDesiredState(desiredStates[1]);
     m_rearLeft.setDesiredState(desiredStates[2]);
     m_rearRight.setDesiredState(desiredStates[3]);
   }
 
-  /**
-   * Resets the drive encoders to currently read a position of 0.
-   */
+  /** Resets the drive encoders to currently read a position of 0. */
   public void resetEncoders() {
     m_frontLeft.resetEncoders();
     m_rearLeft.resetEncoders();
@@ -141,9 +138,7 @@ public class DriveSubsystem extends SubsystemBase {
     m_rearRight.resetEncoders();
   }
 
-  /**
-   * Zeroes the heading of the robot.
-   */
+  /** Zeroes the heading of the robot. */
   public void zeroHeading() {
     m_gyro.reset();
   }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
index 6edddf3268..34adc6d2f6 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
@@ -8,12 +8,11 @@ import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.Spark;
 import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
+import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.ModuleConstants;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
 import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
 
-import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.ModuleConstants;
-
 public class SwerveModule {
   private final Spark m_driveMotor;
   private final Spark m_turningMotor;
@@ -24,10 +23,12 @@ public class SwerveModule {
   private final PIDController m_drivePIDController =
       new PIDController(ModuleConstants.kPModuleDriveController, 0, 0);
 
-  //Using a TrapezoidProfile PIDController to allow for smooth turning
-  private final ProfiledPIDController m_turningPIDController
-      = new ProfiledPIDController(
-          ModuleConstants.kPModuleTurningController, 0, 0,
+  // Using a TrapezoidProfile PIDController to allow for smooth turning
+  private final ProfiledPIDController m_turningPIDController =
+      new ProfiledPIDController(
+          ModuleConstants.kPModuleTurningController,
+          0,
+          0,
           new TrapezoidProfile.Constraints(
               ModuleConstants.kMaxModuleAngularSpeedRadiansPerSecond,
               ModuleConstants.kMaxModuleAngularAccelerationRadiansPerSecondSquared));
@@ -35,15 +36,16 @@ public class SwerveModule {
   /**
    * Constructs a SwerveModule.
    *
-   * @param driveMotorChannel   ID for the drive motor.
+   * @param driveMotorChannel ID for the drive motor.
    * @param turningMotorChannel ID for the turning motor.
    */
-  public SwerveModule(int driveMotorChannel,
-                      int turningMotorChannel,
-                      int[] driveEncoderPorts,
-                      int[] turningEncoderPorts,
-                      boolean driveEncoderReversed,
-                      boolean turningEncoderReversed) {
+  public SwerveModule(
+      int driveMotorChannel,
+      int turningMotorChannel,
+      int[] driveEncoderPorts,
+      int[] turningEncoderPorts,
+      boolean driveEncoderReversed,
+      boolean turningEncoderReversed) {
 
     m_driveMotor = new Spark(driveMotorChannel);
     m_turningMotor = new Spark(turningMotorChannel);
@@ -57,7 +59,7 @@ public class SwerveModule {
     // resolution.
     m_driveEncoder.setDistancePerPulse(ModuleConstants.kDriveEncoderDistancePerPulse);
 
-    //Set whether drive encoder should be reversed or not
+    // Set whether drive encoder should be reversed or not
     m_driveEncoder.setReverseDirection(driveEncoderReversed);
 
     // Set the distance (in this case, angle) per pulse for the turning encoder.
@@ -65,7 +67,7 @@ public class SwerveModule {
     // divided by the encoder resolution.
     m_turningEncoder.setDistancePerPulse(ModuleConstants.kTurningEncoderDistancePerPulse);
 
-    //Set whether turning encoder should be reversed or not
+    // Set whether turning encoder should be reversed or not
     m_turningEncoder.setReverseDirection(turningEncoderReversed);
 
     // Limit the PID Controller's input range between -pi and pi and set the input
@@ -89,23 +91,19 @@ public class SwerveModule {
    */
   public void setDesiredState(SwerveModuleState state) {
     // Calculate the drive output from the drive PID controller.
-    final var driveOutput = m_drivePIDController.calculate(
-        m_driveEncoder.getRate(), state.speedMetersPerSecond);
+    final var driveOutput =
+        m_drivePIDController.calculate(m_driveEncoder.getRate(), state.speedMetersPerSecond);
 
     // Calculate the turning motor output from the turning PID controller.
-    final var turnOutput = m_turningPIDController.calculate(
-        m_turningEncoder.get(), state.angle.getRadians()
-    );
+    final var turnOutput =
+        m_turningPIDController.calculate(m_turningEncoder.get(), state.angle.getRadians());
 
     // Calculate the turning motor output from the turning PID controller.
     m_driveMotor.set(driveOutput);
     m_turningMotor.set(turnOutput);
   }
 
-  /**
-   * Zeros all the SwerveModule encoders.
-   */
-
+  /** Zeros all the SwerveModule encoders. */
   public void resetEncoders() {
     m_driveEncoder.reset();
     m_turningEncoder.reset();
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/Drivetrain.java
index 7e26618065..3900225268 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/Drivetrain.java
@@ -14,9 +14,7 @@ import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
 import edu.wpi.first.wpilibj.util.Units;
 import edu.wpi.first.wpiutil.math.VecBuilder;
 
-/**
- * Represents a swerve drive style drivetrain.
- */
+/** Represents a swerve drive style drivetrain. */
 public class Drivetrain {
   public static final double kMaxSpeed = 3.0; // 3 meters per second
   public static final double kMaxAngularSpeed = Math.PI; // 1/2 rotation per second
@@ -33,20 +31,20 @@ public class Drivetrain {
 
   private final AnalogGyro m_gyro = new AnalogGyro(0);
 
-  private final SwerveDriveKinematics m_kinematics = new SwerveDriveKinematics(
-      m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation
-  );
+  private final SwerveDriveKinematics m_kinematics =
+      new SwerveDriveKinematics(
+          m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation);
 
   /* Here we use SwerveDrivePoseEstimator so that we can fuse odometry readings. The numbers used
-     below are robot specific, and should be tuned. */
-  private final SwerveDrivePoseEstimator m_poseEstimator = new SwerveDrivePoseEstimator(
-      m_gyro.getRotation2d(),
-      new Pose2d(),
-      m_kinematics,
-      VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(5)),
-      VecBuilder.fill(Units.degreesToRadians(0.01)),
-      VecBuilder.fill(0.5, 0.5, Units.degreesToRadians(30))
-  );
+  below are robot specific, and should be tuned. */
+  private final SwerveDrivePoseEstimator m_poseEstimator =
+      new SwerveDrivePoseEstimator(
+          m_gyro.getRotation2d(),
+          new Pose2d(),
+          m_kinematics,
+          VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(5)),
+          VecBuilder.fill(Units.degreesToRadians(0.01)),
+          VecBuilder.fill(0.5, 0.5, Units.degreesToRadians(30)));
 
   public Drivetrain() {
     m_gyro.reset();
@@ -55,18 +53,18 @@ public class Drivetrain {
   /**
    * Method to drive the robot using joystick info.
    *
-   * @param xSpeed        Speed of the robot in the x direction (forward).
-   * @param ySpeed        Speed of the robot in the y direction (sideways).
-   * @param rot           Angular rate of the robot.
+   * @param xSpeed Speed of the robot in the x direction (forward).
+   * @param ySpeed Speed of the robot in the y direction (sideways).
+   * @param rot Angular rate of the robot.
    * @param fieldRelative Whether the provided x and y speeds are relative to the field.
    */
   @SuppressWarnings("ParameterName")
   public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative) {
-    var swerveModuleStates = m_kinematics.toSwerveModuleStates(
-        fieldRelative ? ChassisSpeeds.fromFieldRelativeSpeeds(
-            xSpeed, ySpeed, rot, m_gyro.getRotation2d())
-            : new ChassisSpeeds(xSpeed, ySpeed, rot)
-    );
+    var swerveModuleStates =
+        m_kinematics.toSwerveModuleStates(
+            fieldRelative
+                ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeed, ySpeed, rot, m_gyro.getRotation2d())
+                : new ChassisSpeeds(xSpeed, ySpeed, rot));
     SwerveDriveKinematics.normalizeWheelSpeeds(swerveModuleStates, kMaxSpeed);
     m_frontLeft.setDesiredState(swerveModuleStates[0]);
     m_frontRight.setDesiredState(swerveModuleStates[1]);
@@ -74,23 +72,20 @@ public class Drivetrain {
     m_backRight.setDesiredState(swerveModuleStates[3]);
   }
 
-  /**
-   * Updates the field relative position of the robot.
-   */
+  /** Updates the field relative position of the robot. */
   public void updateOdometry() {
     m_poseEstimator.update(
         m_gyro.getRotation2d(),
         m_frontLeft.getState(),
         m_frontRight.getState(),
         m_backLeft.getState(),
-        m_backRight.getState()
-    );
+        m_backRight.getState());
 
     // Also apply vision measurements. We use 0.3 seconds in the past as an example -- on
     // a real robot, this must be calculated based either on latency or timestamps.
     m_poseEstimator.addVisionMeasurement(
         ExampleGlobalMeasurementSensor.getEstimatedGlobalPose(
-          m_poseEstimator.getEstimatedPosition()),
+            m_poseEstimator.getEstimatedPosition()),
         Timer.getFPGATimestamp() - 0.3);
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/ExampleGlobalMeasurementSensor.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/ExampleGlobalMeasurementSensor.java
index df3f9e9c27..232d6fd22f 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/ExampleGlobalMeasurementSensor.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/ExampleGlobalMeasurementSensor.java
@@ -10,26 +10,23 @@ import edu.wpi.first.wpilibj.math.StateSpaceUtil;
 import edu.wpi.first.wpilibj.util.Units;
 import edu.wpi.first.wpiutil.math.VecBuilder;
 
-/**
- * This dummy class represents a global measurement sensor, such as a computer vision solution.
- */
+/** This dummy class represents a global measurement sensor, such as a computer vision solution. */
 public final class ExampleGlobalMeasurementSensor {
   private ExampleGlobalMeasurementSensor() {
     // Utility class
   }
 
-
   /**
    * Get a "noisy" fake global pose reading.
    *
    * @param estimatedRobotPose The robot pose.
    */
   public static Pose2d getEstimatedGlobalPose(Pose2d estimatedRobotPose) {
-    var rand = StateSpaceUtil.makeWhiteNoiseVector(VecBuilder.fill(0.5, 0.5,
-        Units.degreesToRadians(30)));
-    return new Pose2d(estimatedRobotPose.getX() + rand.get(0, 0),
+    var rand =
+        StateSpaceUtil.makeWhiteNoiseVector(VecBuilder.fill(0.5, 0.5, Units.degreesToRadians(30)));
+    return new Pose2d(
+        estimatedRobotPose.getX() + rand.get(0, 0),
         estimatedRobotPose.getY() + rand.get(1, 0),
         estimatedRobotPose.getRotation().plus(new Rotation2d(rand.get(2, 0))));
   }
-
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/Main.java
index 5cfb27af34..82fd6b84c8 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.swervesdriveposeestimator;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/SwerveModule.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/SwerveModule.java
index dfb985d07e..a178f787c2 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/SwerveModule.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/SwerveModule.java
@@ -19,8 +19,8 @@ public class SwerveModule {
   private static final int kEncoderResolution = 4096;
 
   private static final double kModuleMaxAngularVelocity = Drivetrain.kMaxAngularSpeed;
-  private static final double kModuleMaxAngularAcceleration
-      = 2 * Math.PI; // radians per second squared
+  private static final double kModuleMaxAngularAcceleration =
+      2 * Math.PI; // radians per second squared
 
   private final SpeedController m_driveMotor;
   private final SpeedController m_turningMotor;
@@ -30,10 +30,13 @@ public class SwerveModule {
 
   private final PIDController m_drivePIDController = new PIDController(1, 0, 0);
 
-  private final ProfiledPIDController m_turningPIDController
-      = new ProfiledPIDController(1, 0, 0,
-          new TrapezoidProfile.Constraints(kModuleMaxAngularVelocity,
-              kModuleMaxAngularAcceleration));
+  private final ProfiledPIDController m_turningPIDController =
+      new ProfiledPIDController(
+          1,
+          0,
+          0,
+          new TrapezoidProfile.Constraints(
+              kModuleMaxAngularVelocity, kModuleMaxAngularAcceleration));
 
   // Gains are for example purposes only - must be determined for your own robot!
   private final SimpleMotorFeedforward m_driveFeedforward = new SimpleMotorFeedforward(1, 3);
@@ -42,7 +45,7 @@ public class SwerveModule {
   /**
    * Constructs a SwerveModule.
    *
-   * @param driveMotorChannel   ID for the drive motor.
+   * @param driveMotorChannel ID for the drive motor.
    * @param turningMotorChannel ID for the turning motor.
    */
   public SwerveModule(int driveMotorChannel, int turningMotorChannel) {
@@ -80,15 +83,14 @@ public class SwerveModule {
    */
   public void setDesiredState(SwerveModuleState state) {
     // Calculate the drive output from the drive PID controller.
-    final double driveOutput = m_drivePIDController.calculate(
-        m_driveEncoder.getRate(), state.speedMetersPerSecond);
+    final double driveOutput =
+        m_drivePIDController.calculate(m_driveEncoder.getRate(), state.speedMetersPerSecond);
 
     final double driveFeedforward = m_driveFeedforward.calculate(state.speedMetersPerSecond);
 
     // Calculate the turning motor output from the turning PID controller.
-    final double turnOutput = m_turningPIDController.calculate(
-        m_turningEncoder.get(), state.angle.getRadians()
-    );
+    final double turnOutput =
+        m_turningPIDController.calculate(m_turningEncoder.get(), state.angle.getRadians());
 
     final double turnFeedforward =
         m_turnFeedforward.calculate(m_turningPIDController.getSetpoint().velocity);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Main.java
index 6295c8dced..404d96b509 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.tankdrive;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Robot.java
old mode 100755
new mode 100644
index a09e03b3f5..d66a9d94c4
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Robot.java
@@ -10,8 +10,8 @@ import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 
 /**
- * This is a demo program showing the use of the RobotDrive class, specifically
- * it contains the code necessary to operate a robot with tank drive.
+ * This is a demo program showing the use of the RobotDrive class, specifically it contains the code
+ * necessary to operate a robot with tank drive.
  */
 public class Robot extends TimedRobot {
   private DifferentialDrive m_myRobot;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrivexboxcontroller/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrivexboxcontroller/Main.java
index 7b6a17ae36..ada70f269c 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrivexboxcontroller/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrivexboxcontroller/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.tankdrivexboxcontroller;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrivexboxcontroller/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrivexboxcontroller/Robot.java
index 4e49c9c837..58f93c1585 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrivexboxcontroller/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrivexboxcontroller/Robot.java
@@ -11,8 +11,8 @@ import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 
 /**
- * This is a demo program showing the use of the DifferentialDrive class.
- * Runs the motors with tank steering and an Xbox controller.
+ * This is a demo program showing the use of the DifferentialDrive class. Runs the motors with tank
+ * steering and an Xbox controller.
  */
 public class Robot extends TimedRobot {
   private final PWMVictorSPX m_leftMotor = new PWMVictorSPX(0);
@@ -26,7 +26,7 @@ public class Robot extends TimedRobot {
     // That means that the Y axis of the left stick moves the left side
     // of the robot forward and backward, and the Y axis of the right stick
     // moves the right side of the robot forward and backward.
-    m_robotDrive.tankDrive(m_driverController.getY(Hand.kLeft),
-        m_driverController.getY(Hand.kRight));
+    m_robotDrive.tankDrive(
+        m_driverController.getY(Hand.kLeft), m_driverController.getY(Hand.kRight));
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Main.java
index bd21a85d45..3f4de068bb 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.ultrasonic;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
index a3202b18d1..c4c3b041c9 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
@@ -11,10 +11,9 @@ import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 
 /**
- * This is a sample program demonstrating how to use an ultrasonic sensor and
- * proportional control to maintain a set distance from an object.
+ * This is a sample program demonstrating how to use an ultrasonic sensor and proportional control
+ * to maintain a set distance from an object.
  */
-
 public class Robot extends TimedRobot {
   // distance in inches the robot wants to stay from an object
   private static final double kHoldDistance = 12.0;
@@ -33,13 +32,12 @@ public class Robot extends TimedRobot {
   private final MedianFilter m_filter = new MedianFilter(10);
 
   private final AnalogInput m_ultrasonic = new AnalogInput(kUltrasonicPort);
-  private final DifferentialDrive m_robotDrive
-      = new DifferentialDrive(new PWMVictorSPX(kLeftMotorPort),
-          new PWMVictorSPX(kRightMotorPort));
+  private final DifferentialDrive m_robotDrive =
+      new DifferentialDrive(new PWMVictorSPX(kLeftMotorPort), new PWMVictorSPX(kRightMotorPort));
 
   /**
-   * Tells the robot to drive to a set distance (in inches) from an object
-   * using proportional control.
+   * Tells the robot to drive to a set distance (in inches) from an object using proportional
+   * control.
    */
   @Override
   public void teleopPeriodic() {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Main.java
index 7add5f50e0..b31e3766d7 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.ultrasonicpid;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
index b2ba1ac4c9..cee1e69be7 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
@@ -12,8 +12,8 @@ import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 
 /**
- * This is a sample program to demonstrate the use of a PIDController with an
- * ultrasonic sensor to reach and maintain a set distance from an object.
+ * This is a sample program to demonstrate the use of a PIDController with an ultrasonic sensor to
+ * reach and maintain a set distance from an object.
  */
 public class Robot extends TimedRobot {
   // distance in inches the robot wants to stay from an object
@@ -39,9 +39,8 @@ public class Robot extends TimedRobot {
   private final MedianFilter m_filter = new MedianFilter(5);
 
   private final AnalogInput m_ultrasonic = new AnalogInput(kUltrasonicPort);
-  private final DifferentialDrive m_robotDrive
-      = new DifferentialDrive(new PWMVictorSPX(kLeftMotorPort),
-          new PWMVictorSPX(kRightMotorPort));
+  private final DifferentialDrive m_robotDrive =
+      new DifferentialDrive(new PWMVictorSPX(kLeftMotorPort), new PWMVictorSPX(kRightMotorPort));
   private final PIDController m_pidController = new PIDController(kP, kI, kD);
 
   @Override
@@ -54,8 +53,7 @@ public class Robot extends TimedRobot {
   public void teleopPeriodic() {
     // returned value is filtered with a rolling median filter, since ultrasonics
     // tend to be quite noisy and susceptible to sudden outliers
-    double pidOutput
-        = m_pidController.calculate(m_filter.calculate(m_ultrasonic.getVoltage()));
+    double pidOutput = m_pidController.calculate(m_filter.calculate(m_ultrasonic.getVoltage()));
 
     m_robotDrive.arcadeDrive(pidOutput, 0);
   }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Constants.java
index f36bd54296..ecfe201607 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Constants.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Constants.java
@@ -6,11 +6,10 @@ package edu.wpi.first.wpilibj.templates.commandbased;
 
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
- * constants.  This class should not be used for any other purpose.  All constants should be
- * declared globally (i.e. public static).  Do not put anything functional in this class.
+ * constants. This class should not be used for any other purpose. All constants should be declared
+ * globally (i.e. public static). Do not put anything functional in this class.
  *
  * <p>It is advised to statically import this class (or one of its inner classes) wherever the
  * constants are needed, to reduce verbosity.
  */
-public final class Constants {
-}
+public final class Constants {}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Main.java
index 3f7c674ee2..7fa438b5b3 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Main.java
@@ -12,8 +12,7 @@ import edu.wpi.first.wpilibj.RobotBase;
  * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
index 8c550b704e..34cd3cea6a 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
@@ -34,8 +34,8 @@ public class Robot extends TimedRobot {
    * This function is called every robot packet, no matter the mode. Use this for items like
    * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
    *
-   * <p>This runs after the mode specific periodic functions, but before
-   * LiveWindow and SmartDashboard integrated updating.
+   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
+   * SmartDashboard integrated updating.
    */
   @Override
   public void robotPeriodic() {
@@ -46,20 +46,14 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().run();
   }
 
-  /**
-   * This function is called once each time the robot enters Disabled mode.
-   */
+  /** This function is called once each time the robot enters Disabled mode. */
   @Override
-  public void disabledInit() {
-  }
+  public void disabledInit() {}
 
   @Override
-  public void disabledPeriodic() {
-  }
+  public void disabledPeriodic() {}
 
-  /**
-   * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
-   */
+  /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
   @Override
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
@@ -70,12 +64,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during autonomous.
-   */
+  /** This function is called periodically during autonomous. */
   @Override
-  public void autonomousPeriodic() {
-  }
+  public void autonomousPeriodic() {}
 
   @Override
   public void teleopInit() {
@@ -88,12 +79,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during operator control.
-   */
+  /** This function is called periodically during operator control. */
   @Override
-  public void teleopPeriodic() {
-  }
+  public void teleopPeriodic() {}
 
   @Override
   public void testInit() {
@@ -101,10 +89,7 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().cancelAll();
   }
 
-  /**
-   * This function is called periodically during test mode.
-   */
+  /** This function is called periodically during test mode. */
   @Override
-  public void testPeriodic() {
-  }
+  public void testPeriodic() {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java
index e9ec8a0d76..75f79ae8fd 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java
@@ -11,10 +11,10 @@ import edu.wpi.first.wpilibj.templates.commandbased.subsystems.ExampleSubsystem;
 import edu.wpi.first.wpilibj2.command.Command;
 
 /**
- * This class is where the bulk of the robot should be declared.  Since Command-based is a
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
  * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
- * periodic methods (other than the scheduler calls).  Instead, the structure of the robot
- * (including subsystems, commands, and button mappings) should be declared here.
+ * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
+ * subsystems, commands, and button mappings) should be declared here.
  */
 public class RobotContainer {
   // The robot's subsystems and commands are defined here...
@@ -22,25 +22,19 @@ public class RobotContainer {
 
   private final ExampleCommand m_autoCommand = new ExampleCommand(m_exampleSubsystem);
 
-
-
-  /**
-   * The container for the robot.  Contains subsystems, OI devices, and commands.
-   */
+  /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     // Configure the button bindings
     configureButtonBindings();
   }
 
   /**
-   * Use this method to define your button->command mappings.  Buttons can be created by
+   * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link GenericHID} or one of its subclasses ({@link
-   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
-   * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
+   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
+   * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
-  private void configureButtonBindings() {
-  }
-
+  private void configureButtonBindings() {}
 
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/commands/ExampleCommand.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/commands/ExampleCommand.java
index c1044351e2..194cbf65f1 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/commands/ExampleCommand.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/commands/ExampleCommand.java
@@ -7,9 +7,7 @@ package edu.wpi.first.wpilibj.templates.commandbased.commands;
 import edu.wpi.first.wpilibj.templates.commandbased.subsystems.ExampleSubsystem;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 
-/**
- * An example command that uses an example subsystem.
- */
+/** An example command that uses an example subsystem. */
 public class ExampleCommand extends CommandBase {
   @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
   private final ExampleSubsystem m_subsystem;
@@ -27,18 +25,15 @@ public class ExampleCommand extends CommandBase {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {
-  }
+  public void initialize() {}
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {
-  }
+  public void execute() {}
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {
-  }
+  public void end(boolean interrupted) {}
 
   // Returns true when the command should end.
   @Override
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/subsystems/ExampleSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/subsystems/ExampleSubsystem.java
index 5a84f3ca99..8a3594b214 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/subsystems/ExampleSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/subsystems/ExampleSubsystem.java
@@ -7,12 +7,8 @@ package edu.wpi.first.wpilibj.templates.commandbased.subsystems;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class ExampleSubsystem extends SubsystemBase {
-  /**
-   * Creates a new ExampleSubsystem.
-   */
-  public ExampleSubsystem() {
-
-  }
+  /** Creates a new ExampleSubsystem. */
+  public ExampleSubsystem() {}
 
   @Override
   public void periodic() {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/Main.java
index 1ba4e5bbf4..69a0078c3b 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.templates.oldcommandbased;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/OI.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/OI.java
index 9fdf2e5c57..95724cd5d7 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/OI.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/OI.java
@@ -5,8 +5,8 @@
 package edu.wpi.first.wpilibj.templates.oldcommandbased;
 
 /**
- * This class is the glue that binds the controls on the physical operator
- * interface to the commands and command groups that allow control of the robot.
+ * This class is the glue that binds the controls on the physical operator interface to the commands
+ * and command groups that allow control of the robot.
  */
 public class OI {
   //// CREATING BUTTONS
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/Robot.java
index 34a859d44a..d5af6b236f 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/Robot.java
@@ -13,10 +13,9 @@ import edu.wpi.first.wpilibj.templates.oldcommandbased.commands.ExampleCommand;
 import edu.wpi.first.wpilibj.templates.oldcommandbased.subsystems.ExampleSubsystem;
 
 /**
- * The VM is configured to automatically run this class, and to call the
- * functions corresponding to each mode, as described in the TimedRobot
- * documentation. If you change the name of this class or the package after
- * creating this project, you must also update the build.gradle file in the
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * the package after creating this project, you must also update the build.gradle file in the
  * project.
  */
 public class Robot extends TimedRobot {
@@ -27,8 +26,8 @@ public class Robot extends TimedRobot {
   SendableChooser<Command> m_chooser = new SendableChooser<>();
 
   /**
-   * This function is run when the robot is first started up and should be
-   * used for any initialization code.
+   * This function is run when the robot is first started up and should be used for any
+   * initialization code.
    */
   @Override
   public void robotInit() {
@@ -39,25 +38,21 @@ public class Robot extends TimedRobot {
   }
 
   /**
-   * This function is called every robot packet, no matter the mode. Use
-   * this for items like diagnostics that you want ran during disabled,
-   * autonomous, teleoperated and test.
+   * This function is called every robot packet, no matter the mode. Use this for items like
+   * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
    *
-   * <p>This runs after the mode specific periodic functions, but before
-   * LiveWindow and SmartDashboard integrated updating.
+   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
+   * SmartDashboard integrated updating.
    */
   @Override
-  public void robotPeriodic() {
-  }
+  public void robotPeriodic() {}
 
   /**
-   * This function is called once each time the robot enters Disabled mode.
-   * You can use it to reset any subsystem information you want to clear when
-   * the robot is disabled.
+   * This function is called once each time the robot enters Disabled mode. You can use it to reset
+   * any subsystem information you want to clear when the robot is disabled.
    */
   @Override
-  public void disabledInit() {
-  }
+  public void disabledInit() {}
 
   @Override
   public void disabledPeriodic() {
@@ -65,15 +60,14 @@ public class Robot extends TimedRobot {
   }
 
   /**
-   * This autonomous (along with the chooser code above) shows how to select
-   * between different autonomous modes using the dashboard. The sendable
-   * chooser code works with the Java SmartDashboard. If you prefer the
-   * LabVIEW Dashboard, remove all of the chooser code and uncomment the
-   * getString code to get the auto name from the text box below the Gyro
+   * This autonomous (along with the chooser code above) shows how to select between different
+   * autonomous modes using the dashboard. The sendable chooser code works with the Java
+   * SmartDashboard. If you prefer the LabVIEW Dashboard, remove all of the chooser code and
+   * uncomment the getString code to get the auto name from the text box below the Gyro
    *
-   * <p>You can add additional auto modes by adding additional commands to the
-   * chooser code above (like the commented example) or additional comparisons
-   * to the switch structure below with additional strings & commands.
+   * <p>You can add additional auto modes by adding additional commands to the chooser code above
+   * (like the commented example) or additional comparisons to the switch structure below with
+   * additional strings & commands.
    */
   @Override
   public void autonomousInit() {
@@ -92,9 +86,7 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during autonomous.
-   */
+  /** This function is called periodically during autonomous. */
   @Override
   public void autonomousPeriodic() {
     Scheduler.getInstance().run();
@@ -111,18 +103,13 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during operator control.
-   */
+  /** This function is called periodically during operator control. */
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
   }
 
-  /**
-   * This function is called periodically during test mode.
-   */
+  /** This function is called periodically during test mode. */
   @Override
-  public void testPeriodic() {
-  }
+  public void testPeriodic() {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/RobotMap.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/RobotMap.java
index 0cd40f5498..53d2e95d26 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/RobotMap.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/RobotMap.java
@@ -5,10 +5,9 @@
 package edu.wpi.first.wpilibj.templates.oldcommandbased;
 
 /**
- * The RobotMap is a mapping from the ports sensors and actuators are wired into
- * to a variable name. This provides flexibility changing wiring, makes checking
- * the wiring easier and significantly reduces the number of magic numbers
- * floating around.
+ * The RobotMap is a mapping from the ports sensors and actuators are wired into to a variable name.
+ * This provides flexibility changing wiring, makes checking the wiring easier and significantly
+ * reduces the number of magic numbers floating around.
  */
 public class RobotMap {
   // For example to map the left and right motors, you could define the
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/commands/ExampleCommand.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/commands/ExampleCommand.java
index 4390eff962..7e4379a6fd 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/commands/ExampleCommand.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/commands/ExampleCommand.java
@@ -7,9 +7,7 @@ package edu.wpi.first.wpilibj.templates.oldcommandbased.commands;
 import edu.wpi.first.wpilibj.command.Command;
 import edu.wpi.first.wpilibj.templates.oldcommandbased.Robot;
 
-/**
- * An example command.  You can replace me with your own command.
- */
+/** An example command. You can replace me with your own command. */
 public class ExampleCommand extends Command {
   public ExampleCommand() {
     // Use requires() here to declare subsystem dependencies
@@ -18,13 +16,11 @@ public class ExampleCommand extends Command {
 
   // Called just before this Command runs the first time
   @Override
-  protected void initialize() {
-  }
+  protected void initialize() {}
 
   // Called repeatedly when this Command is scheduled to run
   @Override
-  protected void execute() {
-  }
+  protected void execute() {}
 
   // Make this return true when this Command no longer needs to run execute()
   @Override
@@ -34,12 +30,10 @@ public class ExampleCommand extends Command {
 
   // Called once after isFinished returns true
   @Override
-  protected void end() {
-  }
+  protected void end() {}
 
   // Called when another command which requires one or more of the same
   // subsystems is scheduled to run
   @Override
-  protected void interrupted() {
-  }
+  protected void interrupted() {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/subsystems/ExampleSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/subsystems/ExampleSubsystem.java
index e4403e36a3..124e4ce87a 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/subsystems/ExampleSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/subsystems/ExampleSubsystem.java
@@ -6,14 +6,11 @@ package edu.wpi.first.wpilibj.templates.oldcommandbased.subsystems;
 
 import edu.wpi.first.wpilibj.command.Subsystem;
 
-/**
- * An example subsystem. You can replace with me with your own subsystem.
- */
+/** An example subsystem. You can replace with me with your own subsystem. */
 public class ExampleSubsystem extends Subsystem {
   // Put methods for controlling this subsystem
   // here. Call these from Commands.
 
-
   @Override
   protected void initDefaultCommand() {
     // Set the default command for a subsystem here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Main.java
index 1cda6c17ce..e465d47d85 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.templates.robotbaseskeleton;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Robot.java
index ef943bbc34..6cf3af60aa 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Robot.java
@@ -10,25 +10,19 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 
 /**
- * The VM is configured to automatically run this class. If you change the name
- * of this class or the package after creating this project, you must also
- * update the build.gradle file in the project.
+ * The VM is configured to automatically run this class. If you change the name of this class or the
+ * package after creating this project, you must also update the build.gradle file in the project.
  */
 public class Robot extends RobotBase {
-  public void robotInit() {
-  }
+  public void robotInit() {}
 
-  public void disabled() {
-  }
+  public void disabled() {}
 
-  public void autonomous() {
-  }
+  public void autonomous() {}
 
-  public void teleop() {
-  }
+  public void teleop() {}
 
-  public void test() {
-  }
+  public void test() {}
 
   private volatile boolean m_exit;
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Constants.java
index fa20ae78e4..9a1ab69257 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Constants.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Constants.java
@@ -6,11 +6,10 @@ package edu.wpi.first.wpilibj.templates.romicommandbased;
 
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
- * constants.  This class should not be used for any other purpose.  All constants should be
- * declared globally (i.e. public static).  Do not put anything functional in this class.
+ * constants. This class should not be used for any other purpose. All constants should be declared
+ * globally (i.e. public static). Do not put anything functional in this class.
  *
  * <p>It is advised to statically import this class (or one of its inner classes) wherever the
  * constants are needed, to reduce verbosity.
  */
-public final class Constants {
-}
+public final class Constants {}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Main.java
index fab9ff102b..b73f963300 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Main.java
@@ -12,8 +12,7 @@ import edu.wpi.first.wpilibj.RobotBase;
  * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Robot.java
index bea226e0e4..2475ee64a3 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Robot.java
@@ -34,8 +34,8 @@ public class Robot extends TimedRobot {
    * This function is called every robot packet, no matter the mode. Use this for items like
    * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
    *
-   * <p>This runs after the mode specific periodic functions, but before
-   * LiveWindow and SmartDashboard integrated updating.
+   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
+   * SmartDashboard integrated updating.
    */
   @Override
   public void robotPeriodic() {
@@ -46,20 +46,14 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().run();
   }
 
-  /**
-   * This function is called once each time the robot enters Disabled mode.
-   */
+  /** This function is called once each time the robot enters Disabled mode. */
   @Override
-  public void disabledInit() {
-  }
+  public void disabledInit() {}
 
   @Override
-  public void disabledPeriodic() {
-  }
+  public void disabledPeriodic() {}
 
-  /**
-   * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
-   */
+  /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
   @Override
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
@@ -70,12 +64,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during autonomous.
-   */
+  /** This function is called periodically during autonomous. */
   @Override
-  public void autonomousPeriodic() {
-  }
+  public void autonomousPeriodic() {}
 
   @Override
   public void teleopInit() {
@@ -88,12 +79,9 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called periodically during operator control.
-   */
+  /** This function is called periodically during operator control. */
   @Override
-  public void teleopPeriodic() {
-  }
+  public void teleopPeriodic() {}
 
   @Override
   public void testInit() {
@@ -101,10 +89,7 @@ public class Robot extends TimedRobot {
     CommandScheduler.getInstance().cancelAll();
   }
 
-  /**
-   * This function is called periodically during test mode.
-   */
+  /** This function is called periodically during test mode. */
   @Override
-  public void testPeriodic() {
-  }
+  public void testPeriodic() {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/RobotContainer.java
index 0bc69fd5e2..b05331051a 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/RobotContainer.java
@@ -11,10 +11,10 @@ import edu.wpi.first.wpilibj.templates.romicommandbased.subsystems.RomiDrivetrai
 import edu.wpi.first.wpilibj2.command.Command;
 
 /**
- * This class is where the bulk of the robot should be declared.  Since Command-based is a
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
  * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
- * periodic methods (other than the scheduler calls).  Instead, the structure of the robot
- * (including subsystems, commands, and button mappings) should be declared here.
+ * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
+ * subsystems, commands, and button mappings) should be declared here.
  */
 public class RobotContainer {
   // The robot's subsystems and commands are defined here...
@@ -22,25 +22,19 @@ public class RobotContainer {
 
   private final ExampleCommand m_autoCommand = new ExampleCommand(m_romiDrivetrain);
 
-
-
-  /**
-   * The container for the robot.  Contains subsystems, OI devices, and commands.
-   */
+  /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     // Configure the button bindings
     configureButtonBindings();
   }
 
   /**
-   * Use this method to define your button->command mappings.  Buttons can be created by
+   * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link GenericHID} or one of its subclasses ({@link
-   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
-   * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
+   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
+   * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
-  private void configureButtonBindings() {
-  }
-
+  private void configureButtonBindings() {}
 
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/commands/ExampleCommand.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/commands/ExampleCommand.java
index 6c0a31afb3..0ebb5d2fca 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/commands/ExampleCommand.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/commands/ExampleCommand.java
@@ -7,9 +7,7 @@ package edu.wpi.first.wpilibj.templates.romicommandbased.commands;
 import edu.wpi.first.wpilibj.templates.romicommandbased.subsystems.RomiDrivetrain;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 
-/**
- * An example command that uses an example subsystem.
- */
+/** An example command that uses an example subsystem. */
 public class ExampleCommand extends CommandBase {
   @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
   private final RomiDrivetrain m_subsystem;
@@ -27,18 +25,15 @@ public class ExampleCommand extends CommandBase {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {
-  }
+  public void initialize() {}
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {
-  }
+  public void execute() {}
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {
-  }
+  public void end(boolean interrupted) {}
 
   // Returns true when the command should end.
   @Override
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/subsystems/RomiDrivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/subsystems/RomiDrivetrain.java
index a80172576b..b9f9458b58 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/subsystems/RomiDrivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/subsystems/RomiDrivetrain.java
@@ -26,9 +26,7 @@ public class RomiDrivetrain extends SubsystemBase {
   // Set up the differential drive controller
   private final DifferentialDrive m_diffDrive = new DifferentialDrive(m_leftMotor, m_rightMotor);
 
-  /**
-   * Creates a new RomiDrivetrain.
-   */
+  /** Creates a new RomiDrivetrain. */
   public RomiDrivetrain() {
     // DifferentialDrive defaults to having the right side flipped
     // We don't need to do this because the Romi has accounted for this
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/Main.java
index 1cf91869e5..69c9ced687 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.templates.romitimed;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/Robot.java
index 3ce5f4db44..75197ec0c0 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/Robot.java
@@ -9,10 +9,9 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 /**
- * The VM is configured to automatically run this class, and to call the
- * functions corresponding to each mode, as described in the TimedRobot
- * documentation. If you change the name of this class or the package after
- * creating this project, you must also update the build.gradle file in the
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * the package after creating this project, you must also update the build.gradle file in the
  * project.
  */
 public class Robot extends TimedRobot {
@@ -24,8 +23,8 @@ public class Robot extends TimedRobot {
   private final RomiDrivetrain m_drivetrain = new RomiDrivetrain();
 
   /**
-   * This function is run when the robot is first started up and should be
-   * used for any initialization code.
+   * This function is run when the robot is first started up and should be used for any
+   * initialization code.
    */
   @Override
   public void robotInit() {
@@ -35,27 +34,24 @@ public class Robot extends TimedRobot {
   }
 
   /**
-   * This function is called every robot packet, no matter the mode. Use
-   * this for items like diagnostics that you want ran during disabled,
-   * autonomous, teleoperated and test.
+   * This function is called every robot packet, no matter the mode. Use this for items like
+   * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
    *
-   * <p>This runs after the mode specific periodic functions, but before
-   * LiveWindow and SmartDashboard integrated updating.
+   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
+   * SmartDashboard integrated updating.
    */
   @Override
-  public void robotPeriodic() {
-  }
+  public void robotPeriodic() {}
 
   /**
-   * This autonomous (along with the chooser code above) shows how to select
-   * between different autonomous modes using the dashboard. The sendable
-   * chooser code works with the Java SmartDashboard. If you prefer the
-   * LabVIEW Dashboard, remove all of the chooser code and uncomment the
-   * getString line to get the auto name from the text box below the Gyro
+   * This autonomous (along with the chooser code above) shows how to select between different
+   * autonomous modes using the dashboard. The sendable chooser code works with the Java
+   * SmartDashboard. If you prefer the LabVIEW Dashboard, remove all of the chooser code and
+   * uncomment the getString line to get the auto name from the text box below the Gyro
    *
-   * <p>You can add additional auto modes by adding additional comparisons to
-   * the switch structure below with additional strings. If using the
-   * SendableChooser make sure to add them to the chooser code above as well.
+   * <p>You can add additional auto modes by adding additional comparisons to the switch structure
+   * below with additional strings. If using the SendableChooser make sure to add them to the
+   * chooser code above as well.
    */
   @Override
   public void autonomousInit() {
@@ -66,9 +62,7 @@ public class Robot extends TimedRobot {
     m_drivetrain.resetEncoders();
   }
 
-  /**
-   * This function is called periodically during autonomous.
-   */
+  /** This function is called periodically during autonomous. */
   @Override
   public void autonomousPeriodic() {
     switch (m_autoSelected) {
@@ -82,45 +76,27 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called once when teleop is enabled.
-   */
+  /** This function is called once when teleop is enabled. */
   @Override
-  public void teleopInit() {
-  }
+  public void teleopInit() {}
 
-  /**
-   * This function is called periodically during operator control.
-   */
+  /** This function is called periodically during operator control. */
   @Override
-  public void teleopPeriodic() {
-  }
+  public void teleopPeriodic() {}
 
-  /**
-   * This function is called once when the robot is disabled.
-   */
+  /** This function is called once when the robot is disabled. */
   @Override
-  public void disabledInit() {
-  }
+  public void disabledInit() {}
 
-  /**
-   * This function is called periodically when disabled.
-   */
+  /** This function is called periodically when disabled. */
   @Override
-  public void disabledPeriodic() {
-  }
+  public void disabledPeriodic() {}
 
-  /**
-   * This function is called once when test mode is enabled.
-   */
+  /** This function is called once when test mode is enabled. */
   @Override
-  public void testInit() {
-  }
+  public void testInit() {}
 
-  /**
-   * This function is called periodically during test mode.
-   */
+  /** This function is called periodically during test mode. */
   @Override
-  public void testPeriodic() {
-  }
+  public void testPeriodic() {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/RomiDrivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/RomiDrivetrain.java
index 2bc862e482..12f86b3cff 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/RomiDrivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/RomiDrivetrain.java
@@ -25,9 +25,7 @@ public class RomiDrivetrain {
   // Set up the differential drive controller
   private final DifferentialDrive m_diffDrive = new DifferentialDrive(m_leftMotor, m_rightMotor);
 
-  /**
-   * Creates a new RomiDrivetrain.
-   */
+  /** Creates a new RomiDrivetrain. */
   public RomiDrivetrain() {
     // DifferentialDrive defaults to having the right side flipped
     // We don't need to do this because the Romi has accounted for this
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Main.java
index 430eacdcd2..9a3f9c7d72 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.templates.timed;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java
index feeac91941..9141414a32 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java
@@ -9,10 +9,9 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 /**
- * The VM is configured to automatically run this class, and to call the
- * functions corresponding to each mode, as described in the TimedRobot
- * documentation. If you change the name of this class or the package after
- * creating this project, you must also update the build.gradle file in the
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * the package after creating this project, you must also update the build.gradle file in the
  * project.
  */
 public class Robot extends TimedRobot {
@@ -22,8 +21,8 @@ public class Robot extends TimedRobot {
   private final SendableChooser<String> m_chooser = new SendableChooser<>();
 
   /**
-   * This function is run when the robot is first started up and should be
-   * used for any initialization code.
+   * This function is run when the robot is first started up and should be used for any
+   * initialization code.
    */
   @Override
   public void robotInit() {
@@ -33,27 +32,24 @@ public class Robot extends TimedRobot {
   }
 
   /**
-   * This function is called every robot packet, no matter the mode. Use
-   * this for items like diagnostics that you want ran during disabled,
-   * autonomous, teleoperated and test.
+   * This function is called every robot packet, no matter the mode. Use this for items like
+   * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
    *
-   * <p>This runs after the mode specific periodic functions, but before
-   * LiveWindow and SmartDashboard integrated updating.
+   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
+   * SmartDashboard integrated updating.
    */
   @Override
-  public void robotPeriodic() {
-  }
+  public void robotPeriodic() {}
 
   /**
-   * This autonomous (along with the chooser code above) shows how to select
-   * between different autonomous modes using the dashboard. The sendable
-   * chooser code works with the Java SmartDashboard. If you prefer the
-   * LabVIEW Dashboard, remove all of the chooser code and uncomment the
-   * getString line to get the auto name from the text box below the Gyro
+   * This autonomous (along with the chooser code above) shows how to select between different
+   * autonomous modes using the dashboard. The sendable chooser code works with the Java
+   * SmartDashboard. If you prefer the LabVIEW Dashboard, remove all of the chooser code and
+   * uncomment the getString line to get the auto name from the text box below the Gyro
    *
-   * <p>You can add additional auto modes by adding additional comparisons to
-   * the switch structure below with additional strings. If using the
-   * SendableChooser make sure to add them to the chooser code above as well.
+   * <p>You can add additional auto modes by adding additional comparisons to the switch structure
+   * below with additional strings. If using the SendableChooser make sure to add them to the
+   * chooser code above as well.
    */
   @Override
   public void autonomousInit() {
@@ -62,9 +58,7 @@ public class Robot extends TimedRobot {
     System.out.println("Auto selected: " + m_autoSelected);
   }
 
-  /**
-   * This function is called periodically during autonomous.
-   */
+  /** This function is called periodically during autonomous. */
   @Override
   public void autonomousPeriodic() {
     switch (m_autoSelected) {
@@ -78,45 +72,27 @@ public class Robot extends TimedRobot {
     }
   }
 
-  /**
-   * This function is called once when teleop is enabled.
-   */
+  /** This function is called once when teleop is enabled. */
   @Override
-  public void teleopInit() {
-  }
+  public void teleopInit() {}
 
-  /**
-   * This function is called periodically during operator control.
-   */
+  /** This function is called periodically during operator control. */
   @Override
-  public void teleopPeriodic() {
-  }
+  public void teleopPeriodic() {}
 
-  /**
-   * This function is called once when the robot is disabled.
-   */
+  /** This function is called once when the robot is disabled. */
   @Override
-  public void disabledInit() {
-  }
+  public void disabledInit() {}
 
-  /**
-   * This function is called periodically when disabled.
-   */
+  /** This function is called periodically when disabled. */
   @Override
-  public void disabledPeriodic() {
-  }
+  public void disabledPeriodic() {}
 
-  /**
-   * This function is called once when test mode is enabled.
-   */
+  /** This function is called once when test mode is enabled. */
   @Override
-  public void testInit() {
-  }
+  public void testInit() {}
 
-  /**
-   * This function is called periodically during test mode.
-   */
+  /** This function is called periodically during test mode. */
   @Override
-  public void testPeriodic() {
-  }
+  public void testPeriodic() {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timedskeleton/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timedskeleton/Main.java
index 4775d8bcb4..ebe7ba4a71 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timedskeleton/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timedskeleton/Main.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.templates.timedskeleton;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
  */
 public final class Main {
-  private Main() {
-  }
+  private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timedskeleton/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timedskeleton/Robot.java
index e479590aa4..d3968f3a8d 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timedskeleton/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timedskeleton/Robot.java
@@ -7,55 +7,43 @@ package edu.wpi.first.wpilibj.templates.timedskeleton;
 import edu.wpi.first.wpilibj.TimedRobot;
 
 /**
- * The VM is configured to automatically run this class, and to call the
- * functions corresponding to each mode, as described in the TimedRobot
- * documentation. If you change the name of this class or the package after
- * creating this project, you must also update the build.gradle file in the
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * the package after creating this project, you must also update the build.gradle file in the
  * project.
  */
 public class Robot extends TimedRobot {
   /**
-   * This function is run when the robot is first started up and should be used
-   * for any initialization code.
+   * This function is run when the robot is first started up and should be used for any
+   * initialization code.
    */
   @Override
-  public void robotInit() {
-  }
+  public void robotInit() {}
 
   @Override
-  public void robotPeriodic() {
-  }
+  public void robotPeriodic() {}
 
   @Override
-  public void autonomousInit() {
-  }
+  public void autonomousInit() {}
 
   @Override
-  public void autonomousPeriodic() {
-  }
+  public void autonomousPeriodic() {}
 
   @Override
-  public void teleopInit() {
-  }
+  public void teleopInit() {}
 
   @Override
-  public void teleopPeriodic() {
-  }
+  public void teleopPeriodic() {}
 
   @Override
-  public void disabledInit() {
-  }
+  public void disabledInit() {}
 
   @Override
-  public void disabledPeriodic() {
-  }
+  public void disabledPeriodic() {}
 
   @Override
-  public void testInit() {
-  }
+  public void testInit() {}
 
   @Override
-  public void testPeriodic() {
-  }
-
+  public void testPeriodic() {}
 }
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AbstractInterruptTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AbstractInterruptTest.java
index b3e148f491..7a49566782 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AbstractInterruptTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AbstractInterruptTest.java
@@ -4,15 +4,6 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.util.concurrent.atomic.AtomicBoolean;
-import java.util.concurrent.atomic.AtomicInteger;
-import java.util.concurrent.atomic.AtomicLong;
-
-import org.junit.After;
-import org.junit.Test;
-
-import edu.wpi.first.wpilibj.test.AbstractComsSetup;
-
 import static org.hamcrest.Matchers.both;
 import static org.hamcrest.Matchers.greaterThan;
 import static org.hamcrest.Matchers.lessThan;
@@ -20,6 +11,13 @@ import static org.junit.Assert.assertEquals;
 import static org.junit.Assert.assertSame;
 import static org.junit.Assert.assertThat;
 
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+import java.util.concurrent.atomic.AtomicBoolean;
+import java.util.concurrent.atomic.AtomicInteger;
+import java.util.concurrent.atomic.AtomicLong;
+import org.junit.After;
+import org.junit.Test;
+
 /**
  * This class should not be run as a test explicitly. Instead it should be extended by tests that
  * use the InterruptableSensorBase.
@@ -34,7 +32,6 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
     return m_interruptable;
   }
 
-
   @After
   public void interruptTeardown() {
     if (m_interruptable != null) {
@@ -43,9 +40,7 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
     }
   }
 
-  /**
-   * Give the interruptable sensor base that interrupts can be attached to.
-   */
+  /** Give the interruptable sensor base that interrupts can be attached to. */
   abstract InterruptableSensorBase giveInterruptableSensorBase();
 
   /**
@@ -54,17 +49,12 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
    */
   abstract void freeInterruptableSensorBase();
 
-  /**
-   * Perform whatever action is required to set the interrupt high.
-   */
+  /** Perform whatever action is required to set the interrupt high. */
   abstract void setInterruptHigh();
 
-  /**
-   * Perform whatever action is required to set the interrupt low.
-   */
+  /** Perform whatever action is required to set the interrupt low. */
   abstract void setInterruptLow();
 
-
   private class InterruptCounter {
     private final AtomicInteger m_count = new AtomicInteger();
 
@@ -79,14 +69,11 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
 
   private class TestInterruptHandlerFunction extends InterruptHandlerFunction<InterruptCounter> {
     protected final AtomicBoolean m_exceptionThrown = new AtomicBoolean(false);
-    /**
-     * Stores the time that the interrupt fires.
-     */
+    /** Stores the time that the interrupt fires. */
     final AtomicLong m_interruptFireTime = new AtomicLong();
-    /**
-     * Stores if the interrupt has completed at least once.
-     */
+    /** Stores if the interrupt has completed at least once. */
     final AtomicBoolean m_interruptComplete = new AtomicBoolean(false);
+
     protected Exception m_ex;
     final InterruptCounter m_counter;
 
@@ -137,7 +124,6 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
       Timer.delay(0.005);
     }
 
-
     // Then
     assertEquals("The interrupt did not fire the expected number of times", 1, counter.getCount());
     // If the test within the interrupt failed
@@ -148,13 +134,13 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
     assertThat(
         "The interrupt did not fire within the expected time period (values in milliseconds)",
         function.m_interruptFireTime.get(),
-        both(greaterThan(interruptTriggerTime - range)).and(lessThan(interruptTriggerTime
-            + range)));
+        both(greaterThan(interruptTriggerTime - range))
+            .and(lessThan(interruptTriggerTime + range)));
     assertThat(
         "The readRisingTimestamp() did not return the correct value (values in seconds)",
         getInterruptable().readRisingTimestamp(),
-        both(greaterThan((interruptTriggerTime - range) / 1e6)).and(
-            lessThan((interruptTriggerTime + range) / 1e6)));
+        both(greaterThan((interruptTriggerTime - range) / 1e6))
+            .and(lessThan((interruptTriggerTime + range) / 1e6)));
   }
 
   @Test(timeout = 2000)
@@ -177,13 +163,11 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
       }
     }
     // Then
-    assertEquals("The interrupt did not fire the expected number of times", fireCount,
-        counter.getCount());
+    assertEquals(
+        "The interrupt did not fire the expected number of times", fireCount, counter.getCount());
   }
 
-  /**
-   * The timeout length for this test in seconds.
-   */
+  /** The timeout length for this test in seconds. */
   private static final int synchronousTimeout = 5;
 
   @Test(timeout = (long) (synchronousTimeout * 1e3))
@@ -192,11 +176,12 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
     getInterruptable().requestInterrupts();
 
     final double synchronousDelay = synchronousTimeout / 2.0;
-    final Runnable runnable = () -> {
-      Timer.delay(synchronousDelay);
-      setInterruptLow();
-      setInterruptHigh();
-    };
+    final Runnable runnable =
+        () -> {
+          Timer.delay(synchronousDelay);
+          setInterruptLow();
+          setInterruptHigh();
+        };
 
     // When
 
@@ -211,8 +196,11 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
     // Then
     // The test will not have timed out and:
     final double interruptRunTime = (stopTimeStamp - startTimeStamp) * 1e-6;
-    assertEquals("The interrupt did not run for the expected amount of time (units in seconds)",
-        synchronousDelay, interruptRunTime, 0.1);
+    assertEquals(
+        "The interrupt did not run for the expected amount of time (units in seconds)",
+        synchronousDelay,
+        interruptRunTime,
+        0.1);
   }
 
   @Test(timeout = (long) (synchronousTimeout * 1e3))
@@ -220,12 +208,14 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
     // Given
     getInterruptable().requestInterrupts();
 
-    //Don't fire interrupt. Expect it to timeout.
-    InterruptableSensorBase.WaitResult result = getInterruptable()
-        .waitForInterrupt(synchronousTimeout / 2);
+    // Don't fire interrupt. Expect it to timeout.
+    InterruptableSensorBase.WaitResult result =
+        getInterruptable().waitForInterrupt(synchronousTimeout / 2);
 
-    assertEquals("The interrupt did not time out correctly.", result, InterruptableSensorBase
-        .WaitResult.kTimeout);
+    assertEquals(
+        "The interrupt did not time out correctly.",
+        result,
+        InterruptableSensorBase.WaitResult.kTimeout);
   }
 
   @Test(timeout = (long) (synchronousTimeout * 1e3))
@@ -234,18 +224,21 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
     getInterruptable().requestInterrupts();
 
     final double synchronousDelay = synchronousTimeout / 2.0;
-    final Runnable runnable = () -> {
-      Timer.delay(synchronousDelay);
-      setInterruptLow();
-      setInterruptHigh();
-    };
+    final Runnable runnable =
+        () -> {
+          Timer.delay(synchronousDelay);
+          setInterruptLow();
+          setInterruptHigh();
+        };
 
     new Thread(runnable).start();
     // Delay for twice as long as the timeout so the test should fail first
-    InterruptableSensorBase.WaitResult result = getInterruptable()
-        .waitForInterrupt(synchronousTimeout * 2);
+    InterruptableSensorBase.WaitResult result =
+        getInterruptable().waitForInterrupt(synchronousTimeout * 2);
 
-    assertEquals("The interrupt did not fire on the rising edge.", result,
+    assertEquals(
+        "The interrupt did not fire on the rising edge.",
+        result,
         InterruptableSensorBase.WaitResult.kRisingEdge);
   }
 
@@ -256,22 +249,24 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
     getInterruptable().setUpSourceEdge(false, true);
 
     final double synchronousDelay = synchronousTimeout / 2.0;
-    final Runnable runnable = () -> {
-      Timer.delay(synchronousDelay);
-      setInterruptHigh();
-      setInterruptLow();
-    };
+    final Runnable runnable =
+        () -> {
+          Timer.delay(synchronousDelay);
+          setInterruptHigh();
+          setInterruptLow();
+        };
 
     new Thread(runnable).start();
     // Delay for twice as long as the timeout so the test should fail first
-    InterruptableSensorBase.WaitResult result = getInterruptable()
-        .waitForInterrupt(synchronousTimeout * 2);
+    InterruptableSensorBase.WaitResult result =
+        getInterruptable().waitForInterrupt(synchronousTimeout * 2);
 
-    assertEquals("The interrupt did not fire on the falling edge.", result,
+    assertEquals(
+        "The interrupt did not fire on the falling edge.",
+        result,
         InterruptableSensorBase.WaitResult.kFallingEdge);
   }
 
-
   @Test(timeout = 4000)
   public void testDisableStopsInterruptFiring() {
     final InterruptCounter counter = new InterruptCounter();
@@ -301,8 +296,7 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
     }
 
     // Then
-    assertEquals("The interrupt did not fire the expected number of times", fireCount,
-        counter.getCount());
+    assertEquals(
+        "The interrupt did not fire the expected number of times", fireCount, counter.getCount());
   }
-
 }
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AnalogCrossConnectTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AnalogCrossConnectTest.java
index 86ab9a3d6e..85e33270d7 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AnalogCrossConnectTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AnalogCrossConnectTest.java
@@ -4,24 +4,20 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.util.logging.Logger;
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertFalse;
+import static org.junit.Assert.assertTrue;
 
+import edu.wpi.first.wpilibj.AnalogTriggerOutput.AnalogTriggerType;
+import edu.wpi.first.wpilibj.fixtures.AnalogCrossConnectFixture;
+import edu.wpi.first.wpilibj.test.TestBench;
+import java.util.logging.Logger;
 import org.junit.AfterClass;
 import org.junit.Before;
 import org.junit.BeforeClass;
 import org.junit.Test;
 
-import edu.wpi.first.wpilibj.AnalogTriggerOutput.AnalogTriggerType;
-import edu.wpi.first.wpilibj.fixtures.AnalogCrossConnectFixture;
-import edu.wpi.first.wpilibj.test.TestBench;
-
-import static org.junit.Assert.assertEquals;
-import static org.junit.Assert.assertFalse;
-import static org.junit.Assert.assertTrue;
-
-/**
- * Test that covers the {@link AnalogCrossConnectFixture}.
- */
+/** Test that covers the {@link AnalogCrossConnectFixture}. */
 public class AnalogCrossConnectTest extends AbstractInterruptTest {
   private static final Logger logger = Logger.getLogger(AnalogCrossConnectTest.class.getName());
 
@@ -34,7 +30,6 @@ public class AnalogCrossConnectTest extends AbstractInterruptTest {
     return logger;
   }
 
-
   @BeforeClass
   public static void setUpBeforeClass() {
     analogIO = TestBench.getAnalogCrossConnectFixture();
@@ -51,7 +46,6 @@ public class AnalogCrossConnectTest extends AbstractInterruptTest {
     analogIO.setup();
   }
 
-
   @Test
   public void testAnalogOuput() {
     for (int i = 0; i < 50; i++) {
@@ -151,12 +145,11 @@ public class AnalogCrossConnectTest extends AbstractInterruptTest {
   InterruptableSensorBase giveInterruptableSensorBase() {
     m_interruptTrigger = new AnalogTrigger(analogIO.getInput());
     m_interruptTrigger.setLimitsVoltage(2.0, 3.0);
-    m_interruptTriggerOutput = new AnalogTriggerOutput(m_interruptTrigger,
-        AnalogTriggerType.kState);
+    m_interruptTriggerOutput =
+        new AnalogTriggerOutput(m_interruptTrigger, AnalogTriggerType.kState);
     return m_interruptTriggerOutput;
   }
 
-
   /*
    * (non-Javadoc)
    *
@@ -172,7 +165,6 @@ public class AnalogCrossConnectTest extends AbstractInterruptTest {
     m_interruptTrigger = null;
   }
 
-
   /*
    * (non-Javadoc)
    *
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometerTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometerTest.java
index 5f08d36819..1bac2caeac 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometerTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometerTest.java
@@ -4,22 +4,18 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.util.logging.Logger;
-
-import org.junit.After;
-import org.junit.Before;
-import org.junit.Test;
+import static org.junit.Assert.assertEquals;
 
 import edu.wpi.first.wpilibj.fixtures.AnalogCrossConnectFixture;
 import edu.wpi.first.wpilibj.mockhardware.FakePotentiometerSource;
 import edu.wpi.first.wpilibj.test.AbstractComsSetup;
 import edu.wpi.first.wpilibj.test.TestBench;
+import java.util.logging.Logger;
+import org.junit.After;
+import org.junit.Before;
+import org.junit.Test;
 
-import static org.junit.Assert.assertEquals;
-
-/**
- * Tests the {@link AnalogPotentiometer}.
- */
+/** Tests the {@link AnalogPotentiometer}. */
 public class AnalogPotentiometerTest extends AbstractComsSetup {
   private static final Logger logger = Logger.getLogger(AnalogPotentiometerTest.class.getName());
   private AnalogCrossConnectFixture m_analogIO;
@@ -33,7 +29,6 @@ public class AnalogPotentiometerTest extends AbstractComsSetup {
     m_analogIO = TestBench.getAnalogCrossConnectFixture();
     m_potSource = new FakePotentiometerSource(m_analogIO.getOutput(), 360);
     m_pot = new AnalogPotentiometer(m_analogIO.getInput(), 360.0, 0);
-
   }
 
   @After
@@ -62,6 +57,4 @@ public class AnalogPotentiometerTest extends AbstractComsSetup {
       assertEquals(i, m_pot.get(), DOUBLE_COMPARISON_DELTA);
     }
   }
-
-
 }
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometerTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometerTest.java
index eea4ae1d4b..8b1188db62 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometerTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometerTest.java
@@ -4,21 +4,19 @@
 
 package edu.wpi.first.wpilibj;
 
+import static org.junit.Assert.assertEquals;
+
+import edu.wpi.first.wpilibj.interfaces.Accelerometer;
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
 import java.util.Arrays;
 import java.util.Collection;
 import java.util.logging.Logger;
-
 import org.junit.BeforeClass;
 import org.junit.Test;
 import org.junit.runner.RunWith;
 import org.junit.runners.Parameterized;
 import org.junit.runners.Parameterized.Parameters;
 
-import edu.wpi.first.wpilibj.interfaces.Accelerometer;
-import edu.wpi.first.wpilibj.test.AbstractComsSetup;
-
-import static org.junit.Assert.assertEquals;
-
 @RunWith(Parameterized.class)
 public class BuiltInAccelerometerTest extends AbstractComsSetup {
   private static final Logger logger = Logger.getLogger(BuiltInAccelerometerTest.class.getName());
@@ -38,13 +36,13 @@ public class BuiltInAccelerometerTest extends AbstractComsSetup {
     Timer.delay(1.0);
   }
 
-  /**
-   * Test with all valid ranges to make sure unpacking is always done correctly.
-   */
+  /** Test with all valid ranges to make sure unpacking is always done correctly. */
   @Parameters
   public static Collection<Accelerometer.Range[]> generateData() {
-    return Arrays.asList(new Accelerometer.Range[][]{{Accelerometer.Range.k2G},
-        {Accelerometer.Range.k4G}, {Accelerometer.Range.k8G}});
+    return Arrays.asList(
+        new Accelerometer.Range[][] {
+          {Accelerometer.Range.k2G}, {Accelerometer.Range.k4G}, {Accelerometer.Range.k8G}
+        });
   }
 
   @Override
@@ -62,5 +60,4 @@ public class BuiltInAccelerometerTest extends AbstractComsSetup {
     assertEquals(1.0, m_accelerometer.getY(), kAccelerationTolerance);
     assertEquals(0.0, m_accelerometer.getZ(), kAccelerationTolerance);
   }
-
 }
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/ConstantsPortsTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/ConstantsPortsTest.java
index 6564c6549c..3f18086c1b 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/ConstantsPortsTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/ConstantsPortsTest.java
@@ -4,17 +4,13 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.util.logging.Logger;
-
-import org.junit.Test;
-
-import edu.wpi.first.wpilibj.test.AbstractComsSetup;
-
 import static org.junit.Assert.assertEquals;
 
-/**
- * Tests for checking our constant and port values.
- */
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+import java.util.logging.Logger;
+import org.junit.Test;
+
+/** Tests for checking our constant and port values. */
 public class ConstantsPortsTest extends AbstractComsSetup {
   private static final Logger logger = Logger.getLogger(ConstantsPortsTest.class.getName());
 
@@ -23,73 +19,55 @@ public class ConstantsPortsTest extends AbstractComsSetup {
     return logger;
   }
 
-  /**
-   * kDigitalChannels.
-   */
+  /** kDigitalChannels. */
   @Test
   public void testDigitalChannels() {
     assertEquals(31, SensorUtil.kDigitalChannels);
   }
 
-  /**
-   * kAnalogInputChannels.
-   */
+  /** kAnalogInputChannels. */
   @Test
   public void testAnalogInputChannels() {
     assertEquals(8, SensorUtil.kAnalogInputChannels);
   }
 
-  /**
-   * kAnalogOutputChannels.
-   */
+  /** kAnalogOutputChannels. */
   @Test
   public void testAnalogOutputChannels() {
     assertEquals(2, SensorUtil.kAnalogOutputChannels);
   }
 
-  /**
-   * kSolenoidChannels.
-   */
+  /** kSolenoidChannels. */
   @Test
   public void testSolenoidChannels() {
     assertEquals(8, SensorUtil.kSolenoidChannels);
   }
 
-  /**
-   * kPwmChannels.
-   */
+  /** kPwmChannels. */
   @Test
   public void testPwmChannels() {
     assertEquals(20, SensorUtil.kPwmChannels);
   }
 
-  /**
-   * kRelayChannels.
-   */
+  /** kRelayChannels. */
   @Test
   public void testRelayChannels() {
     assertEquals(4, SensorUtil.kRelayChannels);
   }
 
-  /**
-   * kPDPChannels.
-   */
+  /** kPDPChannels. */
   @Test
   public void testPDPChannels() {
     assertEquals(16, SensorUtil.kPDPChannels);
   }
 
-  /**
-   * kPDPModules.
-   */
+  /** kPDPModules. */
   @Test
   public void testPDPModules() {
     assertEquals(63, SensorUtil.kPDPModules);
   }
 
-  /**
-   * kPCMModules.
-   */
+  /** kPCMModules. */
   @Test
   public void testPCMModules() {
     assertEquals(63, SensorUtil.kPCMModules);
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/CounterTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/CounterTest.java
index 44c768d6d8..96f9c09c30 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/CounterTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/CounterTest.java
@@ -4,9 +4,14 @@
 
 package edu.wpi.first.wpilibj;
 
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertTrue;
+
+import edu.wpi.first.wpilibj.fixtures.FakeCounterFixture;
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+import edu.wpi.first.wpilibj.test.TestBench;
 import java.util.Collection;
 import java.util.logging.Logger;
-
 import org.junit.AfterClass;
 import org.junit.Before;
 import org.junit.BeforeClass;
@@ -15,16 +20,7 @@ import org.junit.runner.RunWith;
 import org.junit.runners.Parameterized;
 import org.junit.runners.Parameterized.Parameters;
 
-import edu.wpi.first.wpilibj.fixtures.FakeCounterFixture;
-import edu.wpi.first.wpilibj.test.AbstractComsSetup;
-import edu.wpi.first.wpilibj.test.TestBench;
-
-import static org.junit.Assert.assertEquals;
-import static org.junit.Assert.assertTrue;
-
-/**
- * Tests to see if the Counter is working properly.
- */
+/** Tests to see if the Counter is working properly. */
 @RunWith(Parameterized.class)
 public class CounterTest extends AbstractComsSetup {
   private static FakeCounterFixture counter = null;
@@ -41,7 +37,7 @@ public class CounterTest extends AbstractComsSetup {
   /**
    * Constructs a Counter Test with the given inputs.
    *
-   * @param input  The input Port
+   * @param input The input Port
    * @param output The output Port
    */
   public CounterTest(Integer input, Integer output) {
@@ -73,10 +69,8 @@ public class CounterTest extends AbstractComsSetup {
     return TestBench.getInstance().getDIOCrossConnectCollection();
   }
 
-
   @BeforeClass
-  public static void setUpBeforeClass() {
-  }
+  public static void setUpBeforeClass() {}
 
   @AfterClass
   public static void tearDownAfterClass() {
@@ -89,9 +83,7 @@ public class CounterTest extends AbstractComsSetup {
     counter.setup();
   }
 
-  /**
-   * Tests the default state of the counter immediately after reset.
-   */
+  /** Tests the default state of the counter immediately after reset. */
   @Test
   public void testDefault() {
     assertEquals("Counter did not reset to 0", 0, counter.getCounter().get());
@@ -105,8 +97,15 @@ public class CounterTest extends AbstractComsSetup {
 
     final int count = counter.getCounter().get();
 
-    assertTrue("Fake Counter, Input: " + m_input + ", Output: " + m_output + ", did not return "
-        + goal + " instead got: " + count, count == goal);
+    assertTrue(
+        "Fake Counter, Input: "
+            + m_input
+            + ", Output: "
+            + m_output
+            + ", did not return "
+            + goal
+            + " instead got: "
+            + count,
+        count == goal);
   }
-
 }
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DIOCrossConnectTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DIOCrossConnectTest.java
index 3dfaa7c9e4..ac8f924b62 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DIOCrossConnectTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DIOCrossConnectTest.java
@@ -4,9 +4,13 @@
 
 package edu.wpi.first.wpilibj;
 
+import static org.junit.Assert.assertFalse;
+import static org.junit.Assert.assertTrue;
+
+import edu.wpi.first.wpilibj.fixtures.DIOCrossConnectFixture;
+import edu.wpi.first.wpilibj.test.TestBench;
 import java.util.Collection;
 import java.util.logging.Logger;
-
 import org.junit.After;
 import org.junit.AfterClass;
 import org.junit.Test;
@@ -14,15 +18,7 @@ import org.junit.runner.RunWith;
 import org.junit.runners.Parameterized;
 import org.junit.runners.Parameterized.Parameters;
 
-import edu.wpi.first.wpilibj.fixtures.DIOCrossConnectFixture;
-import edu.wpi.first.wpilibj.test.TestBench;
-
-import static org.junit.Assert.assertFalse;
-import static org.junit.Assert.assertTrue;
-
-/**
- * Tests to see if the Digital ports are working properly.
- */
+/** Tests to see if the Digital ports are working properly. */
 @RunWith(Parameterized.class)
 public class DIOCrossConnectTest extends AbstractInterruptTest {
   private static final Logger logger = Logger.getLogger(DIOCrossConnectTest.class.getName());
@@ -36,11 +32,11 @@ public class DIOCrossConnectTest extends AbstractInterruptTest {
 
   /**
    * Default constructor for the DIOCrossConnectTest This test is parameterized in order to allow it
-   * to be tested using a variety of different input/output pairs without duplicate code.<br> This
-   * class takes Integer port values instead of DigitalClasses because it would force them to be
-   * instantiated at the same time which could (untested) cause port binding errors.
+   * to be tested using a variety of different input/output pairs without duplicate code.<br>
+   * This class takes Integer port values instead of DigitalClasses because it would force them to
+   * be instantiated at the same time which could (untested) cause port binding errors.
    *
-   * @param input  The port for the input wire
+   * @param input The port for the input wire
    * @param output The port for the output wire
    */
   public DIOCrossConnectTest(Integer input, Integer output) {
@@ -50,7 +46,6 @@ public class DIOCrossConnectTest extends AbstractInterruptTest {
     dio = new DIOCrossConnectFixture(input, output);
   }
 
-
   /**
    * Test data generator. This method is called the the JUnit parameterized test runner and returns
    * a Collection of Arrays. For each Array in the Collection, each array element corresponds to a
@@ -77,9 +72,7 @@ public class DIOCrossConnectTest extends AbstractInterruptTest {
     dio.reset();
   }
 
-  /**
-   * Tests to see if the DIO can create and recognize a high value.
-   */
+  /** Tests to see if the DIO can create and recognize a high value. */
   @Test
   public void testSetHigh() {
     dio.getOutput().set(true);
@@ -88,9 +81,7 @@ public class DIOCrossConnectTest extends AbstractInterruptTest {
     assertTrue("DIO Not High after .05s delay", dio.getInput().get());
   }
 
-  /**
-   * Tests to see if the DIO can create and recognize a low value.
-   */
+  /** Tests to see if the DIO can create and recognize a low value. */
   @Test
   public void testSetLow() {
     dio.getOutput().set(false);
@@ -99,22 +90,20 @@ public class DIOCrossConnectTest extends AbstractInterruptTest {
     assertFalse("DIO Not Low after .05s delay", dio.getInput().get());
   }
 
-  /**
-   * Tests to see if the DIO PWM functionality works.
-   */
+  /** Tests to see if the DIO PWM functionality works. */
   @Test
   public void testDIOpulseWidthModulation() {
     dio.getOutput().set(false);
     assertFalse("DIO Not Low after no delay", dio.getInput().get());
-    //Set frequency to 2.0 Hz
+    // Set frequency to 2.0 Hz
     dio.getOutput().setPWMRate(2.0);
-    //Enable PWM, but leave it off.
+    // Enable PWM, but leave it off.
     dio.getOutput().enablePWM(0.0);
     Timer.delay(0.5);
     dio.getOutput().updateDutyCycle(0.5);
     dio.getInput().requestInterrupts();
     dio.getInput().setUpSourceEdge(false, true);
-    //TODO: Add return value from WaitForInterrupt
+    // TODO: Add return value from WaitForInterrupt
     dio.getInput().waitForInterrupt(3.0, true);
     Timer.delay(0.5);
     final boolean firstCycle = dio.getInput().get();
@@ -187,7 +176,5 @@ public class DIOCrossConnectTest extends AbstractInterruptTest {
   @Override
   void setInterruptLow() {
     dio.getOutput().set(false);
-
   }
-
 }
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilterTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilterTest.java
index f3607d36c2..932195e7ea 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilterTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilterTest.java
@@ -4,20 +4,15 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.util.logging.Logger;
-
-import org.junit.Test;
-
-import edu.wpi.first.wpilibj.test.AbstractComsSetup;
-
 import static org.junit.Assert.assertEquals;
 
-/**
- * Test for the DigitalGlitchFilter class.
- */
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+import java.util.logging.Logger;
+import org.junit.Test;
+
+/** Test for the DigitalGlitchFilter class. */
 public class DigitalGlitchFilterTest extends AbstractComsSetup {
-  private static final Logger logger = Logger.getLogger(
-      DigitalGlitchFilterTest.class.getName());
+  private static final Logger logger = Logger.getLogger(DigitalGlitchFilterTest.class.getName());
 
   @Override
   protected Logger getClassLogger() {
@@ -26,9 +21,9 @@ public class DigitalGlitchFilterTest extends AbstractComsSetup {
 
   /**
    * This is a test to make sure that filters can be created and are consistent. This assumes that
-   * the FPGA implementation to actually implement the filter has been tested.  It does validate
-   * that we are successfully able to set and get the active filters for ports and makes sure that
-   * the FPGA filter is changed correctly, and does the same for the period.
+   * the FPGA implementation to actually implement the filter has been tested. It does validate that
+   * we are successfully able to set and get the active filters for ports and makes sure that the
+   * FPGA filter is changed correctly, and does the same for the period.
    */
   @Test
   public void testDigitalGlitchFilterBasic() {
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DriverStationTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DriverStationTest.java
index 3eeddbde5d..654e1b88a1 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DriverStationTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DriverStationTest.java
@@ -4,14 +4,11 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.util.logging.Logger;
-
-import org.junit.Test;
-
-import edu.wpi.first.wpilibj.test.AbstractComsSetup;
-
 import static org.junit.Assert.assertEquals;
 
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+import java.util.logging.Logger;
+import org.junit.Test;
 
 public class DriverStationTest extends AbstractComsSetup {
   private static final Logger logger = Logger.getLogger(TimerTest.class.getName());
@@ -34,8 +31,10 @@ public class DriverStationTest extends AbstractComsSetup {
     long endTime = RobotController.getFPGATime();
     long difference = endTime - startTime;
 
-    assertEquals("DriverStation waitForData did not wait long enough", TIMER_RUNTIME, difference,
+    assertEquals(
+        "DriverStation waitForData did not wait long enough",
+        TIMER_RUNTIME,
+        difference,
         TIMER_TOLERANCE * TIMER_RUNTIME);
   }
-
 }
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/EncoderTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/EncoderTest.java
index 1aeebe7b84..6e2588d995 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/EncoderTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/EncoderTest.java
@@ -4,9 +4,13 @@
 
 package edu.wpi.first.wpilibj;
 
+import static org.junit.Assert.assertTrue;
+
+import edu.wpi.first.wpilibj.fixtures.FakeEncoderFixture;
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+import edu.wpi.first.wpilibj.test.TestBench;
 import java.util.Collection;
 import java.util.logging.Logger;
-
 import org.junit.After;
 import org.junit.AfterClass;
 import org.junit.Before;
@@ -15,16 +19,7 @@ import org.junit.runner.RunWith;
 import org.junit.runners.Parameterized;
 import org.junit.runners.Parameterized.Parameters;
 
-import edu.wpi.first.wpilibj.fixtures.FakeEncoderFixture;
-import edu.wpi.first.wpilibj.test.AbstractComsSetup;
-import edu.wpi.first.wpilibj.test.TestBench;
-
-import static org.junit.Assert.assertTrue;
-
-
-/**
- * Test to see if the FPGA properly recognizes a mock Encoder input.
- */
+/** Test to see if the FPGA properly recognizes a mock Encoder input. */
 @RunWith(Parameterized.class)
 public class EncoderTest extends AbstractComsSetup {
   private static final Logger logger = Logger.getLogger(EncoderTest.class.getName());
@@ -42,8 +37,8 @@ public class EncoderTest extends AbstractComsSetup {
   }
 
   /**
-   * Test data generator. This method is called the the JUnit parametrized test runner and returns
-   * a Collection of Arrays. For each Array in the Collection, each array element corresponds to a
+   * Test data generator. This method is called the the JUnit parametrized test runner and returns a
+   * Collection of Arrays. For each Array in the Collection, each array element corresponds to a
    * parameter in the constructor.
    */
   @Parameters
@@ -54,11 +49,11 @@ public class EncoderTest extends AbstractComsSetup {
   /**
    * Constructs a parametrized Encoder Test.
    *
-   * @param inputA  The port number for inputA
+   * @param inputA The port number for inputA
    * @param outputA The port number for outputA
-   * @param inputB  The port number for inputB
+   * @param inputB The port number for inputB
    * @param outputB The port number for outputB
-   * @param flip    whether or not these set of values require the encoder to be reversed (0 or 1)
+   * @param flip whether or not these set of values require the encoder to be reversed (0 or 1)
    */
   public EncoderTest(int inputA, int outputA, int inputB, int outputB, int flip) {
     m_inputA = inputA;
@@ -81,9 +76,7 @@ public class EncoderTest extends AbstractComsSetup {
     encoder = null;
   }
 
-  /**
-   * Sets up the test and verifies that the test was reset to the default state.
-   */
+  /** Sets up the test and verifies that the test was reset to the default state. */
   @Before
   public void setUp() {
     encoder.setup();
@@ -95,18 +88,14 @@ public class EncoderTest extends AbstractComsSetup {
     encoder.reset();
   }
 
-  /**
-   * Tests to see if Encoders initialize to zero.
-   */
+  /** Tests to see if Encoders initialize to zero. */
   @Test
   public void testDefaultState() {
     int value = encoder.getEncoder().get();
     assertTrue(errorMessage(0, value), value == 0);
   }
 
-  /**
-   * Tests to see if Encoders can count up successfully.
-   */
+  /** Tests to see if Encoders can count up successfully. */
   @Test
   public void testCountUp() {
     int goal = 100;
@@ -115,12 +104,9 @@ public class EncoderTest extends AbstractComsSetup {
     encoder.getFakeEncoderSource().execute();
     int value = encoder.getEncoder().get();
     assertTrue(errorMessage(goal, value), value == goal);
-
   }
 
-  /**
-   * Tests to see if Encoders can count down successfully.
-   */
+  /** Tests to see if Encoders can count down successfully. */
   @Test
   public void testCountDown() {
     int goal = -100;
@@ -129,18 +115,27 @@ public class EncoderTest extends AbstractComsSetup {
     encoder.getFakeEncoderSource().execute();
     int value = encoder.getEncoder().get();
     assertTrue(errorMessage(goal, value), value == goal);
-
   }
 
   /**
    * Creates a simple message with the error that was encountered for the Encoders.
    *
-   * @param goal      The goal that was trying to be reached
+   * @param goal The goal that was trying to be reached
    * @param trueValue The actual value that was reached by the test
    * @return A fully constructed message with data about where and why the the test failed.
    */
   private String errorMessage(int goal, int trueValue) {
-    return "Encoder ({In,Out}): {" + m_inputA + ", " + m_outputA + "},{" + m_inputB + ", "
-        + m_outputB + "} Returned: " + trueValue + ", Wanted: " + goal;
+    return "Encoder ({In,Out}): {"
+        + m_inputA
+        + ", "
+        + m_outputA
+        + "},{"
+        + m_inputB
+        + ", "
+        + m_outputB
+        + "} Returned: "
+        + trueValue
+        + ", Wanted: "
+        + goal;
   }
 }
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java
index accb4341bf..a918f37d01 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java
@@ -4,21 +4,17 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.util.logging.Logger;
-
-import org.junit.After;
-import org.junit.Before;
-import org.junit.Test;
+import static org.junit.Assert.assertEquals;
 
 import edu.wpi.first.wpilibj.fixtures.TiltPanCameraFixture;
 import edu.wpi.first.wpilibj.test.AbstractComsSetup;
 import edu.wpi.first.wpilibj.test.TestBench;
+import java.util.logging.Logger;
+import org.junit.After;
+import org.junit.Before;
+import org.junit.Test;
 
-import static org.junit.Assert.assertEquals;
-
-/**
- * Tests that the {@link TiltPanCameraFixture}.
- */
+/** Tests that the {@link TiltPanCameraFixture}. */
 public class GyroTest extends AbstractComsSetup {
   private static final Logger logger = Logger.getLogger(GyroTest.class.getName());
 
@@ -89,7 +85,6 @@ public class GyroTest extends AbstractComsSetup {
     assertEquals(errorMessage(diff, TEST_ANGLE), TEST_ANGLE, angle, 10);
   }
 
-
   protected void testDeviationOverTime(AnalogGyro gyro) {
     // Make sure that the test isn't influenced by any previous motions.
     Timer.delay(0.5);
@@ -122,5 +117,4 @@ public class GyroTest extends AbstractComsSetup {
   private String errorMessage(double difference, double target) {
     return "Gyro angle skewed " + difference + " deg away from target " + target;
   }
-
 }
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MockDS.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MockDS.java
index dcb64ca30d..dfd5b6c742 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MockDS.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MockDS.java
@@ -24,41 +24,43 @@ public class MockDS {
 
   @SuppressWarnings("MissingJavadocMethod")
   public void start() {
-    m_thread = new Thread(() -> {
-      DatagramSocket socket;
-      try {
-        socket = new DatagramSocket();
-      } catch (SocketException e1) {
-        // TODO Auto-generated catch block
-        e1.printStackTrace();
-        return;
-      }
-      InetSocketAddress addr = new InetSocketAddress("127.0.0.1", 1110);
-      byte[] sendData = new byte[6];
-      DatagramPacket packet = new DatagramPacket(sendData, 0, 6, addr);
-      short sendCount = 0;
-      int initCount = 0;
-      while (!Thread.currentThread().isInterrupted()) {
-        try {
-          Thread.sleep(20);
-          generateEnabledDsPacket(sendData, sendCount++);
-          // ~50 disabled packets are required to make the robot actually enable
-          // 1 is definitely not enough.
-          if (initCount < 50) {
-            initCount++;
-            sendData[3] = 0;
-          }
-          packet.setData(sendData);
-          socket.send(packet);
-        } catch (InterruptedException ex) {
-          Thread.currentThread().interrupt();
-        } catch (IOException ex) {
-          // TODO Auto-generated catch block
-          ex.printStackTrace();
-        }
-      }
-      socket.close();
-    });
+    m_thread =
+        new Thread(
+            () -> {
+              DatagramSocket socket;
+              try {
+                socket = new DatagramSocket();
+              } catch (SocketException e1) {
+                // TODO Auto-generated catch block
+                e1.printStackTrace();
+                return;
+              }
+              InetSocketAddress addr = new InetSocketAddress("127.0.0.1", 1110);
+              byte[] sendData = new byte[6];
+              DatagramPacket packet = new DatagramPacket(sendData, 0, 6, addr);
+              short sendCount = 0;
+              int initCount = 0;
+              while (!Thread.currentThread().isInterrupted()) {
+                try {
+                  Thread.sleep(20);
+                  generateEnabledDsPacket(sendData, sendCount++);
+                  // ~50 disabled packets are required to make the robot actually enable
+                  // 1 is definitely not enough.
+                  if (initCount < 50) {
+                    initCount++;
+                    sendData[3] = 0;
+                  }
+                  packet.setData(sendData);
+                  socket.send(packet);
+                } catch (InterruptedException ex) {
+                  Thread.currentThread().interrupt();
+                } catch (IOException ex) {
+                  // TODO Auto-generated catch block
+                  ex.printStackTrace();
+                }
+              }
+              socket.close();
+            });
     // Because of the test setup in Java, this thread will not be stopped
     // So it must be a daemon thread
     m_thread.setDaemon(true);
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java
index c3635b4410..87e594dfac 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java
@@ -4,10 +4,18 @@
 
 package edu.wpi.first.wpilibj;
 
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertFalse;
+import static org.junit.Assert.assertTrue;
+
+import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+import edu.wpi.first.wpilibj.test.TestBench;
+import edu.wpi.first.wpiutil.math.MathUtil;
 import java.util.Arrays;
 import java.util.Collection;
 import java.util.logging.Logger;
-
 import org.junit.After;
 import org.junit.AfterClass;
 import org.junit.Before;
@@ -16,17 +24,6 @@ import org.junit.runner.RunWith;
 import org.junit.runners.Parameterized;
 import org.junit.runners.Parameterized.Parameters;
 
-import edu.wpi.first.wpilibj.controller.PIDController;
-import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
-import edu.wpi.first.wpilibj.test.AbstractComsSetup;
-import edu.wpi.first.wpilibj.test.TestBench;
-import edu.wpi.first.wpiutil.math.MathUtil;
-
-import static org.junit.Assert.assertEquals;
-import static org.junit.Assert.assertFalse;
-import static org.junit.Assert.assertTrue;
-
-
 @RunWith(Parameterized.class)
 public class MotorEncoderTest extends AbstractComsSetup {
   private static final Logger logger = Logger.getLogger(MotorEncoderTest.class.getName());
@@ -58,8 +55,12 @@ public class MotorEncoderTest extends AbstractComsSetup {
   @Parameters(name = "{index}: {0}")
   public static Collection<MotorEncoderFixture<?>[]> generateData() {
     // logger.fine("Loading the MotorList");
-    return Arrays.asList(new MotorEncoderFixture<?>[][]{{TestBench.getInstance().getTalonPair()},
-        {TestBench.getInstance().getVictorPair()}, {TestBench.getInstance().getJaguarPair()}});
+    return Arrays.asList(
+        new MotorEncoderFixture<?>[][] {
+          {TestBench.getInstance().getTalonPair()},
+          {TestBench.getInstance().getVictorPair()},
+          {TestBench.getInstance().getJaguarPair()}
+        });
   }
 
   @Before
@@ -69,7 +70,6 @@ public class MotorEncoderTest extends AbstractComsSetup {
         me.getType() + " Did not start with an initial speed of 0 instead got: " + initialSpeed,
         Math.abs(initialSpeed) < 0.001);
     me.setup();
-
   }
 
   @After
@@ -109,9 +109,13 @@ public class MotorEncoderTest extends AbstractComsSetup {
     me.getMotor().set(0.2);
     Timer.delay(MOTOR_RUNTIME);
     int currentValue = me.getEncoder().get();
-    assertTrue(me.getType() + " Encoder not incremented: start: " + startValue + "; current: "
-        + currentValue, startValue < currentValue);
-
+    assertTrue(
+        me.getType()
+            + " Encoder not incremented: start: "
+            + startValue
+            + "; current: "
+            + currentValue,
+        startValue < currentValue);
   }
 
   /**
@@ -125,13 +129,16 @@ public class MotorEncoderTest extends AbstractComsSetup {
     me.getMotor().set(-0.2);
     Timer.delay(MOTOR_RUNTIME);
     int currentValue = me.getEncoder().get();
-    assertTrue(me.getType() + " Encoder not decremented: start: " + startValue + "; current: "
-        + currentValue, startValue > currentValue);
+    assertTrue(
+        me.getType()
+            + " Encoder not decremented: start: "
+            + startValue
+            + "; current: "
+            + currentValue,
+        startValue > currentValue);
   }
 
-  /**
-   * This method test if the counters count when the motors rotate.
-   */
+  /** This method test if the counters count when the motors rotate. */
   @Test
   public void testCounter() {
     final int counter1Start = me.getCounters()[0].get();
@@ -141,10 +148,20 @@ public class MotorEncoderTest extends AbstractComsSetup {
     Timer.delay(MOTOR_RUNTIME);
     int counter1End = me.getCounters()[0].get();
     int counter2End = me.getCounters()[1].get();
-    assertTrue(me.getType() + " Counter not incremented: start: " + counter1Start + "; current: "
-        + counter1End, counter1Start < counter1End);
-    assertTrue(me.getType() + " Counter not incremented: start: " + counter1Start + "; current: "
-        + counter2End, counter2Start < counter2End);
+    assertTrue(
+        me.getType()
+            + " Counter not incremented: start: "
+            + counter1Start
+            + "; current: "
+            + counter1End,
+        counter1Start < counter1End);
+    assertTrue(
+        me.getType()
+            + " Counter not incremented: start: "
+            + counter1Start
+            + "; current: "
+            + counter2End,
+        counter2Start < counter2End);
     me.reset();
     encodersResetCheck(me);
   }
@@ -156,7 +173,8 @@ public class MotorEncoderTest extends AbstractComsSetup {
   @Test
   public void testSetHighForwardSpeed() {
     me.getMotor().set(15);
-    assertTrue(me.getType() + " Motor speed was not close to 1.0, was: " + me.getMotor().get(),
+    assertTrue(
+        me.getType() + " Motor speed was not close to 1.0, was: " + me.getMotor().get(),
         me.isMotorSpeedWithinRange(1.0, 0.001));
   }
 
@@ -167,11 +185,11 @@ public class MotorEncoderTest extends AbstractComsSetup {
   @Test
   public void testSetHighReverseSpeed() {
     me.getMotor().set(-15);
-    assertTrue(me.getType() + " Motor speed was not close to 1.0, was: " + me.getMotor().get(),
+    assertTrue(
+        me.getType() + " Motor speed was not close to 1.0, was: " + me.getMotor().get(),
         me.isMotorSpeedWithinRange(-1.0, 0.001));
   }
 
-
   @Test
   public void testPositionPIDController() {
     try (PIDController pidController = new PIDController(0.001, 0.0005, 0)) {
@@ -179,17 +197,20 @@ public class MotorEncoderTest extends AbstractComsSetup {
       pidController.setIntegratorRange(-0.2, 0.2);
       pidController.setSetpoint(1000);
 
-      try (Notifier pidRunner = new Notifier(() -> {
-        var speed = pidController.calculate(me.getEncoder().getDistance());
-        me.getMotor().set(MathUtil.clamp(speed, -0.2, 0.2));
-      })) {
+      try (Notifier pidRunner =
+          new Notifier(
+              () -> {
+                var speed = pidController.calculate(me.getEncoder().getDistance());
+                me.getMotor().set(MathUtil.clamp(speed, -0.2, 0.2));
+              })) {
         pidRunner.startPeriodic(pidController.getPeriod());
         Timer.delay(10.0);
         pidRunner.stop();
 
         assertTrue(
             "PID loop did not reach reference within 10 seconds. The current error was"
-            + pidController.getPositionError(), pidController.atSetpoint());
+                + pidController.getPositionError(),
+            pidController.atSetpoint());
       }
     }
   }
@@ -201,16 +222,20 @@ public class MotorEncoderTest extends AbstractComsSetup {
       pidController.setTolerance(200);
       pidController.setSetpoint(600);
 
-      try (Notifier pidRunner = new Notifier(() -> {
-        var speed = filter.calculate(me.getEncoder().getRate());
-        me.getMotor().set(MathUtil.clamp(speed, -0.3, 0.3));
-      })) {
+      try (Notifier pidRunner =
+          new Notifier(
+              () -> {
+                var speed = filter.calculate(me.getEncoder().getRate());
+                me.getMotor().set(MathUtil.clamp(speed, -0.3, 0.3));
+              })) {
         pidRunner.startPeriodic(pidController.getPeriod());
         Timer.delay(10.0);
         pidRunner.stop();
 
-        assertTrue("PID loop did not reach reference within 10 seconds. The error was: "
-            + pidController.getPositionError(), pidController.atSetpoint());
+        assertTrue(
+            "PID loop did not reach reference within 10 seconds. The error was: "
+                + pidController.getPositionError(),
+            pidController.atSetpoint());
       }
     }
   }
@@ -221,18 +246,18 @@ public class MotorEncoderTest extends AbstractComsSetup {
    * @param me The MotorEncoderFixture under test
    */
   private void encodersResetCheck(MotorEncoderFixture<?> me) {
-    assertEquals(me.getType() + " Encoder value was incorrect after reset.", me.getEncoder().get(),
-        0);
-    assertEquals(me.getType() + " Motor value was incorrect after reset.", me.getMotor().get(), 0,
-        0);
-    assertEquals(me.getType() + " Counter1 value was incorrect after reset.",
-        me.getCounters()[0].get(), 0);
-    assertEquals(me.getType() + " Counter2 value was incorrect after reset.",
-        me.getCounters()[1].get(), 0);
+    assertEquals(
+        me.getType() + " Encoder value was incorrect after reset.", me.getEncoder().get(), 0);
+    assertEquals(
+        me.getType() + " Motor value was incorrect after reset.", me.getMotor().get(), 0, 0);
+    assertEquals(
+        me.getType() + " Counter1 value was incorrect after reset.", me.getCounters()[0].get(), 0);
+    assertEquals(
+        me.getType() + " Counter2 value was incorrect after reset.", me.getCounters()[1].get(), 0);
     Timer.delay(0.5); // so this doesn't fail with the 0.5 second default
     // timeout on the encoders
-    assertTrue(me.getType() + " Encoder.getStopped() returned false after the motor was reset.",
+    assertTrue(
+        me.getType() + " Encoder.getStopped() returned false after the motor was reset.",
         me.getEncoder().getStopped());
   }
-
 }
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorInvertingTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorInvertingTest.java
index 545e817d11..dc44ecbe71 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorInvertingTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorInvertingTest.java
@@ -4,10 +4,15 @@
 
 package edu.wpi.first.wpilibj;
 
+import static org.junit.Assert.assertFalse;
+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.logging.Logger;
-
 import org.junit.AfterClass;
 import org.junit.Before;
 import org.junit.Test;
@@ -15,23 +20,13 @@ import org.junit.runner.RunWith;
 import org.junit.runners.Parameterized;
 import org.junit.runners.Parameterized.Parameters;
 
-import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
-import edu.wpi.first.wpilibj.test.AbstractComsSetup;
-import edu.wpi.first.wpilibj.test.TestBench;
-
-import static org.junit.Assert.assertFalse;
-import static org.junit.Assert.assertTrue;
-
-/**
- * Tests Inversion of motors using the SpeedController setInverted.
- */
+/** Tests Inversion of motors using the SpeedController setInverted. */
 @RunWith(Parameterized.class)
 public class MotorInvertingTest extends AbstractComsSetup {
   static MotorEncoderFixture<?> fixture = null;
   private static final double motorspeed = 0.2;
   private static final double delaytime = 0.3;
 
-
   /**
    * Constructs the test.
    *
@@ -49,8 +44,12 @@ public class MotorInvertingTest extends AbstractComsSetup {
   @Parameters(name = "{index}: {0}")
   public static Collection<MotorEncoderFixture<?>[]> generateData() {
     // logger.fine("Loading the MotorList");
-    return Arrays.asList(new MotorEncoderFixture<?>[][]{{TestBench.getInstance().getTalonPair()},
-        {TestBench.getInstance().getVictorPair()}, {TestBench.getInstance().getJaguarPair()}});
+    return Arrays.asList(
+        new MotorEncoderFixture<?>[][] {
+          {TestBench.getInstance().getTalonPair()},
+          {TestBench.getInstance().getVictorPair()},
+          {TestBench.getInstance().getJaguarPair()}
+        });
   }
 
   private static final Logger logger = Logger.getLogger(MotorInvertingTest.class.getName());
@@ -82,8 +81,9 @@ public class MotorInvertingTest extends AbstractComsSetup {
     fixture.getMotor().setInverted(true);
     fixture.getMotor().set(motorspeed);
     Timer.delay(delaytime);
-    assertFalse("Inverting with Positive value does not change direction", fixture.getEncoder()
-        .getDirection() == initDirection);
+    assertFalse(
+        "Inverting with Positive value does not change direction",
+        fixture.getEncoder().getDirection() == initDirection);
     fixture.getMotor().set(0);
   }
 
@@ -96,8 +96,9 @@ public class MotorInvertingTest extends AbstractComsSetup {
     fixture.getMotor().setInverted(true);
     fixture.getMotor().set(-motorspeed);
     Timer.delay(delaytime);
-    assertFalse("Inverting with Negative value does not change direction", fixture.getEncoder()
-        .getDirection() == initDirection);
+    assertFalse(
+        "Inverting with Negative value does not change direction",
+        fixture.getEncoder().getDirection() == initDirection);
     fixture.getMotor().set(0);
   }
 
@@ -110,8 +111,9 @@ public class MotorInvertingTest extends AbstractComsSetup {
     fixture.getMotor().setInverted(true);
     fixture.getMotor().set(-motorspeed);
     Timer.delay(delaytime);
-    assertTrue("Inverting with Switching value does change direction", fixture.getEncoder()
-        .getDirection() == initDirection);
+    assertTrue(
+        "Inverting with Switching value does change direction",
+        fixture.getEncoder().getDirection() == initDirection);
     fixture.getMotor().set(0);
   }
 
@@ -124,8 +126,9 @@ public class MotorInvertingTest extends AbstractComsSetup {
     fixture.getMotor().setInverted(true);
     fixture.getMotor().set(motorspeed);
     Timer.delay(delaytime);
-    assertTrue("Inverting with Switching value does change direction", fixture.getEncoder()
-        .getDirection() == initDirection);
+    assertTrue(
+        "Inverting with Switching value does change direction",
+        fixture.getEncoder().getDirection() == initDirection);
     fixture.getMotor().set(0);
   }
 }
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PCMTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PCMTest.java
index 29f1f9e7a2..353f6d296d 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PCMTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PCMTest.java
@@ -4,23 +4,18 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.util.logging.Logger;
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertFalse;
+import static org.junit.Assert.assertTrue;
 
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+import java.util.logging.Logger;
 import org.junit.AfterClass;
 import org.junit.Before;
 import org.junit.BeforeClass;
 import org.junit.Test;
 
-import edu.wpi.first.wpilibj.test.AbstractComsSetup;
-
-import static org.junit.Assert.assertEquals;
-import static org.junit.Assert.assertFalse;
-import static org.junit.Assert.assertTrue;
-
-/**
- * Test that covers the {@link Compressor}.
- */
-
+/** Test that covers the {@link Compressor}. */
 public class PCMTest extends AbstractComsSetup {
   private static final Logger logger = Logger.getLogger(PCMTest.class.getName());
   /*
@@ -73,9 +68,7 @@ public class PCMTest extends AbstractComsSetup {
     fakePressureSwitch.set(false);
   }
 
-  /**
-   * Test if the compressor turns on and off when the pressure switch is toggled.
-   */
+  /** Test if the compressor turns on and off when the pressure switch is toggled. */
   @Test
   public void testPressureSwitch() throws Exception {
     final double range = 0.5;
@@ -85,19 +78,23 @@ public class PCMTest extends AbstractComsSetup {
     // Turn on the compressor
     fakePressureSwitch.set(true);
     Timer.delay(kCompressorDelayTime);
-    assertEquals("Compressor did not turn on when the pressure switch turned on.",
-        kCompressorOnVoltage, fakeCompressor.getVoltage(), range);
+    assertEquals(
+        "Compressor did not turn on when the pressure switch turned on.",
+        kCompressorOnVoltage,
+        fakeCompressor.getVoltage(),
+        range);
 
     // Turn off the compressor
     fakePressureSwitch.set(false);
     Timer.delay(kCompressorDelayTime);
-    assertEquals("Compressor did not turn off when the pressure switch turned off.",
-        kCompressorOffVoltage, fakeCompressor.getVoltage(), range);
+    assertEquals(
+        "Compressor did not turn off when the pressure switch turned off.",
+        kCompressorOffVoltage,
+        fakeCompressor.getVoltage(),
+        range);
   }
 
-  /**
-   * Test if the correct solenoids turn on and off when they should.
-   */
+  /** Test if the correct solenoids turn on and off when they should. */
   @Test
   public void testSolenoid() throws Exception {
     reset();
@@ -162,22 +159,20 @@ public class PCMTest extends AbstractComsSetup {
     Timer.delay(kSolenoidDelayTime);
     assertFalse("Solenoid #1 did not turn on", fakeSolenoid1.get());
     assertTrue("Solenoid #2 did not turn off", fakeSolenoid2.get());
-    assertTrue("DoubleSolenoid did not report Forward", solenoid.get() == DoubleSolenoid.Value
-        .kForward);
+    assertTrue(
+        "DoubleSolenoid did not report Forward", solenoid.get() == DoubleSolenoid.Value.kForward);
 
     solenoid.set(DoubleSolenoid.Value.kReverse);
     Timer.delay(kSolenoidDelayTime);
     assertTrue("Solenoid #1 did not turn off", fakeSolenoid1.get());
     assertFalse("Solenoid #2 did not turn on", fakeSolenoid2.get());
-    assertTrue("DoubleSolenoid did not report Reverse", solenoid.get() == DoubleSolenoid.Value
-        .kReverse);
+    assertTrue(
+        "DoubleSolenoid did not report Reverse", solenoid.get() == DoubleSolenoid.Value.kReverse);
 
     solenoid.close();
   }
 
-  /**
-   * Test if the correct solenoids turn on and off when they should.
-   */
+  /** Test if the correct solenoids turn on and off when they should. */
   @Test
   public void testOneShot() throws Exception {
     reset();
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java
index c2d3ab3268..1c30544a65 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java
@@ -4,10 +4,18 @@
 
 package edu.wpi.first.wpilibj;
 
+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.logging.Logger;
-
 import org.junit.After;
 import org.junit.AfterClass;
 import org.junit.BeforeClass;
@@ -16,19 +24,7 @@ import org.junit.runner.RunWith;
 import org.junit.runners.Parameterized;
 import org.junit.runners.Parameterized.Parameters;
 
-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 static org.hamcrest.Matchers.greaterThan;
-import static org.hamcrest.Matchers.is;
-import static org.junit.Assert.assertEquals;
-import static org.junit.Assert.assertThat;
-
-/**
- * Test that covers the {@link PowerDistributionPanel}.
- */
+/** Test that covers the {@link PowerDistributionPanel}. */
 @RunWith(Parameterized.class)
 public class PDPTest extends AbstractComsSetup {
   private static final Logger logger = Logger.getLogger(PDPTest.class.getName());
@@ -49,7 +45,6 @@ public class PDPTest extends AbstractComsSetup {
     me = null;
   }
 
-
   @SuppressWarnings("MissingJavadocMethod")
   public PDPTest(MotorEncoderFixture<?> mef, Double expectedCurrentDraw) {
     logger.fine("Constructor with: " + mef.getType());
@@ -65,8 +60,7 @@ 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.getInstance().getTalonPair(), 0.0}});
+    return Arrays.asList(new Object[][] {{TestBench.getInstance().getTalonPair(), 0.0}});
   }
 
   @After
@@ -74,22 +68,20 @@ public class PDPTest extends AbstractComsSetup {
     me.reset();
   }
 
-
-  /**
-   * Test if the current changes when the motor is driven using a talon.
-   */
+  /** Test if the current changes when the motor is driven using a talon. */
   @Test
   public void checkStoppedCurrentForSpeedController() throws CANMessageNotFoundException {
     Timer.delay(0.25);
 
     /* The Current should be 0 */
-    assertEquals("The low current was not within the expected range.", m_expectedStoppedCurrentDraw,
-        pdp.getCurrent(me.getPDPChannel()), 0.001);
+    assertEquals(
+        "The low current was not within the expected range.",
+        m_expectedStoppedCurrentDraw,
+        pdp.getCurrent(me.getPDPChannel()),
+        0.001);
   }
 
-  /**
-   * Test if the current changes when the motor is driven using a talon.
-   */
+  /** Test if the current changes when the motor is driven using a talon. */
   @Test
   public void checkRunningCurrentForSpeedController() throws CANMessageNotFoundException {
     /* Set the motor to full forward */
@@ -97,8 +89,10 @@ public class PDPTest extends AbstractComsSetup {
     Timer.delay(2);
 
     /* The current should now be greater than the low current */
-    assertThat("The driven current is not greater than the resting current.",
-        pdp.getCurrent(me.getPDPChannel()), is(greaterThan(m_expectedStoppedCurrentDraw)));
+    assertThat(
+        "The driven current is not greater than the resting current.",
+        pdp.getCurrent(me.getPDPChannel()),
+        is(greaterThan(m_expectedStoppedCurrentDraw)));
   }
 
   @Override
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
index a632f1229b..fe9cd6f9d4 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
@@ -4,11 +4,21 @@
 
 package edu.wpi.first.wpilibj;
 
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertFalse;
+import static org.junit.Assert.assertTrue;
+
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
+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.logging.Logger;
-
 import org.junit.After;
 import org.junit.AfterClass;
 import org.junit.Before;
@@ -18,23 +28,7 @@ import org.junit.runner.RunWith;
 import org.junit.runners.Parameterized;
 import org.junit.runners.Parameterized.Parameters;
 
-import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.networktables.NetworkTableInstance;
-import edu.wpi.first.wpilibj.controller.PIDController;
-import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl;
-import edu.wpi.first.wpilibj.test.AbstractComsSetup;
-import edu.wpi.first.wpilibj.test.TestBench;
-
-import static org.junit.Assert.assertEquals;
-import static org.junit.Assert.assertFalse;
-import static org.junit.Assert.assertTrue;
-
-
-/**
- * Test that covers the {@link PIDController}.
- */
-
+/** Test that covers the {@link PIDController}. */
 @RunWith(Parameterized.class)
 public class PIDTest extends AbstractComsSetup {
   private static final Logger logger = Logger.getLogger(PIDTest.class.getName());
@@ -55,7 +49,6 @@ public class PIDTest extends AbstractComsSetup {
     return logger;
   }
 
-
   @SuppressWarnings({"ParameterName", "MissingJavadocMethod"})
   public PIDTest(Double p, Double i, Double d, MotorEncoderFixture<?> mef) {
     logger.fine("Constructor with: " + mef.getType());
@@ -68,7 +61,6 @@ public class PIDTest extends AbstractComsSetup {
     this.k_d = d;
   }
 
-
   @Parameters
   public static Collection<Object[]> generateData() {
     // logger.fine("Loading the MotorList");
@@ -77,16 +69,19 @@ public class PIDTest extends AbstractComsSetup {
     double ki = 0.0005;
     double kd = 0.0;
     for (int i = 0; i < 1; i++) {
-      data.addAll(Arrays.asList(new Object[][]{{kp, ki, kd, TestBench.getInstance().getTalonPair()},
-          {kp, ki, kd, TestBench.getInstance().getVictorPair()},
-          {kp, ki, kd, TestBench.getInstance().getJaguarPair()}}));
+      data.addAll(
+          Arrays.asList(
+              new Object[][] {
+                {kp, ki, kd, TestBench.getInstance().getTalonPair()},
+                {kp, ki, kd, TestBench.getInstance().getVictorPair()},
+                {kp, ki, kd, TestBench.getInstance().getJaguarPair()}
+              }));
     }
     return data;
   }
 
   @BeforeClass
-  public static void setUpBeforeClass() {
-  }
+  public static void setUpBeforeClass() {}
 
   @AfterClass
   public static void tearDownAfterClass() {
@@ -127,8 +122,11 @@ public class PIDTest extends AbstractComsSetup {
     setupIntegratorRange();
     double reference = 2500.0;
     m_controller.setSetpoint(reference);
-    assertEquals("PID.getPositionError() did not start at " + reference,
-        reference, m_controller.getPositionError(), 0);
+    assertEquals(
+        "PID.getPositionError() did not start at " + reference,
+        reference,
+        m_controller.getPositionError(),
+        0);
     m_builder.updateTable();
     assertEquals(k_p, m_table.getEntry("Kp").getDouble(9999999), 0);
     assertEquals(k_i, m_table.getEntry("Ki").getDouble(9999999), 0);
@@ -153,25 +151,35 @@ public class PIDTest extends AbstractComsSetup {
     double reference = 1000.0;
     assertEquals(pidData() + "did not start at 0", 0, me.getMotor().get(), 0);
     m_controller.setSetpoint(reference);
-    assertEquals(pidData() + "did not have an error of " + reference, reference,
-        m_controller.getPositionError(), 0);
-    Notifier pidRunner = new Notifier(
-        () -> me.getMotor().set(m_controller.calculate(me.getEncoder().getDistance())));
+    assertEquals(
+        pidData() + "did not have an error of " + reference,
+        reference,
+        m_controller.getPositionError(),
+        0);
+    Notifier pidRunner =
+        new Notifier(
+            () -> me.getMotor().set(m_controller.calculate(me.getEncoder().getDistance())));
     pidRunner.startPeriodic(m_controller.getPeriod());
     Timer.delay(5);
     pidRunner.stop();
-    assertTrue(pidData() + "Was not on Target. Controller Error: "
-        + m_controller.getPositionError(), m_controller.atSetpoint());
+    assertTrue(
+        pidData() + "Was not on Target. Controller Error: " + m_controller.getPositionError(),
+        m_controller.atSetpoint());
 
     pidRunner.close();
   }
 
   private String pidData() {
-    return me.getType() + " PID {P:" + m_controller.getP() + " I:" + m_controller.getI() + " D:"
-        + m_controller.getD() + "} ";
+    return me.getType()
+        + " PID {P:"
+        + m_controller.getP()
+        + " I:"
+        + m_controller.getI()
+        + " D:"
+        + m_controller.getD()
+        + "} ";
   }
 
-
   @Test(expected = RuntimeException.class)
   public void testOnTargetNoToleranceSet() {
     setupIntegratorRange();
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/RelayCrossConnectTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/RelayCrossConnectTest.java
index 14582de565..91685efc70 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/RelayCrossConnectTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/RelayCrossConnectTest.java
@@ -4,11 +4,9 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.util.logging.Logger;
-
-import org.junit.After;
-import org.junit.Before;
-import org.junit.Test;
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertFalse;
+import static org.junit.Assert.assertTrue;
 
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
@@ -19,14 +17,12 @@ import edu.wpi.first.wpilibj.fixtures.RelayCrossConnectFixture;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl;
 import edu.wpi.first.wpilibj.test.AbstractComsSetup;
 import edu.wpi.first.wpilibj.test.TestBench;
+import java.util.logging.Logger;
+import org.junit.After;
+import org.junit.Before;
+import org.junit.Test;
 
-import static org.junit.Assert.assertEquals;
-import static org.junit.Assert.assertFalse;
-import static org.junit.Assert.assertTrue;
-
-/**
- * Tests the {@link RelayCrossConnectFixture}.
- */
+/** Tests the {@link RelayCrossConnectFixture}. */
 public class RelayCrossConnectTest extends AbstractComsSetup {
   private static final Logger logger = Logger.getLogger(RelayCrossConnectTest.class.getName());
   private static final NetworkTable table =
@@ -34,7 +30,6 @@ public class RelayCrossConnectTest extends AbstractComsSetup {
   private RelayCrossConnectFixture m_relayFixture;
   private SendableBuilderImpl m_builder;
 
-
   @Before
   public void setUp() {
     m_relayFixture = TestBench.getRelayCrossConnectFixture();
@@ -55,10 +50,10 @@ public class RelayCrossConnectTest extends AbstractComsSetup {
     m_relayFixture.getRelay().setDirection(Direction.kBoth);
     m_relayFixture.getRelay().set(Value.kOn);
     m_builder.updateTable();
-    assertTrue("Input one was not high when relay set both high", m_relayFixture.getInputOne()
-        .get());
-    assertTrue("Input two was not high when relay set both high", m_relayFixture.getInputTwo()
-        .get());
+    assertTrue(
+        "Input one was not high when relay set both high", m_relayFixture.getInputOne().get());
+    assertTrue(
+        "Input two was not high when relay set both high", m_relayFixture.getInputTwo().get());
     assertEquals(Value.kOn, m_relayFixture.getRelay().get());
     assertEquals("On", table.getEntry("Value").getString(""));
   }
@@ -68,11 +63,10 @@ public class RelayCrossConnectTest extends AbstractComsSetup {
     m_relayFixture.getRelay().setDirection(Direction.kBoth);
     m_relayFixture.getRelay().set(Value.kForward);
     m_builder.updateTable();
-    assertFalse("Input one was not low when relay set Value.kForward", m_relayFixture.getInputOne()
-        .get());
-    assertTrue("Input two was not high when relay set Value.kForward", m_relayFixture
-        .getInputTwo()
-        .get());
+    assertFalse(
+        "Input one was not low when relay set Value.kForward", m_relayFixture.getInputOne().get());
+    assertTrue(
+        "Input two was not high when relay set Value.kForward", m_relayFixture.getInputTwo().get());
     assertEquals(Value.kForward, m_relayFixture.getRelay().get());
     assertEquals("Forward", table.getEntry("Value").getString(""));
   }
@@ -82,11 +76,10 @@ public class RelayCrossConnectTest extends AbstractComsSetup {
     m_relayFixture.getRelay().setDirection(Direction.kBoth);
     m_relayFixture.getRelay().set(Value.kReverse);
     m_builder.updateTable();
-    assertTrue("Input one was not high when relay set Value.kReverse", m_relayFixture.getInputOne()
-        .get());
-    assertFalse("Input two was not low when relay set Value.kReverse", m_relayFixture
-        .getInputTwo()
-        .get());
+    assertTrue(
+        "Input one was not high when relay set Value.kReverse", m_relayFixture.getInputOne().get());
+    assertFalse(
+        "Input two was not low when relay set Value.kReverse", m_relayFixture.getInputTwo().get());
     assertEquals(Value.kReverse, m_relayFixture.getRelay().get());
     assertEquals("Reverse", table.getEntry("Value").getString(""));
   }
@@ -96,9 +89,11 @@ public class RelayCrossConnectTest extends AbstractComsSetup {
     m_relayFixture.getRelay().setDirection(Direction.kForward);
     m_relayFixture.getRelay().set(Value.kOn);
     m_builder.updateTable();
-    assertFalse("Input one was not low when relay set Value.kOn in kForward Direction",
+    assertFalse(
+        "Input one was not low when relay set Value.kOn in kForward Direction",
         m_relayFixture.getInputOne().get());
-    assertTrue("Input two was not high when relay set Value.kOn in kForward Direction",
+    assertTrue(
+        "Input two was not high when relay set Value.kOn in kForward Direction",
         m_relayFixture.getInputTwo().get());
     assertEquals(Value.kOn, m_relayFixture.getRelay().get());
     assertEquals("On", table.getEntry("Value").getString(""));
@@ -109,9 +104,11 @@ public class RelayCrossConnectTest extends AbstractComsSetup {
     m_relayFixture.getRelay().setDirection(Direction.kReverse);
     m_relayFixture.getRelay().set(Value.kOn);
     m_builder.updateTable();
-    assertTrue("Input one was not high when relay set Value.kOn in kReverse Direction",
+    assertTrue(
+        "Input one was not high when relay set Value.kOn in kReverse Direction",
         m_relayFixture.getInputOne().get());
-    assertFalse("Input two was not low when relay set Value.kOn in kReverse Direction",
+    assertFalse(
+        "Input two was not low when relay set Value.kOn in kReverse Direction",
         m_relayFixture.getInputTwo().get());
     assertEquals(Value.kOn, m_relayFixture.getRelay().get());
     assertEquals("On", table.getEntry("Value").getString(""));
@@ -143,5 +140,4 @@ public class RelayCrossConnectTest extends AbstractComsSetup {
   protected Logger getClassLogger() {
     return logger;
   }
-
 }
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/SampleTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/SampleTest.java
index 73e8e1bcbc..bb0fcc9688 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/SampleTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/SampleTest.java
@@ -4,18 +4,16 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.util.logging.Logger;
+import static org.junit.Assert.assertTrue;
 
+import edu.wpi.first.wpilibj.fixtures.SampleFixture;
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+import java.util.logging.Logger;
 import org.junit.AfterClass;
 import org.junit.Before;
 import org.junit.BeforeClass;
 import org.junit.Test;
 
-import edu.wpi.first.wpilibj.fixtures.SampleFixture;
-import edu.wpi.first.wpilibj.test.AbstractComsSetup;
-
-import static org.junit.Assert.assertTrue;
-
 /**
  * Sample test for a sample PID controller. This demonstrates the general pattern of how to create a
  * test and use testing fixtures and categories. All tests must extend from {@link
@@ -59,5 +57,4 @@ public class SampleTest extends AbstractComsSetup {
     Timer.delay(0.5);
     assertTrue(true);
   }
-
 }
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/TimerTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/TimerTest.java
index 78c9ac4f40..8d0fc95ebc 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/TimerTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/TimerTest.java
@@ -4,14 +4,11 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.util.logging.Logger;
-
-import org.junit.Test;
-
-import edu.wpi.first.wpilibj.test.AbstractComsSetup;
-
 import static org.junit.Assert.assertEquals;
 
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+import java.util.logging.Logger;
+import org.junit.Test;
 
 public class TimerTest extends AbstractComsSetup {
   private static final Logger logger = Logger.getLogger(TimerTest.class.getName());
@@ -35,8 +32,10 @@ public class TimerTest extends AbstractComsSetup {
 
     // Then
     long offset = difference - TIMER_RUNTIME;
-    assertEquals("Timer.delay ran " + offset + " microseconds too long", TIMER_RUNTIME, difference,
+    assertEquals(
+        "Timer.delay ran " + offset + " microseconds too long",
+        TIMER_RUNTIME,
+        difference,
         TIMER_TOLERANCE);
   }
-
 }
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/WpiLibJTestSuite.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/WpiLibJTestSuite.java
index 74e81a80e1..56aaef26f8 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/WpiLibJTestSuite.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/WpiLibJTestSuite.java
@@ -4,22 +4,34 @@
 
 package edu.wpi.first.wpilibj;
 
+import edu.wpi.first.wpilibj.test.AbstractTestSuite;
 import org.junit.runner.RunWith;
 import org.junit.runners.Suite;
 import org.junit.runners.Suite.SuiteClasses;
 
-import edu.wpi.first.wpilibj.test.AbstractTestSuite;
-
 /**
  * Holds all of the tests in the root wpilibj directory. Please list alphabetically so that it is
  * easy to determine if a test is missing from the list.
  */
 @RunWith(Suite.class)
-@SuiteClasses({AnalogCrossConnectTest.class, AnalogPotentiometerTest.class,
-    BuiltInAccelerometerTest.class, ConstantsPortsTest.class, CounterTest.class,
-    DigitalGlitchFilterTest.class, DIOCrossConnectTest.class,
-    DriverStationTest.class, EncoderTest.class, GyroTest.class, MotorEncoderTest.class,
-    MotorInvertingTest.class, PCMTest.class, PDPTest.class, PIDTest.class,
-    RelayCrossConnectTest.class, SampleTest.class, TimerTest.class})
-public class WpiLibJTestSuite extends AbstractTestSuite {
-}
+@SuiteClasses({
+  AnalogCrossConnectTest.class,
+  AnalogPotentiometerTest.class,
+  BuiltInAccelerometerTest.class,
+  ConstantsPortsTest.class,
+  CounterTest.class,
+  DigitalGlitchFilterTest.class,
+  DIOCrossConnectTest.class,
+  DriverStationTest.class,
+  EncoderTest.class,
+  GyroTest.class,
+  MotorEncoderTest.class,
+  MotorInvertingTest.class,
+  PCMTest.class,
+  PDPTest.class,
+  PIDTest.class,
+  RelayCrossConnectTest.class,
+  SampleTest.class,
+  TimerTest.class
+})
+public class WpiLibJTestSuite extends AbstractTestSuite {}
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANStatusTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANStatusTest.java
index 5dbbd26bbe..59c943a37e 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANStatusTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANStatusTest.java
@@ -4,10 +4,9 @@
 
 package edu.wpi.first.wpilibj.can;
 
-import org.junit.Test;
-
 import edu.wpi.first.hal.can.CANJNI;
 import edu.wpi.first.hal.can.CANStatus;
+import org.junit.Test;
 
 public class CANStatusTest {
   @Test
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/AnalogCrossConnectFixture.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/AnalogCrossConnectFixture.java
index 927e48fc81..ce46189d47 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/AnalogCrossConnectFixture.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/AnalogCrossConnectFixture.java
@@ -7,9 +7,7 @@ package edu.wpi.first.wpilibj.fixtures;
 import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.AnalogOutput;
 
-/**
- * A fixture that connects an {@link AnalogInput} and an {@link AnalogOutput}.
- */
+/** A fixture that connects an {@link AnalogInput} and an {@link AnalogOutput}. */
 public abstract class AnalogCrossConnectFixture implements ITestFixture {
   private boolean m_initialized = false;
 
@@ -20,7 +18,6 @@ public abstract class AnalogCrossConnectFixture implements ITestFixture {
 
   protected abstract AnalogOutput giveAnalogOutput();
 
-
   private void initialize() {
     synchronized (this) {
       if (!m_initialized) {
@@ -66,9 +63,7 @@ public abstract class AnalogCrossConnectFixture implements ITestFixture {
     return true;
   }
 
-  /**
-   * Analog Output.
-   */
+  /** Analog Output. */
   public final AnalogOutput getOutput() {
     initialize();
     return m_output;
@@ -78,6 +73,4 @@ public abstract class AnalogCrossConnectFixture implements ITestFixture {
     initialize();
     return m_input;
   }
-
-
 }
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/DIOCrossConnectFixture.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/DIOCrossConnectFixture.java
index be017c317f..3cb2f5cf11 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/DIOCrossConnectFixture.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/DIOCrossConnectFixture.java
@@ -4,15 +4,12 @@
 
 package edu.wpi.first.wpilibj.fixtures;
 
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.DigitalOutput;
 import java.util.logging.Level;
 import java.util.logging.Logger;
 
-import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.DigitalOutput;
-
-/**
- * Connects a digital input to a digital output.
- */
+/** Connects a digital input to a digital output. */
 public class DIOCrossConnectFixture implements ITestFixture {
   private static final Logger logger = Logger.getLogger(DIOCrossConnectFixture.class.getName());
 
@@ -23,7 +20,7 @@ public class DIOCrossConnectFixture implements ITestFixture {
   /**
    * Constructs using two pre-allocated digital objects.
    *
-   * @param input  The input
+   * @param input The input
    * @param output The output.
    */
   public DIOCrossConnectFixture(DigitalInput input, DigitalOutput output) {
@@ -37,7 +34,7 @@ public class DIOCrossConnectFixture implements ITestFixture {
   /**
    * Constructs a {@link DIOCrossConnectFixture} using the ports of the digital objects.
    *
-   * @param input  The port of the {@link DigitalInput}
+   * @param input The port of the {@link DigitalInput}
    * @param output The port of the {@link DigitalOutput}
    */
   public DIOCrossConnectFixture(Integer input, Integer output) {
@@ -83,5 +80,4 @@ public class DIOCrossConnectFixture implements ITestFixture {
     }
     return true;
   }
-
 }
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/FakeCounterFixture.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/FakeCounterFixture.java
index 2f492ec6d1..2a208a595e 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/FakeCounterFixture.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/FakeCounterFixture.java
@@ -4,15 +4,12 @@
 
 package edu.wpi.first.wpilibj.fixtures;
 
+import edu.wpi.first.wpilibj.Counter;
+import edu.wpi.first.wpilibj.mockhardware.FakeCounterSource;
 import java.util.logging.Level;
 import java.util.logging.Logger;
 
-import edu.wpi.first.wpilibj.Counter;
-import edu.wpi.first.wpilibj.mockhardware.FakeCounterSource;
-
-/**
- * A fixture that can test the {@link Counter} using a {@link DIOCrossConnectFixture}.
- */
+/** A fixture that can test the {@link Counter} using a {@link DIOCrossConnectFixture}. */
 public class FakeCounterFixture implements ITestFixture {
   private static final Logger logger = Logger.getLogger(FakeEncoderFixture.class.getName());
 
@@ -33,11 +30,10 @@ public class FakeCounterFixture implements ITestFixture {
     m_counter = new Counter(dio.getInput());
   }
 
-
   /**
    * Constructs a FakeCounterFixture using two port numbers.
    *
-   * @param input  the input port
+   * @param input the input port
    * @param output the output port
    */
   public FakeCounterFixture(int input, int output) {
@@ -65,7 +61,6 @@ public class FakeCounterFixture implements ITestFixture {
     return m_counter;
   }
 
-
   /*
    * (non-Javadoc)
    *
@@ -74,7 +69,6 @@ public class FakeCounterFixture implements ITestFixture {
   @Override
   public boolean setup() {
     return true;
-
   }
 
   /*
@@ -104,6 +98,4 @@ public class FakeCounterFixture implements ITestFixture {
     }
     return true;
   }
-
-
 }
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/FakeEncoderFixture.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/FakeEncoderFixture.java
index 9bc4e4af4c..e91602abfd 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/FakeEncoderFixture.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/FakeEncoderFixture.java
@@ -4,10 +4,9 @@
 
 package edu.wpi.first.wpilibj.fixtures;
 
-import java.util.logging.Logger;
-
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.mockhardware.FakeEncoderSource;
+import java.util.logging.Logger;
 
 /**
  * An encoder that uses two {@link DIOCrossConnectFixture DIOCrossConnectFixtures} to test the
@@ -25,9 +24,7 @@ public class FakeEncoderFixture implements ITestFixture {
   private final Encoder m_encoder;
   private int[] m_encoderPort = new int[2];
 
-  /**
-   * Constructs a FakeEncoderFixture from two DIOCrossConnectFixture.
-   */
+  /** Constructs a FakeEncoderFixture from two DIOCrossConnectFixture. */
   public FakeEncoderFixture(DIOCrossConnectFixture dio1, DIOCrossConnectFixture dio2) {
     assert dio1 != null;
     assert dio2 != null;
@@ -38,9 +35,7 @@ public class FakeEncoderFixture implements ITestFixture {
     m_encoder = new Encoder(dio1.getInput(), dio2.getInput());
   }
 
-  /**
-   * Construcst a FakeEncoderFixture from a set of Digital I/O ports.
-   */
+  /** Construcst a FakeEncoderFixture from a set of Digital I/O ports. */
   public FakeEncoderFixture(int inputA, int outputA, int inputB, int outputB) {
     assert outputA != outputB;
     assert outputA != inputA;
@@ -108,6 +103,4 @@ public class FakeEncoderFixture implements ITestFixture {
     }
     return true;
   }
-
-
 }
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/MotorEncoderFixture.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/MotorEncoderFixture.java
index dd813aa922..fcc5b2cd6e 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/MotorEncoderFixture.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/MotorEncoderFixture.java
@@ -4,9 +4,6 @@
 
 package edu.wpi.first.wpilibj.fixtures;
 
-import java.lang.reflect.ParameterizedType;
-import java.util.logging.Logger;
-
 import edu.wpi.first.wpilibj.Counter;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.Encoder;
@@ -14,13 +11,16 @@ import edu.wpi.first.wpilibj.PWM;
 import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.test.TestBench;
+import java.lang.reflect.ParameterizedType;
+import java.util.logging.Logger;
 
 /**
  * Represents a physically connected Motor and Encoder to allow for unit tests on these different
- * pairs<br> Designed to allow the user to easily setup and tear down the fixture to allow for
- * reuse. This class should be explicitly instantiated in the TestBed class to allow any test to
- * access this fixture. This allows tests to be mailable so that you can easily reconfigure the
- * physical testbed without breaking the tests.
+ * pairs<br>
+ * Designed to allow the user to easily setup and tear down the fixture to allow for reuse. This
+ * class should be explicitly instantiated in the TestBed class to allow any test to access this
+ * fixture. This allows tests to be mailable so that you can easily reconfigure the physical testbed
+ * without breaking the tests.
  */
 public abstract class MotorEncoderFixture<T extends SpeedController> implements ITestFixture {
   private static final Logger logger = Logger.getLogger(MotorEncoderFixture.class.getName());
@@ -32,11 +32,8 @@ public abstract class MotorEncoderFixture<T extends SpeedController> implements
   protected DigitalInput m_alphaSource; // Stored so it can be freed at tear down
   protected DigitalInput m_betaSource;
 
-  /**
-   * Default constructor for a MotorEncoderFixture.
-   */
-  public MotorEncoderFixture() {
-  }
+  /** Default constructor for a MotorEncoderFixture. */
+  public MotorEncoderFixture() {}
 
   public abstract int getPDPChannel();
 
@@ -75,7 +72,6 @@ public abstract class MotorEncoderFixture<T extends SpeedController> implements
         m_alphaSource = giveDigitalInputA();
         m_betaSource = giveDigitalInputB();
 
-
         m_encoder = new Encoder(m_alphaSource, m_betaSource);
         m_counters[0] = new Counter(m_alphaSource);
         m_counters[1] = new Counter(m_betaSource);
@@ -130,7 +126,7 @@ public abstract class MotorEncoderFixture<T extends SpeedController> implements
    * Checks to see if the speed of the motor is within some range of a given value. This is used
    * instead of equals() because doubles can have inaccuracies.
    *
-   * @param value    The value to compare against
+   * @param value The value to compare against
    * @param accuracy The accuracy range to check against to see if the
    * @return true if the range of values between motors speed accuracy contains the 'value'.
    */
@@ -160,7 +156,6 @@ public abstract class MotorEncoderFixture<T extends SpeedController> implements
     return wasReset;
   }
 
-
   /**
    * Safely tears down the MotorEncoder Fixture in a way that makes sure that even if an object
    * fails to initialize the rest of the fixture can still be torn down and the resources
@@ -232,11 +227,10 @@ public abstract class MotorEncoderFixture<T extends SpeedController> implements
     // Get the generic type as a class
     @SuppressWarnings("unchecked")
     Class<T> class1 =
-        (Class<T>) ((ParameterizedType) getClass().getGenericSuperclass())
-            .getActualTypeArguments()[0];
+        (Class<T>)
+            ((ParameterizedType) getClass().getGenericSuperclass()).getActualTypeArguments()[0];
     string.append(class1.getSimpleName());
     string.append(">");
     return string.toString();
   }
-
 }
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/RelayCrossConnectFixture.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/RelayCrossConnectFixture.java
index 638a272307..a559885db3 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/RelayCrossConnectFixture.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/RelayCrossConnectFixture.java
@@ -7,9 +7,7 @@ package edu.wpi.first.wpilibj.fixtures;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.Relay;
 
-/**
- * A connection between a {@link Relay} and two {@link DigitalInput DigitalInputs}.
- */
+/** A connection between a {@link Relay} and two {@link DigitalInput DigitalInputs}. */
 public abstract class RelayCrossConnectFixture implements ITestFixture {
   private DigitalInput m_inputOne;
   private DigitalInput m_inputTwo;
@@ -18,7 +16,6 @@ public abstract class RelayCrossConnectFixture implements ITestFixture {
   private boolean m_initialized = false;
   private boolean m_freed = false;
 
-
   protected abstract Relay giveRelay();
 
   protected abstract DigitalInput giveInputOne();
@@ -86,8 +83,10 @@ public abstract class RelayCrossConnectFixture implements ITestFixture {
       m_inputTwo.close();
       m_freed = true;
     } else {
-      throw new RuntimeException("You attempted to free the "
-          + RelayCrossConnectFixture.class.getSimpleName() + " multiple times");
+      throw new RuntimeException(
+          "You attempted to free the "
+              + RelayCrossConnectFixture.class.getSimpleName()
+              + " multiple times");
     }
     return true;
   }
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/SampleFixture.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/SampleFixture.java
index 875038a33d..94491d4274 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/SampleFixture.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/SampleFixture.java
@@ -4,7 +4,6 @@
 
 package edu.wpi.first.wpilibj.fixtures;
 
-
 /**
  * This is an example of how to use the {@link ITestFixture} interface to create test fixtures for a
  * test.
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/TiltPanCameraFixture.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/TiltPanCameraFixture.java
index a66080a4ab..03c39ab4ec 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/TiltPanCameraFixture.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/TiltPanCameraFixture.java
@@ -4,11 +4,10 @@
 
 package edu.wpi.first.wpilibj.fixtures;
 
-import java.util.logging.Logger;
-
 import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.Servo;
 import edu.wpi.first.wpilibj.Timer;
+import java.util.logging.Logger;
 
 /**
  * A class to represent the a physical Camera with two servos (tilt and pan) designed to test to see
@@ -24,7 +23,6 @@ public abstract class TiltPanCameraFixture implements ITestFixture {
   private Servo m_pan;
   private boolean m_initialized = false;
 
-
   protected abstract AnalogGyro giveGyro();
 
   protected abstract AnalogGyro giveGyroParam(int center, double offset);
@@ -33,11 +31,8 @@ public abstract class TiltPanCameraFixture implements ITestFixture {
 
   protected abstract Servo givePan();
 
-  /**
-   * Constructs the TiltPanCamera.
-   */
-  public TiltPanCameraFixture() {
-  }
+  /** Constructs the TiltPanCamera. */
+  public TiltPanCameraFixture() {}
 
   @Override
   public boolean setup() {
@@ -99,15 +94,14 @@ public abstract class TiltPanCameraFixture implements ITestFixture {
     m_tilt = null;
     m_pan.close();
     m_pan = null;
-    if (m_gyro != null) { //in case not freed during gyro tests
+    if (m_gyro != null) { // in case not freed during gyro tests
       m_gyro.close();
       m_gyro = null;
     }
-    if (m_gyroParam != null) { //in case gyro tests failed before getting to this point
+    if (m_gyroParam != null) { // in case gyro tests failed before getting to this point
       m_gyroParam.close();
       m_gyroParam = null;
     }
     return true;
   }
-
 }
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakeCounterSource.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakeCounterSource.java
index 2586b09ae0..2ce29c9fdd 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakeCounterSource.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakeCounterSource.java
@@ -7,9 +7,7 @@ package edu.wpi.first.wpilibj.mockhardware;
 import edu.wpi.first.wpilibj.DigitalOutput;
 import edu.wpi.first.wpilibj.Timer;
 
-/**
- * Simulates an encoder for testing purposes.
- */
+/** Simulates an encoder for testing purposes. */
 public class FakeCounterSource implements AutoCloseable {
   private Thread m_task;
   private int m_count;
@@ -17,9 +15,7 @@ public class FakeCounterSource implements AutoCloseable {
   private DigitalOutput m_output;
   private boolean m_allocated;
 
-  /**
-   * Thread object that allows emulation of an encoder.
-   */
+  /** Thread object that allows emulation of an encoder. */
   private class EncoderThread extends Thread {
     FakeCounterSource m_encoder;
 
@@ -65,9 +61,7 @@ public class FakeCounterSource implements AutoCloseable {
     initEncoder();
   }
 
-  /**
-   * Destroy Object with minimum memory leak.
-   */
+  /** Destroy Object with minimum memory leak. */
   @Override
   public void close() {
     m_task = null;
@@ -78,25 +72,19 @@ public class FakeCounterSource implements AutoCloseable {
     }
   }
 
-  /**
-   * Common initailization code.
-   */
+  /** Common initailization code. */
   private void initEncoder() {
     m_milliSec = 1;
     m_task = new EncoderThread(this);
     m_output.set(false);
   }
 
-  /**
-   * Starts the thread execution task.
-   */
+  /** Starts the thread execution task. */
   public void start() {
     m_task.start();
   }
 
-  /**
-   * Waits for the thread to complete.
-   */
+  /** Waits for the thread to complete. */
   public void complete() {
     try {
       m_task.join();
@@ -107,9 +95,7 @@ public class FakeCounterSource implements AutoCloseable {
     Timer.delay(0.01);
   }
 
-  /**
-   * Starts and completes a task set - does not return until thred has finished its operations.
-   */
+  /** Starts and completes a task set - does not return until thred has finished its operations. */
   public void execute() {
     start();
     complete();
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakeEncoderSource.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakeEncoderSource.java
index 548f5d9132..c305985348 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakeEncoderSource.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakeEncoderSource.java
@@ -7,9 +7,7 @@ package edu.wpi.first.wpilibj.mockhardware;
 import edu.wpi.first.wpilibj.DigitalOutput;
 import edu.wpi.first.wpilibj.Timer;
 
-/**
- * Emulates a quadrature encoder.
- */
+/** Emulates a quadrature encoder. */
 public class FakeEncoderSource implements AutoCloseable {
   private Thread m_task;
   private int m_count;
@@ -19,9 +17,7 @@ public class FakeEncoderSource implements AutoCloseable {
   private final DigitalOutput m_outputB;
   private final boolean m_allocatedOutputs;
 
-  /**
-   * Thread object that allows emulation of a quadrature encoder.
-   */
+  /** Thread object that allows emulation of a quadrature encoder. */
   private class QuadEncoderThread extends Thread {
     FakeEncoderSource m_encoder;
 
@@ -88,9 +84,7 @@ public class FakeEncoderSource implements AutoCloseable {
     initQuadEncoder();
   }
 
-  /**
-   * Frees the resource.
-   */
+  /** Frees the resource. */
   @Override
   public void close() {
     m_task = null;
@@ -100,9 +94,7 @@ public class FakeEncoderSource implements AutoCloseable {
     }
   }
 
-  /**
-   * Common initialization code.
-   */
+  /** Common initialization code. */
   private void initQuadEncoder() {
     m_milliSec = 1;
     m_forward = true;
@@ -111,16 +103,12 @@ public class FakeEncoderSource implements AutoCloseable {
     m_outputB.set(false);
   }
 
-  /**
-   * Starts the thread.
-   */
+  /** Starts the thread. */
   public void start() {
     m_task.start();
   }
 
-  /**
-   * Waits for thread to end.
-   */
+  /** Waits for thread to end. */
   public void complete() {
     try {
       m_task.join();
@@ -131,9 +119,7 @@ public class FakeEncoderSource implements AutoCloseable {
     Timer.delay(0.01);
   }
 
-  /**
-   * Runs and waits for thread to end before returning.
-   */
+  /** Runs and waits for thread to end before returning. */
   public void execute() {
     start();
     complete();
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakePotentiometerSource.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakePotentiometerSource.java
index d4b8de70a2..59cc5c7acd 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakePotentiometerSource.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakePotentiometerSource.java
@@ -6,9 +6,7 @@ package edu.wpi.first.wpilibj.mockhardware;
 
 import edu.wpi.first.wpilibj.AnalogOutput;
 
-/**
- * A fake source to provide output to a {@link edu.wpi.first.wpilibj.interfaces.Potentiometer}.
- */
+/** A fake source to provide output to a {@link edu.wpi.first.wpilibj.interfaces.Potentiometer}. */
 public class FakePotentiometerSource implements AutoCloseable {
   private AnalogOutput m_output;
   private boolean m_initOutput;
@@ -19,7 +17,7 @@ public class FakePotentiometerSource implements AutoCloseable {
   /**
    * Constructs the fake source.
    *
-   * @param output             The analog port to output the signal on
+   * @param output The analog port to output the signal on
    * @param defaultPotMaxAngle The default maximum angle the pot supports.
    */
   public FakePotentiometerSource(AnalogOutput output, double defaultPotMaxAngle) {
@@ -77,9 +75,7 @@ public class FakePotentiometerSource implements AutoCloseable {
     return voltage * (m_potMaxAngle / m_potMaxVoltage);
   }
 
-  /**
-   * Frees the resouce.
-   */
+  /** Frees the resouce. */
   @Override
   public void close() {
     if (m_initOutput) {
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractComsSetup.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractComsSetup.java
index 2f9b748b25..728f937b4a 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractComsSetup.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractComsSetup.java
@@ -4,20 +4,18 @@
 
 package edu.wpi.first.wpilibj.test;
 
-import java.util.logging.Level;
-import java.util.logging.Logger;
-
-import org.junit.BeforeClass;
-import org.junit.Rule;
-import org.junit.rules.TestWatcher;
-import org.junit.runner.Description;
-import org.junit.runners.model.MultipleFailureException;
-
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.MockDS;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
+import java.util.logging.Level;
+import java.util.logging.Logger;
+import org.junit.BeforeClass;
+import org.junit.Rule;
+import org.junit.rules.TestWatcher;
+import org.junit.runner.Description;
+import org.junit.runners.model.MultipleFailureException;
 
 /**
  * This class serves as a superclass for all tests that involve the hardware on the roboRIO. It uses
@@ -26,19 +24,16 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
  * to run.
  */
 public abstract class AbstractComsSetup {
-  /**
-   * Stores whether network coms have been initialized.
-   */
+  /** Stores whether network coms have been initialized. */
   private static boolean initialized = false;
 
   // We have no way to stop the MockDS, so its thread is daemon.
-  private static  MockDS ds;
+  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.
+   * 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.
    */
   static {
     if (!initialized) {
@@ -83,12 +78,9 @@ public abstract class AbstractComsSetup {
     }
   }
 
-
   protected abstract Logger getClassLogger();
 
-  /**
-   * This causes a stack trace to be printed as the test is running as well as at the end.
-   */
+  /** This causes a stack trace to be printed as the test is running as well as at the end. */
   @Rule
   public final TestWatcher getTestWatcher() {
     return getOverridenTestWatcher();
@@ -121,19 +113,32 @@ public abstract class AbstractComsSetup {
         int exceptionCount = 1; // Running exception count
         int failureCount = ((MultipleFailureException) throwable).getFailures().size();
         for (Throwable singleThrown : ((MultipleFailureException) throwable).getFailures()) {
-          getClassLogger().logp(
-              Level.SEVERE,
-              description.getClassName(),
-              description.getMethodName(),
-              (exceptionCount++) + "/" + failureCount + " " + description.getDisplayName() + " "
-                  + "failed " + singleThrown.getMessage() + "\n" + status, singleThrown);
+          getClassLogger()
+              .logp(
+                  Level.SEVERE,
+                  description.getClassName(),
+                  description.getMethodName(),
+                  (exceptionCount++)
+                      + "/"
+                      + failureCount
+                      + " "
+                      + description.getDisplayName()
+                      + " "
+                      + "failed "
+                      + singleThrown.getMessage()
+                      + "\n"
+                      + status,
+                  singleThrown);
         }
 
       } else {
-        getClassLogger().logp(Level.SEVERE, description.getClassName(),
-            description.getMethodName(),
-            description.getDisplayName() + " failed " + throwable.getMessage() + "\n" + status,
-            throwable);
+        getClassLogger()
+            .logp(
+                Level.SEVERE,
+                description.getClassName(),
+                description.getMethodName(),
+                description.getDisplayName() + " failed " + throwable.getMessage() + "\n" + status,
+                throwable);
       }
       super.failed(throwable, description);
     }
@@ -149,7 +154,6 @@ public abstract class AbstractComsSetup {
       failed(exception, description, "");
     }
 
-
     /*
      * (non-Javadoc)
      *
@@ -169,8 +173,8 @@ public abstract class AbstractComsSetup {
         // Prints the message on one line overwriting itself each time
         TestBench.out().print("\rWaiting for enable: " + enableCounter++);
       }
-      getClassLogger().logp(Level.INFO, description.getClassName(), description.getMethodName(),
-          "Starting");
+      getClassLogger()
+          .logp(Level.INFO, description.getClassName(), description.getMethodName(), "Starting");
       super.starting(description);
     }
 
@@ -179,13 +183,12 @@ public abstract class AbstractComsSetup {
       simpleLog(Level.INFO, "TEST PASSED!");
       super.succeeded(description);
     }
-
   }
 
   /**
    * Logs a simple message without the logger formatting associated with it.
    *
-   * @param level   The level to log the message at
+   * @param level The level to log the message at
    * @param message The message to log
    */
   protected void simpleLog(Level level, String message) {
@@ -199,8 +202,7 @@ public abstract class AbstractComsSetup {
    * correct state is reached.
    */
   public abstract class BooleanCheck {
-    public BooleanCheck() {
-    }
+    public BooleanCheck() {}
 
     /**
      * Runs the enclosed code and evaluates it to determine what state it should return.
@@ -213,22 +215,23 @@ public abstract class AbstractComsSetup {
   /**
    * Delays until either the correct state is reached or we reach the timeout.
    *
-   * @param level        The level to log the message at.
-   * @param timeout      How long the delay should run before it should timeout and allow the test
-   *                     to continue
-   * @param message      The message to accompany the delay. The message will display 'message' took
-   *                     'timeout' seconds if it passed.
+   * @param level The level to log the message at.
+   * @param timeout How long the delay should run before it should timeout and allow the test to
+   *     continue
+   * @param message The message to accompany the delay. The message will display 'message' took
+   *     'timeout' seconds if it passed.
    * @param correctState A method to determine if the test has reached a state where it is valid to
-   *                     continue
+   *     continue
    * @return a double representing how long the delay took to run in seconds.
    */
-  public double delayTillInCorrectStateWithMessage(Level level, double timeout, String message,
-                                                   BooleanCheck correctState) {
+  public double delayTillInCorrectStateWithMessage(
+      Level level, double timeout, String message, BooleanCheck correctState) {
     int timeoutIndex;
     // As long as we are not in the correct state and the timeout has not been
     // reached then continue to run this loop
-    for (timeoutIndex = 0; timeoutIndex < (timeout * 100) && !correctState.getAsBoolean();
-         timeoutIndex++) {
+    for (timeoutIndex = 0;
+        timeoutIndex < (timeout * 100) && !correctState.getAsBoolean();
+        timeoutIndex++) {
       Timer.delay(0.01);
     }
     if (correctState.getAsBoolean()) {
@@ -238,5 +241,4 @@ public abstract class AbstractComsSetup {
     }
     return timeoutIndex * 0.01;
   }
-
 }
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractTestSuite.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractTestSuite.java
index 04c331dbc8..5871510d6f 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractTestSuite.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractTestSuite.java
@@ -11,7 +11,6 @@ import java.util.List;
 import java.util.logging.Level;
 import java.util.logging.Logger;
 import java.util.regex.Pattern;
-
 import org.junit.Ignore;
 import org.junit.Test;
 import org.junit.runner.Request;
@@ -37,8 +36,8 @@ public abstract class AbstractTestSuite {
     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()));
+      throw new RuntimeException(
+          String.format("class '%s' must have a SuiteClasses annotation", getClass().getName()));
     }
     for (Class<?> c : annotation.value()) {
       classes.add(c);
@@ -81,7 +80,8 @@ public abstract class AbstractTestSuite {
       for (Method m : c.getMethods()) {
         // If this is a test method that is not trying to be ignored and it
         // matches the regex
-        if (m.getAnnotation(Test.class) != null && m.getAnnotation(Ignore.class) == null
+        if (m.getAnnotation(Test.class) != null
+            && m.getAnnotation(Ignore.class) == null
             && Pattern.matches(regex, m.getName())) {
           ClassMethodPair pair = new ClassMethodPair(c, m);
           classMethodPairs.add(pair);
@@ -91,7 +91,6 @@ public abstract class AbstractTestSuite {
     return classMethodPairs;
   }
 
-
   /**
    * Gets all of the test classes listed in this suite. Does not include any of the test suites. All
    * of these classes contain tests.
@@ -109,16 +108,20 @@ public abstract class AbstractTestSuite {
           // Add the tests from this suite that match the regex to the list of
           // tests to run
           runningList = suite.getAllContainedBaseTests(runningList);
-        } catch (NoSuchMethodException | InvocationTargetException | InstantiationException
+        } catch (NoSuchMethodException
+            | InvocationTargetException
+            | InstantiationException
             | IllegalAccessException ex) {
           // This shouldn't happen unless the constructor is changed in some
           // way.
-          logger.log(Level.SEVERE, "Test suites can not take parameters in their constructors.",
-              ex);
+          logger.log(
+              Level.SEVERE, "Test suites can not take parameters in their constructors.", ex);
         }
       } else if (c.getAnnotation(SuiteClasses.class) != null) {
-        logger.log(Level.SEVERE,
-            String.format("class '%s' must extend %s to be searchable using regex.",
+        logger.log(
+            Level.SEVERE,
+            String.format(
+                "class '%s' must extend %s to be searchable using regex.",
                 c.getName(), AbstractTestSuite.class.getName()));
       } else { // This is a class containing tests
         // so add it to the list
@@ -139,12 +142,11 @@ public abstract class AbstractTestSuite {
     return getAllContainedBaseTests(runningBaseTests);
   }
 
-
   /**
    * Retrieves all of the classes listed in the <code>@SuiteClasses</code> annotation that match the
    * given regex text.
    *
-   * @param regex       the text pattern to retrieve.
+   * @param regex the text pattern to retrieve.
    * @param runningList the running list of classes to prevent recursion
    * @return The list of classes matching the regex pattern
    */
@@ -178,12 +180,11 @@ public abstract class AbstractTestSuite {
    * @param regex the regex text to search for
    * @return the list of suite and/or test classes matching the regex.
    */
-  private List<Class<?>> getSuiteOrTestMatchingRegex(final String regex, List<Class<?>>
-      runningList) {
+  private List<Class<?>> getSuiteOrTestMatchingRegex(
+      final String regex, List<Class<?>> runningList) {
     // Get any test suites matching the regex using the superclass methods
     runningList = getAllClassMatching(regex, runningList);
 
-
     // Then search any test suites not retrieved already for test classes
     // matching the regex.
     List<Class<?>> unCollectedSuites = getAllClasses();
@@ -205,12 +206,14 @@ public abstract class AbstractTestSuite {
             runningList = suite.getSuiteOrTestMatchingRegex(regex, runningList);
           }
 
-        } catch (NoSuchMethodException | InvocationTargetException | InstantiationException
+        } catch (NoSuchMethodException
+            | InvocationTargetException
+            | InstantiationException
             | IllegalAccessException ex) {
           // This shouldn't happen unless the constructor is changed in some
           // way.
-          logger.log(Level.SEVERE, "Test suites can not take parameters in their constructors.",
-              ex);
+          logger.log(
+              Level.SEVERE, "Test suites can not take parameters in their constructors.", ex);
         }
       }
     }
@@ -230,7 +233,6 @@ public abstract class AbstractTestSuite {
     return getSuiteOrTestMatchingRegex(regex, matchingClasses);
   }
 
-
   /**
    * Retrieves all of the classes listed in the <code>@SuiteClasses</code> annotation.
    *
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractTestSuiteTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractTestSuiteTest.java
index 697d702c69..a1af528e2b 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractTestSuiteTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractTestSuiteTest.java
@@ -4,8 +4,13 @@
 
 package edu.wpi.first.wpilibj.test;
 
-import java.util.List;
+import static org.hamcrest.MatcherAssert.assertThat;
+import static org.hamcrest.Matchers.hasItems;
+import static org.hamcrest.Matchers.not;
+import static org.junit.Assert.assertEquals;
 
+import edu.wpi.first.wpilibj.test.AbstractTestSuite.ClassMethodPair;
+import java.util.List;
 import org.junit.Before;
 import org.junit.Ignore;
 import org.junit.Test;
@@ -13,13 +18,6 @@ import org.junit.runner.RunWith;
 import org.junit.runners.Suite;
 import org.junit.runners.Suite.SuiteClasses;
 
-import edu.wpi.first.wpilibj.test.AbstractTestSuite.ClassMethodPair;
-
-import static org.hamcrest.MatcherAssert.assertThat;
-import static org.hamcrest.Matchers.hasItems;
-import static org.hamcrest.Matchers.not;
-import static org.junit.Assert.assertEquals;
-
 /**
  * Yes, this is the test system testing itself. Functionally, this is making sure that all tests get
  * run correctly when you use parametrized arguments.
@@ -28,10 +26,16 @@ import static org.junit.Assert.assertEquals;
 public class AbstractTestSuiteTest {
   @Ignore("Prevents ANT from trying to run these as tests")
   @RunWith(Suite.class)
-  @SuiteClasses({FirstSampleTest.class, SecondSampleTest.class, ThirdSampleTest.class,
-      FourthSampleTest.class, UnusualTest.class, ExampleSubSuite.class, EmptySuite.class})
-  class TestForAbstractTestSuite extends AbstractTestSuite {
-  }
+  @SuiteClasses({
+    FirstSampleTest.class,
+    SecondSampleTest.class,
+    ThirdSampleTest.class,
+    FourthSampleTest.class,
+    UnusualTest.class,
+    ExampleSubSuite.class,
+    EmptySuite.class
+  })
+  class TestForAbstractTestSuite extends AbstractTestSuite {}
 
   TestForAbstractTestSuite m_testSuite;
 
@@ -79,10 +83,11 @@ public class AbstractTestSuiteTest {
     List<Class<?>> collectedTests = m_testSuite.getSuiteOrTestMatchingRegex(".*Test.*");
     // then
     assertEquals(7, collectedTests.size());
-    assertThat(collectedTests, hasItems(FirstSubSuiteTest.class,
-        SecondSubSuiteTest.class, UnusualTest.class));
-    assertThat(collectedTests,
-        not(hasItems(new Class<?>[]{ExampleSubSuite.class, EmptySuite.class})));
+    assertThat(
+        collectedTests,
+        hasItems(FirstSubSuiteTest.class, SecondSubSuiteTest.class, UnusualTest.class));
+    assertThat(
+        collectedTests, not(hasItems(new Class<?>[] {ExampleSubSuite.class, EmptySuite.class})));
   }
 
   @Test
@@ -93,31 +98,23 @@ public class AbstractTestSuiteTest {
     assertEquals(1, pairs.size());
     assertEquals(FirstSubSuiteTest.class, pairs.get(0).m_methodClass);
     assertEquals(FirstSubSuiteTest.METHODNAME, pairs.get(0).m_methodName);
-
   }
-
 }
 
 @SuppressWarnings("OneTopLevelClass")
-class FirstSampleTest {
-}
+class FirstSampleTest {}
 
 @SuppressWarnings("OneTopLevelClass")
-class SecondSampleTest {
-}
+class SecondSampleTest {}
 
 @SuppressWarnings("OneTopLevelClass")
-class ThirdSampleTest {
-}
+class ThirdSampleTest {}
 
 @SuppressWarnings("OneTopLevelClass")
-class FourthSampleTest {
-}
+class FourthSampleTest {}
 
 @SuppressWarnings("OneTopLevelClass")
-class UnusualTest {
-} // This is a member of both suites
-
+class UnusualTest {} // This is a member of both suites
 
 @Ignore("Prevents ANT from trying to run these as tests")
 @SuppressWarnings("OneTopLevelClass")
@@ -126,26 +123,20 @@ class FirstSubSuiteTest {
 
   @Test
   @SuppressWarnings("MethodName")
-  public void aTestMethod() {
-  }
+  public void aTestMethod() {}
 }
 
 @SuppressWarnings("OneTopLevelClass")
-class SecondSubSuiteTest {
-}
-
+class SecondSubSuiteTest {}
 
 @RunWith(Suite.class)
 @SuiteClasses({FirstSubSuiteTest.class, SecondSubSuiteTest.class, UnusualTest.class})
 @Ignore("Prevents ANT from trying to run these as tests")
 @SuppressWarnings("OneTopLevelClass")
-class ExampleSubSuite extends AbstractTestSuite {
-}
-
+class ExampleSubSuite extends AbstractTestSuite {}
 
 @Ignore("Prevents ANT from trying to run these as tests")
 @RunWith(Suite.class)
 @SuiteClasses({})
 @SuppressWarnings("OneTopLevelClass")
-class EmptySuite extends AbstractTestSuite {
-}
+class EmptySuite extends AbstractTestSuite {}
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AntJunitLanucher.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AntJunitLanucher.java
index 9eb3b152dc..e860bb0d8d 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AntJunitLanucher.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AntJunitLanucher.java
@@ -5,7 +5,6 @@
 package edu.wpi.first.wpilibj.test;
 
 import java.io.File;
-
 import org.apache.tools.ant.BuildLogger;
 import org.apache.tools.ant.DefaultLogger;
 import org.apache.tools.ant.Project;
@@ -76,13 +75,13 @@ public class AntJunitLanucher {
         ex.printStackTrace();
       }
     } else {
-      TestBench.out().println(
-          "Run will not output XML for Jenkins because " + "tests are not being run with ANT");
+      TestBench.out()
+          .println(
+              "Run will not output XML for Jenkins because " + "tests are not being run with ANT");
       // This should never return as it makes its own call to
       // System.exit();
       TestSuite.main(args);
     }
     System.exit(0);
   }
-
 }
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/QuickTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/QuickTest.java
index ec0103d1b6..3dd2ea1ab0 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/QuickTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/QuickTest.java
@@ -5,7 +5,6 @@
 package edu.wpi.first.wpilibj.test;
 
 import java.util.logging.Logger;
-
 import org.junit.Test;
 
 /**
@@ -27,8 +26,6 @@ public class QuickTest extends AbstractComsSetup {
     return logger;
   }
 
-
   @Test
-  public void test() {
-  }
+  public void test() {}
 }
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/RepeatRule.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/RepeatRule.java
index bbb56d7e4a..07f41f20c8 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/RepeatRule.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/RepeatRule.java
@@ -7,7 +7,6 @@ package edu.wpi.first.wpilibj.test;
 import java.lang.annotation.Retention;
 import java.lang.annotation.RetentionPolicy;
 import java.lang.annotation.Target;
-
 import org.junit.rules.TestRule;
 import org.junit.runner.Description;
 import org.junit.runners.model.Statement;
@@ -17,21 +16,18 @@ import org.junit.runners.model.Statement;
  * is important if you have a test that fails only "sometimes" and needs to be rerun to find the
  * issue.
  *
- * <p>This code was originally found here:
- * <a href="http://www.codeaffine.com/2013/04/10/running-junit-tests-repeatedly-without-loops/">
- * Running JUnit Tests Repeatedly Without Loops</a>
+ * <p>This code was originally found here: <a
+ * href="http://www.codeaffine.com/2013/04/10/running-junit-tests-repeatedly-without-loops/">Running
+ * JUnit Tests Repeatedly Without Loops</a>
  */
 public class RepeatRule implements TestRule {
   @Retention(RetentionPolicy.RUNTIME)
   @Target({java.lang.annotation.ElementType.METHOD})
   public @interface Repeat {
-    /**
-     * The number of times to repeat the test.
-     */
+    /** The number of times to repeat the test. */
     int times();
   }
 
-
   private static class RepeatStatement extends Statement {
     private final int m_times;
     private final Statement m_statement;
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java
index 01a8963a7c..bee3787076 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java
@@ -4,12 +4,6 @@
 
 package edu.wpi.first.wpilibj.test;
 
-import java.io.PrintStream;
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.Collection;
-import java.util.List;
-
 import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.AnalogOutput;
@@ -24,6 +18,11 @@ import edu.wpi.first.wpilibj.fixtures.DIOCrossConnectFixture;
 import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
 import edu.wpi.first.wpilibj.fixtures.RelayCrossConnectFixture;
 import edu.wpi.first.wpilibj.fixtures.TiltPanCameraFixture;
+import java.io.PrintStream;
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.Collection;
+import java.util.List;
 
 /**
  * This class provides access to all of the elements on the test bench, for use in fixtures. This
@@ -46,7 +45,6 @@ public final class TestBench {
   public static final int kTiltServoChannel = 9;
   public static final int kPanServoChannel = 8;
 
-
   /* PowerDistributionPanel channels */
   public static final int kJaguarPDPChannel = 6;
   public static final int kVictorPDPChannel = 8;
@@ -58,17 +56,14 @@ public final class TestBench {
   public static final int DIOCrossConnectA2 = 7;
   public static final int DIOCrossConnectA1 = 6;
 
-  /**
-   * The Singleton instance of the Test Bench.
-   */
+  /** The Singleton instance of the Test Bench. */
   private static TestBench instance = null;
 
   /**
    * The single constructor for the TestBench. This method is private in order to prevent multiple
    * TestBench objects from being allocated.
    */
-  protected TestBench() {
-  }
+  protected TestBench() {}
 
   /**
    * Constructs a new set of objects representing a connected set of Talon controlled Motors and an
@@ -198,21 +193,23 @@ public final class TestBench {
     return new DIOCrossConnectFixture(inputPort, outputPort);
   }
 
-  /**
-   * Gets two lists of possible DIO pairs for the two pairs.
-   */
+  /** Gets two lists of possible DIO pairs for the two pairs. */
   private List<List<Integer[]>> getDIOCrossConnect() {
     List<List<Integer[]>> pairs = new ArrayList<List<Integer[]>>();
     List<Integer[]> setA =
-        Arrays.asList(new Integer[][]{
-            {DIOCrossConnectA1, DIOCrossConnectA2},
-            {DIOCrossConnectA2, DIOCrossConnectA1}});
+        Arrays.asList(
+            new Integer[][] {
+              {DIOCrossConnectA1, DIOCrossConnectA2},
+              {DIOCrossConnectA2, DIOCrossConnectA1}
+            });
     pairs.add(setA);
 
     List<Integer[]> setB =
-        Arrays.asList(new Integer[][]{
-            {DIOCrossConnectB1, DIOCrossConnectB2},
-            {DIOCrossConnectB2, DIOCrossConnectB1}});
+        Arrays.asList(
+            new Integer[][] {
+              {DIOCrossConnectB1, DIOCrossConnectB2},
+              {DIOCrossConnectB2, DIOCrossConnectB1}
+            });
     pairs.add(setB);
     // NOTE: IF MORE DIOCROSSCONNECT PAIRS ARE ADDED ADD THEM HERE
     return pairs;
@@ -273,8 +270,8 @@ public final class TestBench {
    * @param flip whether this encoder needs to be flipped
    * @return A list of different inputs to use for the tests
    */
-  private Collection<Integer[]> getPairArray(List<Integer[]> listA, List<Integer[]> listB,
-                                             boolean flip) {
+  private Collection<Integer[]> getPairArray(
+      List<Integer[]> listA, List<Integer[]> listB, boolean flip) {
     Collection<Integer[]> encoderPortPairs = new ArrayList<Integer[]>();
     for (Integer[] portPairsA : listA) {
       Integer[] inputs = new Integer[5];
@@ -310,10 +307,10 @@ public final class TestBench {
   public Collection<Integer[]> getEncoderDIOCrossConnectCollection() {
     Collection<Integer[]> encoderPortPairs = new ArrayList<Integer[]>();
     assert getDIOCrossConnect().size() == 2;
-    encoderPortPairs.addAll(getPairArray(getDIOCrossConnect().get(0), getDIOCrossConnect().get(1),
-        false));
-    encoderPortPairs.addAll(getPairArray(getDIOCrossConnect().get(1), getDIOCrossConnect().get(0),
-        false));
+    encoderPortPairs.addAll(
+        getPairArray(getDIOCrossConnect().get(0), getDIOCrossConnect().get(1), false));
+    encoderPortPairs.addAll(
+        getPairArray(getDIOCrossConnect().get(1), getDIOCrossConnect().get(0), false));
     assert encoderPortPairs.size() == 8;
     return encoderPortPairs;
   }
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestSuite.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestSuite.java
index efbcce38e3..0da40ff465 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestSuite.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestSuite.java
@@ -4,6 +4,7 @@
 
 package edu.wpi.first.wpilibj.test;
 
+import edu.wpi.first.wpilibj.WpiLibJTestSuite;
 import java.io.IOException;
 import java.io.InputStream;
 import java.util.ArrayList;
@@ -13,7 +14,8 @@ import java.util.Objects;
 import java.util.logging.LogManager;
 import java.util.logging.Logger;
 import java.util.regex.Pattern;
-
+import junit.framework.JUnit4TestAdapter;
+import junit.runner.Version;
 import org.junit.runner.JUnitCore;
 import org.junit.runner.Result;
 import org.junit.runner.RunWith;
@@ -21,11 +23,6 @@ import org.junit.runner.notification.Failure;
 import org.junit.runners.Suite;
 import org.junit.runners.Suite.SuiteClasses;
 
-import junit.framework.JUnit4TestAdapter;
-import junit.runner.Version;
-
-import edu.wpi.first.wpilibj.WpiLibJTestSuite;
-
 /**
  * The WPILibJ Integeration Test Suite collects all of the tests to be run by junit. In order for a
  * test to be run, it must be added the list of suite classes below. The tests will be run in the
@@ -50,9 +47,8 @@ public class TestSuite extends AbstractTestSuite {
   }
 
   private static final Logger WPILIBJ_ROOT_LOGGER = Logger.getLogger("edu.wpi.first.wpilibj");
-  private static final Logger WPILIBJ_COMMAND_ROOT_LOGGER = Logger
-      .getLogger("edu.wpi.first.wpilibj.command");
-
+  private static final Logger WPILIBJ_COMMAND_ROOT_LOGGER =
+      Logger.getLogger("edu.wpi.first.wpilibj.command");
 
   private static final Class<?> QUICK_TEST = QuickTest.class;
   private static final String QUICK_TEST_FLAG = "--quick";
@@ -63,9 +59,7 @@ public class TestSuite extends AbstractTestSuite {
 
   private static TestSuite instance = null;
 
-  /**
-   * Get the singleton instance of the test suite.
-   */
+  /** Get the singleton instance of the test suite. */
   public static TestSuite getInstance() {
     if (instance == null) {
       instance = new TestSuite();
@@ -73,32 +67,41 @@ public class TestSuite extends AbstractTestSuite {
     return instance;
   }
 
-  /**
-   * This has to be public so that the JUnit4.
-   */
-  public TestSuite() {
-  }
+  /** This has to be public so that the JUnit4. */
+  public TestSuite() {}
 
-  /**
-   * Displays a help message for the user when they use the --help flag at runtime.
-   */
+  /** 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" + QUICK_TEST_FLAG
-        + " will cause the quick test to be run. Ignores other flags except for "
-        + METHOD_REPEAT_FILTER + "\n");
-    helpMessage.append("\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" + 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" + 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 "
+    helpMessage.append(
+        "\t"
+            + QUICK_TEST_FLAG
+            + " will cause the quick test to be run. Ignores other flags except for "
+            + METHOD_REPEAT_FILTER
+            + "\n");
+    helpMessage.append(
+        "\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"
+            + 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"
+            + 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 "
             + "documentation can be found at "
             + "http://docs.oracle.com/javase/7/docs/api/java/util/regex/Pattern.html\n");
     helpMessage.append("\n");
@@ -118,12 +121,12 @@ public class TestSuite extends AbstractTestSuite {
       invalidMessage.append(a + " ");
     }
     invalidMessage.append("\n");
-    invalidMessage
-        .append("For details on proper usage of the runtime flags please run again with the "
-            + HELP_FLAG + " flag.\n\n");
+    invalidMessage.append(
+        "For details on proper usage of the runtime flags please run again with the "
+            + HELP_FLAG
+            + " flag.\n\n");
 
     TestBench.out().println(invalidMessage);
-
   }
 
   /**
@@ -144,7 +147,6 @@ public class TestSuite extends AbstractTestSuite {
     TestBench.out().println(loadedTestsMessage);
   }
 
-
   /**
    * Parses the arguments passed at runtime and runs the appropriate tests based upon these
    * arguments.
@@ -176,8 +178,8 @@ public class TestSuite extends AbstractTestSuite {
         try {
           repeatCount = Integer.parseInt(new String(s).replace(METHOD_REPEAT_FILTER, ""));
         } catch (NumberFormatException ex) {
-          displayInvalidUsage("The argument passed to the repeat rule was not a valid integer.",
-              args);
+          displayInvalidUsage(
+              "The argument passed to the repeat rule was not a valid integer.", args);
         }
       }
       if (Pattern.matches(CLASS_NAME_FILTER + ".*", s)) {
@@ -186,7 +188,6 @@ public class TestSuite extends AbstractTestSuite {
       }
     }
 
-
     ArrayList<String> argsParsed = new ArrayList<String>(Arrays.asList(args));
     if (argsParsed.contains(HELP_FLAG)) {
       // If the user inputs the help flag then return the help message and exit
@@ -200,8 +201,8 @@ public class TestSuite extends AbstractTestSuite {
     }
 
     /**
-     * Stores the data from multiple {@link Result}s in one class that can be
-     * returned to display the results.
+     * Stores the data from multiple {@link Result}s in one class that can be returned to display
+     * the results.
      */
     class MultipleResult extends Result {
       private static final long serialVersionUID = 1L;
@@ -252,8 +253,8 @@ public class TestSuite extends AbstractTestSuite {
     if (methodFilter) {
       List<ClassMethodPair> pairs = (new TestSuite()).getMethodMatching(methodRegex);
       if (pairs.size() == 0) {
-        displayInvalidUsage("None of the arguments passed to the method name filter matched.",
-            args);
+        displayInvalidUsage(
+            "None of the arguments passed to the method name filter matched.", args);
         return null;
       }
       // Print out the list of tests before we run them
@@ -268,7 +269,6 @@ public class TestSuite extends AbstractTestSuite {
         TestBench.out().println("\t" + p.m_methodName);
       }
 
-
       // The test results will be saved here
       MultipleResult results = new MultipleResult();
       // Runs tests multiple times if the repeat rule is used
@@ -320,9 +320,17 @@ public class TestSuite extends AbstractTestSuite {
       TestBench.out().println();
       TestBench.out().println("FAILURES!!!");
       // Print the test statistics
-      TestBench.out().println(
-          "Tests run: " + result.getRunCount() + ", Failures: " + result.getFailureCount()
-              + ", Ignored: " + result.getIgnoreCount() + ", In " + result.getRunTime() + "ms");
+      TestBench.out()
+          .println(
+              "Tests run: "
+                  + result.getRunCount()
+                  + ", Failures: "
+                  + result.getFailureCount()
+                  + ", Ignored: "
+                  + result.getIgnoreCount()
+                  + ", In "
+                  + result.getRunTime()
+                  + "ms");
 
       // Prints out a list of test that failed
       TestBench.out().println("Failure List (short):");
@@ -337,9 +345,15 @@ public class TestSuite extends AbstractTestSuite {
       }
     } else {
       TestBench.out().println("SUCCESS!");
-      TestBench.out().println(
-          "Tests run: " + result.getRunCount() + ", Ignored: " + result.getIgnoreCount() + ", In "
-              + result.getRunTime() + "ms");
+      TestBench.out()
+          .println(
+              "Tests run: "
+                  + result.getRunCount()
+                  + ", Ignored: "
+                  + result.getIgnoreCount()
+                  + ", In "
+                  + result.getRunTime()
+                  + "ms");
     }
     TestBench.out().println();
   }
@@ -353,7 +367,6 @@ public class TestSuite extends AbstractTestSuite {
     return new JUnit4TestAdapter(TestSuite.class);
   }
 
-
   /**
    * The method called at runtime.
    *
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/package-info.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/package-info.java
index 3ad86123ee..8ce4285b88 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/package-info.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/package-info.java
@@ -5,11 +5,10 @@
 /**
  * This is the starting point for the integration testing framework. This package should contain
  * classes that are not explicitly for testing the library but instead provide the framework that
- * the tests can extend from. Every test should extend from
- * {@link edu.wpi.first.wpilibj.test.AbstractComsSetup}
- * to ensure that Network Communications is properly instantiated before the test is run. The
- * {@link edu.wpi.first.wpilibj.test.TestBench} should contain the port numbers for all of the
- * hardware and these values should not be explicitly defined anywhere else in the testing
- * framework.
+ * the tests can extend from. Every test should extend from {@link
+ * edu.wpi.first.wpilibj.test.AbstractComsSetup} to ensure that Network Communications is properly
+ * instantiated before the test is run. The {@link edu.wpi.first.wpilibj.test.TestBench} should
+ * contain the port numbers for all of the hardware and these values should not be explicitly
+ * defined anywhere else in the testing framework.
  */
 package edu.wpi.first.wpilibj.test;
diff --git a/wpimath/src/dev/java/edu/wpi/first/wpiutil/math/DevMain.java b/wpimath/src/dev/java/edu/wpi/first/wpiutil/math/DevMain.java
index 81a5493930..9bb99253fc 100644
--- a/wpimath/src/dev/java/edu/wpi/first/wpiutil/math/DevMain.java
+++ b/wpimath/src/dev/java/edu/wpi/first/wpiutil/math/DevMain.java
@@ -5,14 +5,11 @@
 package edu.wpi.first.wpiutil.math;
 
 public final class DevMain {
-  /**
-   * Main entry point.
-   */
+  /** Main entry point. */
   public static void main(String[] args) {
     System.out.println("Hello World!");
     System.out.println(MathUtil.normalizeAngle(-5.0));
   }
 
-  private DevMain() {
-  }
+  private DevMain() {}
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/Drake.java b/wpimath/src/main/java/edu/wpi/first/math/Drake.java
index cd58ddded0..70c07391df 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/Drake.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/Drake.java
@@ -4,14 +4,12 @@
 
 package edu.wpi.first.math;
 
-import org.ejml.simple.SimpleMatrix;
-
 import edu.wpi.first.wpiutil.math.Matrix;
 import edu.wpi.first.wpiutil.math.Num;
+import org.ejml.simple.SimpleMatrix;
 
 public final class Drake {
-  private Drake() {
-  }
+  private Drake() {}
 
   /**
    * Solves the discrete alegebraic Riccati equation.
@@ -24,14 +22,16 @@ public final class Drake {
    */
   @SuppressWarnings({"LocalVariableName", "ParameterName"})
   public static SimpleMatrix discreteAlgebraicRiccatiEquation(
-          SimpleMatrix A,
-          SimpleMatrix B,
-          SimpleMatrix Q,
-          SimpleMatrix R) {
+      SimpleMatrix A, SimpleMatrix B, SimpleMatrix Q, SimpleMatrix R) {
     var S = new SimpleMatrix(A.numRows(), A.numCols());
-    WPIMathJNI.discreteAlgebraicRiccatiEquation(A.getDDRM().getData(), B.getDDRM().getData(),
-            Q.getDDRM().getData(), R.getDDRM().getData(), A.numCols(), B.numCols(),
-            S.getDDRM().getData());
+    WPIMathJNI.discreteAlgebraicRiccatiEquation(
+        A.getDDRM().getData(),
+        B.getDDRM().getData(),
+        Q.getDDRM().getData(),
+        R.getDDRM().getData(),
+        A.numCols(),
+        B.numCols(),
+        S.getDDRM().getData());
     return S;
   }
 
@@ -45,12 +45,14 @@ public final class Drake {
    * @return Solution of DARE.
    */
   @SuppressWarnings({"ParameterName", "MethodTypeParameterName"})
-  public static <States extends Num, Inputs extends Num> Matrix<States, States>
-      discreteAlgebraicRiccatiEquation(Matrix<States, States> A,
-                                       Matrix<States, Inputs> B,
-                                       Matrix<States, States> Q,
-                                       Matrix<Inputs, Inputs> R) {
-    return new Matrix<>(discreteAlgebraicRiccatiEquation(A.getStorage(), B.getStorage(),
-    Q.getStorage(), R.getStorage()));
+  public static <States extends Num, Inputs extends Num>
+      Matrix<States, States> discreteAlgebraicRiccatiEquation(
+          Matrix<States, States> A,
+          Matrix<States, Inputs> B,
+          Matrix<States, States> Q,
+          Matrix<Inputs, Inputs> R) {
+    return new Matrix<>(
+        discreteAlgebraicRiccatiEquation(
+            A.getStorage(), B.getStorage(), Q.getStorage(), R.getStorage()));
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/MathSharedStore.java b/wpimath/src/main/java/edu/wpi/first/math/MathSharedStore.java
index 954954b897..bfe83cfe65 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/MathSharedStore.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/MathSharedStore.java
@@ -7,30 +7,24 @@ package edu.wpi.first.math;
 public final class MathSharedStore {
   private static MathShared mathShared;
 
-  private MathSharedStore() {
-  }
+  private MathSharedStore() {}
 
-  /**
-   * get the MathShared object.
-   */
+  /** get the MathShared object. */
   public static synchronized MathShared getMathShared() {
     if (mathShared == null) {
-      mathShared = new MathShared() {
-        @Override
-        public void reportError(String error, StackTraceElement[] stackTrace) {
-        }
+      mathShared =
+          new MathShared() {
+            @Override
+            public void reportError(String error, StackTraceElement[] stackTrace) {}
 
-        @Override
-        public void reportUsage(MathUsageId id, int count) {
-        }
-      };
+            @Override
+            public void reportUsage(MathUsageId id, int count) {}
+          };
     }
     return mathShared;
   }
 
-  /**
-   * set the MathShared object.
-   */
+  /** set the MathShared object. */
   public static synchronized void setMathShared(MathShared shared) {
     mathShared = shared;
   }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/WPIMathJNI.java b/wpimath/src/main/java/edu/wpi/first/math/WPIMathJNI.java
index d0ca60b16d..e0cc426841 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/WPIMathJNI.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/WPIMathJNI.java
@@ -4,11 +4,10 @@
 
 package edu.wpi.first.math;
 
+import edu.wpi.first.wpiutil.RuntimeLoader;
 import java.io.IOException;
 import java.util.concurrent.atomic.AtomicBoolean;
 
-import edu.wpi.first.wpiutil.RuntimeLoader;
-
 public final class WPIMathJNI {
   static boolean libraryLoaded = false;
   static RuntimeLoader<WPIMathJNI> loader = null;
@@ -16,8 +15,9 @@ public final class WPIMathJNI {
   static {
     if (Helper.getExtractOnStaticLoad()) {
       try {
-        loader = new RuntimeLoader<>("wpimathjni", RuntimeLoader.getDefaultExtractionRoot(),
-                WPIMathJNI.class);
+        loader =
+            new RuntimeLoader<>(
+                "wpimathjni", RuntimeLoader.getDefaultExtractionRoot(), WPIMathJNI.class);
         loader.loadLibrary();
       } catch (IOException ex) {
         ex.printStackTrace();
@@ -36,8 +36,9 @@ public final class WPIMathJNI {
     if (libraryLoaded) {
       return;
     }
-    loader = new RuntimeLoader<>("wpimathjni", RuntimeLoader.getDefaultExtractionRoot(),
-            WPIMathJNI.class);
+    loader =
+        new RuntimeLoader<>(
+            "wpimathjni", RuntimeLoader.getDefaultExtractionRoot(), WPIMathJNI.class);
     loader.loadLibrary();
     libraryLoaded = true;
   }
@@ -45,53 +46,47 @@ public final class WPIMathJNI {
   /**
    * Solves the discrete alegebraic Riccati equation.
    *
-   * @param A      Array containing elements of A in row-major order.
-   * @param B      Array containing elements of B in row-major order.
-   * @param Q      Array containing elements of Q in row-major order.
-   * @param R      Array containing elements of R in row-major order.
+   * @param A Array containing elements of A in row-major order.
+   * @param B Array containing elements of B in row-major order.
+   * @param Q Array containing elements of Q in row-major order.
+   * @param R Array containing elements of R in row-major order.
    * @param states Number of states in A matrix.
    * @param inputs Number of inputs in B matrix.
-   * @param S      Array storage for DARE solution.
+   * @param S Array storage for DARE solution.
    */
   public static native void discreteAlgebraicRiccatiEquation(
-          double[] A,
-          double[] B,
-          double[] Q,
-          double[] R,
-          int states,
-          int inputs,
-          double[] S);
+      double[] A, double[] B, double[] Q, double[] R, int states, int inputs, double[] S);
 
   /**
    * Computes the matrix exp.
    *
-   * @param src  Array of elements of the matrix to be exponentiated.
+   * @param src Array of elements of the matrix to be exponentiated.
    * @param rows How many rows there are.
-   * @param dst  Array where the result will be stored.
+   * @param dst Array where the result will be stored.
    */
   public static native void exp(double[] src, int rows, double[] dst);
 
   /**
    * Computes the matrix pow.
    *
-   * @param src      Array of elements of the matrix to be raised to a power.
-   * @param rows     How many rows there are.
+   * @param src Array of elements of the matrix to be raised to a power.
+   * @param rows How many rows there are.
    * @param exponent The exponent.
-   * @param dst      Array where the result will be stored.
+   * @param dst Array where the result will be stored.
    */
   public static native void pow(double[] src, int rows, double exponent, double[] dst);
 
   /**
    * Returns true if (A, B) is a stabilizable pair.
    *
-   * <p>(A,B) is stabilizable if and only if the uncontrollable eigenvalues of A, if
-   * any, have absolute values less than one, where an eigenvalue is
-   * uncontrollable if rank(lambda * I - A, B) &lt; n where n is number of states.
+   * <p>(A,B) is stabilizable if and only if the uncontrollable eigenvalues of A, if any, have
+   * absolute values less than one, where an eigenvalue is uncontrollable if rank(lambda * I - A, B)
+   * &lt; n where n is number of states.
    *
    * @param states the number of states of the system.
    * @param inputs the number of inputs to the system.
-   * @param A      System matrix.
-   * @param B      Input matrix.
+   * @param A System matrix.
+   * @param B Input matrix.
    * @return If the system is stabilizable.
    */
   public static native boolean isStabilizable(int states, int inputs, double[] A, double[] B);
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/LinearFilter.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/LinearFilter.java
index aef027c506..5d0e649e59 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/LinearFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/LinearFilter.java
@@ -4,11 +4,10 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.util.Arrays;
-
 import edu.wpi.first.math.MathSharedStore;
 import edu.wpi.first.math.MathUsageId;
 import edu.wpi.first.wpiutil.CircularBuffer;
+import java.util.Arrays;
 
 /**
  * This class implements a linear, digital filter. All types of FIR and IIR filters are supported.
@@ -25,8 +24,8 @@ import edu.wpi.first.wpiutil.CircularBuffer;
  * <p>What can linear filters do? Basically, they can filter, or diminish, the effects of
  * undesirable input frequencies. High frequencies, or rapid changes, can be indicative of sensor
  * noise or be otherwise undesirable. A "low pass" filter smooths out the signal, reducing the
- * impact of these high frequency components.  Likewise, a "high pass" filter gets rid of
- * slow-moving signal components, letting you detect large changes more easily.
+ * impact of these high frequency components. Likewise, a "high pass" filter gets rid of slow-moving
+ * signal components, letting you detect large changes more easily.
  *
  * <p>Example FRC applications of filters: - Getting rid of noise from an analog sensor input (note:
  * the roboRIO's FPGA can do this faster in hardware) - Smoothing out joystick input to prevent the
@@ -78,10 +77,9 @@ public class LinearFilter {
    * <p>This filter is stable for time constants greater than zero.
    *
    * @param timeConstant The discrete-time time constant in seconds.
-   * @param period       The period in seconds between samples taken by the user.
+   * @param period The period in seconds between samples taken by the user.
    */
-  public static LinearFilter singlePoleIIR(double timeConstant,
-                                           double period) {
+  public static LinearFilter singlePoleIIR(double timeConstant, double period) {
     double gain = Math.exp(-period / timeConstant);
     double[] ffGains = {1.0 - gain};
     double[] fbGains = {-gain};
@@ -96,10 +94,9 @@ public class LinearFilter {
    * <p>This filter is stable for time constants greater than zero.
    *
    * @param timeConstant The discrete-time time constant in seconds.
-   * @param period       The period in seconds between samples taken by the user.
+   * @param period The period in seconds between samples taken by the user.
    */
-  public static LinearFilter highPass(double timeConstant,
-                                      double period) {
+  public static LinearFilter highPass(double timeConstant, double period) {
     double gain = Math.exp(-period / timeConstant);
     double[] ffGains = {gain, -gain};
     double[] fbGains = {-gain};
@@ -131,9 +128,7 @@ public class LinearFilter {
     return new LinearFilter(ffGains, fbGains);
   }
 
-  /**
-   * Reset the filter state.
-   */
+  /** Reset the filter state. */
   public void reset() {
     m_inputs.clear();
     m_outputs.clear();
@@ -143,7 +138,6 @@ public class LinearFilter {
    * Calculates the next value of the filter.
    *
    * @param input Current input value.
-   *
    * @return The filtered value at this step
    */
   public double calculate(double input) {
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/MedianFilter.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/MedianFilter.java
index 3fe3695f32..7c285834a9 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/MedianFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/MedianFilter.java
@@ -4,16 +4,15 @@
 
 package edu.wpi.first.wpilibj;
 
+import edu.wpi.first.wpiutil.CircularBuffer;
 import java.util.ArrayList;
 import java.util.Collections;
 import java.util.List;
 
-import edu.wpi.first.wpiutil.CircularBuffer;
-
 /**
- * A class that implements a moving-window median filter.  Useful for reducing measurement noise,
- * especially with processes that generate occasional, extreme outliers (such as values from
- * vision processing, LIDAR, or ultrasonic sensors).
+ * A class that implements a moving-window median filter. Useful for reducing measurement noise,
+ * especially with processes that generate occasional, extreme outliers (such as values from vision
+ * processing, LIDAR, or ultrasonic sensors).
  */
 public class MedianFilter {
   private final CircularBuffer m_valueBuffer;
@@ -73,9 +72,7 @@ public class MedianFilter {
     }
   }
 
-  /**
-   * Resets the filter, clearing the window of all elements.
-   */
+  /** Resets the filter, clearing the window of all elements. */
   public void reset() {
     m_orderedValues.clear();
     m_valueBuffer.clear();
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/ArmFeedforward.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/ArmFeedforward.java
index 9c71c39d56..967b1742f4 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/ArmFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/ArmFeedforward.java
@@ -5,8 +5,8 @@
 package edu.wpi.first.wpilibj.controller;
 
 /**
- * A helper class that computes feedforward outputs for a simple arm (modeled as a motor
- * acting against the force of gravity on a beam suspended at an angle).
+ * A helper class that computes feedforward outputs for a simple arm (modeled as a motor acting
+ * against the force of gravity on a beam suspended at an angle).
  */
 @SuppressWarnings("MemberName")
 public class ArmFeedforward {
@@ -16,13 +16,13 @@ public class ArmFeedforward {
   public final double ka;
 
   /**
-   * Creates a new ArmFeedforward with the specified gains.  Units of the gain values
-   * will dictate units of the computed feedforward.
+   * Creates a new ArmFeedforward with the specified gains. Units of the gain values will dictate
+   * units of the computed feedforward.
    *
-   * @param ks   The static gain.
+   * @param ks The static gain.
    * @param kcos The gravity gain.
-   * @param kv   The velocity gain.
-   * @param ka   The acceleration gain.
+   * @param kv The velocity gain.
+   * @param ka The acceleration gain.
    */
   public ArmFeedforward(double ks, double kcos, double kv, double ka) {
     this.ks = ks;
@@ -32,12 +32,12 @@ public class ArmFeedforward {
   }
 
   /**
-   * Creates a new ArmFeedforward with the specified gains.  Acceleration gain is
-   * defaulted to zero.  Units of the gain values will dictate units of the computed feedforward.
+   * Creates a new ArmFeedforward with the specified gains. Acceleration gain is defaulted to zero.
+   * Units of the gain values will dictate units of the computed feedforward.
    *
-   * @param ks   The static gain.
+   * @param ks The static gain.
    * @param kcos The gravity gain.
-   * @param kv   The velocity gain.
+   * @param kv The velocity gain.
    */
   public ArmFeedforward(double ks, double kcos, double kv) {
     this(ks, kcos, kv, 0);
@@ -46,24 +46,25 @@ public class ArmFeedforward {
   /**
    * Calculates the feedforward from the gains and setpoints.
    *
-   * @param positionRadians       The position (angle) setpoint.
-   * @param velocityRadPerSec     The velocity setpoint.
+   * @param positionRadians The position (angle) setpoint.
+   * @param velocityRadPerSec The velocity setpoint.
    * @param accelRadPerSecSquared The acceleration setpoint.
    * @return The computed feedforward.
    */
-  public double calculate(double positionRadians, double velocityRadPerSec,
-                          double accelRadPerSecSquared) {
-    return ks * Math.signum(velocityRadPerSec) + kcos * Math.cos(positionRadians)
+  public double calculate(
+      double positionRadians, double velocityRadPerSec, double accelRadPerSecSquared) {
+    return ks * Math.signum(velocityRadPerSec)
+        + kcos * Math.cos(positionRadians)
         + kv * velocityRadPerSec
         + ka * accelRadPerSecSquared;
   }
 
   /**
-   * Calculates the feedforward from the gains and velocity setpoint (acceleration is assumed to
-   * be zero).
+   * Calculates the feedforward from the gains and velocity setpoint (acceleration is assumed to be
+   * zero).
    *
    * @param positionRadians The position (angle) setpoint.
-   * @param velocity        The velocity setpoint.
+   * @param velocity The velocity setpoint.
    * @return The computed feedforward.
    */
   public double calculate(double positionRadians, double velocity) {
@@ -74,11 +75,10 @@ public class ArmFeedforward {
   // formulas for the methods below:
 
   /**
-   * Calculates the maximum achievable velocity given a maximum voltage supply,
-   * a position, and an acceleration.  Useful for ensuring that velocity and
-   * acceleration constraints for a trapezoidal profile are simultaneously
-   * achievable - enter the acceleration constraint, and this will give you
-   * a simultaneously-achievable velocity constraint.
+   * Calculates the maximum achievable velocity given a maximum voltage supply, a position, and an
+   * acceleration. Useful for ensuring that velocity and acceleration constraints for a trapezoidal
+   * profile are simultaneously achievable - enter the acceleration constraint, and this will give
+   * you a simultaneously-achievable velocity constraint.
    *
    * @param maxVoltage The maximum voltage that can be supplied to the arm.
    * @param angle The angle of the arm.
@@ -91,11 +91,10 @@ public class ArmFeedforward {
   }
 
   /**
-   * Calculates the minimum achievable velocity given a maximum voltage supply,
-   * a position, and an acceleration.  Useful for ensuring that velocity and
-   * acceleration constraints for a trapezoidal profile are simultaneously
-   * achievable - enter the acceleration constraint, and this will give you
-   * a simultaneously-achievable velocity constraint.
+   * Calculates the minimum achievable velocity given a maximum voltage supply, a position, and an
+   * acceleration. Useful for ensuring that velocity and acceleration constraints for a trapezoidal
+   * profile are simultaneously achievable - enter the acceleration constraint, and this will give
+   * you a simultaneously-achievable velocity constraint.
    *
    * @param maxVoltage The maximum voltage that can be supplied to the arm.
    * @param angle The angle of the arm.
@@ -108,11 +107,10 @@ public class ArmFeedforward {
   }
 
   /**
-   * Calculates the maximum achievable acceleration given a maximum voltage
-   * supply, a position, and a velocity. Useful for ensuring that velocity and
-   * acceleration constraints for a trapezoidal profile are simultaneously
-   * achievable - enter the velocity constraint, and this will give you
-   * a simultaneously-achievable acceleration constraint.
+   * Calculates the maximum achievable acceleration given a maximum voltage supply, a position, and
+   * a velocity. Useful for ensuring that velocity and acceleration constraints for a trapezoidal
+   * profile are simultaneously achievable - enter the velocity constraint, and this will give you a
+   * simultaneously-achievable acceleration constraint.
    *
    * @param maxVoltage The maximum voltage that can be supplied to the arm.
    * @param angle The angle of the arm.
@@ -124,11 +122,10 @@ public class ArmFeedforward {
   }
 
   /**
-   * Calculates the minimum achievable acceleration given a maximum voltage
-   * supply, a position, and a velocity. Useful for ensuring that velocity and
-   * acceleration constraints for a trapezoidal profile are simultaneously
-   * achievable - enter the velocity constraint, and this will give you
-   * a simultaneously-achievable acceleration constraint.
+   * Calculates the minimum achievable acceleration given a maximum voltage supply, a position, and
+   * a velocity. Useful for ensuring that velocity and acceleration constraints for a trapezoidal
+   * profile are simultaneously achievable - enter the velocity constraint, and this will give you a
+   * simultaneously-achievable acceleration constraint.
    *
    * @param maxVoltage The maximum voltage that can be supplied to the arm.
    * @param angle The angle of the arm.
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/ControlAffinePlantInversionFeedforward.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/ControlAffinePlantInversionFeedforward.java
index fbc945f8c4..9b3dc8c460 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/ControlAffinePlantInversionFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/ControlAffinePlantInversionFeedforward.java
@@ -4,45 +4,38 @@
 
 package edu.wpi.first.wpilibj.controller;
 
-import java.util.function.BiFunction;
-import java.util.function.Function;
-
 import edu.wpi.first.wpilibj.system.NumericalJacobian;
 import edu.wpi.first.wpiutil.math.Matrix;
 import edu.wpi.first.wpiutil.math.Nat;
 import edu.wpi.first.wpiutil.math.Num;
 import edu.wpi.first.wpiutil.math.numbers.N1;
+import java.util.function.BiFunction;
+import java.util.function.Function;
 
 /**
- * Constructs a control-affine plant inversion model-based feedforward from
- * given model dynamics.
+ * 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.wpilibj.system.NumericalJacobian}.
- * In this case f has to be control-affine (of the form f(x) + Bu).
+ * <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.wpilibj.system.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
+ * <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.
  *
- * <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>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.
  */
 @SuppressWarnings({"ParameterName", "LocalVariableName", "MemberName", "ClassTypeParameterName"})
 public class ControlAffinePlantInversionFeedforward<States extends Num, Inputs extends Num> {
-  /**
-   * The current reference state.
-   */
+  /** The current reference state. */
   @SuppressWarnings("MemberName")
   private Matrix<States, N1> m_r;
 
-  /**
-   * The computed feedforward.
-   */
+  /** The computed feedforward. */
   private Matrix<Inputs, N1> m_uff;
 
   @SuppressWarnings("MemberName")
@@ -52,34 +45,30 @@ public class ControlAffinePlantInversionFeedforward<States extends Num, Inputs e
 
   private final double m_dt;
 
-  /**
-   * The model dynamics.
-   */
+  /** The model dynamics. */
   private final BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<States, N1>> m_f;
 
   /**
-   * Constructs a feedforward with given model dynamics as a function
-   * of state and input.
+   * Constructs a feedforward with given model dynamics as a function of state and input.
    *
-   * @param states    A {@link Nat} representing the number of states.
-   * @param inputs    A {@link Nat} representing the number of inputs.
-   * @param f         A vector-valued function of x, the state, and
-   *                  u, the input, that returns the derivative of
-   *                  the state vector. HAS to be control-affine
-   *                  (of the form f(x) + Bu).
+   * @param states A {@link Nat} representing the number of states.
+   * @param inputs A {@link Nat} representing the number of inputs.
+   * @param f A vector-valued function of x, the state, and u, the input, that returns the
+   *     derivative of the state vector. HAS to be control-affine (of the form f(x) + Bu).
    * @param dtSeconds The timestep between calls of calculate().
    */
   public ControlAffinePlantInversionFeedforward(
-        Nat<States> states,
-        Nat<Inputs> inputs,
-        BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<States, N1>> f,
-        double dtSeconds) {
+      Nat<States> states,
+      Nat<Inputs> inputs,
+      BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<States, N1>> f,
+      double dtSeconds) {
     this.m_dt = dtSeconds;
     this.m_f = f;
     this.m_inputs = inputs;
 
-    this.m_B = NumericalJacobian.numericalJacobianU(states, inputs,
-            m_f, new Matrix<>(states, Nat.N1()), new Matrix<>(inputs, Nat.N1()));
+    this.m_B =
+        NumericalJacobian.numericalJacobianU(
+            states, inputs, m_f, new Matrix<>(states, Nat.N1()), new Matrix<>(inputs, Nat.N1()));
 
     m_r = new Matrix<>(states, Nat.N1());
     m_uff = new Matrix<>(inputs, Nat.N1());
@@ -88,22 +77,22 @@ public class ControlAffinePlantInversionFeedforward<States extends Num, Inputs e
   }
 
   /**
-   * Constructs a feedforward with given model dynamics as a function of state,
-   * and the plant's B(continuous input matrix) matrix.
+   * Constructs a feedforward with given model dynamics as a function of state, and the plant's
+   * B(continuous input matrix) matrix.
    *
-   * @param states    A {@link Nat} representing the number of states.
-   * @param inputs    A {@link Nat} representing the number of inputs.
-   * @param f         A vector-valued function of x, the state,
-   *                  that returns the derivative of the state vector.
-   * @param B         Continuous input matrix of the plant being controlled.
+   * @param states A {@link Nat} representing the number of states.
+   * @param inputs A {@link Nat} representing the number of inputs.
+   * @param f A vector-valued function of x, the state, that returns the derivative of the state
+   *     vector.
+   * @param B Continuous input matrix of the plant being controlled.
    * @param dtSeconds The timestep between calls of calculate().
    */
   public ControlAffinePlantInversionFeedforward(
-        Nat<States> states,
-        Nat<Inputs> inputs,
-        Function<Matrix<States, N1>, Matrix<States, N1>> f,
-        Matrix<States, Inputs> B,
-        double dtSeconds) {
+      Nat<States> states,
+      Nat<Inputs> inputs,
+      Function<Matrix<States, N1>, Matrix<States, N1>> f,
+      Matrix<States, Inputs> B,
+      double dtSeconds) {
     this.m_dt = dtSeconds;
     this.m_inputs = inputs;
 
@@ -116,7 +105,6 @@ public class ControlAffinePlantInversionFeedforward<States extends Num, Inputs e
     reset(m_r);
   }
 
-
   /**
    * Returns the previously calculated feedforward as an input vector.
    *
@@ -130,7 +118,6 @@ public class ControlAffinePlantInversionFeedforward<States extends Num, Inputs e
    * Returns an element of the previously calculated feedforward.
    *
    * @param row Row of uff.
-   *
    * @return The row of the calculated feedforward.
    */
   public double getUff(int row) {
@@ -150,7 +137,6 @@ public class ControlAffinePlantInversionFeedforward<States extends Num, Inputs e
    * Returns an element of the current reference vector r.
    *
    * @param row Row of r.
-   *
    * @return The row of the current reference vector.
    */
   public double getR(int row) {
@@ -167,25 +153,21 @@ public class ControlAffinePlantInversionFeedforward<States extends Num, Inputs e
     m_uff.fill(0.0);
   }
 
-  /**
-   * Resets the feedforward with a zero initial state vector.
-   */
+  /** Resets the feedforward with a zero initial state vector. */
   public void reset() {
     m_r.fill(0.0);
     m_uff.fill(0.0);
   }
 
   /**
-   * Calculate the feedforward with only the desired
-   * future reference. This uses the internally stored "current"
-   * reference.
+   * Calculate the feedforward with only the desired future reference. This uses the internally
+   * stored "current" reference.
    *
-   * <p>If this method is used the initial state of the system is the one
-   * set using {@link LinearPlantInversionFeedforward#reset(Matrix)}.
-   * If the initial state is not set it defaults to a zero vector.
+   * <p>If this method is used the initial state of the system is the one set using {@link
+   * LinearPlantInversionFeedforward#reset(Matrix)}. If the initial state is not set it defaults to
+   * a zero vector.
    *
    * @param nextR The reference state of the future timestep (k + dt).
-   *
    * @return The calculated feedforward.
    */
   public Matrix<Inputs, N1> calculate(Matrix<States, N1> nextR) {
@@ -195,9 +177,8 @@ public class ControlAffinePlantInversionFeedforward<States extends Num, Inputs e
   /**
    * Calculate the feedforward with current and future reference vectors.
    *
-   * @param r     The reference state of the current timestep (k).
+   * @param r The reference state of the current timestep (k).
    * @param nextR The reference state of the future timestep (k + dt).
-   *
    * @return The calculated feedforward.
    */
   @SuppressWarnings({"ParameterName", "LocalVariableName"})
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/ElevatorFeedforward.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/ElevatorFeedforward.java
index 8d4bba9965..ebab615e6b 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/ElevatorFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/ElevatorFeedforward.java
@@ -5,8 +5,8 @@
 package edu.wpi.first.wpilibj.controller;
 
 /**
- * A helper class that computes feedforward outputs for a simple elevator (modeled as a motor
- * acting against the force of gravity).
+ * A helper class that computes feedforward outputs for a simple elevator (modeled as a motor acting
+ * against the force of gravity).
  */
 @SuppressWarnings("MemberName")
 public class ElevatorFeedforward {
@@ -16,8 +16,8 @@ public class ElevatorFeedforward {
   public final double ka;
 
   /**
-   * Creates a new ElevatorFeedforward with the specified gains.  Units of the gain values
-   * will dictate units of the computed feedforward.
+   * Creates a new ElevatorFeedforward with the specified gains. Units of the gain values will
+   * dictate units of the computed feedforward.
    *
    * @param ks The static gain.
    * @param kg The gravity gain.
@@ -32,8 +32,8 @@ public class ElevatorFeedforward {
   }
 
   /**
-   * Creates a new ElevatorFeedforward with the specified gains.  Acceleration gain is
-   * defaulted to zero.  Units of the gain values will dictate units of the computed feedforward.
+   * Creates a new ElevatorFeedforward with the specified gains. Acceleration gain is defaulted to
+   * zero. Units of the gain values will dictate units of the computed feedforward.
    *
    * @param ks The static gain.
    * @param kg The gravity gain.
@@ -46,7 +46,7 @@ public class ElevatorFeedforward {
   /**
    * Calculates the feedforward from the gains and setpoints.
    *
-   * @param velocity     The velocity setpoint.
+   * @param velocity The velocity setpoint.
    * @param acceleration The acceleration setpoint.
    * @return The computed feedforward.
    */
@@ -55,8 +55,8 @@ public class ElevatorFeedforward {
   }
 
   /**
-   * Calculates the feedforward from the gains and velocity setpoint (acceleration is assumed to
-   * be zero).
+   * Calculates the feedforward from the gains and velocity setpoint (acceleration is assumed to be
+   * zero).
    *
    * @param velocity The velocity setpoint.
    * @return The computed feedforward.
@@ -69,11 +69,10 @@ public class ElevatorFeedforward {
   // formulas for the methods below:
 
   /**
-   * Calculates the maximum achievable velocity given a maximum voltage supply
-   * and an acceleration.  Useful for ensuring that velocity and
-   * acceleration constraints for a trapezoidal profile are simultaneously
-   * achievable - enter the acceleration constraint, and this will give you
-   * a simultaneously-achievable velocity constraint.
+   * Calculates the maximum achievable velocity given a maximum voltage supply and an acceleration.
+   * Useful for ensuring that velocity and acceleration constraints for a trapezoidal profile are
+   * simultaneously achievable - enter the acceleration constraint, and this will give you a
+   * simultaneously-achievable velocity constraint.
    *
    * @param maxVoltage The maximum voltage that can be supplied to the elevator.
    * @param acceleration The acceleration of the elevator.
@@ -85,11 +84,10 @@ public class ElevatorFeedforward {
   }
 
   /**
-   * Calculates the minimum achievable velocity given a maximum voltage supply
-   * and an acceleration.  Useful for ensuring that velocity and
-   * acceleration constraints for a trapezoidal profile are simultaneously
-   * achievable - enter the acceleration constraint, and this will give you
-   * a simultaneously-achievable velocity constraint.
+   * Calculates the minimum achievable velocity given a maximum voltage supply and an acceleration.
+   * Useful for ensuring that velocity and acceleration constraints for a trapezoidal profile are
+   * simultaneously achievable - enter the acceleration constraint, and this will give you a
+   * simultaneously-achievable velocity constraint.
    *
    * @param maxVoltage The maximum voltage that can be supplied to the elevator.
    * @param acceleration The acceleration of the elevator.
@@ -101,11 +99,10 @@ public class ElevatorFeedforward {
   }
 
   /**
-   * Calculates the maximum achievable acceleration given a maximum voltage
-   * supply and a velocity. Useful for ensuring that velocity and
-   * acceleration constraints for a trapezoidal profile are simultaneously
-   * achievable - enter the velocity constraint, and this will give you
-   * a simultaneously-achievable acceleration constraint.
+   * Calculates the maximum achievable acceleration given a maximum voltage supply and a velocity.
+   * Useful for ensuring that velocity and acceleration constraints for a trapezoidal profile are
+   * simultaneously achievable - enter the velocity constraint, and this will give you a
+   * simultaneously-achievable acceleration constraint.
    *
    * @param maxVoltage The maximum voltage that can be supplied to the elevator.
    * @param velocity The velocity of the elevator.
@@ -116,11 +113,10 @@ public class ElevatorFeedforward {
   }
 
   /**
-   * Calculates the minimum achievable acceleration given a maximum voltage
-   * supply and a velocity. Useful for ensuring that velocity and
-   * acceleration constraints for a trapezoidal profile are simultaneously
-   * achievable - enter the velocity constraint, and this will give you
-   * a simultaneously-achievable acceleration constraint.
+   * Calculates the minimum achievable acceleration given a maximum voltage supply and a velocity.
+   * Useful for ensuring that velocity and acceleration constraints for a trapezoidal profile are
+   * simultaneously achievable - enter the velocity constraint, and this will give you a
+   * simultaneously-achievable acceleration constraint.
    *
    * @param maxVoltage The maximum voltage that can be supplied to the elevator.
    * @param velocity The velocity of the elevator.
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/LinearPlantInversionFeedforward.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/LinearPlantInversionFeedforward.java
index 9d4ca17004..00d041f471 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/LinearPlantInversionFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/LinearPlantInversionFeedforward.java
@@ -4,13 +4,12 @@
 
 package edu.wpi.first.wpilibj.controller;
 
-import org.ejml.simple.SimpleMatrix;
-
 import edu.wpi.first.wpilibj.math.Discretization;
 import edu.wpi.first.wpilibj.system.LinearSystem;
 import edu.wpi.first.wpiutil.math.Matrix;
 import edu.wpi.first.wpiutil.math.Num;
 import edu.wpi.first.wpiutil.math.numbers.N1;
+import org.ejml.simple.SimpleMatrix;
 
 /**
  * Constructs a plant inversion model-based feedforward from a {@link LinearSystem}.
@@ -22,17 +21,13 @@ import edu.wpi.first.wpiutil.math.numbers.N1;
  * https://file.tavsys.net/control/controls-engineering-in-frc.pdf.
  */
 @SuppressWarnings({"ParameterName", "LocalVariableName", "MemberName", "ClassTypeParameterName"})
-public class LinearPlantInversionFeedforward<States extends Num, Inputs extends Num,
-        Outputs extends Num> {
-  /**
-   * The current reference state.
-   */
+public class LinearPlantInversionFeedforward<
+    States extends Num, Inputs extends Num, Outputs extends Num> {
+  /** The current reference state. */
   @SuppressWarnings("MemberName")
   private Matrix<States, N1> m_r;
 
-  /**
-   * The computed feedforward.
-   */
+  /** The computed feedforward. */
   private Matrix<Inputs, N1> m_uff;
 
   @SuppressWarnings("MemberName")
@@ -44,26 +39,24 @@ public class LinearPlantInversionFeedforward<States extends Num, Inputs extends
   /**
    * Constructs a feedforward with the given plant.
    *
-   * @param plant     The plant being controlled.
+   * @param plant The plant being controlled.
    * @param dtSeconds Discretization timestep.
    */
   public LinearPlantInversionFeedforward(
-          LinearSystem<States, Inputs, Outputs> plant,
-          double dtSeconds
-  ) {
+      LinearSystem<States, Inputs, Outputs> plant, double dtSeconds) {
     this(plant.getA(), plant.getB(), dtSeconds);
   }
 
   /**
    * Constructs a feedforward with the given coefficients.
    *
-   * @param A         Continuous system matrix of the plant being controlled.
-   * @param B         Continuous input matrix of the plant being controlled.
+   * @param A Continuous system matrix of the plant being controlled.
+   * @param B Continuous input matrix of the plant being controlled.
    * @param dtSeconds Discretization timestep.
    */
   @SuppressWarnings({"ParameterName", "LocalVariableName"})
-  public LinearPlantInversionFeedforward(Matrix<States, States> A, Matrix<States, Inputs> B,
-                                         double dtSeconds) {
+  public LinearPlantInversionFeedforward(
+      Matrix<States, States> A, Matrix<States, Inputs> B, double dtSeconds) {
     var discABPair = Discretization.discretizeAB(A, B, dtSeconds);
     this.m_A = discABPair.getFirst();
     this.m_B = discABPair.getSecond();
@@ -87,7 +80,6 @@ public class LinearPlantInversionFeedforward<States extends Num, Inputs extends
    * Returns an element of the previously calculated feedforward.
    *
    * @param row Row of uff.
-   *
    * @return The row of the calculated feedforward.
    */
   public double getUff(int row) {
@@ -107,7 +99,6 @@ public class LinearPlantInversionFeedforward<States extends Num, Inputs extends
    * Returns an element of the current reference vector r.
    *
    * @param row Row of r.
-   *
    * @return The row of the current reference vector.
    */
   public double getR(int row) {
@@ -124,25 +115,21 @@ public class LinearPlantInversionFeedforward<States extends Num, Inputs extends
     m_uff.fill(0.0);
   }
 
-  /**
-   * Resets the feedforward with a zero initial state vector.
-   */
+  /** Resets the feedforward with a zero initial state vector. */
   public void reset() {
     m_r.fill(0.0);
     m_uff.fill(0.0);
   }
 
   /**
-   * Calculate the feedforward with only the desired
-   * future reference. This uses the internally stored "current"
-   * reference.
+   * Calculate the feedforward with only the desired future reference. This uses the internally
+   * stored "current" reference.
    *
-   * <p>If this method is used the initial state of the system is the one
-   * set using {@link LinearPlantInversionFeedforward#reset(Matrix)}.
-   * If the initial state is not set it defaults to a zero vector.
+   * <p>If this method is used the initial state of the system is the one set using {@link
+   * LinearPlantInversionFeedforward#reset(Matrix)}. If the initial state is not set it defaults to
+   * a zero vector.
    *
    * @param nextR The reference state of the future timestep (k + dt).
-   *
    * @return The calculated feedforward.
    */
   public Matrix<Inputs, N1> calculate(Matrix<States, N1> nextR) {
@@ -152,9 +139,8 @@ public class LinearPlantInversionFeedforward<States extends Num, Inputs extends
   /**
    * Calculate the feedforward with current and future reference vectors.
    *
-   * @param r     The reference state of the current timestep (k).
+   * @param r The reference state of the current timestep (k).
    * @param nextR The reference state of the future timestep (k + dt).
-   *
    * @return The calculated feedforward.
    */
   @SuppressWarnings({"ParameterName", "LocalVariableName"})
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/LinearQuadraticRegulator.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/LinearQuadraticRegulator.java
index ebb10a08ec..0d6eca348f 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/LinearQuadraticRegulator.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/LinearQuadraticRegulator.java
@@ -4,8 +4,6 @@
 
 package edu.wpi.first.wpilibj.controller;
 
-import org.ejml.simple.SimpleMatrix;
-
 import edu.wpi.first.math.Drake;
 import edu.wpi.first.wpilibj.math.Discretization;
 import edu.wpi.first.wpilibj.math.StateSpaceUtil;
@@ -15,28 +13,22 @@ import edu.wpi.first.wpiutil.math.Nat;
 import edu.wpi.first.wpiutil.math.Num;
 import edu.wpi.first.wpiutil.math.Vector;
 import edu.wpi.first.wpiutil.math.numbers.N1;
-
+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).
+ * 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.
  */
 @SuppressWarnings("ClassTypeParameterName")
-public class LinearQuadraticRegulator<States extends Num, Inputs extends Num,
-      Outputs extends Num> {
-  /**
-   * The current reference state.
-   */
+public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Outputs extends Num> {
+  /** The current reference state. */
   @SuppressWarnings("MemberName")
   private Matrix<States, N1> m_r;
 
-  /**
-   * The computed and capped controller output.
-   */
+  /** The computed and capped controller output. */
   @SuppressWarnings("MemberName")
   private Matrix<Inputs, N1> m_u;
 
@@ -47,52 +39,64 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num,
   /**
    * Constructs a controller with the given coefficients and plant. Rho is defaulted to 1.
    *
-   * @param plant     The plant being controlled.
-   * @param qelms     The maximum desired error tolerance for each state.
-   * @param relms     The maximum desired control effort for each input.
+   * @param plant The plant being controlled.
+   * @param qelms The maximum desired error tolerance for each state.
+   * @param relms The maximum desired control effort for each input.
    * @param dtSeconds Discretization timestep.
    */
   public LinearQuadraticRegulator(
-        LinearSystem<States, Inputs, Outputs> plant,
-        Vector<States> qelms,
-        Vector<Inputs> relms,
-        double dtSeconds
-  ) {
-    this(plant.getA(), plant.getB(), StateSpaceUtil.makeCostMatrix(qelms),
-        StateSpaceUtil.makeCostMatrix(relms), dtSeconds);
-  }
-
-  /**
-   * Constructs a controller with the given coefficients and plant.
-   *
-   * @param A         Continuous system matrix of the plant being controlled.
-   * @param B         Continuous input matrix of the plant being controlled.
-   * @param qelms     The maximum desired error tolerance for each state.
-   * @param relms     The maximum desired control effort for each input.
-   * @param dtSeconds Discretization timestep.
-   */
-  @SuppressWarnings({"ParameterName", "LocalVariableName"})
-  public LinearQuadraticRegulator(Matrix<States, States> A, Matrix<States, Inputs> B,
-                                  Vector<States> qelms, Vector<Inputs> relms,
-                                  double dtSeconds
-  ) {
-    this(A, B, StateSpaceUtil.makeCostMatrix(qelms), StateSpaceUtil.makeCostMatrix(relms),
+      LinearSystem<States, Inputs, Outputs> plant,
+      Vector<States> qelms,
+      Vector<Inputs> relms,
+      double dtSeconds) {
+    this(
+        plant.getA(),
+        plant.getB(),
+        StateSpaceUtil.makeCostMatrix(qelms),
+        StateSpaceUtil.makeCostMatrix(relms),
         dtSeconds);
   }
 
   /**
    * Constructs a controller with the given coefficients and plant.
-   * @param A         Continuous system matrix of the plant being controlled.
-   * @param B         Continuous input matrix of the plant being controlled.
-   * @param Q         The state cost matrix.
-   * @param R         The input cost matrix.
+   *
+   * @param A Continuous system matrix of the plant being controlled.
+   * @param B Continuous input matrix of the plant being controlled.
+   * @param qelms The maximum desired error tolerance for each state.
+   * @param relms The maximum desired control effort for each input.
    * @param dtSeconds Discretization timestep.
    */
   @SuppressWarnings({"ParameterName", "LocalVariableName"})
-  public LinearQuadraticRegulator(Matrix<States, States> A, Matrix<States, Inputs> B,
-                                  Matrix<States, States> Q, Matrix<Inputs, Inputs> R,
-                                  double dtSeconds
-  ) {
+  public LinearQuadraticRegulator(
+      Matrix<States, States> A,
+      Matrix<States, Inputs> B,
+      Vector<States> qelms,
+      Vector<Inputs> relms,
+      double dtSeconds) {
+    this(
+        A,
+        B,
+        StateSpaceUtil.makeCostMatrix(qelms),
+        StateSpaceUtil.makeCostMatrix(relms),
+        dtSeconds);
+  }
+
+  /**
+   * Constructs a controller with the given coefficients and plant.
+   *
+   * @param A Continuous system matrix of the plant being controlled.
+   * @param B Continuous input matrix of the plant being controlled.
+   * @param Q The state cost matrix.
+   * @param R The input cost matrix.
+   * @param dtSeconds Discretization timestep.
+   */
+  @SuppressWarnings({"ParameterName", "LocalVariableName"})
+  public LinearQuadraticRegulator(
+      Matrix<States, States> A,
+      Matrix<States, Inputs> B,
+      Matrix<States, States> Q,
+      Matrix<Inputs, Inputs> R,
+      double dtSeconds) {
     var discABPair = Discretization.discretizeAB(A, B, dtSeconds);
     var discA = discABPair.getFirst();
     var discB = discABPair.getSecond();
@@ -118,9 +122,7 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num,
    */
   @SuppressWarnings("ParameterName")
   public LinearQuadraticRegulator(
-      Nat<States> states, Nat<Inputs> inputs,
-      Matrix<Inputs, States> k
-  ) {
+      Nat<States> states, Nat<Inputs> inputs, Matrix<Inputs, States> k) {
     m_K = k;
 
     m_r = new Matrix<>(states, Nat.N1());
@@ -142,7 +144,6 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num,
    * Returns an element of the control input vector u.
    *
    * @param row Row of u.
-   *
    * @return The row of the control input vector.
    */
   public double getU(int row) {
@@ -162,7 +163,6 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num,
    * Returns an element of the reference vector r.
    *
    * @param row Row of r.
-   *
    * @return The row of the reference vector.
    */
   public double getR(int row) {
@@ -178,9 +178,7 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num,
     return m_K;
   }
 
-  /**
-   * Resets the controller.
-   */
+  /** Resets the controller. */
   public void reset() {
     m_r.fill(0.0);
     m_u.fill(0.0);
@@ -200,7 +198,7 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num,
   /**
    * Returns the next output of the controller.
    *
-   * @param x     The current state x.
+   * @param x The current state x.
    * @param nextR the next reference vector r.
    */
   @SuppressWarnings("ParameterName")
@@ -210,24 +208,21 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num,
   }
 
   /**
-   * Adjusts LQR controller gain to compensate for a pure time delay in the
-   * input.
+   * Adjusts LQR controller gain to compensate for a pure time delay in the input.
    *
-   * <p>Linear-Quadratic regulator controller gains tend to be aggressive. If
-   * sensor measurements 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>Linear-Quadratic regulator controller gains tend to be aggressive. If sensor measurements
+   * 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 https://file.tavsys.net/control/controls-engineering-in-frc.pdf appendix C.4 for a
+   * derivation.
    *
-   * @param plant             The plant being controlled.
-   * @param dtSeconds         Discretization timestep in seconds.
+   * @param plant The plant being controlled.
+   * @param dtSeconds Discretization timestep in seconds.
    * @param inputDelaySeconds Input time delay in seconds.
    */
   public void latencyCompensate(
-      LinearSystem<States, Inputs, Outputs> plant, double dtSeconds,
-      double inputDelaySeconds) {
+      LinearSystem<States, Inputs, Outputs> plant, double dtSeconds, double inputDelaySeconds) {
     var discABPair = Discretization.discretizeAB(plant.getA(), plant.getB(), dtSeconds);
     var discA = discABPair.getFirst();
     var discB = discABPair.getSecond();
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/SimpleMotorFeedforward.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/SimpleMotorFeedforward.java
index 0fb8403ce8..5c28f68fad 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/SimpleMotorFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/SimpleMotorFeedforward.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.first.wpilibj.controller;
 
-/**
- * A helper class that computes feedforward outputs for a simple permanent-magnet DC motor.
- */
+/** A helper class that computes feedforward outputs for a simple permanent-magnet DC motor. */
 @SuppressWarnings("MemberName")
 public class SimpleMotorFeedforward {
   public final double ks;
@@ -14,8 +12,8 @@ public class SimpleMotorFeedforward {
   public final double ka;
 
   /**
-   * Creates a new SimpleMotorFeedforward with the specified gains.  Units of the gain values
-   * will dictate units of the computed feedforward.
+   * Creates a new SimpleMotorFeedforward with the specified gains. Units of the gain values will
+   * dictate units of the computed feedforward.
    *
    * @param ks The static gain.
    * @param kv The velocity gain.
@@ -28,8 +26,8 @@ public class SimpleMotorFeedforward {
   }
 
   /**
-   * Creates a new SimpleMotorFeedforward with the specified gains.  Acceleration gain is
-   * defaulted to zero.  Units of the gain values will dictate units of the computed feedforward.
+   * Creates a new SimpleMotorFeedforward with the specified gains. Acceleration gain is defaulted
+   * to zero. Units of the gain values will dictate units of the computed feedforward.
    *
    * @param ks The static gain.
    * @param kv The velocity gain.
@@ -41,7 +39,7 @@ public class SimpleMotorFeedforward {
   /**
    * Calculates the feedforward from the gains and setpoints.
    *
-   * @param velocity     The velocity setpoint.
+   * @param velocity The velocity setpoint.
    * @param acceleration The acceleration setpoint.
    * @return The computed feedforward.
    */
@@ -53,8 +51,8 @@ public class SimpleMotorFeedforward {
   // formulas for the methods below:
 
   /**
-   * Calculates the feedforward from the gains and velocity setpoint (acceleration is assumed to
-   * be zero).
+   * Calculates the feedforward from the gains and velocity setpoint (acceleration is assumed to be
+   * zero).
    *
    * @param velocity The velocity setpoint.
    * @return The computed feedforward.
@@ -64,11 +62,10 @@ public class SimpleMotorFeedforward {
   }
 
   /**
-   * Calculates the maximum achievable velocity given a maximum voltage supply
-   * and an acceleration.  Useful for ensuring that velocity and
-   * acceleration constraints for a trapezoidal profile are simultaneously
-   * achievable - enter the acceleration constraint, and this will give you
-   * a simultaneously-achievable velocity constraint.
+   * Calculates the maximum achievable velocity given a maximum voltage supply and an acceleration.
+   * Useful for ensuring that velocity and acceleration constraints for a trapezoidal profile are
+   * simultaneously achievable - enter the acceleration constraint, and this will give you a
+   * simultaneously-achievable velocity constraint.
    *
    * @param maxVoltage The maximum voltage that can be supplied to the motor.
    * @param acceleration The acceleration of the motor.
@@ -80,11 +77,10 @@ public class SimpleMotorFeedforward {
   }
 
   /**
-   * Calculates the minimum achievable velocity given a maximum voltage supply
-   * and an acceleration.  Useful for ensuring that velocity and
-   * acceleration constraints for a trapezoidal profile are simultaneously
-   * achievable - enter the acceleration constraint, and this will give you
-   * a simultaneously-achievable velocity constraint.
+   * Calculates the minimum achievable velocity given a maximum voltage supply and an acceleration.
+   * Useful for ensuring that velocity and acceleration constraints for a trapezoidal profile are
+   * simultaneously achievable - enter the acceleration constraint, and this will give you a
+   * simultaneously-achievable velocity constraint.
    *
    * @param maxVoltage The maximum voltage that can be supplied to the motor.
    * @param acceleration The acceleration of the motor.
@@ -96,11 +92,10 @@ public class SimpleMotorFeedforward {
   }
 
   /**
-   * Calculates the maximum achievable acceleration given a maximum voltage
-   * supply and a velocity. Useful for ensuring that velocity and
-   * acceleration constraints for a trapezoidal profile are simultaneously
-   * achievable - enter the velocity constraint, and this will give you
-   * a simultaneously-achievable acceleration constraint.
+   * Calculates the maximum achievable acceleration given a maximum voltage supply and a velocity.
+   * Useful for ensuring that velocity and acceleration constraints for a trapezoidal profile are
+   * simultaneously achievable - enter the velocity constraint, and this will give you a
+   * simultaneously-achievable acceleration constraint.
    *
    * @param maxVoltage The maximum voltage that can be supplied to the motor.
    * @param velocity The velocity of the motor.
@@ -111,11 +106,10 @@ public class SimpleMotorFeedforward {
   }
 
   /**
-   * Calculates the maximum achievable acceleration given a maximum voltage
-   * supply and a velocity. Useful for ensuring that velocity and
-   * acceleration constraints for a trapezoidal profile are simultaneously
-   * achievable - enter the velocity constraint, and this will give you
-   * a simultaneously-achievable acceleration constraint.
+   * Calculates the maximum achievable acceleration given a maximum voltage supply and a velocity.
+   * Useful for ensuring that velocity and acceleration constraints for a trapezoidal profile are
+   * simultaneously achievable - enter the velocity constraint, and this will give you a
+   * simultaneously-achievable acceleration constraint.
    *
    * @param maxVoltage The maximum voltage that can be supplied to the motor.
    * @param velocity The velocity of the motor.
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/AngleStatistics.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/AngleStatistics.java
index 93a6e5c91b..7a73396564 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/AngleStatistics.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/AngleStatistics.java
@@ -4,14 +4,11 @@
 
 package edu.wpi.first.wpilibj.estimator;
 
-
-import java.util.function.BiFunction;
-
-import org.ejml.simple.SimpleMatrix;
-
 import edu.wpi.first.wpiutil.math.Matrix;
 import edu.wpi.first.wpiutil.math.Num;
 import edu.wpi.first.wpiutil.math.numbers.N1;
+import java.util.function.BiFunction;
+import org.ejml.simple.SimpleMatrix;
 
 public final class AngleStatistics {
   private AngleStatistics() {
@@ -26,8 +23,8 @@ public final class AngleStatistics {
    * @param b A vector to subtract with.
    * @param angleStateIdx The row containing angles to be normalized.
    */
-  public static <S extends Num> Matrix<S, N1> angleResidual(Matrix<S, N1> a, Matrix<S, N1> b,
-                                                            int angleStateIdx) {
+  public static <S extends Num> Matrix<S, N1> angleResidual(
+      Matrix<S, N1> a, Matrix<S, N1> b, int angleStateIdx) {
     Matrix<S, N1> ret = a.minus(b);
     ret.set(angleStateIdx, 0, normalizeAngle(ret.get(angleStateIdx, 0)));
 
@@ -40,8 +37,8 @@ public final class AngleStatistics {
    *
    * @param angleStateIdx The row containing angles to be normalized.
    */
-  public static <S extends Num> BiFunction<Matrix<S, N1>, Matrix<S, N1>, Matrix<S, N1>>
-      angleResidual(int angleStateIdx) {
+  public static <S extends Num>
+      BiFunction<Matrix<S, N1>, Matrix<S, N1>, Matrix<S, N1>> angleResidual(int angleStateIdx) {
     return (a, b) -> angleResidual(a, b, angleStateIdx);
   }
 
@@ -52,8 +49,8 @@ public final class AngleStatistics {
    * @param b A vector to add with.
    * @param angleStateIdx The row containing angles to be normalized.
    */
-  public static <S extends Num> Matrix<S, N1> angleAdd(Matrix<S, N1> a, Matrix<S, N1> b,
-                                                       int angleStateIdx) {
+  public static <S extends Num> Matrix<S, N1> angleAdd(
+      Matrix<S, N1> a, Matrix<S, N1> b, int angleStateIdx) {
     Matrix<S, N1> ret = a.plus(b);
     ret.set(angleStateIdx, 0, normalizeAngle(ret.get(angleStateIdx, 0)));
 
@@ -66,8 +63,8 @@ public final class AngleStatistics {
    *
    * @param angleStateIdx The row containing angles to be normalized.
    */
-  public static <S extends Num> BiFunction<Matrix<S, N1>, Matrix<S, N1>, Matrix<S, N1>>
-      angleAdd(int angleStateIdx) {
+  public static <S extends Num> BiFunction<Matrix<S, N1>, Matrix<S, N1>, Matrix<S, N1>> angleAdd(
+      int angleStateIdx) {
     return (a, b) -> angleAdd(a, b, angleStateIdx);
   }
 
@@ -90,8 +87,8 @@ public final class AngleStatistics {
    * @param angleStateIdx The row containing the angles.
    */
   @SuppressWarnings("checkstyle:ParameterName")
-  public static <S extends Num> Matrix<S, N1> angleMean(Matrix<S, ?> sigmas, Matrix<?, N1> Wm,
-                                                        int angleStateIdx) {
+  public static <S extends Num> Matrix<S, N1> angleMean(
+      Matrix<S, ?> sigmas, Matrix<?, N1> Wm, int angleStateIdx) {
     double[] angleSigmas = sigmas.extractRowVector(angleStateIdx).getData();
     Matrix<N1, ?> sinAngleSigmas = new Matrix<>(new SimpleMatrix(1, sigmas.getNumCols()));
     Matrix<N1, ?> cosAngleSigmas = new Matrix<>(new SimpleMatrix(1, sigmas.getNumCols()));
@@ -116,8 +113,8 @@ public final class AngleStatistics {
    * @param angleStateIdx The row containing the angles.
    */
   @SuppressWarnings("LambdaParameterName")
-  public static <S extends Num> BiFunction<Matrix<S, ?>, Matrix<?, N1>, Matrix<S, N1>>
-      angleMean(int angleStateIdx) {
+  public static <S extends Num> BiFunction<Matrix<S, ?>, Matrix<?, N1>, Matrix<S, N1>> angleMean(
+      int angleStateIdx) {
     return (sigmas, Wm) -> angleMean(sigmas, Wm, angleStateIdx);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/DifferentialDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/DifferentialDrivePoseEstimator.java
index 27990c0066..4d6319d7b0 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/DifferentialDrivePoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/DifferentialDrivePoseEstimator.java
@@ -4,8 +4,6 @@
 
 package edu.wpi.first.wpilibj.estimator;
 
-import java.util.function.BiConsumer;
-
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
@@ -19,40 +17,36 @@ import edu.wpi.first.wpiutil.math.VecBuilder;
 import edu.wpi.first.wpiutil.math.numbers.N1;
 import edu.wpi.first.wpiutil.math.numbers.N3;
 import edu.wpi.first.wpiutil.math.numbers.N5;
+import java.util.function.BiConsumer;
 
 /**
- * This class wraps an
- * {@link edu.wpi.first.wpilibj.estimator.UnscentedKalmanFilter Unscented Kalman Filter}
- * to fuse latency-compensated vision
- * measurements with differential drive encoder measurements. It will correct
- * for noisy vision measurements and encoder drift. It is intended to be an easy
- * drop-in for
- * {@link edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry}; in fact,
- * if you never call {@link DifferentialDrivePoseEstimator#addVisionMeasurement}
- * and only call {@link DifferentialDrivePoseEstimator#update} then this will
- * behave exactly the same as DifferentialDriveOdometry.
+ * This class wraps an {@link edu.wpi.first.wpilibj.estimator.UnscentedKalmanFilter Unscented Kalman
+ * Filter} to fuse latency-compensated vision measurements with differential drive encoder
+ * measurements. It will correct for noisy vision measurements and encoder drift. It is intended to
+ * be an easy drop-in for {@link edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry}; in
+ * fact, if you never call {@link DifferentialDrivePoseEstimator#addVisionMeasurement} and only call
+ * {@link DifferentialDrivePoseEstimator#update} then this will behave exactly the same as
+ * DifferentialDriveOdometry.
  *
- * <p>{@link DifferentialDrivePoseEstimator#update} should be called every robot
- * loop (if your robot loops are faster than the default then you should change
- * the {@link DifferentialDrivePoseEstimator#DifferentialDrivePoseEstimator(Rotation2d, Pose2d,
- * Matrix, Matrix, Matrix, double) nominal delta time}.)
- * {@link DifferentialDrivePoseEstimator#addVisionMeasurement} can be called as
- * infrequently as you want; if you never call it then this class will behave
+ * <p>{@link DifferentialDrivePoseEstimator#update} should be called every robot loop (if your robot
+ * loops are faster than the default then you should change the {@link
+ * DifferentialDrivePoseEstimator#DifferentialDrivePoseEstimator(Rotation2d, Pose2d, Matrix, Matrix,
+ * Matrix, double) nominal delta time}.) {@link DifferentialDrivePoseEstimator#addVisionMeasurement}
+ * can be called as infrequently as you want; if you never call it then this class will behave
  * exactly like regular encoder odometry.
  *
  * <p>Our state-space system is:
  *
- * <p><strong> x = [[x, y, theta, dist_l, dist_r]]^T </strong>
- * in the field coordinate system (dist_* are wheel distances.)
+ * <p><strong> x = [[x, y, theta, dist_l, dist_r]]^T </strong> in the field coordinate system
+ * (dist_* are wheel distances.)
  *
- * <p><strong> u = [[vx, vy, omega]]^T </strong> (robot-relative velocities)
- *  -- NB: using velocities make things considerably easier, because it means that
- * teams don't have to worry about getting an accurate model.
- * Basically, we suspect that it's easier for teams to get good encoder data than it is for
- * them to perform system identification well enough to get a good model.
+ * <p><strong> u = [[vx, vy, omega]]^T </strong> (robot-relative velocities) -- NB: using velocities
+ * make things considerably easier, because it means that teams don't have to worry about getting an
+ * accurate model. Basically, we suspect that it's easier for teams to get good encoder data than it
+ * is for them to perform system identification well enough to get a good model.
  *
- * <p><strong>y = [[x, y, theta]]^T </strong> from vision,
- * or <strong>y = [[dist_l, dist_r, theta]] </strong> from encoders and gyro.
+ * <p><strong>y = [[x, y, theta]]^T </strong> from vision, or <strong>y = [[dist_l, dist_r, theta]]
+ * </strong> from encoders and gyro.
  */
 public class DifferentialDrivePoseEstimator {
   final UnscentedKalmanFilter<N5, N3, N3> m_observer; // Package-private to allow for unit testing
@@ -70,84 +64,90 @@ public class DifferentialDrivePoseEstimator {
   /**
    * Constructs a DifferentialDrivePoseEstimator.
    *
-   * @param gyroAngle                The current gyro angle.
-   * @param initialPoseMeters        The starting pose estimate.
-   * @param stateStdDevs             Standard deviations of model states. Increase these numbers to
-   *                                 trust your model's state estimates less. This matrix
-   *                                 is in the form [x, y, theta, dist_l, dist_r]^T, with units in
-   *                                 meters and radians.
-   * @param localMeasurementStdDevs  Standard deviations of the encoder and gyro measurements.
-   *                                 Increase these numbers to trust sensor readings from encoders
-   *                                 and gyros less. This matrix is in the form
-   *                                 [dist_l, dist_r, theta]^T, with units in meters and radians.
-   * @param visionMeasurementStdDevs Standard deviations of the vision measurements. Increase
-   *                                 these numbers to trust global measurements from vision less.
-   *                                 This matrix is in the form [x, y, theta]^T, with units in
-   *                                 meters and radians.
+   * @param gyroAngle The current gyro angle.
+   * @param initialPoseMeters The starting pose estimate.
+   * @param stateStdDevs Standard deviations of model states. Increase these numbers to trust your
+   *     model's state estimates less. This matrix is in the form [x, y, theta, dist_l, dist_r]^T,
+   *     with units in meters and radians.
+   * @param localMeasurementStdDevs Standard deviations of the encoder and gyro measurements.
+   *     Increase these numbers to trust sensor readings from encoders and gyros less. This matrix
+   *     is in the form [dist_l, dist_r, theta]^T, with units in meters and radians.
+   * @param visionMeasurementStdDevs Standard deviations of the vision measurements. Increase these
+   *     numbers to trust global measurements from vision less. This matrix is in the form [x, y,
+   *     theta]^T, with units in meters and radians.
    */
   public DifferentialDrivePoseEstimator(
-          Rotation2d gyroAngle, Pose2d initialPoseMeters,
-          Matrix<N5, N1> stateStdDevs,
-          Matrix<N3, N1> localMeasurementStdDevs, Matrix<N3, N1> visionMeasurementStdDevs
-  ) {
-    this(gyroAngle, initialPoseMeters,
-            stateStdDevs, localMeasurementStdDevs, visionMeasurementStdDevs, 0.02);
+      Rotation2d gyroAngle,
+      Pose2d initialPoseMeters,
+      Matrix<N5, N1> stateStdDevs,
+      Matrix<N3, N1> localMeasurementStdDevs,
+      Matrix<N3, N1> visionMeasurementStdDevs) {
+    this(
+        gyroAngle,
+        initialPoseMeters,
+        stateStdDevs,
+        localMeasurementStdDevs,
+        visionMeasurementStdDevs,
+        0.02);
   }
 
   /**
    * Constructs a DifferentialDrivePoseEstimator.
    *
-   * @param gyroAngle                The current gyro angle.
-   * @param initialPoseMeters        The starting pose estimate.
-   * @param stateStdDevs             Standard deviations of model states. Increase these numbers to
-   *                                 trust your model's state estimates less. This matrix
-   *                                 is in the form [x, y, theta, dist_l, dist_r]^T, with units in
-   *                                 meters and radians.
-   * @param localMeasurementStdDevs  Standard deviations of the encoder and gyro measurements.
-   *                                 Increase these numbers to trust sensor readings from encoders
-   *                                 and gyros less. This matrix is in the form
-   *                                 [dist_l, dist_r, theta]^T, with units in meters and radians.
-   * @param visionMeasurementStdDevs Standard deviations of the vision measurements. Increase
-   *                                 these numbers to trust global measurements from vision less.
-   *                                 This matrix is in the form [x, y, theta]^T, with units in
-   *                                 meters and radians.
-   * @param nominalDtSeconds         The time in seconds between each robot loop.
+   * @param gyroAngle The current gyro angle.
+   * @param initialPoseMeters The starting pose estimate.
+   * @param stateStdDevs Standard deviations of model states. Increase these numbers to trust your
+   *     model's state estimates less. This matrix is in the form [x, y, theta, dist_l, dist_r]^T,
+   *     with units in meters and radians.
+   * @param localMeasurementStdDevs Standard deviations of the encoder and gyro measurements.
+   *     Increase these numbers to trust sensor readings from encoders and gyros less. This matrix
+   *     is in the form [dist_l, dist_r, theta]^T, with units in meters and radians.
+   * @param visionMeasurementStdDevs Standard deviations of the vision measurements. Increase these
+   *     numbers to trust global measurements from vision less. This matrix is in the form [x, y,
+   *     theta]^T, with units in meters and radians.
+   * @param nominalDtSeconds The time in seconds between each robot loop.
    */
   @SuppressWarnings("ParameterName")
   public DifferentialDrivePoseEstimator(
-          Rotation2d gyroAngle, Pose2d initialPoseMeters,
-          Matrix<N5, N1> stateStdDevs,
-          Matrix<N3, N1> localMeasurementStdDevs, Matrix<N3, N1> visionMeasurementStdDevs,
-          double nominalDtSeconds
-  ) {
+      Rotation2d gyroAngle,
+      Pose2d initialPoseMeters,
+      Matrix<N5, N1> stateStdDevs,
+      Matrix<N3, N1> localMeasurementStdDevs,
+      Matrix<N3, N1> visionMeasurementStdDevs,
+      double nominalDtSeconds) {
     m_nominalDt = nominalDtSeconds;
 
-    m_observer = new UnscentedKalmanFilter<>(
-        Nat.N5(), Nat.N3(),
-        this::f,
-        (x, u) -> VecBuilder.fill(x.get(3, 0), x.get(4, 0), x.get(2, 0)),
-        stateStdDevs, localMeasurementStdDevs,
-        AngleStatistics.angleMean(2),
-        AngleStatistics.angleMean(2),
-        AngleStatistics.angleResidual(2),
-        AngleStatistics.angleResidual(2),
-        AngleStatistics.angleAdd(2),
-        m_nominalDt
-    );
+    m_observer =
+        new UnscentedKalmanFilter<>(
+            Nat.N5(),
+            Nat.N3(),
+            this::f,
+            (x, u) -> VecBuilder.fill(x.get(3, 0), x.get(4, 0), x.get(2, 0)),
+            stateStdDevs,
+            localMeasurementStdDevs,
+            AngleStatistics.angleMean(2),
+            AngleStatistics.angleMean(2),
+            AngleStatistics.angleResidual(2),
+            AngleStatistics.angleResidual(2),
+            AngleStatistics.angleAdd(2),
+            m_nominalDt);
     m_latencyCompensator = new KalmanFilterLatencyCompensator<>();
 
     // Initialize vision R
     setVisionMeasurementStdDevs(visionMeasurementStdDevs);
 
-    m_visionCorrect = (u, y) -> m_observer.correct(
-        Nat.N3(), u, y,
-        (x, u1) -> new Matrix<>(x.getStorage().extractMatrix(0, 3, 0, 1)),
-        m_visionDiscreteR,
-        AngleStatistics.angleMean(2),
-        AngleStatistics.angleResidual(2),
-        AngleStatistics.angleResidual(2),
-        AngleStatistics.angleAdd(2)
-    );
+    m_visionCorrect =
+        (u, y) ->
+            m_observer.correct(
+                Nat.N3(),
+                u,
+                y,
+                (x, u1) -> new Matrix<>(x.getStorage().extractMatrix(0, 3, 0, 1)),
+                m_visionDiscreteR,
+                AngleStatistics.angleMean(2),
+                AngleStatistics.angleResidual(2),
+                AngleStatistics.angleResidual(2),
+                AngleStatistics.angleAdd(2));
 
     m_gyroOffset = initialPoseMeters.getRotation().minus(gyroAngle);
     m_previousAngle = initialPoseMeters.getRotation();
@@ -155,14 +155,13 @@ public class DifferentialDrivePoseEstimator {
   }
 
   /**
-   * Sets the pose estimator's trust of global measurements. This might be used to change trust
-   * in vision measurements after the autonomous period, or to change trust as distance to a
-   * vision target increases.
+   * Sets the pose estimator's trust of global measurements. This might be used to change trust in
+   * vision measurements after the autonomous period, or to change trust as distance to a vision
+   * target increases.
    *
-   * @param visionMeasurementStdDevs Standard deviations of the vision measurements. Increase
-   *                                 these numbers to trust global measurements from vision less.
-   *                                 This matrix is in the form [x, y, theta]^T, with units in
-   *                                 meters and radians.
+   * @param visionMeasurementStdDevs Standard deviations of the vision measurements. Increase these
+   *     numbers to trust global measurements from vision less. This matrix is in the form [x, y,
+   *     theta]^T, with units in meters and radians.
    */
   public void setVisionMeasurementStdDevs(Matrix<N3, N1> visionMeasurementStdDevs) {
     var visionContR = StateSpaceUtil.makeCovarianceMatrix(Nat.N3(), visionMeasurementStdDevs);
@@ -173,16 +172,36 @@ public class DifferentialDrivePoseEstimator {
   private Matrix<N5, N1> f(Matrix<N5, N1> x, Matrix<N3, N1> u) {
     // Apply a rotation matrix. Note that we do *not* add x--Runge-Kutta does that for us.
     var theta = x.get(2, 0);
-    var toFieldRotation = new MatBuilder<>(Nat.N5(), Nat.N5()).fill(
-            Math.cos(theta), -Math.sin(theta), 0, 0, 0,
-            Math.sin(theta), Math.cos(theta), 0, 0, 0,
-            0, 0, 1, 0, 0,
-            0, 0, 0, 1, 0,
-            0, 0, 0, 0, 1
-    );
-    return toFieldRotation.times(VecBuilder.fill(
-            u.get(0, 0), u.get(1, 0), u.get(2, 0), u.get(0, 0), u.get(1, 0)
-    ));
+    var toFieldRotation =
+        new MatBuilder<>(Nat.N5(), Nat.N5())
+            .fill(
+                Math.cos(theta),
+                -Math.sin(theta),
+                0,
+                0,
+                0,
+                Math.sin(theta),
+                Math.cos(theta),
+                0,
+                0,
+                0,
+                0,
+                0,
+                1,
+                0,
+                0,
+                0,
+                0,
+                0,
+                1,
+                0,
+                0,
+                0,
+                0,
+                0,
+                1);
+    return toFieldRotation.times(
+        VecBuilder.fill(u.get(0, 0), u.get(1, 0), u.get(2, 0), u.get(0, 0), u.get(1, 0)));
   }
 
   /**
@@ -190,11 +209,11 @@ public class DifferentialDrivePoseEstimator {
    *
    * <p>You NEED to reset your encoders (to zero) when calling this method.
    *
-   * <p>The gyroscope angle does not need to be reset here on the user's robot code.
-   * The library automatically takes care of offsetting the gyro angle.
+   * <p>The gyroscope angle does not need to be reset here on the user's robot code. The library
+   * automatically takes care of offsetting the gyro angle.
    *
    * @param poseMeters The position on the field that your robot is at.
-   * @param gyroAngle  The angle reported by the gyroscope.
+   * @param gyroAngle The angle reported by the gyroscope.
    */
   public void resetPosition(Pose2d poseMeters, Rotation2d gyroAngle) {
     m_previousAngle = poseMeters.getRotation();
@@ -209,86 +228,79 @@ public class DifferentialDrivePoseEstimator {
    */
   public Pose2d getEstimatedPosition() {
     return new Pose2d(
-            m_observer.getXhat(0),
-            m_observer.getXhat(1),
-            new Rotation2d(m_observer.getXhat(2))
-    );
+        m_observer.getXhat(0), m_observer.getXhat(1), new Rotation2d(m_observer.getXhat(2)));
   }
 
   /**
-   * Add a vision measurement to the Unscented Kalman Filter. This will correct the
-   * odometry pose estimate while still accounting for measurement noise.
+   * Add a vision measurement to the Unscented Kalman Filter. This will correct the odometry pose
+   * estimate while still accounting for measurement noise.
    *
-   * <p>This method can be called as infrequently as you want, as long as you are
-   * calling {@link DifferentialDrivePoseEstimator#update} every loop.
+   * <p>This method can be called as infrequently as you want, as long as you are calling {@link
+   * DifferentialDrivePoseEstimator#update} every loop.
    *
-   * @param visionRobotPoseMeters The pose of the robot as measured by the vision
-   *                              camera.
-   * @param timestampSeconds      The timestamp of the vision measurement in seconds. Note that if
-   *                              you don't use your own time source by calling
-   *                              {@link DifferentialDrivePoseEstimator#updateWithTime} then you
-   *                              must use a timestamp with an epoch since FPGA startup
-   *                              (i.e. the epoch of this timestamp is the same epoch as
-   *                              Timer.getFPGATimestamp.) This means that you should
-   *                              use Timer.getFPGATimestamp as your time source in
-   *                              this case.
+   * @param visionRobotPoseMeters The pose of the robot as measured by the vision camera.
+   * @param timestampSeconds The timestamp of the vision measurement in seconds. Note that if you
+   *     don't use your own time source by calling {@link
+   *     DifferentialDrivePoseEstimator#updateWithTime} then you must use a timestamp with an epoch
+   *     since FPGA startup (i.e. the epoch of this timestamp is the same epoch as
+   *     Timer.getFPGATimestamp.) This means that you should use Timer.getFPGATimestamp as your time
+   *     source in this case.
    */
   public void addVisionMeasurement(Pose2d visionRobotPoseMeters, double timestampSeconds) {
     m_latencyCompensator.applyPastGlobalMeasurement(
-            Nat.N3(),
-            m_observer, m_nominalDt,
-            StateSpaceUtil.poseTo3dVector(visionRobotPoseMeters),
-            m_visionCorrect,
-            timestampSeconds
-    );
+        Nat.N3(),
+        m_observer,
+        m_nominalDt,
+        StateSpaceUtil.poseTo3dVector(visionRobotPoseMeters),
+        m_visionCorrect,
+        timestampSeconds);
   }
 
   /**
-   * Updates the the Unscented Kalman Filter using only wheel encoder information.
-   * Note that this should be called every loop.
+   * Updates the the Unscented Kalman Filter using only wheel encoder information. Note that this
+   * should be called every loop.
    *
-   * @param gyroAngle                      The current gyro angle.
+   * @param gyroAngle The current gyro angle.
    * @param wheelVelocitiesMetersPerSecond The velocities of the wheels in meters per second.
-   * @param distanceLeftMeters             The total distance travelled by the left wheel in meters
-   *                                       since the last time you called
-   *                                       {@link DifferentialDrivePoseEstimator#resetPosition}.
-   * @param distanceRightMeters            The total distance travelled by the right wheel in meters
-   *                                       since the last time you called
-   *                                       {@link DifferentialDrivePoseEstimator#resetPosition}.
+   * @param distanceLeftMeters The total distance travelled by the left wheel in meters since the
+   *     last time you called {@link DifferentialDrivePoseEstimator#resetPosition}.
+   * @param distanceRightMeters The total distance travelled by the right wheel in meters since the
+   *     last time you called {@link DifferentialDrivePoseEstimator#resetPosition}.
    * @return The estimated pose of the robot in meters.
    */
   public Pose2d update(
-          Rotation2d gyroAngle,
-          DifferentialDriveWheelSpeeds wheelVelocitiesMetersPerSecond,
-          double distanceLeftMeters, double distanceRightMeters
-  ) {
+      Rotation2d gyroAngle,
+      DifferentialDriveWheelSpeeds wheelVelocitiesMetersPerSecond,
+      double distanceLeftMeters,
+      double distanceRightMeters) {
     return updateWithTime(
-            WPIUtilJNI.now() * 1.0e-6, gyroAngle, wheelVelocitiesMetersPerSecond,
-            distanceLeftMeters, distanceRightMeters
-    );
+        WPIUtilJNI.now() * 1.0e-6,
+        gyroAngle,
+        wheelVelocitiesMetersPerSecond,
+        distanceLeftMeters,
+        distanceRightMeters);
   }
 
   /**
-   * Updates the the Unscented Kalman Filter using only wheel encoder information.
-   * Note that this should be called every loop.
+   * Updates the the Unscented Kalman Filter using only wheel encoder information. Note that this
+   * should be called every loop.
    *
-   * @param currentTimeSeconds             Time at which this method was called, in seconds.
-   * @param gyroAngle                      The current gyro angle.
+   * @param currentTimeSeconds Time at which this method was called, in seconds.
+   * @param gyroAngle The current gyro angle.
    * @param wheelVelocitiesMetersPerSecond The velocities of the wheels in meters per second.
-   * @param distanceLeftMeters             The total distance travelled by the left wheel in meters
-   *                                       since the last time you called
-   *                                       {@link DifferentialDrivePoseEstimator#resetPosition}.
-   * @param distanceRightMeters            The total distance travelled by the right wheel in meters
-   *                                       since the last time you called
-   *                                       {@link DifferentialDrivePoseEstimator#resetPosition}.
+   * @param distanceLeftMeters The total distance travelled by the left wheel in meters since the
+   *     last time you called {@link DifferentialDrivePoseEstimator#resetPosition}.
+   * @param distanceRightMeters The total distance travelled by the right wheel in meters since the
+   *     last time you called {@link DifferentialDrivePoseEstimator#resetPosition}.
    * @return The estimated pose of the robot in meters.
    */
   @SuppressWarnings({"LocalVariableName", "ParameterName"})
   public Pose2d updateWithTime(
-          double currentTimeSeconds, Rotation2d gyroAngle,
-          DifferentialDriveWheelSpeeds wheelVelocitiesMetersPerSecond,
-          double distanceLeftMeters, double distanceRightMeters
-  ) {
+      double currentTimeSeconds,
+      Rotation2d gyroAngle,
+      DifferentialDriveWheelSpeeds wheelVelocitiesMetersPerSecond,
+      double distanceLeftMeters,
+      double distanceRightMeters) {
     double dt = m_prevTimeSeconds >= 0 ? currentTimeSeconds - m_prevTimeSeconds : m_nominalDt;
     m_prevTimeSeconds = currentTimeSeconds;
 
@@ -296,10 +308,11 @@ public class DifferentialDrivePoseEstimator {
     // Diff drive forward kinematics:
     // v_c = (v_l + v_r) / 2
     var wheelVels = wheelVelocitiesMetersPerSecond;
-    var u = VecBuilder.fill(
-            (wheelVels.leftMetersPerSecond + wheelVels.rightMetersPerSecond) / 2, 0,
-            angle.minus(m_previousAngle).getRadians() / dt
-    );
+    var u =
+        VecBuilder.fill(
+            (wheelVels.leftMetersPerSecond + wheelVels.rightMetersPerSecond) / 2,
+            0,
+            angle.minus(m_previousAngle).getRadians() / dt);
     m_previousAngle = angle;
 
     var localY = VecBuilder.fill(distanceLeftMeters, distanceRightMeters, angle.getRadians());
@@ -312,11 +325,10 @@ public class DifferentialDrivePoseEstimator {
 
   private static Matrix<N5, N1> fillStateVector(Pose2d pose, double leftDist, double rightDist) {
     return VecBuilder.fill(
-            pose.getTranslation().getX(),
-            pose.getTranslation().getY(),
-            pose.getRotation().getRadians(),
-            leftDist,
-            rightDist
-    );
+        pose.getTranslation().getX(),
+        pose.getTranslation().getY(),
+        pose.getRotation().getRadians(),
+        leftDist,
+        rightDist);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/ExtendedKalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/ExtendedKalmanFilter.java
index 2b9a332052..154055094e 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/ExtendedKalmanFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/ExtendedKalmanFilter.java
@@ -4,8 +4,6 @@
 
 package edu.wpi.first.wpilibj.estimator;
 
-import java.util.function.BiFunction;
-
 import edu.wpi.first.math.Drake;
 import edu.wpi.first.wpilibj.math.Discretization;
 import edu.wpi.first.wpilibj.math.StateSpaceUtil;
@@ -15,6 +13,7 @@ import edu.wpi.first.wpiutil.math.Matrix;
 import edu.wpi.first.wpiutil.math.Nat;
 import edu.wpi.first.wpiutil.math.Num;
 import edu.wpi.first.wpiutil.math.numbers.N1;
+import java.util.function.BiFunction;
 
 /**
  * Kalman filters combine predictions from a model and measurements to give an estimate of the true
@@ -27,48 +26,50 @@ import edu.wpi.first.wpiutil.math.numbers.N1;
  */
 @SuppressWarnings("ClassTypeParameterName")
 public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Outputs extends Num>
-      implements KalmanTypeFilter<States, Inputs, Outputs> {
+    implements KalmanTypeFilter<States, Inputs, Outputs> {
   private final Nat<States> m_states;
   private final Nat<Outputs> m_outputs;
 
   @SuppressWarnings("MemberName")
   private final BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<States, N1>> m_f;
+
   @SuppressWarnings("MemberName")
   private final BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<Outputs, N1>> m_h;
+
   private final Matrix<States, States> m_contQ;
   private final Matrix<States, States> m_initP;
   private final Matrix<Outputs, Outputs> m_contR;
+
   @SuppressWarnings("MemberName")
   private Matrix<States, N1> m_xHat;
+
   @SuppressWarnings("MemberName")
   private Matrix<States, States> m_P;
+
   private double m_dtSeconds;
 
   /**
    * Constructs an extended Kalman filter.
    *
-   * @param states             a Nat representing the number of states.
-   * @param inputs             a Nat representing the number of inputs.
-   * @param outputs            a Nat representing the number of outputs.
-   * @param f                  A vector-valued function of x and u that returns
-   *                           the derivative of the state vector.
-   * @param h                  A vector-valued function of x and u that returns
-   *                           the measurement vector.
-   * @param stateStdDevs       Standard deviations of model states.
+   * @param states a Nat representing the number of states.
+   * @param inputs a Nat representing the number of inputs.
+   * @param outputs a Nat representing the number of outputs.
+   * @param f A vector-valued function of x and u that returns the derivative of the state vector.
+   * @param h A vector-valued function of x and u that returns the measurement vector.
+   * @param stateStdDevs Standard deviations of model states.
    * @param measurementStdDevs Standard deviations of measurements.
-   * @param dtSeconds          Nominal discretization timestep.
+   * @param dtSeconds Nominal discretization timestep.
    */
   @SuppressWarnings("ParameterName")
   public ExtendedKalmanFilter(
-        Nat<States> states,
-        Nat<Inputs> inputs,
-        Nat<Outputs> outputs,
-        BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<States, N1>> f,
-        BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<Outputs, N1>> h,
-        Matrix<States, N1> stateStdDevs,
-        Matrix<Outputs, N1> measurementStdDevs,
-        double dtSeconds
-  ) {
+      Nat<States> states,
+      Nat<Inputs> inputs,
+      Nat<Outputs> outputs,
+      BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<States, N1>> f,
+      BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<Outputs, N1>> h,
+      Matrix<States, N1> stateStdDevs,
+      Matrix<Outputs, N1> measurementStdDevs,
+      double dtSeconds) {
     m_states = states;
     m_outputs = outputs;
 
@@ -81,10 +82,12 @@ public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Output
 
     reset();
 
-    final var contA = NumericalJacobian
-          .numericalJacobianX(states, states, f, m_xHat, new Matrix<>(inputs, Nat.N1()));
-    final var C = NumericalJacobian
-          .numericalJacobianX(outputs, states, h, m_xHat, new Matrix<>(inputs, Nat.N1()));
+    final var contA =
+        NumericalJacobian.numericalJacobianX(
+            states, states, f, m_xHat, new Matrix<>(inputs, Nat.N1()));
+    final var C =
+        NumericalJacobian.numericalJacobianX(
+            outputs, states, h, m_xHat, new Matrix<>(inputs, Nat.N1()));
 
     final var discPair = Discretization.discretizeAQTaylor(contA, m_contQ, dtSeconds);
     final var discA = discPair.getFirst();
@@ -95,8 +98,8 @@ public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Output
     // IsStabilizable(A^T, C^T) will tell us if the system is observable.
     boolean isObservable = StateSpaceUtil.isStabilizable(discA.transpose(), C.transpose());
     if (isObservable && outputs.getNum() <= states.getNum()) {
-      m_initP = Drake.discreteAlgebraicRiccatiEquation(
-            discA.transpose(), C.transpose(), discQ, discR) ;
+      m_initP =
+          Drake.discreteAlgebraicRiccatiEquation(discA.transpose(), C.transpose(), discQ, discR);
     } else {
       m_initP = new Matrix<>(states, states);
     }
@@ -168,11 +171,10 @@ public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Output
     m_xHat = xHat;
   }
 
-
   /**
    * Set an element of the initial state estimate x-hat.
    *
-   * @param row   Row of x-hat.
+   * @param row Row of x-hat.
    * @param value Value for element of x-hat.
    */
   @Override
@@ -189,7 +191,7 @@ public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Output
   /**
    * Project the model into the future with a new control input u.
    *
-   * @param u         New control input from controller.
+   * @param u New control input from controller.
    * @param dtSeconds Timestep for prediction.
    */
   @SuppressWarnings("ParameterName")
@@ -201,16 +203,15 @@ public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Output
   /**
    * Project the model into the future with a new control input u.
    *
-   * @param u         New control input from controller.
-   * @param f         The function used to linearlize the model.
+   * @param u New control input from controller.
+   * @param f The function used to linearlize the model.
    * @param dtSeconds Timestep for prediction.
    */
   @SuppressWarnings("ParameterName")
   public void predict(
-      Matrix<Inputs, N1> u, BiFunction<Matrix<States, N1>,
-        Matrix<Inputs, N1>, Matrix<States, N1>> f,
-      double dtSeconds
-  ) {
+      Matrix<Inputs, N1> u,
+      BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<States, N1>> f,
+      double dtSeconds) {
     // Find continuous A
     final var contA = NumericalJacobian.numericalJacobianX(m_states, m_states, f, m_xHat, u);
 
@@ -239,25 +240,24 @@ public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Output
   /**
    * Correct the state estimate x-hat using the measurements in y.
    *
-   * <p>This is useful for when the measurements available during a timestep's
-   * Correct() call vary. The h(x, u) passed to the constructor is used if one is
-   * not provided (the two-argument version of this function).
+   * <p>This is useful for when the measurements available during a timestep's Correct() call vary.
+   * The h(x, u) passed to the constructor is used if one is not provided (the two-argument version
+   * of this function).
    *
-   * @param <Rows>  Number of rows in the result of f(x, u).
+   * @param <Rows> Number of rows in the result of f(x, u).
    * @param rows Number of rows in the result of f(x, u).
-   * @param u    Same control input used in the predict step.
-   * @param y    Measurement vector.
-   * @param h    A vector-valued function of x and u that returns the measurement
-   *             vector.
-   * @param R    Discrete measurement noise covariance matrix.
+   * @param u Same control input used in the predict step.
+   * @param y Measurement vector.
+   * @param h A vector-valued function of x and u that returns the measurement vector.
+   * @param R Discrete measurement noise covariance matrix.
    */
   @SuppressWarnings({"ParameterName", "MethodTypeParameterName"})
   public <Rows extends Num> void correct(
-        Nat<Rows> rows, Matrix<Inputs, N1> u,
-        Matrix<Rows, N1> y,
-        BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<Rows, N1>> h,
-        Matrix<Rows, Rows> R
-  ) {
+      Nat<Rows> rows,
+      Matrix<Inputs, N1> u,
+      Matrix<Rows, N1> y,
+      BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<Rows, N1>> h,
+      Matrix<Rows, Rows> R) {
     final var C = NumericalJacobian.numericalJacobianX(rows, m_states, h, m_xHat, u);
     final var discR = Discretization.discretizeR(R, m_dtSeconds);
 
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/KalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/KalmanFilter.java
index e3c30b6817..f98d40c47c 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/KalmanFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/KalmanFilter.java
@@ -21,51 +21,46 @@ import edu.wpi.first.wpiutil.math.numbers.N1;
  *
  * <p>Kalman filters use a K gain matrix to determine whether to trust the model or measurements
  * more. Kalman filter theory uses statistics to compute an optimal K gain which minimizes the sum
- * of squares error in the state estimate. This K gain is used to correct the state estimate by
- * some amount of the difference between the actual measurements and the measurements predicted by
- * the model.
+ * of squares error in the state estimate. This K gain is used to correct the state estimate by some
+ * 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".
  */
 @SuppressWarnings("ClassTypeParameterName")
-public class KalmanFilter<States extends Num, Inputs extends Num,
-      Outputs extends Num> {
+public class KalmanFilter<States extends Num, Inputs extends Num, Outputs extends Num> {
   private final Nat<States> m_states;
 
   private final LinearSystem<States, Inputs, Outputs> m_plant;
 
-  /**
-   * The steady-state Kalman gain matrix.
-   */
+  /** The steady-state Kalman gain matrix. */
   @SuppressWarnings("MemberName")
   private final Matrix<States, Outputs> m_K;
 
-  /**
-   * The state estimate.
-   */
+  /** The state estimate. */
   @SuppressWarnings("MemberName")
   private Matrix<States, N1> m_xHat;
 
   /**
    * Constructs a state-space observer with the given plant.
    *
-   * @param states             A Nat representing the states of the system.
-   * @param outputs            A Nat representing the outputs of the system.
-   * @param plant              The plant used for the prediction step.
-   * @param stateStdDevs       Standard deviations of model states.
+   * @param states A Nat representing the states of the system.
+   * @param outputs A Nat representing the outputs of the system.
+   * @param plant The plant used for the prediction step.
+   * @param stateStdDevs Standard deviations of model states.
    * @param measurementStdDevs Standard deviations of measurements.
-   * @param dtSeconds          Nominal discretization timestep.
+   * @param dtSeconds Nominal discretization timestep.
    */
   @SuppressWarnings("LocalVariableName")
   public KalmanFilter(
-      Nat<States> states, Nat<Outputs> outputs,
+      Nat<States> states,
+      Nat<Outputs> outputs,
       LinearSystem<States, Inputs, Outputs> plant,
       Matrix<States, N1> stateStdDevs,
       Matrix<Outputs, N1> measurementStdDevs,
-      double dtSeconds
-  ) {
+      double dtSeconds) {
     this.m_states = states;
 
     this.m_plant = plant;
@@ -84,14 +79,16 @@ public class KalmanFilter<States extends Num, Inputs extends Num,
     // isStabilizable(A^T, C^T) will tell us if the system is observable.
     var isObservable = StateSpaceUtil.isStabilizable(discA.transpose(), C.transpose());
     if (!isObservable) {
-      MathSharedStore.reportError("The system passed to the Kalman filter is not observable!",
+      MathSharedStore.reportError(
+          "The system passed to the Kalman filter is not observable!",
           Thread.currentThread().getStackTrace());
       throw new IllegalArgumentException(
-        "The system passed to the Kalman filter is not observable!");
+          "The system passed to the Kalman filter is not observable!");
     }
 
-    var P = new Matrix<>(Drake.discreteAlgebraicRiccatiEquation(
-          discA.transpose(), C.transpose(), discQ, discR));
+    var P =
+        new Matrix<>(
+            Drake.discreteAlgebraicRiccatiEquation(discA.transpose(), C.transpose(), discQ, discR));
 
     var S = C.times(P).times(C.transpose()).plus(discR);
 
@@ -107,8 +104,9 @@ public class KalmanFilter<States extends Num, Inputs extends Num,
     //
     // K^T = S^T.solve(CP^T)
     // K = (S^T.solve(CP^T))^T
-    m_K = new Matrix<>(S.transpose().getStorage()
-          .solve((C.times(P.transpose())).getStorage()).transpose());
+    m_K =
+        new Matrix<>(
+            S.transpose().getStorage().solve((C.times(P.transpose())).getStorage()).transpose());
 
     reset();
   }
@@ -149,7 +147,7 @@ public class KalmanFilter<States extends Num, Inputs extends Num,
   /**
    * Set an element of the initial state estimate x-hat.
    *
-   * @param row   Row of x-hat.
+   * @param row Row of x-hat.
    * @param value Value for element of x-hat.
    */
   public void setXhat(int row, double value) {
@@ -178,7 +176,7 @@ public class KalmanFilter<States extends Num, Inputs extends Num,
   /**
    * Project the model into the future with a new control input u.
    *
-   * @param u         New control input from controller.
+   * @param u New control input from controller.
    * @param dtSeconds Timestep for prediction.
    */
   @SuppressWarnings("ParameterName")
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/KalmanFilterLatencyCompensator.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/KalmanFilterLatencyCompensator.java
index 75d46850e9..29685d33e6 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/KalmanFilterLatencyCompensator.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/KalmanFilterLatencyCompensator.java
@@ -4,15 +4,14 @@
 
 package edu.wpi.first.wpilibj.estimator;
 
-import java.util.ArrayList;
-import java.util.List;
-import java.util.Map;
-import java.util.function.BiConsumer;
-
 import edu.wpi.first.wpiutil.math.Matrix;
 import edu.wpi.first.wpiutil.math.Nat;
 import edu.wpi.first.wpiutil.math.Num;
 import edu.wpi.first.wpiutil.math.numbers.N1;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Map;
+import java.util.function.BiConsumer;
 
 public class KalmanFilterLatencyCompensator<S extends Num, I extends Num, O extends Num> {
   private static final int kMaxPastObserverStates = 300;
@@ -26,19 +25,19 @@ public class KalmanFilterLatencyCompensator<S extends Num, I extends Num, O exte
   /**
    * Add past observer states to the observer snapshots list.
    *
-   * @param observer         The observer.
-   * @param u                The input at the timestamp.
-   * @param localY           The local output at the timestamp
+   * @param observer The observer.
+   * @param u The input at the timestamp.
+   * @param localY The local output at the timestamp
    * @param timestampSeconds The timesnap of the state.
    */
   @SuppressWarnings("ParameterName")
   public void addObserverState(
-          KalmanTypeFilter<S, I, O> observer, Matrix<I, N1> u, Matrix<O, N1> localY,
-          double timestampSeconds
-  ) {
-    m_pastObserverSnapshots.add(Map.entry(
-            timestampSeconds, new ObserverSnapshot(observer, u, localY)
-    ));
+      KalmanTypeFilter<S, I, O> observer,
+      Matrix<I, N1> u,
+      Matrix<O, N1> localY,
+      double timestampSeconds) {
+    m_pastObserverSnapshots.add(
+        Map.entry(timestampSeconds, new ObserverSnapshot(observer, u, localY)));
 
     if (m_pastObserverSnapshots.size() > kMaxPastObserverStates) {
       m_pastObserverSnapshots.remove(0);
@@ -48,23 +47,22 @@ public class KalmanFilterLatencyCompensator<S extends Num, I extends Num, O exte
   /**
    * Add past global measurements (such as from vision)to the estimator.
    *
-   * @param <R>                               The rows in the global measurement vector.
-   * @param rows                              The rows in the global measurement vector.
-   * @param observer                          The observer to apply the past global measurement.
-   * @param nominalDtSeconds                  The nominal timestep.
-   * @param globalMeasurement                 The measurement.
-   * @param globalMeasurementCorrect          The function take calls correct() on the observer.
+   * @param <R> The rows in the global measurement vector.
+   * @param rows The rows in the global measurement vector.
+   * @param observer The observer to apply the past global measurement.
+   * @param nominalDtSeconds The nominal timestep.
+   * @param globalMeasurement The measurement.
+   * @param globalMeasurementCorrect The function take calls correct() on the observer.
    * @param globalMeasurementTimestampSeconds The timestamp of the measurement.
    */
   @SuppressWarnings({"ParameterName", "PMD.AvoidInstantiatingObjectsInLoops"})
   public <R extends Num> void applyPastGlobalMeasurement(
-          Nat<R> rows,
-          KalmanTypeFilter<S, I, O> observer,
-          double nominalDtSeconds,
-          Matrix<R, N1> globalMeasurement,
-          BiConsumer<Matrix<I, N1>, Matrix<R, N1>> globalMeasurementCorrect,
-          double globalMeasurementTimestampSeconds
-  ) {
+      Nat<R> rows,
+      KalmanTypeFilter<S, I, O> observer,
+      double nominalDtSeconds,
+      Matrix<R, N1> globalMeasurement,
+      BiConsumer<Matrix<I, N1>, Matrix<R, N1>> globalMeasurementCorrect,
+      double globalMeasurementTimestampSeconds) {
     if (m_pastObserverSnapshots.isEmpty()) {
       // State map was empty, which means that we got a past measurement right at startup. The only
       // thing we can really do is ignore the measurement.
@@ -96,12 +94,13 @@ public class KalmanFilterLatencyCompensator<S extends Num, I extends Num, O exte
     double timestamp = globalMeasurementTimestampSeconds;
     int indexOfClosestEntry =
         Math.abs(timestamp - m_pastObserverSnapshots.get(index - 1).getKey())
-            <= Math.abs(timestamp - m_pastObserverSnapshots.get(Math.min(index, maxIdx)).getKey())
+                <= Math.abs(
+                    timestamp - m_pastObserverSnapshots.get(Math.min(index, maxIdx)).getKey())
             ? index - 1
             : index;
 
     double lastTimestamp =
-            m_pastObserverSnapshots.get(indexOfClosestEntry).getKey() - nominalDtSeconds;
+        m_pastObserverSnapshots.get(indexOfClosestEntry).getKey() - nominalDtSeconds;
 
     // We will now go back in time to the state of the system at the time when
     // the measurement was captured. We will reset the observer to that state,
@@ -129,14 +128,14 @@ public class KalmanFilterLatencyCompensator<S extends Num, I extends Num, O exte
       }
       lastTimestamp = key;
 
-      m_pastObserverSnapshots.set(i, Map.entry(key,
-              new ObserverSnapshot(observer, snapshot.inputs, snapshot.localMeasurements)));
+      m_pastObserverSnapshots.set(
+          i,
+          Map.entry(
+              key, new ObserverSnapshot(observer, snapshot.inputs, snapshot.localMeasurements)));
     }
   }
 
-  /**
-   * This class contains all the information about our observer at a given time.
-   */
+  /** This class contains all the information about our observer at a given time. */
   @SuppressWarnings("MemberName")
   public class ObserverSnapshot {
     public final Matrix<S, N1> xHat;
@@ -146,8 +145,7 @@ public class KalmanFilterLatencyCompensator<S extends Num, I extends Num, O exte
 
     @SuppressWarnings("ParameterName")
     private ObserverSnapshot(
-            KalmanTypeFilter<S, I, O> observer, Matrix<I, N1> u, Matrix<O, N1> localY
-    ) {
+        KalmanTypeFilter<S, I, O> observer, Matrix<I, N1> u, Matrix<O, N1> localY) {
       this.xHat = observer.getXhat();
       this.errorCovariances = observer.getP();
 
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/MecanumDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/MecanumDrivePoseEstimator.java
index 6d8e005ec4..bf967ec2c0 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/MecanumDrivePoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/MecanumDrivePoseEstimator.java
@@ -4,8 +4,6 @@
 
 package edu.wpi.first.wpilibj.estimator;
 
-import java.util.function.BiConsumer;
-
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.geometry.Translation2d;
@@ -19,22 +17,21 @@ import edu.wpi.first.wpiutil.math.Nat;
 import edu.wpi.first.wpiutil.math.VecBuilder;
 import edu.wpi.first.wpiutil.math.numbers.N1;
 import edu.wpi.first.wpiutil.math.numbers.N3;
+import java.util.function.BiConsumer;
 
 /**
  * This class wraps an {@link UnscentedKalmanFilter Unscented Kalman Filter} to fuse
- * latency-compensated vision measurements with mecanum drive encoder velocity measurements.
- * It will correct for noisy measurements and encoder drift. It is intended to be an easy
- * but more accurate drop-in for {@link edu.wpi.first.wpilibj.kinematics.MecanumDriveOdometry}.
+ * latency-compensated vision measurements with mecanum drive encoder velocity measurements. It will
+ * correct for noisy measurements and encoder drift. It is intended to be an easy but more accurate
+ * drop-in for {@link edu.wpi.first.wpilibj.kinematics.MecanumDriveOdometry}.
  *
- * <p>{@link MecanumDrivePoseEstimator#update} should be called every robot loop. If
- * your loops are faster or slower than the default of 0.02s, then you should change
- * the nominal delta time using the secondary constructor:
- * {@link MecanumDrivePoseEstimator#MecanumDrivePoseEstimator(Rotation2d, Pose2d,
- * MecanumDriveKinematics, Matrix, Matrix, Matrix, double)}.
+ * <p>{@link MecanumDrivePoseEstimator#update} should be called every robot loop. If your loops are
+ * faster or slower than the default of 0.02s, then you should change the nominal delta time using
+ * the secondary constructor: {@link MecanumDrivePoseEstimator#MecanumDrivePoseEstimator(Rotation2d,
+ * Pose2d, MecanumDriveKinematics, Matrix, Matrix, Matrix, double)}.
  *
- * <p>{@link MecanumDrivePoseEstimator#addVisionMeasurement} can be called as
- * infrequently as you want; if you never call it, then this class will behave mostly like regular
- * encoder odometry.
+ * <p>{@link MecanumDrivePoseEstimator#addVisionMeasurement} can be called as infrequently as you
+ * want; if you never call it, then this class will behave mostly like regular encoder odometry.
  *
  * <p>Our state-space system is:
  *
@@ -42,8 +39,8 @@ import edu.wpi.first.wpiutil.math.numbers.N3;
  *
  * <p><strong> u = [[vx, vy, theta]]^T </strong> in the field-coordinate system.
  *
- * <p><strong> y = [[x, y, theta]]^T </strong> in field coords from vision,
- * or <strong> y = [[theta]]^T </strong> from the gyro.
+ * <p><strong> y = [[x, y, theta]]^T </strong> in field coords from vision, or <strong> y =
+ * [[theta]]^T </strong> from the gyro.
  */
 public class MecanumDrivePoseEstimator {
   private final UnscentedKalmanFilter<N3, N3, N1> m_observer;
@@ -62,87 +59,96 @@ public class MecanumDrivePoseEstimator {
   /**
    * Constructs a MecanumDrivePoseEstimator.
    *
-   * @param gyroAngle                The current gyro angle.
-   * @param initialPoseMeters        The starting pose estimate.
-   * @param kinematics               A correctly-configured kinematics object for your drivetrain.
-   * @param stateStdDevs             Standard deviations of model states. Increase these numbers to
-   *                                 trust your model's state estimates less. This matrix
-   *                                 is in the form [x, y, theta]^T, with units in
-   *                                 meters and radians.
-   * @param localMeasurementStdDevs  Standard deviations of the encoder and gyro measurements.
-   *                                 Increase these numbers to trust sensor readings from encoders
-   *                                 and gyros less. This matrix is in the form
-   *                                 [theta], with units in radians.
-   * @param visionMeasurementStdDevs Standard deviations of the vision measurements. Increase
-   *                                 these numbers to trust global measurements from vision less.
-   *                                 This matrix is in the form [x, y, theta]^T, with units in
-   *                                 meters and radians.
+   * @param gyroAngle The current gyro angle.
+   * @param initialPoseMeters The starting pose estimate.
+   * @param kinematics A correctly-configured kinematics object for your drivetrain.
+   * @param stateStdDevs Standard deviations of model states. Increase these numbers to trust your
+   *     model's state estimates less. This matrix is in the form [x, y, theta]^T, with units in
+   *     meters and radians.
+   * @param localMeasurementStdDevs Standard deviations of the encoder and gyro measurements.
+   *     Increase these numbers to trust sensor readings from encoders and gyros less. This matrix
+   *     is in the form [theta], with units in radians.
+   * @param visionMeasurementStdDevs Standard deviations of the vision measurements. Increase these
+   *     numbers to trust global measurements from vision less. This matrix is in the form [x, y,
+   *     theta]^T, with units in meters and radians.
    */
   public MecanumDrivePoseEstimator(
-          Rotation2d gyroAngle, Pose2d initialPoseMeters, MecanumDriveKinematics kinematics,
-          Matrix<N3, N1> stateStdDevs, Matrix<N1, N1> localMeasurementStdDevs,
-          Matrix<N3, N1> visionMeasurementStdDevs
-  ) {
-    this(gyroAngle, initialPoseMeters, kinematics, stateStdDevs, localMeasurementStdDevs,
-            visionMeasurementStdDevs, 0.02);
+      Rotation2d gyroAngle,
+      Pose2d initialPoseMeters,
+      MecanumDriveKinematics kinematics,
+      Matrix<N3, N1> stateStdDevs,
+      Matrix<N1, N1> localMeasurementStdDevs,
+      Matrix<N3, N1> visionMeasurementStdDevs) {
+    this(
+        gyroAngle,
+        initialPoseMeters,
+        kinematics,
+        stateStdDevs,
+        localMeasurementStdDevs,
+        visionMeasurementStdDevs,
+        0.02);
   }
 
   /**
    * Constructs a MecanumDrivePoseEstimator.
    *
-   * @param gyroAngle                The current gyro angle.
-   * @param initialPoseMeters        The starting pose estimate.
-   * @param kinematics               A correctly-configured kinematics object for your drivetrain.
-   * @param stateStdDevs             Standard deviations of model states. Increase these numbers to
-   *                                 trust your model's state estimates less. This matrix
-   *                                 is in the form [x, y, theta]^T, with units in
-   *                                 meters and radians.
-   * @param localMeasurementStdDevs  Standard deviations of the encoder and gyro measurements.
-   *                                 Increase these numbers to trust sensor readings from encoders
-   *                                 and gyros less. This matrix is in the form
-   *                                 [theta], with units in radians.
-   * @param visionMeasurementStdDevs Standard deviations of the vision measurements. Increase
-   *                                 these numbers to trust global measurements from vision less.
-   *                                 This matrix is in the form [x, y, theta]^T, with units in
-   *                                 meters and radians.
-   * @param nominalDtSeconds         The time in seconds between each robot loop.
+   * @param gyroAngle The current gyro angle.
+   * @param initialPoseMeters The starting pose estimate.
+   * @param kinematics A correctly-configured kinematics object for your drivetrain.
+   * @param stateStdDevs Standard deviations of model states. Increase these numbers to trust your
+   *     model's state estimates less. This matrix is in the form [x, y, theta]^T, with units in
+   *     meters and radians.
+   * @param localMeasurementStdDevs Standard deviations of the encoder and gyro measurements.
+   *     Increase these numbers to trust sensor readings from encoders and gyros less. This matrix
+   *     is in the form [theta], with units in radians.
+   * @param visionMeasurementStdDevs Standard deviations of the vision measurements. Increase these
+   *     numbers to trust global measurements from vision less. This matrix is in the form [x, y,
+   *     theta]^T, with units in meters and radians.
+   * @param nominalDtSeconds The time in seconds between each robot loop.
    */
   @SuppressWarnings("ParameterName")
   public MecanumDrivePoseEstimator(
-          Rotation2d gyroAngle, Pose2d initialPoseMeters, MecanumDriveKinematics kinematics,
-          Matrix<N3, N1> stateStdDevs, Matrix<N1, N1> localMeasurementStdDevs,
-          Matrix<N3, N1> visionMeasurementStdDevs, double nominalDtSeconds
-  ) {
+      Rotation2d gyroAngle,
+      Pose2d initialPoseMeters,
+      MecanumDriveKinematics kinematics,
+      Matrix<N3, N1> stateStdDevs,
+      Matrix<N1, N1> localMeasurementStdDevs,
+      Matrix<N3, N1> visionMeasurementStdDevs,
+      double nominalDtSeconds) {
     m_nominalDt = nominalDtSeconds;
 
-    m_observer = new UnscentedKalmanFilter<>(
-        Nat.N3(), Nat.N1(),
-        (x, u) -> u,
-        (x, u) -> x.extractRowVector(2),
-        stateStdDevs,
-        localMeasurementStdDevs,
-        AngleStatistics.angleMean(2),
-        AngleStatistics.angleMean(0),
-        AngleStatistics.angleResidual(2),
-        AngleStatistics.angleResidual(0),
-        AngleStatistics.angleAdd(2),
-        m_nominalDt
-    );
+    m_observer =
+        new UnscentedKalmanFilter<>(
+            Nat.N3(),
+            Nat.N1(),
+            (x, u) -> u,
+            (x, u) -> x.extractRowVector(2),
+            stateStdDevs,
+            localMeasurementStdDevs,
+            AngleStatistics.angleMean(2),
+            AngleStatistics.angleMean(0),
+            AngleStatistics.angleResidual(2),
+            AngleStatistics.angleResidual(0),
+            AngleStatistics.angleAdd(2),
+            m_nominalDt);
     m_kinematics = kinematics;
     m_latencyCompensator = new KalmanFilterLatencyCompensator<>();
 
     // Initialize vision R
     setVisionMeasurementStdDevs(visionMeasurementStdDevs);
 
-    m_visionCorrect = (u, y) -> m_observer.correct(
-        Nat.N3(), u, y,
-        (x, u1) -> x,
-        m_visionDiscreteR,
-        AngleStatistics.angleMean(2),
-        AngleStatistics.angleResidual(2),
-        AngleStatistics.angleResidual(2),
-        AngleStatistics.angleAdd(2)
-    );
+    m_visionCorrect =
+        (u, y) ->
+            m_observer.correct(
+                Nat.N3(),
+                u,
+                y,
+                (x, u1) -> x,
+                m_visionDiscreteR,
+                AngleStatistics.angleMean(2),
+                AngleStatistics.angleResidual(2),
+                AngleStatistics.angleResidual(2),
+                AngleStatistics.angleAdd(2));
 
     m_gyroOffset = initialPoseMeters.getRotation().minus(gyroAngle);
     m_previousAngle = initialPoseMeters.getRotation();
@@ -150,14 +156,13 @@ public class MecanumDrivePoseEstimator {
   }
 
   /**
-   * Sets the pose estimator's trust of global measurements. This might be used to change trust
-   * in vision measurements after the autonomous period, or to change trust as distance to a
-   * vision target increases.
+   * Sets the pose estimator's trust of global measurements. This might be used to change trust in
+   * vision measurements after the autonomous period, or to change trust as distance to a vision
+   * target increases.
    *
-   * @param visionMeasurementStdDevs Standard deviations of the vision measurements. Increase
-   *                                 these numbers to trust global measurements from vision less.
-   *                                 This matrix is in the form [x, y, theta]^T, with units in
-   *                                 meters and radians.
+   * @param visionMeasurementStdDevs Standard deviations of the vision measurements. Increase these
+   *     numbers to trust global measurements from vision less. This matrix is in the form [x, y,
+   *     theta]^T, with units in meters and radians.
    */
   public void setVisionMeasurementStdDevs(Matrix<N3, N1> visionMeasurementStdDevs) {
     var visionContR = StateSpaceUtil.makeCovarianceMatrix(Nat.N3(), visionMeasurementStdDevs);
@@ -169,11 +174,11 @@ public class MecanumDrivePoseEstimator {
    *
    * <p>You NEED to reset your encoders (to zero) when calling this method.
    *
-   * <p>The gyroscope angle does not need to be reset in the user's robot code.
-   * The library automatically takes care of offsetting the gyro angle.
+   * <p>The gyroscope angle does not need to be reset in the user's robot code. The library
+   * automatically takes care of offsetting the gyro angle.
    *
    * @param poseMeters The position on the field that your robot is at.
-   * @param gyroAngle  The angle reported by the gyroscope.
+   * @param gyroAngle The angle reported by the gyroscope.
    */
   public void resetPosition(Pose2d poseMeters, Rotation2d gyroAngle) {
     m_previousAngle = poseMeters.getRotation();
@@ -188,46 +193,39 @@ public class MecanumDrivePoseEstimator {
    */
   public Pose2d getEstimatedPosition() {
     return new Pose2d(
-            m_observer.getXhat(0),
-            m_observer.getXhat(1),
-            new Rotation2d(m_observer.getXhat(2))
-    );
+        m_observer.getXhat(0), m_observer.getXhat(1), new Rotation2d(m_observer.getXhat(2)));
   }
 
   /**
-   * Add a vision measurement to the Unscented Kalman Filter. This will correct the
-   * odometry pose estimate while still accounting for measurement noise.
+   * Add a vision measurement to the Unscented Kalman Filter. This will correct the odometry pose
+   * estimate while still accounting for measurement noise.
    *
-   * <p>This method can be called as infrequently as you want, as long as you are
-   * calling {@link MecanumDrivePoseEstimator#update} every loop.
+   * <p>This method can be called as infrequently as you want, as long as you are calling {@link
+   * MecanumDrivePoseEstimator#update} every loop.
    *
-   * @param visionRobotPoseMeters The pose of the robot as measured by the vision
-   *                              camera.
-   * @param timestampSeconds      The timestamp of the vision measurement in seconds. Note that if
-   *                              you don't use your own time source by calling
-   *                              {@link MecanumDrivePoseEstimator#updateWithTime} then you
-   *                              must use a timestamp with an epoch since FPGA startup
-   *                              (i.e. the epoch of this timestamp is the same epoch as
-   *                              Timer.getFPGATimestamp.) This means that you should
-   *                              use Timer.getFPGATimestamp as your time source
-   *                              or sync the epochs.
+   * @param visionRobotPoseMeters The pose of the robot as measured by the vision camera.
+   * @param timestampSeconds The timestamp of the vision measurement in seconds. Note that if you
+   *     don't use your own time source by calling {@link MecanumDrivePoseEstimator#updateWithTime}
+   *     then you must use a timestamp with an epoch since FPGA startup (i.e. the epoch of this
+   *     timestamp is the same epoch as Timer.getFPGATimestamp.) This means that you should use
+   *     Timer.getFPGATimestamp as your time source or sync the epochs.
    */
   public void addVisionMeasurement(Pose2d visionRobotPoseMeters, double timestampSeconds) {
     m_latencyCompensator.applyPastGlobalMeasurement(
-            Nat.N3(),
-            m_observer, m_nominalDt,
-            StateSpaceUtil.poseTo3dVector(visionRobotPoseMeters),
-            m_visionCorrect,
-            timestampSeconds
-    );
+        Nat.N3(),
+        m_observer,
+        m_nominalDt,
+        StateSpaceUtil.poseTo3dVector(visionRobotPoseMeters),
+        m_visionCorrect,
+        timestampSeconds);
   }
 
   /**
-   * Updates the the Unscented Kalman Filter using only wheel encoder information.
-   * This should be called every loop, and the correct loop period must be passed
-   * into the constructor of this class.
+   * Updates the the Unscented Kalman Filter using only wheel encoder information. This should be
+   * called every loop, and the correct loop period must be passed into the constructor of this
+   * class.
    *
-   * @param gyroAngle   The current gyro angle.
+   * @param gyroAngle The current gyro angle.
    * @param wheelSpeeds The current speeds of the mecanum drive wheels.
    * @return The estimated pose of the robot in meters.
    */
@@ -236,18 +234,18 @@ public class MecanumDrivePoseEstimator {
   }
 
   /**
-   * Updates the the Unscented Kalman Filter using only wheel encoder information.
-   * This should be called every loop, and the correct loop period must be passed
-   * into the constructor of this class.
+   * Updates the the Unscented Kalman Filter using only wheel encoder information. This should be
+   * called every loop, and the correct loop period must be passed into the constructor of this
+   * class.
    *
    * @param currentTimeSeconds Time at which this method was called, in seconds.
-   * @param gyroAngle          The current gyroscope angle.
-   * @param wheelSpeeds        The current speeds of the mecanum drive wheels.
+   * @param gyroAngle The current gyroscope angle.
+   * @param wheelSpeeds The current speeds of the mecanum drive wheels.
    * @return The estimated pose of the robot in meters.
    */
   @SuppressWarnings("LocalVariableName")
-  public Pose2d updateWithTime(double currentTimeSeconds, Rotation2d gyroAngle,
-                               MecanumDriveWheelSpeeds wheelSpeeds) {
+  public Pose2d updateWithTime(
+      double currentTimeSeconds, Rotation2d gyroAngle, MecanumDriveWheelSpeeds wheelSpeeds) {
     double dt = m_prevTimeSeconds >= 0 ? currentTimeSeconds - m_prevTimeSeconds : m_nominalDt;
     m_prevTimeSeconds = currentTimeSeconds;
 
@@ -256,14 +254,10 @@ public class MecanumDrivePoseEstimator {
 
     var chassisSpeeds = m_kinematics.toChassisSpeeds(wheelSpeeds);
     var fieldRelativeVelocities =
-            new Translation2d(chassisSpeeds.vxMetersPerSecond, chassisSpeeds.vyMetersPerSecond)
-                    .rotateBy(angle);
+        new Translation2d(chassisSpeeds.vxMetersPerSecond, chassisSpeeds.vyMetersPerSecond)
+            .rotateBy(angle);
 
-    var u = VecBuilder.fill(
-            fieldRelativeVelocities.getX(),
-            fieldRelativeVelocities.getY(),
-            omega
-    );
+    var u = VecBuilder.fill(fieldRelativeVelocities.getX(), fieldRelativeVelocities.getY(), omega);
     m_previousAngle = angle;
 
     var localY = VecBuilder.fill(angle.getRadians());
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/MerweScaledSigmaPoints.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/MerweScaledSigmaPoints.java
index 2091dd020a..95fcb71681 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/MerweScaledSigmaPoints.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/MerweScaledSigmaPoints.java
@@ -4,26 +4,23 @@
 
 package edu.wpi.first.wpilibj.estimator;
 
-import org.ejml.simple.SimpleMatrix;
-
 import edu.wpi.first.wpiutil.math.Matrix;
 import edu.wpi.first.wpiutil.math.Nat;
 import edu.wpi.first.wpiutil.math.Num;
 import edu.wpi.first.wpiutil.math.numbers.N1;
+import org.ejml.simple.SimpleMatrix;
 
 /**
- * Generates sigma points and weights according to Van der Merwe's 2004
- * dissertation[1] for the UnscentedKalmanFilter class.
+ * Generates sigma points and weights according to Van der Merwe's 2004 dissertation[1] for the
+ * UnscentedKalmanFilter class.
  *
- * <p>It parametrizes the sigma points using alpha, beta, kappa terms, and is the
- * version seen in most publications. Unless you know better, this should be
- * your default choice.
+ * <p>It parametrizes the sigma points using alpha, beta, kappa terms, and is the version seen in
+ * most publications. Unless you know better, this should be your default choice.
  *
- * <p>States is the dimensionality of the state. 2*States+1 weights will be
- * generated.
+ * <p>States is the dimensionality of the state. 2*States+1 weights will be generated.
  *
- * <p>[1] R. Van der Merwe "Sigma-Point Kalman Filters for Probabilitic
- * Inference in Dynamic State-Space Models" (Doctoral dissertation)
+ * <p>[1] R. Van der Merwe "Sigma-Point Kalman Filters for Probabilitic Inference in Dynamic
+ * State-Space Models" (Doctoral dissertation)
  */
 public class MerweScaledSigmaPoints<S extends Num> {
 
@@ -37,11 +34,11 @@ public class MerweScaledSigmaPoints<S extends Num> {
    * Constructs a generator for Van der Merwe scaled sigma points.
    *
    * @param states an instance of Num that represents the number of states.
-   * @param alpha  Determines the spread of the sigma points around the mean.
-   *               Usually a small positive value (1e-3).
-   * @param beta   Incorporates prior knowledge of the distribution of the mean.
-   *               For Gaussian distributions, beta = 2 is optimal.
-   * @param kappa  Secondary scaling parameter usually set to 0 or 3 - States.
+   * @param alpha Determines the spread of the sigma points around the mean. Usually a small
+   *     positive value (1e-3).
+   * @param beta Incorporates prior knowledge of the distribution of the mean. For Gaussian
+   *     distributions, beta = 2 is optimal.
+   * @param kappa Secondary scaling parameter usually set to 0 or 3 - States.
    */
   public MerweScaledSigmaPoints(Nat<S> states, double alpha, double beta, int kappa) {
     this.m_states = states;
@@ -71,27 +68,24 @@ public class MerweScaledSigmaPoints<S extends Num> {
   }
 
   /**
-   * Computes the sigma points for an unscented Kalman filter given the mean
-   * (x) and covariance(P) of the filter.
+   * Computes the sigma points for an unscented Kalman filter given the mean (x) and covariance(P)
+   * of the filter.
    *
    * @param x An array of the means.
    * @param P Covariance of the filter.
-   * @return Two dimensional array of sigma points. Each column contains all of
-   *         the sigmas for one dimension in the problem space. Ordered by
-   *         Xi_0, Xi_{1..n}, Xi_{n+1..2n}.
+   * @return Two dimensional array of sigma points. Each column contains all of the sigmas for one
+   *     dimension in the problem space. Ordered by Xi_0, Xi_{1..n}, Xi_{n+1..2n}.
    */
   @SuppressWarnings({"ParameterName", "LocalVariableName"})
-  public Matrix<S, ?> sigmaPoints(
-          Matrix<S, N1> x,
-          Matrix<S, S> P) {
+  public Matrix<S, ?> sigmaPoints(Matrix<S, N1> x, Matrix<S, S> P) {
     double lambda = Math.pow(m_alpha, 2) * (m_states.getNum() + m_kappa) - m_states.getNum();
 
     var intermediate = P.times(lambda + m_states.getNum());
     var U = intermediate.lltDecompose(true); // Lower triangular
 
     // 2 * states + 1 by states
-    Matrix<S, ?> sigmas = new Matrix<>(
-        new SimpleMatrix(m_states.getNum(), 2 * m_states.getNum() + 1));
+    Matrix<S, ?> sigmas =
+        new Matrix<>(new SimpleMatrix(m_states.getNum(), 2 * m_states.getNum() + 1));
     sigmas.setColumn(0, x);
     for (int k = 0; k < m_states.getNum(); k++) {
       var xPlusU = x.plus(U.extractColumnVector(k));
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/SwerveDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/SwerveDrivePoseEstimator.java
index 3eda89c32e..69cbfd15c8 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/SwerveDrivePoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/SwerveDrivePoseEstimator.java
@@ -4,8 +4,6 @@
 
 package edu.wpi.first.wpilibj.estimator;
 
-import java.util.function.BiConsumer;
-
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.geometry.Translation2d;
@@ -19,22 +17,21 @@ import edu.wpi.first.wpiutil.math.Nat;
 import edu.wpi.first.wpiutil.math.VecBuilder;
 import edu.wpi.first.wpiutil.math.numbers.N1;
 import edu.wpi.first.wpiutil.math.numbers.N3;
+import java.util.function.BiConsumer;
 
 /**
  * This class wraps an {@link UnscentedKalmanFilter Unscented Kalman Filter} to fuse
- * latency-compensated vision measurements with swerve drive encoder velocity measurements.
- * It will correct for noisy measurements and encoder drift. It is intended to be an easy
- * but more accurate drop-in for {@link edu.wpi.first.wpilibj.kinematics.SwerveDriveOdometry}.
+ * latency-compensated vision measurements with swerve drive encoder velocity measurements. It will
+ * correct for noisy measurements and encoder drift. It is intended to be an easy but more accurate
+ * drop-in for {@link edu.wpi.first.wpilibj.kinematics.SwerveDriveOdometry}.
  *
- * <p>{@link SwerveDrivePoseEstimator#update} should be called every robot loop. If
- * your loops are faster or slower than the default of 0.02s, then you should change
- * the nominal delta time using the secondary constructor:
- * {@link SwerveDrivePoseEstimator#SwerveDrivePoseEstimator(Rotation2d, Pose2d,
- * SwerveDriveKinematics, Matrix, Matrix, Matrix, double)}.
+ * <p>{@link SwerveDrivePoseEstimator#update} should be called every robot loop. If your loops are
+ * faster or slower than the default of 0.02s, then you should change the nominal delta time using
+ * the secondary constructor: {@link SwerveDrivePoseEstimator#SwerveDrivePoseEstimator(Rotation2d,
+ * Pose2d, SwerveDriveKinematics, Matrix, Matrix, Matrix, double)}.
  *
- * <p>{@link SwerveDrivePoseEstimator#addVisionMeasurement} can be called as
- * infrequently as you want; if you never call it, then this class will behave mostly like regular
- * encoder odometry.
+ * <p>{@link SwerveDrivePoseEstimator#addVisionMeasurement} can be called as infrequently as you
+ * want; if you never call it, then this class will behave mostly like regular encoder odometry.
  *
  * <p>Our state-space system is:
  *
@@ -42,8 +39,8 @@ import edu.wpi.first.wpiutil.math.numbers.N3;
  *
  * <p><strong> u = [[vx, vy, omega]]^T </strong> in the field-coordinate system.
  *
- * <p><strong> y = [[x, y, theta]]^T </strong> in field coords from vision,
- * or <strong> y = [[theta]]^T </strong> from the gyro.
+ * <p><strong> y = [[x, y, theta]]^T </strong> in field coords from vision, or <strong> y =
+ * [[theta]]^T </strong> from the gyro.
  */
 public class SwerveDrivePoseEstimator {
   private final UnscentedKalmanFilter<N3, N3, N1> m_observer;
@@ -62,87 +59,96 @@ public class SwerveDrivePoseEstimator {
   /**
    * Constructs a SwerveDrivePoseEstimator.
    *
-   * @param gyroAngle                The current gyro angle.
-   * @param initialPoseMeters        The starting pose estimate.
-   * @param kinematics               A correctly-configured kinematics object for your drivetrain.
-   * @param stateStdDevs             Standard deviations of model states. Increase these numbers to
-   *                                 trust your model's state estimates less. This matrix
-   *                                 is in the form [x, y, theta]^T, with units in
-   *                                 meters and radians.
-   * @param localMeasurementStdDevs  Standard deviations of the encoder and gyro measurements.
-   *                                 Increase these numbers to trust sensor readings from encoders
-   *                                 and gyros less. This matrix is in the form
-   *                                 [theta], with units in radians.
-   * @param visionMeasurementStdDevs Standard deviations of the vision measurements. Increase
-   *                                 these numbers to trust global measurements from vision less.
-   *                                 This matrix is in the form [x, y, theta]^T, with units in
-   *                                 meters and radians.
+   * @param gyroAngle The current gyro angle.
+   * @param initialPoseMeters The starting pose estimate.
+   * @param kinematics A correctly-configured kinematics object for your drivetrain.
+   * @param stateStdDevs Standard deviations of model states. Increase these numbers to trust your
+   *     model's state estimates less. This matrix is in the form [x, y, theta]^T, with units in
+   *     meters and radians.
+   * @param localMeasurementStdDevs Standard deviations of the encoder and gyro measurements.
+   *     Increase these numbers to trust sensor readings from encoders and gyros less. This matrix
+   *     is in the form [theta], with units in radians.
+   * @param visionMeasurementStdDevs Standard deviations of the vision measurements. Increase these
+   *     numbers to trust global measurements from vision less. This matrix is in the form [x, y,
+   *     theta]^T, with units in meters and radians.
    */
   public SwerveDrivePoseEstimator(
-          Rotation2d gyroAngle, Pose2d initialPoseMeters, SwerveDriveKinematics kinematics,
-          Matrix<N3, N1> stateStdDevs, Matrix<N1, N1> localMeasurementStdDevs,
-          Matrix<N3, N1> visionMeasurementStdDevs
-  ) {
-    this(gyroAngle, initialPoseMeters, kinematics, stateStdDevs, localMeasurementStdDevs,
-            visionMeasurementStdDevs, 0.02);
+      Rotation2d gyroAngle,
+      Pose2d initialPoseMeters,
+      SwerveDriveKinematics kinematics,
+      Matrix<N3, N1> stateStdDevs,
+      Matrix<N1, N1> localMeasurementStdDevs,
+      Matrix<N3, N1> visionMeasurementStdDevs) {
+    this(
+        gyroAngle,
+        initialPoseMeters,
+        kinematics,
+        stateStdDevs,
+        localMeasurementStdDevs,
+        visionMeasurementStdDevs,
+        0.02);
   }
 
   /**
    * Constructs a SwerveDrivePoseEstimator.
    *
-   * @param gyroAngle                The current gyro angle.
-   * @param initialPoseMeters        The starting pose estimate.
-   * @param kinematics               A correctly-configured kinematics object for your drivetrain.
-   * @param stateStdDevs             Standard deviations of model states. Increase these numbers to
-   *                                 trust your model's state estimates less. This matrix
-   *                                 is in the form [x, y, theta]^T, with units in
-   *                                 meters and radians.
-   * @param localMeasurementStdDevs  Standard deviations of the encoder and gyro measurements.
-   *                                 Increase these numbers to trust sensor readings from encoders
-   *                                 and gyros less. This matrix is in the form
-   *                                 [theta], with units in radians.
-   * @param visionMeasurementStdDevs Standard deviations of the vision measurements. Increase
-   *                                 these numbers to trust global measurements from vision less.
-   *                                 This matrix is in the form [x, y, theta]^T, with units in
-   *                                 meters and radians.
-   * @param nominalDtSeconds         The time in seconds between each robot loop.
+   * @param gyroAngle The current gyro angle.
+   * @param initialPoseMeters The starting pose estimate.
+   * @param kinematics A correctly-configured kinematics object for your drivetrain.
+   * @param stateStdDevs Standard deviations of model states. Increase these numbers to trust your
+   *     model's state estimates less. This matrix is in the form [x, y, theta]^T, with units in
+   *     meters and radians.
+   * @param localMeasurementStdDevs Standard deviations of the encoder and gyro measurements.
+   *     Increase these numbers to trust sensor readings from encoders and gyros less. This matrix
+   *     is in the form [theta], with units in radians.
+   * @param visionMeasurementStdDevs Standard deviations of the vision measurements. Increase these
+   *     numbers to trust global measurements from vision less. This matrix is in the form [x, y,
+   *     theta]^T, with units in meters and radians.
+   * @param nominalDtSeconds The time in seconds between each robot loop.
    */
   @SuppressWarnings("ParameterName")
   public SwerveDrivePoseEstimator(
-          Rotation2d gyroAngle, Pose2d initialPoseMeters, SwerveDriveKinematics kinematics,
-          Matrix<N3, N1> stateStdDevs, Matrix<N1, N1> localMeasurementStdDevs,
-          Matrix<N3, N1> visionMeasurementStdDevs, double nominalDtSeconds
-  ) {
+      Rotation2d gyroAngle,
+      Pose2d initialPoseMeters,
+      SwerveDriveKinematics kinematics,
+      Matrix<N3, N1> stateStdDevs,
+      Matrix<N1, N1> localMeasurementStdDevs,
+      Matrix<N3, N1> visionMeasurementStdDevs,
+      double nominalDtSeconds) {
     m_nominalDt = nominalDtSeconds;
 
-    m_observer = new UnscentedKalmanFilter<>(
-        Nat.N3(), Nat.N1(),
-        (x, u) -> u,
-        (x, u) -> x.extractRowVector(2),
-        stateStdDevs,
-        localMeasurementStdDevs,
-        AngleStatistics.angleMean(2),
-        AngleStatistics.angleMean(0),
-        AngleStatistics.angleResidual(2),
-        AngleStatistics.angleResidual(0),
-        AngleStatistics.angleAdd(2),
-        m_nominalDt
-    );
+    m_observer =
+        new UnscentedKalmanFilter<>(
+            Nat.N3(),
+            Nat.N1(),
+            (x, u) -> u,
+            (x, u) -> x.extractRowVector(2),
+            stateStdDevs,
+            localMeasurementStdDevs,
+            AngleStatistics.angleMean(2),
+            AngleStatistics.angleMean(0),
+            AngleStatistics.angleResidual(2),
+            AngleStatistics.angleResidual(0),
+            AngleStatistics.angleAdd(2),
+            m_nominalDt);
     m_kinematics = kinematics;
     m_latencyCompensator = new KalmanFilterLatencyCompensator<>();
 
     // Initialize vision R
     setVisionMeasurementStdDevs(visionMeasurementStdDevs);
 
-    m_visionCorrect = (u, y) -> m_observer.correct(
-        Nat.N3(), u, y,
-        (x, u1) -> x,
-        m_visionDiscreteR,
-        AngleStatistics.angleMean(2),
-        AngleStatistics.angleResidual(2),
-        AngleStatistics.angleResidual(2),
-        AngleStatistics.angleAdd(2)
-    );
+    m_visionCorrect =
+        (u, y) ->
+            m_observer.correct(
+                Nat.N3(),
+                u,
+                y,
+                (x, u1) -> x,
+                m_visionDiscreteR,
+                AngleStatistics.angleMean(2),
+                AngleStatistics.angleResidual(2),
+                AngleStatistics.angleResidual(2),
+                AngleStatistics.angleAdd(2));
 
     m_gyroOffset = initialPoseMeters.getRotation().minus(gyroAngle);
     m_previousAngle = initialPoseMeters.getRotation();
@@ -150,14 +156,13 @@ public class SwerveDrivePoseEstimator {
   }
 
   /**
-   * Sets the pose estimator's trust of global measurements. This might be used to change trust
-   * in vision measurements after the autonomous period, or to change trust as distance to a
-   * vision target increases.
+   * Sets the pose estimator's trust of global measurements. This might be used to change trust in
+   * vision measurements after the autonomous period, or to change trust as distance to a vision
+   * target increases.
    *
-   * @param visionMeasurementStdDevs Standard deviations of the vision measurements. Increase
-   *                                 these numbers to trust global measurements from vision less.
-   *                                 This matrix is in the form [x, y, theta]^T, with units in
-   *                                 meters and radians.
+   * @param visionMeasurementStdDevs Standard deviations of the vision measurements. Increase these
+   *     numbers to trust global measurements from vision less. This matrix is in the form [x, y,
+   *     theta]^T, with units in meters and radians.
    */
   public void setVisionMeasurementStdDevs(Matrix<N3, N1> visionMeasurementStdDevs) {
     var visionContR = StateSpaceUtil.makeCovarianceMatrix(Nat.N3(), visionMeasurementStdDevs);
@@ -169,11 +174,11 @@ public class SwerveDrivePoseEstimator {
    *
    * <p>You NEED to reset your encoders (to zero) when calling this method.
    *
-   * <p>The gyroscope angle does not need to be reset in the user's robot code.
-   * The library automatically takes care of offsetting the gyro angle.
+   * <p>The gyroscope angle does not need to be reset in the user's robot code. The library
+   * automatically takes care of offsetting the gyro angle.
    *
    * @param poseMeters The position on the field that your robot is at.
-   * @param gyroAngle  The angle reported by the gyroscope.
+   * @param gyroAngle The angle reported by the gyroscope.
    */
   public void resetPosition(Pose2d poseMeters, Rotation2d gyroAngle) {
     m_previousAngle = poseMeters.getRotation();
@@ -188,71 +193,59 @@ public class SwerveDrivePoseEstimator {
    */
   public Pose2d getEstimatedPosition() {
     return new Pose2d(
-            m_observer.getXhat(0),
-            m_observer.getXhat(1),
-            new Rotation2d(m_observer.getXhat(2))
-    );
+        m_observer.getXhat(0), m_observer.getXhat(1), new Rotation2d(m_observer.getXhat(2)));
   }
 
   /**
-   * Add a vision measurement to the Unscented Kalman Filter. This will correct the
-   * odometry pose estimate while still accounting for measurement noise.
+   * Add a vision measurement to the Unscented Kalman Filter. This will correct the odometry pose
+   * estimate while still accounting for measurement noise.
    *
-   * <p>This method can be called as infrequently as you want, as long as you are
-   * calling {@link SwerveDrivePoseEstimator#update} every loop.
+   * <p>This method can be called as infrequently as you want, as long as you are calling {@link
+   * SwerveDrivePoseEstimator#update} every loop.
    *
-   * @param visionRobotPoseMeters The pose of the robot as measured by the vision
-   *                              camera.
-   * @param timestampSeconds      The timestamp of the vision measurement in seconds. Note that if
-   *                              you don't use your own time source by calling
-   *                              {@link SwerveDrivePoseEstimator#updateWithTime} then you
-   *                              must use a timestamp with an epoch since FPGA startup
-   *                              (i.e. the epoch of this timestamp is the same epoch as
-   *                              Timer.getFPGATimestamp.) This means that you should
-   *                              use Timer.getFPGATimestamp as your time source or
-   *                              sync the epochs.
+   * @param visionRobotPoseMeters The pose of the robot as measured by the vision camera.
+   * @param timestampSeconds The timestamp of the vision measurement in seconds. Note that if you
+   *     don't use your own time source by calling {@link SwerveDrivePoseEstimator#updateWithTime}
+   *     then you must use a timestamp with an epoch since FPGA startup (i.e. the epoch of this
+   *     timestamp is the same epoch as Timer.getFPGATimestamp.) This means that you should use
+   *     Timer.getFPGATimestamp as your time source or sync the epochs.
    */
   public void addVisionMeasurement(Pose2d visionRobotPoseMeters, double timestampSeconds) {
     m_latencyCompensator.applyPastGlobalMeasurement(
-            Nat.N3(),
-            m_observer, m_nominalDt,
-            StateSpaceUtil.poseTo3dVector(visionRobotPoseMeters),
-            m_visionCorrect,
-            timestampSeconds
-    );
+        Nat.N3(),
+        m_observer,
+        m_nominalDt,
+        StateSpaceUtil.poseTo3dVector(visionRobotPoseMeters),
+        m_visionCorrect,
+        timestampSeconds);
   }
 
   /**
-   * Updates the the Unscented Kalman Filter using only wheel encoder information.
-   * This should be called every loop, and the correct loop period must be passed
-   * into the constructor of this class.
+   * Updates the the Unscented Kalman Filter using only wheel encoder information. This should be
+   * called every loop, and the correct loop period must be passed into the constructor of this
+   * class.
    *
-   * @param gyroAngle    The current gyro angle.
+   * @param gyroAngle The current gyro angle.
    * @param moduleStates The current velocities and rotations of the swerve modules.
    * @return The estimated pose of the robot in meters.
    */
-  public Pose2d update(
-          Rotation2d gyroAngle,
-          SwerveModuleState... moduleStates
-  ) {
+  public Pose2d update(Rotation2d gyroAngle, SwerveModuleState... moduleStates) {
     return updateWithTime(WPIUtilJNI.now() * 1.0e-6, gyroAngle, moduleStates);
   }
 
   /**
-   * Updates the the Unscented Kalman Filter using only wheel encoder information.
-   * This should be called every loop, and the correct loop period must be passed
-   * into the constructor of this class.
+   * Updates the the Unscented Kalman Filter using only wheel encoder information. This should be
+   * called every loop, and the correct loop period must be passed into the constructor of this
+   * class.
    *
    * @param currentTimeSeconds Time at which this method was called, in seconds.
-   * @param gyroAngle          The current gyroscope angle.
-   * @param moduleStates       The current velocities and rotations of the swerve modules.
+   * @param gyroAngle The current gyroscope angle.
+   * @param moduleStates The current velocities and rotations of the swerve modules.
    * @return The estimated pose of the robot in meters.
    */
   @SuppressWarnings("LocalVariableName")
   public Pose2d updateWithTime(
-          double currentTimeSeconds,
-          Rotation2d gyroAngle, SwerveModuleState... moduleStates
-  ) {
+      double currentTimeSeconds, Rotation2d gyroAngle, SwerveModuleState... moduleStates) {
     double dt = m_prevTimeSeconds >= 0 ? currentTimeSeconds - m_prevTimeSeconds : m_nominalDt;
     m_prevTimeSeconds = currentTimeSeconds;
 
@@ -260,15 +253,11 @@ public class SwerveDrivePoseEstimator {
     var omega = angle.minus(m_previousAngle).getRadians() / dt;
 
     var chassisSpeeds = m_kinematics.toChassisSpeeds(moduleStates);
-    var fieldRelativeVelocities = new Translation2d(
-            chassisSpeeds.vxMetersPerSecond, chassisSpeeds.vyMetersPerSecond
-    ).rotateBy(angle);
+    var fieldRelativeVelocities =
+        new Translation2d(chassisSpeeds.vxMetersPerSecond, chassisSpeeds.vyMetersPerSecond)
+            .rotateBy(angle);
 
-    var u = VecBuilder.fill(
-            fieldRelativeVelocities.getX(),
-            fieldRelativeVelocities.getY(),
-            omega
-    );
+    var u = VecBuilder.fill(fieldRelativeVelocities.getX(), fieldRelativeVelocities.getY(), omega);
     m_previousAngle = angle;
 
     var localY = VecBuilder.fill(angle.getRadians());
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/UnscentedKalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/UnscentedKalmanFilter.java
index 498314175d..7c327e2e29 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/UnscentedKalmanFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/UnscentedKalmanFilter.java
@@ -4,10 +4,6 @@
 
 package edu.wpi.first.wpilibj.estimator;
 
-import java.util.function.BiFunction;
-
-import org.ejml.simple.SimpleMatrix;
-
 import edu.wpi.first.wpilibj.math.Discretization;
 import edu.wpi.first.wpilibj.math.StateSpaceUtil;
 import edu.wpi.first.wpilibj.system.NumericalJacobian;
@@ -17,6 +13,8 @@ import edu.wpi.first.wpiutil.math.Nat;
 import edu.wpi.first.wpiutil.math.Num;
 import edu.wpi.first.wpiutil.math.Pair;
 import edu.wpi.first.wpiutil.math.numbers.N1;
+import java.util.function.BiFunction;
+import org.ejml.simple.SimpleMatrix;
 
 /**
  * A Kalman filter combines predictions from a model and measurements to give an estimate of the
@@ -29,8 +27,8 @@ import edu.wpi.first.wpiutil.math.numbers.N1;
  * the UKF works with nonlinear systems.
  */
 @SuppressWarnings({"MemberName", "ClassTypeParameterName", "PMD.TooManyFields"})
-public class UnscentedKalmanFilter<States extends Num, Inputs extends Num,
-      Outputs extends Num> implements KalmanTypeFilter<States, Inputs, Outputs> {
+public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outputs extends Num>
+    implements KalmanTypeFilter<States, Inputs, Outputs> {
 
   private final Nat<States> m_states;
   private final Nat<Outputs> m_outputs;
@@ -56,36 +54,36 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num,
   /**
    * Constructs an Unscented Kalman Filter.
    *
-   * @param states             A Nat representing the number of states.
-   * @param outputs            A Nat representing the number of outputs.
-   * @param f                  A vector-valued function of x and u that returns
-   *                           the derivative of the state vector.
-   * @param h                  A vector-valued function of x and u that returns
-   *                           the measurement vector.
-   * @param stateStdDevs       Standard deviations of model states.
+   * @param states A Nat representing the number of states.
+   * @param outputs A Nat representing the number of outputs.
+   * @param f A vector-valued function of x and u that returns the derivative of the state vector.
+   * @param h A vector-valued function of x and u that returns the measurement vector.
+   * @param stateStdDevs Standard deviations of model states.
    * @param measurementStdDevs Standard deviations of measurements.
-   * @param nominalDtSeconds   Nominal discretization timestep.
+   * @param nominalDtSeconds Nominal discretization timestep.
    */
   @SuppressWarnings("LambdaParameterName")
-  public UnscentedKalmanFilter(Nat<States> states, Nat<Outputs> outputs,
-                               BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>,
-                                   Matrix<States, N1>> f,
-                               BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>,
-                                   Matrix<Outputs, N1>> h,
-                               Matrix<States, N1> stateStdDevs,
-                               Matrix<Outputs, N1> measurementStdDevs,
-                               double nominalDtSeconds) {
+  public UnscentedKalmanFilter(
+      Nat<States> states,
+      Nat<Outputs> outputs,
+      BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<States, N1>> f,
+      BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<Outputs, N1>> h,
+      Matrix<States, N1> stateStdDevs,
+      Matrix<Outputs, N1> measurementStdDevs,
+      double nominalDtSeconds) {
     this(
-        states, outputs,
-        f, h,
-        stateStdDevs, measurementStdDevs,
+        states,
+        outputs,
+        f,
+        h,
+        stateStdDevs,
+        measurementStdDevs,
         (sigmas, Wm) -> sigmas.times(Matrix.changeBoundsUnchecked(Wm)),
         (sigmas, Wm) -> sigmas.times(Matrix.changeBoundsUnchecked(Wm)),
         Matrix::minus,
         Matrix::minus,
         Matrix::plus,
-        nominalDtSeconds
-    );
+        nominalDtSeconds);
   }
 
   /**
@@ -93,39 +91,37 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num,
    * 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.
    *
-   * @param states             A Nat representing the number of states.
-   * @param outputs            A Nat representing the number of outputs.
-   * @param f                  A vector-valued function of x and u that returns
-   *                           the derivative of the state vector.
-   * @param h                  A vector-valued function of x and u that returns
-   *                           the measurement vector.
-   * @param stateStdDevs       Standard deviations of model states.
+   * @param states A Nat representing the number of states.
+   * @param outputs A Nat representing the number of outputs.
+   * @param f A vector-valued function of x and u that returns the derivative of the state vector.
+   * @param h A vector-valued function of x and u that returns the measurement vector.
+   * @param stateStdDevs Standard deviations of model states.
    * @param measurementStdDevs Standard deviations of measurements.
-   * @param meanFuncX          A function that computes the mean of 2 * States + 1 state vectors
-   *                           using a given set of weights.
-   * @param meanFuncY          A function that computes the mean of 2 * States + 1 measurement
-   *                           vectors using a given set of weights.
-   * @param residualFuncX      A function that computes the residual of two state vectors (i.e. it
-   *                           subtracts them.)
-   * @param residualFuncY      A function that computes the residual of two measurement vectors
-   *                           (i.e. it subtracts them.)
-   * @param addFuncX           A function that adds two state vectors.
-   * @param nominalDtSeconds   Nominal discretization timestep.
+   * @param meanFuncX A function that computes the mean of 2 * States + 1 state vectors using a
+   *     given set of weights.
+   * @param meanFuncY A function that computes the mean of 2 * States + 1 measurement vectors using
+   *     a given set of weights.
+   * @param residualFuncX A function that computes the residual of two state vectors (i.e. it
+   *     subtracts them.)
+   * @param residualFuncY A function that computes the residual of two measurement vectors (i.e. it
+   *     subtracts them.)
+   * @param addFuncX A function that adds two state vectors.
+   * @param nominalDtSeconds Nominal discretization timestep.
    */
   @SuppressWarnings({"ParameterName", "PMD.ExcessiveParameterList"})
   public UnscentedKalmanFilter(
-          Nat<States> states, Nat<Outputs> outputs,
-          BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<States, N1>> f,
-          BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<Outputs, N1>> h,
-          Matrix<States, N1> stateStdDevs,
-          Matrix<Outputs, N1> measurementStdDevs,
-          BiFunction<Matrix<States, ?>, Matrix<?, N1>, Matrix<States, N1>> meanFuncX,
-          BiFunction<Matrix<Outputs, ?>, Matrix<?, N1>, Matrix<Outputs, N1>> meanFuncY,
-          BiFunction<Matrix<States, N1>, Matrix<States, N1>, Matrix<States, N1>> residualFuncX,
-          BiFunction<Matrix<Outputs, N1>, Matrix<Outputs, N1>, Matrix<Outputs, N1>> residualFuncY,
-          BiFunction<Matrix<States, N1>, Matrix<States, N1>, Matrix<States, N1>> addFuncX,
-          double nominalDtSeconds
-  ) {
+      Nat<States> states,
+      Nat<Outputs> outputs,
+      BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<States, N1>> f,
+      BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<Outputs, N1>> h,
+      Matrix<States, N1> stateStdDevs,
+      Matrix<Outputs, N1> measurementStdDevs,
+      BiFunction<Matrix<States, ?>, Matrix<?, N1>, Matrix<States, N1>> meanFuncX,
+      BiFunction<Matrix<Outputs, ?>, Matrix<?, N1>, Matrix<Outputs, N1>> meanFuncY,
+      BiFunction<Matrix<States, N1>, Matrix<States, N1>, Matrix<States, N1>> residualFuncX,
+      BiFunction<Matrix<Outputs, N1>, Matrix<Outputs, N1>, Matrix<Outputs, N1>> residualFuncY,
+      BiFunction<Matrix<States, N1>, Matrix<States, N1>, Matrix<States, N1>> addFuncX,
+      double nominalDtSeconds) {
     this.m_states = states;
     this.m_outputs = outputs;
 
@@ -149,25 +145,30 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num,
   }
 
   @SuppressWarnings({"ParameterName", "LocalVariableName", "PMD.CyclomaticComplexity"})
-  static <S extends Num, C extends Num>
-       Pair<Matrix<C, N1>, Matrix<C, C>> unscentedTransform(
-        Nat<S> s, Nat<C> dim, Matrix<C, ?> sigmas, Matrix<?, N1> Wm, Matrix<?, N1> Wc,
-        BiFunction<Matrix<C, ?>, Matrix<?, N1>, Matrix<C, N1>> meanFunc,
-        BiFunction<Matrix<C, N1>, Matrix<C, N1>, Matrix<C, N1>> residualFunc
-  ) {
+  static <S extends Num, C extends Num> Pair<Matrix<C, N1>, Matrix<C, C>> unscentedTransform(
+      Nat<S> s,
+      Nat<C> dim,
+      Matrix<C, ?> sigmas,
+      Matrix<?, N1> Wm,
+      Matrix<?, N1> Wc,
+      BiFunction<Matrix<C, ?>, Matrix<?, N1>, Matrix<C, N1>> meanFunc,
+      BiFunction<Matrix<C, N1>, Matrix<C, N1>, Matrix<C, N1>> residualFunc) {
     if (sigmas.getNumRows() != dim.getNum() || sigmas.getNumCols() != 2 * s.getNum() + 1) {
-      throw new IllegalArgumentException("Sigmas must be covDim by 2 * states + 1! Got "
-            + sigmas.getNumRows() + " by " + sigmas.getNumCols());
+      throw new IllegalArgumentException(
+          "Sigmas must be covDim by 2 * states + 1! Got "
+              + sigmas.getNumRows()
+              + " by "
+              + sigmas.getNumCols());
     }
 
-    if (Wm.getNumRows() != 2 * s.getNum() + 1 || Wm.getNumCols() != 1 ) {
-      throw new IllegalArgumentException("Wm must be 2 * states + 1 by 1! Got "
-            + Wm.getNumRows() + " by " + Wm.getNumCols());
+    if (Wm.getNumRows() != 2 * s.getNum() + 1 || Wm.getNumCols() != 1) {
+      throw new IllegalArgumentException(
+          "Wm must be 2 * states + 1 by 1! Got " + Wm.getNumRows() + " by " + Wm.getNumCols());
     }
 
     if (Wc.getNumRows() != 2 * s.getNum() + 1 || Wc.getNumCols() != 1) {
-      throw new IllegalArgumentException("Wc must be 2 * states + 1 by 1! Got "
-            + Wc.getNumRows() + " by " + Wc.getNumCols());
+      throw new IllegalArgumentException(
+          "Wc must be 2 * states + 1 by 1! Got " + Wc.getNumRows() + " by " + Wc.getNumCols());
     }
 
     // New mean is usually just the sum of the sigmas * weight:
@@ -181,8 +182,9 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num,
       // y[:, i] = sigmas[:, i] - x
       y.setColumn(i, residualFunc.apply(sigmas.extractColumnVector(i), x));
     }
-    Matrix<C, C> P = y.times(Matrix.changeBoundsUnchecked(Wc.diag()))
-          .times(Matrix.changeBoundsUnchecked(y.transpose()));
+    Matrix<C, C> P =
+        y.times(Matrix.changeBoundsUnchecked(Wc.diag()))
+            .times(Matrix.changeBoundsUnchecked(y.transpose()));
 
     return new Pair<>(x, P);
   }
@@ -240,7 +242,6 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num,
     return m_xHat.get(row, 0);
   }
 
-
   /**
    * Set initial state estimate x-hat.
    *
@@ -255,7 +256,7 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num,
   /**
    * Set an element of the initial state estimate x-hat.
    *
-   * @param row   Row of x-hat.
+   * @param row Row of x-hat.
    * @param value Value for element of x-hat.
    */
   @Override
@@ -263,9 +264,7 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num,
     m_xHat.set(row, 0, value);
   }
 
-  /**
-   * Resets the observer.
-   */
+  /** Resets the observer. */
   @Override
   public void reset() {
     m_xHat = new Matrix<>(m_states, Nat.N1());
@@ -276,7 +275,7 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num,
   /**
    * Project the model into the future with a new control input u.
    *
-   * @param u         New control input from controller.
+   * @param u New control input from controller.
    * @param dtSeconds Timestep for prediction.
    */
   @SuppressWarnings({"LocalVariableName", "ParameterName"})
@@ -285,8 +284,7 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num,
     // Discretize Q before projecting mean and covariance forward
     Matrix<States, States> contA =
         NumericalJacobian.numericalJacobianX(m_states, m_states, m_f, m_xHat, u);
-    var discQ =
-        Discretization.discretizeAQTaylor(contA, m_contQ, dtSeconds).getSecond();
+    var discQ = Discretization.discretizeAQTaylor(contA, m_contQ, dtSeconds).getSecond();
 
     var sigmas = m_pts.sigmaPoints(m_xHat, m_P);
 
@@ -296,8 +294,15 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num,
       m_sigmasF.setColumn(i, RungeKutta.rungeKutta(m_f, x, u, dtSeconds));
     }
 
-    var ret = unscentedTransform(m_states, m_states,
-          m_sigmasF, m_pts.getWm(), m_pts.getWc(), m_meanFuncX, m_residualFuncX);
+    var ret =
+        unscentedTransform(
+            m_states,
+            m_states,
+            m_sigmasF,
+            m_pts.getWm(),
+            m_pts.getWc(),
+            m_meanFuncX,
+            m_residualFuncX);
 
     m_xHat = ret.getFirst();
     m_P = ret.getSecond().plus(discQ);
@@ -313,16 +318,16 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num,
   @SuppressWarnings("ParameterName")
   @Override
   public void correct(Matrix<Inputs, N1> u, Matrix<Outputs, N1> y) {
-    correct(m_outputs, u, y, m_h, m_contR,
-            m_meanFuncY, m_residualFuncY, m_residualFuncX, m_addFuncX);
+    correct(
+        m_outputs, u, y, m_h, m_contR, m_meanFuncY, m_residualFuncY, m_residualFuncX, m_addFuncX);
   }
 
   /**
    * Correct the state estimate x-hat using the measurements in y.
    *
-   * <p>This is useful for when the measurements available during a timestep's
-   * Correct() call vary. The h(x, u) passed to the constructor is used if one
-   * is not provided (the two-argument version of this function).
+   * <p>This is useful for when the measurements available during a timestep's Correct() call vary.
+   * The h(x, u) passed to the constructor is used if one is not provided (the two-argument version
+   * of this function).
    *
    * @param u Same control input used in the predict step.
    * @param y Measurement vector.
@@ -331,10 +336,11 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num,
    */
   @SuppressWarnings({"ParameterName", "LambdaParameterName", "LocalVariableName"})
   public <R extends Num> void correct(
-        Nat<R> rows, Matrix<Inputs, N1> u,
-        Matrix<R, N1> y,
-        BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<R, N1>> h,
-        Matrix<R, R> R) {
+      Nat<R> rows,
+      Matrix<Inputs, N1> u,
+      Matrix<R, N1> y,
+      BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<R, N1>> h,
+      Matrix<R, R> R) {
     BiFunction<Matrix<R, ?>, Matrix<?, N1>, Matrix<R, N1>> meanFuncY =
         (sigmas, Wm) -> sigmas.times(Matrix.changeBoundsUnchecked(Wm));
     BiFunction<Matrix<States, N1>, Matrix<States, N1>, Matrix<States, N1>> residualFuncX =
@@ -347,50 +353,47 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num,
   /**
    * Correct the state estimate x-hat using the measurements in y.
    *
-   * <p>This is useful for when the measurements available during a timestep's
-   * Correct() call vary. The h(x, u) passed to the constructor is used if one
-   * is not provided (the two-argument version of this function).
+   * <p>This is useful for when the measurements available during a timestep's Correct() call vary.
+   * The h(x, u) passed to the constructor is used if one is not provided (the two-argument version
+   * of this function).
    *
-   * @param u             Same control input used in the predict step.
-   * @param y             Measurement vector.
-   * @param h             A vector-valued function of x and u that returns the
-   *                      measurement vector.
-   * @param R             Measurement noise covariance matrix.
-   * @param meanFuncY     A function that computes the mean of 2 * States + 1 measurement vectors
-   *                      using a given set of weights.
+   * @param u Same control input used in the predict step.
+   * @param y Measurement vector.
+   * @param h A vector-valued function of x and u that returns the measurement vector.
+   * @param R Measurement noise covariance matrix.
+   * @param meanFuncY A function that computes the mean of 2 * States + 1 measurement vectors using
+   *     a given set of weights.
    * @param residualFuncX A function that computes the residual of two state vectors (i.e. it
-   *                      subtracts them.)
+   *     subtracts them.)
    * @param residualFuncY A function that computes the residual of two measurement vectors (i.e. it
-   *                      subtracts them.)
-   * @param addFuncX      A function that adds two state vectors.
+   *     subtracts them.)
+   * @param addFuncX A function that adds two state vectors.
    */
   @SuppressWarnings({"ParameterName", "LocalVariableName"})
   public <R extends Num> void correct(
-        Nat<R> rows, Matrix<Inputs, N1> u,
-        Matrix<R, N1> y,
-        BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<R, N1>> h,
-        Matrix<R, R> R,
-        BiFunction<Matrix<R, ?>, Matrix<?, N1>, Matrix<R, N1>> meanFuncY,
-        BiFunction<Matrix<R, N1>, Matrix<R, N1>, Matrix<R, N1>> residualFuncY,
-        BiFunction<Matrix<States, N1>, Matrix<States, N1>, Matrix<States, N1>> residualFuncX,
-        BiFunction<Matrix<States, N1>, Matrix<States, N1>, Matrix<States, N1>> addFuncX) {
+      Nat<R> rows,
+      Matrix<Inputs, N1> u,
+      Matrix<R, N1> y,
+      BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<R, N1>> h,
+      Matrix<R, R> R,
+      BiFunction<Matrix<R, ?>, Matrix<?, N1>, Matrix<R, N1>> meanFuncY,
+      BiFunction<Matrix<R, N1>, Matrix<R, N1>, Matrix<R, N1>> residualFuncY,
+      BiFunction<Matrix<States, N1>, Matrix<States, N1>, Matrix<States, N1>> residualFuncX,
+      BiFunction<Matrix<States, N1>, Matrix<States, N1>, Matrix<States, N1>> addFuncX) {
     final var discR = Discretization.discretizeR(R, m_dtSeconds);
 
     // Transform sigma points into measurement space
-    Matrix<R, ?> sigmasH = new Matrix<>(new SimpleMatrix(
-          rows.getNum(), 2 * m_states.getNum() + 1));
+    Matrix<R, ?> sigmasH = new Matrix<>(new SimpleMatrix(rows.getNum(), 2 * m_states.getNum() + 1));
     var sigmas = m_pts.sigmaPoints(m_xHat, m_P);
     for (int i = 0; i < m_pts.getNumSigmas(); i++) {
-      Matrix<R, N1> hRet = h.apply(
-            sigmas.extractColumnVector(i),
-            u
-      );
+      Matrix<R, N1> hRet = h.apply(sigmas.extractColumnVector(i), u);
       sigmasH.setColumn(i, hRet);
     }
 
     // Mean and covariance of prediction passed through unscented transform
-    var transRet = unscentedTransform(m_states, rows,
-            sigmasH, m_pts.getWm(), m_pts.getWc(), meanFuncY, residualFuncY);
+    var transRet =
+        unscentedTransform(
+            m_states, rows, sigmasH, m_pts.getWm(), m_pts.getWc(), meanFuncY, residualFuncY);
     var yHat = transRet.getFirst();
     var Py = transRet.getSecond().plus(discR);
 
@@ -409,9 +412,7 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num,
     // P_y^T K^T = P_{xy}^T
     // K^T = P_y^T.solve(P_{xy}^T)
     // K = (P_y^T.solve(P_{xy}^T)^T
-    Matrix<States, R> K = new Matrix<>(
-          Py.transpose().solve(Pxy.transpose()).transpose()
-    );
+    Matrix<States, R> K = new Matrix<>(Py.transpose().solve(Pxy.transpose()).transpose());
 
     // xHat + K * (y - yHat)
     m_xHat = addFuncX.apply(m_xHat, K.times(residualFuncY.apply(y, yHat)));
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Pose2d.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Pose2d.java
index e6b4dc0fb6..8f5687607e 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Pose2d.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Pose2d.java
@@ -4,16 +4,13 @@
 
 package edu.wpi.first.wpilibj.geometry;
 
-import java.util.Objects;
-
 import com.fasterxml.jackson.annotation.JsonAutoDetect;
 import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import com.fasterxml.jackson.annotation.JsonProperty;
+import java.util.Objects;
 
-/**
- * Represents a 2d pose containing translational and rotational elements.
- */
+/** Represents a 2d pose containing translational and rotational elements. */
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
 public class Pose2d {
@@ -21,8 +18,8 @@ public class Pose2d {
   private final Rotation2d m_rotation;
 
   /**
-   * Constructs a pose at the origin facing toward the positive X axis.
-   * (Translation2d{0, 0} and Rotation{0})
+   * Constructs a pose at the origin facing toward the positive X axis. (Translation2d{0, 0} and
+   * Rotation{0})
    */
   public Pose2d() {
     m_translation = new Translation2d();
@@ -33,21 +30,22 @@ public class Pose2d {
    * Constructs a pose with the specified translation and rotation.
    *
    * @param translation The translational component of the pose.
-   * @param rotation    The rotational component of the pose.
+   * @param rotation The rotational component of the pose.
    */
   @JsonCreator
-  public Pose2d(@JsonProperty(required = true, value = "translation") Translation2d translation,
-                @JsonProperty(required = true, value = "rotation") Rotation2d rotation) {
+  public Pose2d(
+      @JsonProperty(required = true, value = "translation") Translation2d translation,
+      @JsonProperty(required = true, value = "rotation") Rotation2d rotation) {
     m_translation = translation;
     m_rotation = rotation;
   }
 
   /**
-   * Convenience constructors that takes in x and y values directly instead of
-   * having to construct a Translation2d.
+   * Convenience constructors that takes in x and y values directly instead of having to construct a
+   * Translation2d.
    *
-   * @param x        The x component of the translational component of the pose.
-   * @param y        The y component of the translational component of the pose.
+   * @param x The x component of the translational component of the pose.
+   * @param y The y component of the translational component of the pose.
    * @param rotation The rotational component of the pose.
    */
   public Pose2d(double x, double y, Rotation2d rotation) {
@@ -56,13 +54,10 @@ public class Pose2d {
   }
 
   /**
-   * Transforms the pose by the given transformation and returns the new
-   * transformed pose.
+   * Transforms the pose by the given transformation and returns the new transformed pose.
    *
-   * <p>The matrix multiplication is as follows
-   * [x_new]    [cos, -sin, 0][transform.x]
-   * [y_new] += [sin,  cos, 0][transform.y]
-   * [t_new]    [0,    0,   1][transform.t]
+   * <p>The matrix multiplication is as follows [x_new] [cos, -sin, 0][transform.x] [y_new] += [sin,
+   * cos, 0][transform.y] [t_new] [0, 0, 1][transform.t]
    *
    * @param other The transform to transform the pose by.
    * @return The transformed pose.
@@ -121,26 +116,26 @@ public class Pose2d {
   }
 
   /**
-   * Transforms the pose by the given transformation and returns the new pose.
-   * See + operator for the matrix multiplication performed.
+   * Transforms the pose by the given transformation and returns the new pose. See + operator for
+   * the matrix multiplication performed.
    *
    * @param other The transform to transform the pose by.
    * @return The transformed pose.
    */
   public Pose2d transformBy(Transform2d other) {
-    return new Pose2d(m_translation.plus(other.getTranslation().rotateBy(m_rotation)),
+    return new Pose2d(
+        m_translation.plus(other.getTranslation().rotateBy(m_rotation)),
         m_rotation.plus(other.getRotation()));
   }
 
   /**
    * Returns the other pose relative to the current pose.
    *
-   * <p>This function can often be used for trajectory tracking or pose
-   * stabilization algorithms to get the error between the reference and the
-   * current pose.
+   * <p>This function can often be used for trajectory tracking or pose stabilization algorithms to
+   * get the error between the reference and the current pose.
    *
-   * @param other The pose that is the origin of the new coordinate frame that
-   *              the current pose will be converted into.
+   * @param other The pose that is the origin of the new coordinate frame that the current pose will
+   *     be converted into.
    * @return The current pose relative to the new origin pose.
    */
   public Pose2d relativeTo(Pose2d other) {
@@ -151,22 +146,21 @@ public class Pose2d {
   /**
    * Obtain a new Pose2d from a (constant curvature) velocity.
    *
-   * <p>See <a href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">
-   * Controls Engineering in the FIRST Robotics Competition</a> section 10.2 "Pose exponential" for
-   * a derivation.
+   * <p>See <a href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">Controls
+   * Engineering in the FIRST Robotics Competition</a> section 10.2 "Pose exponential" for a
+   * derivation.
    *
-   * <p>The twist is a change in pose in the robot's coordinate frame since the
-   * previous pose update. When the user runs exp() on the previous known
-   * field-relative pose with the argument being the twist, the user will
-   * receive the new field-relative pose.
+   * <p>The twist is a change in pose in the robot's coordinate frame since the previous pose
+   * update. When the user runs exp() on the previous known field-relative pose with the argument
+   * being the twist, the user will receive the new field-relative pose.
    *
-   * <p>"Exp" represents the pose exponential, which is solving a differential
-   * equation moving the pose forward in time.
+   * <p>"Exp" represents the pose exponential, which is solving a differential equation moving the
+   * pose forward in time.
    *
-   * @param twist The change in pose in the robot's coordinate frame since the
-   *              previous pose update. For example, if a non-holonomic robot moves forward
-   *              0.01 meters and changes angle by 0.5 degrees since the previous pose update,
-   *              the twist would be Twist2d{0.01, 0.0, toRadians(0.5)}
+   * @param twist The change in pose in the robot's coordinate frame since the previous pose update.
+   *     For example, if a non-holonomic robot moves forward 0.01 meters and changes angle by 0.5
+   *     degrees since the previous pose update, the twist would be Twist2d{0.01, 0.0,
+   *     toRadians(0.5)}
    * @return The new pose of the robot.
    */
   public Pose2d exp(Twist2d twist) {
@@ -186,15 +180,17 @@ public class Pose2d {
       s = sinTheta / dtheta;
       c = (1 - cosTheta) / dtheta;
     }
-    var transform = new Transform2d(new Translation2d(dx * s - dy * c, dx * c + dy * s),
-        new Rotation2d(cosTheta, sinTheta));
+    var transform =
+        new Transform2d(
+            new Translation2d(dx * s - dy * c, dx * c + dy * s),
+            new Rotation2d(cosTheta, sinTheta));
 
     return this.plus(transform);
   }
 
   /**
-   * Returns a Twist2d that maps this pose to the end pose. If c is the output
-   * of a.Log(b), then a.Exp(c) would yield b.
+   * Returns a Twist2d that maps this pose to the end pose. If c is the output of a.Log(b), then
+   * a.Exp(c) would yield b.
    *
    * @param end The end pose for the transformation.
    * @return The twist that maps this to end.
@@ -213,9 +209,11 @@ public class Pose2d {
       halfThetaByTanOfHalfDtheta = -(halfDtheta * transform.getRotation().getSin()) / cosMinusOne;
     }
 
-    Translation2d translationPart = transform.getTranslation().rotateBy(
-        new Rotation2d(halfThetaByTanOfHalfDtheta, -halfDtheta)
-    ).times(Math.hypot(halfThetaByTanOfHalfDtheta, halfDtheta));
+    Translation2d translationPart =
+        transform
+            .getTranslation()
+            .rotateBy(new Rotation2d(halfThetaByTanOfHalfDtheta, -halfDtheta))
+            .times(Math.hypot(halfThetaByTanOfHalfDtheta, halfDtheta));
 
     return new Twist2d(translationPart.getX(), translationPart.getY(), dtheta);
   }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Rotation2d.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Rotation2d.java
index 5b200f696f..90e3624afd 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Rotation2d.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Rotation2d.java
@@ -4,17 +4,13 @@
 
 package edu.wpi.first.wpilibj.geometry;
 
-import java.util.Objects;
-
 import com.fasterxml.jackson.annotation.JsonAutoDetect;
 import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import com.fasterxml.jackson.annotation.JsonProperty;
+import java.util.Objects;
 
-/**
- * A rotation in a 2d coordinate frame represented a point on the unit circle
- * (cosine and sine).
- */
+/** A rotation in a 2d coordinate frame represented a point on the unit circle (cosine and sine). */
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
 public class Rotation2d {
@@ -22,9 +18,7 @@ public class Rotation2d {
   private final double m_cos;
   private final double m_sin;
 
-  /**
-   * Constructs a Rotation2d with a default angle of 0 degrees.
-   */
+  /** Constructs a Rotation2d with a default angle of 0 degrees. */
   public Rotation2d() {
     m_value = 0.0;
     m_cos = 1.0;
@@ -32,8 +26,7 @@ public class Rotation2d {
   }
 
   /**
-   * Constructs a Rotation2d with the given radian value.
-   * The x and y don't have to be normalized.
+   * Constructs a Rotation2d with the given radian value. The x and y don't have to be normalized.
    *
    * @param value The value of the angle in radians.
    */
@@ -45,8 +38,7 @@ public class Rotation2d {
   }
 
   /**
-   * Constructs a Rotation2d with the given x and y (cosine and sine)
-   * components.
+   * Constructs a Rotation2d with the given x and y (cosine and sine) components.
    *
    * @param x The x component or cosine of the rotation.
    * @param y The y component or sine of the rotation.
@@ -74,11 +66,9 @@ public class Rotation2d {
   }
 
   /**
-   * Adds two rotations together, with the result being bounded between -pi and
-   * pi.
+   * Adds two rotations together, with the result being bounded between -pi and pi.
    *
-   * <p>For example, Rotation2d.fromDegrees(30) + Rotation2d.fromDegrees(60) =
-   * Rotation2d{-pi/2}
+   * <p>For example, Rotation2d.fromDegrees(30) + Rotation2d.fromDegrees(60) = Rotation2d{-pi/2}
    *
    * @param other The rotation to add.
    * @return The sum of the two rotations.
@@ -88,11 +78,9 @@ public class Rotation2d {
   }
 
   /**
-   * Subtracts the new rotation from the current rotation and returns the new
-   * rotation.
+   * Subtracts the new rotation from the current rotation and returns the new rotation.
    *
-   * <p>For example, Rotation2d.fromDegrees(10) - Rotation2d.fromDegrees(100) =
-   * Rotation2d{-pi/2}
+   * <p>For example, Rotation2d.fromDegrees(10) - Rotation2d.fromDegrees(100) = Rotation2d{-pi/2}
    *
    * @param other The rotation to subtract.
    * @return The difference between the two rotations.
@@ -102,8 +90,8 @@ public class Rotation2d {
   }
 
   /**
-   * Takes the inverse of the current rotation. This is simply the negative of
-   * the current angular value.
+   * Takes the inverse of the current rotation. This is simply the negative of the current angular
+   * value.
    *
    * @return The inverse of the current rotation.
    */
@@ -124,19 +112,15 @@ public class Rotation2d {
   /**
    * Adds the new rotation to the current rotation using a rotation matrix.
    *
-   * <p>The matrix multiplication is as follows:
-   * [cos_new]   [other.cos, -other.sin][cos]
-   * [sin_new] = [other.sin,  other.cos][sin]
-   * value_new = atan2(cos_new, sin_new)
+   * <p>The matrix multiplication is as follows: [cos_new] [other.cos, -other.sin][cos] [sin_new] =
+   * [other.sin, other.cos][sin] value_new = atan2(cos_new, sin_new)
    *
    * @param other The rotation to rotate by.
    * @return The new rotated Rotation2d.
    */
   public Rotation2d rotateBy(Rotation2d other) {
     return new Rotation2d(
-        m_cos * other.m_cos - m_sin * other.m_sin,
-        m_cos * other.m_sin + m_sin * other.m_cos
-    );
+        m_cos * other.m_cos - m_sin * other.m_sin, m_cos * other.m_sin + m_sin * other.m_cos);
   }
 
   /**
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Transform2d.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Transform2d.java
index 3021b3a43f..19dd4d6056 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Transform2d.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Transform2d.java
@@ -6,9 +6,7 @@ package edu.wpi.first.wpilibj.geometry;
 
 import java.util.Objects;
 
-/**
- * Represents a transformation for a Pose2d.
- */
+/** Represents a transformation for a Pose2d. */
 public class Transform2d {
   private final Translation2d m_translation;
   private final Rotation2d m_rotation;
@@ -17,13 +15,15 @@ public class Transform2d {
    * Constructs the transform that maps the initial pose to the final pose.
    *
    * @param initial The initial pose for the transformation.
-   * @param last    The final pose for the transformation.
+   * @param last The final pose for the transformation.
    */
   public Transform2d(Pose2d initial, Pose2d last) {
     // We are rotating the difference between the translations
     // using a clockwise rotation matrix. This transforms the global
     // delta into a local delta (relative to the initial pose).
-    m_translation = last.getTranslation().minus(initial.getTranslation())
+    m_translation =
+        last.getTranslation()
+            .minus(initial.getTranslation())
             .rotateBy(initial.getRotation().unaryMinus());
 
     m_rotation = last.getRotation().minus(initial.getRotation());
@@ -33,16 +33,14 @@ public class Transform2d {
    * Constructs a transform with the given translation and rotation components.
    *
    * @param translation Translational component of the transform.
-   * @param rotation    Rotational component of the transform.
+   * @param rotation Rotational component of the transform.
    */
   public Transform2d(Translation2d translation, Rotation2d rotation) {
     m_translation = translation;
     m_rotation = rotation;
   }
 
-  /**
-   * Constructs the identity transform -- maps an initial pose to itself.
-   */
+  /** Constructs the identity transform -- maps an initial pose to itself. */
   public Transform2d() {
     m_translation = new Translation2d();
     m_rotation = new Rotation2d();
@@ -103,7 +101,8 @@ public class Transform2d {
     // We are rotating the difference between the translations
     // using a clockwise rotation matrix. This transforms the global
     // delta into a local delta (relative to the initial pose).
-    return new Transform2d(getTranslation().unaryMinus().rotateBy(getRotation().unaryMinus()),
+    return new Transform2d(
+        getTranslation().unaryMinus().rotateBy(getRotation().unaryMinus()),
         getRotation().unaryMinus());
   }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Translation2d.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Translation2d.java
index 161f1c6453..23723a7216 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Translation2d.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Translation2d.java
@@ -4,20 +4,18 @@
 
 package edu.wpi.first.wpilibj.geometry;
 
-import java.util.Objects;
-
 import com.fasterxml.jackson.annotation.JsonAutoDetect;
 import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import com.fasterxml.jackson.annotation.JsonProperty;
+import java.util.Objects;
 
 /**
- * Represents a translation in 2d space.
- * This object can be used to represent a point or a vector.
+ * Represents a translation in 2d space. This object can be used to represent a point or a vector.
  *
- * <p>This assumes that you are using conventional mathematical axes.
- * When the robot is placed on the origin, facing toward the X direction,
- * moving forward increases the X, whereas moving to the left increases the Y.
+ * <p>This assumes that you are using conventional mathematical axes. When the robot is placed on
+ * the origin, facing toward the X direction, moving forward increases the X, whereas moving to the
+ * left increases the Y.
  */
 @SuppressWarnings({"ParameterName", "MemberName"})
 @JsonIgnoreProperties(ignoreUnknown = true)
@@ -26,33 +24,31 @@ public class Translation2d {
   private final double m_x;
   private final double m_y;
 
-  /**
-   * Constructs a Translation2d with X and Y components equal to zero.
-   */
+  /** Constructs a Translation2d with X and Y components equal to zero. */
   public Translation2d() {
     this(0.0, 0.0);
   }
 
   /**
-   * Constructs a Translation2d with the X and Y components equal to the
-   * provided values.
+   * Constructs a Translation2d with the X and Y components equal to the provided values.
    *
    * @param x The x component of the translation.
    * @param y The y component of the translation.
    */
   @JsonCreator
-  public Translation2d(@JsonProperty(required = true, value = "x") double x,
-                       @JsonProperty(required = true, value = "y") double y) {
+  public Translation2d(
+      @JsonProperty(required = true, value = "x") double x,
+      @JsonProperty(required = true, value = "y") double y) {
     m_x = x;
     m_y = y;
   }
 
   /**
-   * Constructs a Translation2d with the provided distance and angle. This is
-   * essentially converting from polar coordinates to Cartesian coordinates.
+   * Constructs a Translation2d with the provided distance and angle. This is essentially converting
+   * from polar coordinates to Cartesian coordinates.
    *
    * @param distance The distance from the origin to the end of the translation.
-   * @param angle    The angle between the x-axis and the translation vector.
+   * @param angle The angle between the x-axis and the translation vector.
    */
   public Translation2d(double distance, Rotation2d angle) {
     m_x = distance * angle.getCos();
@@ -62,8 +58,8 @@ public class Translation2d {
   /**
    * Calculates the distance between two translations in 2d space.
    *
-   * <p>This function uses the pythagorean theorem to calculate the distance.
-   * distance = sqrt((x2 - x1)^2 + (y2 - y1)^2)
+   * <p>This function uses the pythagorean theorem to calculate the distance. distance = sqrt((x2 -
+   * x1)^2 + (y2 - y1)^2)
    *
    * @param other The translation to compute the distance to.
    * @return The distance between the two translations.
@@ -104,30 +100,24 @@ public class Translation2d {
   /**
    * Applies a rotation to the translation in 2d space.
    *
-   * <p>This multiplies the translation vector by a counterclockwise rotation
-   * matrix of the given angle.
-   * [x_new]   [other.cos, -other.sin][x]
-   * [y_new] = [other.sin,  other.cos][y]
+   * <p>This multiplies the translation vector by a counterclockwise rotation matrix of the given
+   * angle. [x_new] [other.cos, -other.sin][x] [y_new] = [other.sin, other.cos][y]
    *
-   * <p>For example, rotating a Translation2d of {2, 0} by 90 degrees will return a
-   * Translation2d of {0, 2}.
+   * <p>For example, rotating a Translation2d of {2, 0} by 90 degrees will return a Translation2d of
+   * {0, 2}.
    *
    * @param other The rotation to rotate the translation by.
    * @return The new rotated translation.
    */
   public Translation2d rotateBy(Rotation2d other) {
     return new Translation2d(
-            m_x * other.getCos() - m_y * other.getSin(),
-            m_x * other.getSin() + m_y * other.getCos()
-    );
+        m_x * other.getCos() - m_y * other.getSin(), m_x * other.getSin() + m_y * other.getCos());
   }
 
   /**
-   * Adds two translations in 2d space and returns the sum. This is similar to
-   * vector addition.
+   * Adds two translations in 2d space and returns the sum. This is similar to vector addition.
    *
-   * <p>For example, Translation2d{1.0, 2.5} + Translation2d{2.0, 5.5} =
-   * Translation2d{3.0, 8.0}
+   * <p>For example, Translation2d{1.0, 2.5} + Translation2d{2.0, 5.5} = Translation2d{3.0, 8.0}
    *
    * @param other The translation to add.
    * @return The sum of the translations.
@@ -137,11 +127,9 @@ public class Translation2d {
   }
 
   /**
-   * Subtracts the other translation from the other translation and returns the
-   * difference.
+   * Subtracts the other translation from the other translation and returns the difference.
    *
-   * <p>For example, Translation2d{5.0, 4.0} - Translation2d{1.0, 2.0} =
-   * Translation2d{4.0, 2.0}
+   * <p>For example, Translation2d{5.0, 4.0} - Translation2d{1.0, 2.0} = Translation2d{4.0, 2.0}
    *
    * @param other The translation to subtract.
    * @return The difference between the two translations.
@@ -151,9 +139,8 @@ public class Translation2d {
   }
 
   /**
-   * Returns the inverse of the current translation. This is equivalent to
-   * rotating by 180 degrees, flipping the point over both axes, or simply
-   * negating both components of the translation.
+   * Returns the inverse of the current translation. This is equivalent to rotating by 180 degrees,
+   * flipping the point over both axes, or simply negating both components of the translation.
    *
    * @return The inverse of the current translation.
    */
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Twist2d.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Twist2d.java
index 7b62dfbb5d..2d2a56ebf0 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Twist2d.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Twist2d.java
@@ -7,34 +7,27 @@ package edu.wpi.first.wpilibj.geometry;
 import java.util.Objects;
 
 /**
- * A change in distance along arc since the last pose update. We can use ideas
- * from differential calculus to create new Pose2ds from a Twist2d and vise
- * versa.
+ * A change in distance along arc since the last pose update. We can use ideas from differential
+ * calculus to create new Pose2ds from a Twist2d and vise versa.
  *
  * <p>A Twist can be used to represent a difference between two poses.
  */
 @SuppressWarnings("MemberName")
 public class Twist2d {
-  /**
-   * Linear "dx" component.
-   */
+  /** Linear "dx" component. */
   public double dx;
 
-  /**
-   * Linear "dy" component.
-   */
+  /** Linear "dy" component. */
   public double dy;
 
-  /**
-   * Angular "dtheta" component (radians).
-   */
+  /** Angular "dtheta" component (radians). */
   public double dtheta;
 
-  public Twist2d() {
-  }
+  public Twist2d() {}
 
   /**
    * Constructs a Twist2d with the given values.
+   *
    * @param dx Change in x direction relative to robot.
    * @param dy Change in y direction relative to robot.
    * @param dtheta Change in angle relative to robot.
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/ChassisSpeeds.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/ChassisSpeeds.java
index 7345f974bc..5723ca3369 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/ChassisSpeeds.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/ChassisSpeeds.java
@@ -4,85 +4,75 @@
 
 package edu.wpi.first.wpilibj.kinematics;
 
-
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 
 /**
- * Represents the speed of a robot chassis. Although this struct contains
- * similar members compared to a Twist2d, they do NOT represent the same thing.
- * Whereas a Twist2d represents a change in pose w.r.t to the robot frame of reference,
- * this ChassisSpeeds struct represents a velocity w.r.t to the robot frame of
- * reference.
+ * Represents the speed of a robot chassis. Although this struct contains similar members compared
+ * to a Twist2d, they do NOT represent the same thing. Whereas a Twist2d represents a change in pose
+ * w.r.t to the robot frame of reference, this ChassisSpeeds struct represents a velocity w.r.t to
+ * the robot frame of reference.
  *
- * <p>A strictly non-holonomic drivetrain, such as a differential drive, should
- * never have a dy component because it can never move sideways. Holonomic
- * drivetrains such as swerve and mecanum will often have all three components.
+ * <p>A strictly non-holonomic drivetrain, such as a differential drive, should never have a dy
+ * component because it can never move sideways. Holonomic drivetrains such as swerve and mecanum
+ * will often have all three components.
  */
 @SuppressWarnings("MemberName")
 public class ChassisSpeeds {
-  /**
-   * Represents forward velocity w.r.t the robot frame of reference. (Fwd is +)
-   */
+  /** Represents forward velocity w.r.t the robot frame of reference. (Fwd is +) */
   public double vxMetersPerSecond;
 
-  /**
-   * Represents sideways velocity w.r.t the robot frame of reference. (Left is +)
-   */
+  /** Represents sideways velocity w.r.t the robot frame of reference. (Left is +) */
   public double vyMetersPerSecond;
 
-  /**
-   * Represents the angular velocity of the robot frame. (CCW is +)
-   */
+  /** Represents the angular velocity of the robot frame. (CCW is +) */
   public double omegaRadiansPerSecond;
 
-  /**
-   * Constructs a ChassisSpeeds with zeros for dx, dy, and theta.
-   */
-  public ChassisSpeeds() {
-  }
+  /** Constructs a ChassisSpeeds with zeros for dx, dy, and theta. */
+  public ChassisSpeeds() {}
 
   /**
    * Constructs a ChassisSpeeds object.
    *
-   * @param vxMetersPerSecond     Forward velocity.
-   * @param vyMetersPerSecond     Sideways velocity.
+   * @param vxMetersPerSecond Forward velocity.
+   * @param vyMetersPerSecond Sideways velocity.
    * @param omegaRadiansPerSecond Angular velocity.
    */
-  public ChassisSpeeds(double vxMetersPerSecond, double vyMetersPerSecond,
-                       double omegaRadiansPerSecond) {
+  public ChassisSpeeds(
+      double vxMetersPerSecond, double vyMetersPerSecond, double omegaRadiansPerSecond) {
     this.vxMetersPerSecond = vxMetersPerSecond;
     this.vyMetersPerSecond = vyMetersPerSecond;
     this.omegaRadiansPerSecond = omegaRadiansPerSecond;
   }
 
   /**
-   * Converts a user provided field-relative set of speeds into a robot-relative
-   * ChassisSpeeds object.
+   * Converts a user provided field-relative set of speeds into a robot-relative ChassisSpeeds
+   * object.
    *
-   * @param vxMetersPerSecond     The component of speed in the x direction relative to the field.
-   *                              Positive x is away from your alliance wall.
-   * @param vyMetersPerSecond     The component of speed in the y direction relative to the field.
-   *                              Positive y is to your left when standing behind the alliance wall.
+   * @param vxMetersPerSecond The component of speed in the x direction relative to the field.
+   *     Positive x is away from your alliance wall.
+   * @param vyMetersPerSecond The component of speed in the y direction relative to the field.
+   *     Positive y is to your left when standing behind the alliance wall.
    * @param omegaRadiansPerSecond The angular rate of the robot.
-   * @param robotAngle            The angle of the robot as measured by a gyroscope. The robot's
-   *                              angle is considered to be zero when it is facing directly away
-   *                              from your alliance station wall. Remember that this should
-   *                              be CCW positive.
+   * @param robotAngle The angle of the robot as measured by a gyroscope. The robot's angle is
+   *     considered to be zero when it is facing directly away from your alliance station wall.
+   *     Remember that this should be CCW positive.
    * @return ChassisSpeeds object representing the speeds in the robot's frame of reference.
    */
   public static ChassisSpeeds fromFieldRelativeSpeeds(
-      double vxMetersPerSecond, double vyMetersPerSecond,
-      double omegaRadiansPerSecond, Rotation2d robotAngle) {
+      double vxMetersPerSecond,
+      double vyMetersPerSecond,
+      double omegaRadiansPerSecond,
+      Rotation2d robotAngle) {
     return new ChassisSpeeds(
         vxMetersPerSecond * robotAngle.getCos() + vyMetersPerSecond * robotAngle.getSin(),
         -vxMetersPerSecond * robotAngle.getSin() + vyMetersPerSecond * robotAngle.getCos(),
-        omegaRadiansPerSecond
-    );
+        omegaRadiansPerSecond);
   }
 
   @Override
   public String toString() {
-    return String.format("ChassisSpeeds(Vx: %.2f m/s, Vy: %.2f m/s, Omega: %.2f rad/s)",
+    return String.format(
+        "ChassisSpeeds(Vx: %.2f m/s, Vy: %.2f m/s, Omega: %.2f rad/s)",
         vxMetersPerSecond, vyMetersPerSecond, omegaRadiansPerSecond);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveKinematics.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveKinematics.java
index 220a33a1d1..29d6f14925 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveKinematics.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveKinematics.java
@@ -8,12 +8,12 @@ import edu.wpi.first.math.MathSharedStore;
 import edu.wpi.first.math.MathUsageId;
 
 /**
- * Helper class that converts a chassis velocity (dx and dtheta components) to
- * left and right wheel velocities for a differential drive.
+ * Helper class that converts a chassis velocity (dx and dtheta components) to left and right wheel
+ * velocities for a differential drive.
  *
- * <p>Inverse kinematics converts a desired chassis speed into left and right
- * velocity components whereas forward kinematics converts left and right
- * component velocities into a linear and angular chassis speed.
+ * <p>Inverse kinematics converts a desired chassis speed into left and right velocity components
+ * whereas forward kinematics converts left and right component velocities into a linear and angular
+ * chassis speed.
  */
 @SuppressWarnings("MemberName")
 public class DifferentialDriveKinematics {
@@ -22,10 +22,9 @@ public class DifferentialDriveKinematics {
   /**
    * Constructs a differential drive kinematics object.
    *
-   * @param trackWidthMeters The track width of the drivetrain. Theoretically, this is
-   *                         the distance between the left wheels and right wheels.
-   *                         However, the empirical value may be larger than the physical
-   *                         measured value due to scrubbing effects.
+   * @param trackWidthMeters The track width of the drivetrain. Theoretically, this is the distance
+   *     between the left wheels and right wheels. However, the empirical value may be larger than
+   *     the physical measured value due to scrubbing effects.
    */
   public DifferentialDriveKinematics(double trackWidthMeters) {
     this.trackWidthMeters = trackWidthMeters;
@@ -33,34 +32,30 @@ public class DifferentialDriveKinematics {
   }
 
   /**
-   * Returns a chassis speed from left and right component velocities using
-   * forward kinematics.
+   * Returns a chassis speed from left and right component velocities using forward kinematics.
    *
    * @param wheelSpeeds The left and right velocities.
    * @return The chassis speed.
    */
   public ChassisSpeeds toChassisSpeeds(DifferentialDriveWheelSpeeds wheelSpeeds) {
     return new ChassisSpeeds(
-        (wheelSpeeds.leftMetersPerSecond + wheelSpeeds.rightMetersPerSecond) / 2, 0,
-        (wheelSpeeds.rightMetersPerSecond - wheelSpeeds.leftMetersPerSecond)
-            / trackWidthMeters
-    );
+        (wheelSpeeds.leftMetersPerSecond + wheelSpeeds.rightMetersPerSecond) / 2,
+        0,
+        (wheelSpeeds.rightMetersPerSecond - wheelSpeeds.leftMetersPerSecond) / trackWidthMeters);
   }
 
   /**
-   * Returns left and right component velocities from a chassis speed using
-   * inverse kinematics.
+   * Returns left and right component velocities from a chassis speed using inverse kinematics.
    *
-   * @param chassisSpeeds The linear and angular (dx and dtheta) components that
-   *                      represent the chassis' speed.
+   * @param chassisSpeeds The linear and angular (dx and dtheta) components that represent the
+   *     chassis' speed.
    * @return The left and right velocities.
    */
   public DifferentialDriveWheelSpeeds toWheelSpeeds(ChassisSpeeds chassisSpeeds) {
     return new DifferentialDriveWheelSpeeds(
-        chassisSpeeds.vxMetersPerSecond - trackWidthMeters / 2
-          * chassisSpeeds.omegaRadiansPerSecond,
-        chassisSpeeds.vxMetersPerSecond + trackWidthMeters / 2
-          * chassisSpeeds.omegaRadiansPerSecond
-    );
+        chassisSpeeds.vxMetersPerSecond
+            - trackWidthMeters / 2 * chassisSpeeds.omegaRadiansPerSecond,
+        chassisSpeeds.vxMetersPerSecond
+            + trackWidthMeters / 2 * chassisSpeeds.omegaRadiansPerSecond);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometry.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometry.java
index 84f4bfca8c..fe0af3c285 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometry.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometry.java
@@ -11,16 +11,14 @@ import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.geometry.Twist2d;
 
 /**
- * Class for differential drive odometry. Odometry allows you to track the
- * robot's position on the field over the course of a match using readings from
- * 2 encoders and a gyroscope.
+ * Class for differential drive odometry. Odometry allows you to track the robot's position on the
+ * field over the course of a match using readings from 2 encoders and a gyroscope.
  *
- * <p>Teams can use odometry during the autonomous period for complex tasks like
- * path following. Furthermore, odometry can be used for latency compensation
- * when using computer-vision systems.
+ * <p>Teams can use odometry during the autonomous period for complex tasks like path following.
+ * Furthermore, odometry can be used for latency compensation when using computer-vision systems.
  *
- * <p>It is important that you reset your encoders to zero before using this class.
- * Any subsequent pose resets also require the encoders to be reset to zero.
+ * <p>It is important that you reset your encoders to zero before using this class. Any subsequent
+ * pose resets also require the encoders to be reset to zero.
  */
 public class DifferentialDriveOdometry {
   private Pose2d m_poseMeters;
@@ -34,11 +32,10 @@ public class DifferentialDriveOdometry {
   /**
    * Constructs a DifferentialDriveOdometry object.
    *
-   * @param gyroAngle         The angle reported by the gyroscope.
+   * @param gyroAngle The angle reported by the gyroscope.
    * @param initialPoseMeters The starting position of the robot on the field.
    */
-  public DifferentialDriveOdometry(Rotation2d gyroAngle,
-                                   Pose2d initialPoseMeters) {
+  public DifferentialDriveOdometry(Rotation2d gyroAngle, Pose2d initialPoseMeters) {
     m_poseMeters = initialPoseMeters;
     m_gyroOffset = m_poseMeters.getRotation().minus(gyroAngle);
     m_previousAngle = initialPoseMeters.getRotation();
@@ -59,11 +56,11 @@ public class DifferentialDriveOdometry {
    *
    * <p>You NEED to reset your encoders (to zero) when calling this method.
    *
-   * <p>The gyroscope angle does not need to be reset here on the user's robot code.
-   * The library automatically takes care of offsetting the gyro angle.
+   * <p>The gyroscope angle does not need to be reset here on the user's robot code. The library
+   * automatically takes care of offsetting the gyro angle.
    *
    * @param poseMeters The position on the field that your robot is at.
-   * @param gyroAngle  The angle reported by the gyroscope.
+   * @param gyroAngle The angle reported by the gyroscope.
    */
   public void resetPosition(Pose2d poseMeters, Rotation2d gyroAngle) {
     m_poseMeters = poseMeters;
@@ -83,19 +80,18 @@ public class DifferentialDriveOdometry {
     return m_poseMeters;
   }
 
-
   /**
-   * Updates the robot position on the field using distance measurements from encoders. This
-   * method is more numerically accurate than using velocities to integrate the pose and
-   * is also advantageous for teams that are using lower CPR encoders.
+   * Updates the robot position on the field using distance measurements from encoders. This method
+   * is more numerically accurate than using velocities to integrate the pose and is also
+   * advantageous for teams that are using lower CPR encoders.
    *
-   * @param gyroAngle           The angle reported by the gyroscope.
-   * @param leftDistanceMeters  The distance traveled by the left encoder.
+   * @param gyroAngle The angle reported by the gyroscope.
+   * @param leftDistanceMeters The distance traveled by the left encoder.
    * @param rightDistanceMeters The distance traveled by the right encoder.
    * @return The new pose of the robot.
    */
-  public Pose2d update(Rotation2d gyroAngle, double leftDistanceMeters,
-                       double rightDistanceMeters) {
+  public Pose2d update(
+      Rotation2d gyroAngle, double leftDistanceMeters, double rightDistanceMeters) {
     double deltaLeftDistance = leftDistanceMeters - m_prevLeftDistance;
     double deltaRightDistance = rightDistanceMeters - m_prevRightDistance;
 
@@ -105,8 +101,9 @@ public class DifferentialDriveOdometry {
     double averageDeltaDistance = (deltaLeftDistance + deltaRightDistance) / 2.0;
     var angle = gyroAngle.plus(m_gyroOffset);
 
-    var newPose = m_poseMeters.exp(
-        new Twist2d(averageDeltaDistance, 0.0, angle.minus(m_previousAngle).getRadians()));
+    var newPose =
+        m_poseMeters.exp(
+            new Twist2d(averageDeltaDistance, 0.0, angle.minus(m_previousAngle).getRadians()));
 
     m_previousAngle = angle;
 
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveWheelSpeeds.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveWheelSpeeds.java
index 1ad7620d1f..82ab4eb600 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveWheelSpeeds.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveWheelSpeeds.java
@@ -4,31 +4,22 @@
 
 package edu.wpi.first.wpilibj.kinematics;
 
-/**
- * Represents the wheel speeds for a differential drive drivetrain.
- */
+/** Represents the wheel speeds for a differential drive drivetrain. */
 @SuppressWarnings("MemberName")
 public class DifferentialDriveWheelSpeeds {
-  /**
-   * Speed of the left side of the robot.
-   */
+  /** Speed of the left side of the robot. */
   public double leftMetersPerSecond;
 
-  /**
-   * Speed of the right side of the robot.
-   */
+  /** Speed of the right side of the robot. */
   public double rightMetersPerSecond;
 
-  /**
-   * Constructs a DifferentialDriveWheelSpeeds with zeros for left and right speeds.
-   */
-  public DifferentialDriveWheelSpeeds() {
-  }
+  /** Constructs a DifferentialDriveWheelSpeeds with zeros for left and right speeds. */
+  public DifferentialDriveWheelSpeeds() {}
 
   /**
    * Constructs a DifferentialDriveWheelSpeeds.
    *
-   * @param leftMetersPerSecond  The left speed.
+   * @param leftMetersPerSecond The left speed.
    * @param rightMetersPerSecond The right speed.
    */
   public DifferentialDriveWheelSpeeds(double leftMetersPerSecond, double rightMetersPerSecond) {
@@ -37,12 +28,11 @@ public class DifferentialDriveWheelSpeeds {
   }
 
   /**
-   * Normalizes the wheel speeds using some max attainable speed. Sometimes,
-   * after inverse kinematics, the requested speed from a/several modules may be
-   * above the max attainable speed for the driving motor on that module. To fix
-   * this issue, one can "normalize" all the wheel speeds to make sure that all
-   * requested module speeds are below the absolute threshold, while maintaining
-   * the ratio of speeds between modules.
+   * Normalizes the wheel speeds using some max attainable speed. Sometimes, after inverse
+   * kinematics, the requested speed from a/several modules may be above the max attainable speed
+   * for the driving motor on that module. To fix this issue, one can "normalize" all the wheel
+   * speeds to make sure that all requested module speeds are below the absolute threshold, while
+   * maintaining the ratio of speeds between modules.
    *
    * @param attainableMaxSpeedMetersPerSecond The absolute max speed that a wheel can reach.
    */
@@ -50,16 +40,16 @@ public class DifferentialDriveWheelSpeeds {
     double realMaxSpeed = Math.max(Math.abs(leftMetersPerSecond), Math.abs(rightMetersPerSecond));
 
     if (realMaxSpeed > attainableMaxSpeedMetersPerSecond) {
-      leftMetersPerSecond = leftMetersPerSecond / realMaxSpeed
-          * attainableMaxSpeedMetersPerSecond;
-      rightMetersPerSecond = rightMetersPerSecond / realMaxSpeed
-          * attainableMaxSpeedMetersPerSecond;
+      leftMetersPerSecond = leftMetersPerSecond / realMaxSpeed * attainableMaxSpeedMetersPerSecond;
+      rightMetersPerSecond =
+          rightMetersPerSecond / realMaxSpeed * attainableMaxSpeedMetersPerSecond;
     }
   }
 
   @Override
   public String toString() {
-    return String.format("DifferentialDriveWheelSpeeds(Left: %.2f m/s, Right: %.2f m/s)",
+    return String.format(
+        "DifferentialDriveWheelSpeeds(Left: %.2f m/s, Right: %.2f m/s)",
         leftMetersPerSecond, rightMetersPerSecond);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveKinematics.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveKinematics.java
index 50a3a30ec9..d8208a3a85 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveKinematics.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveKinematics.java
@@ -4,33 +4,30 @@
 
 package edu.wpi.first.wpilibj.kinematics;
 
-import org.ejml.simple.SimpleMatrix;
-
 import edu.wpi.first.math.MathSharedStore;
 import edu.wpi.first.math.MathUsageId;
 import edu.wpi.first.wpilibj.geometry.Translation2d;
+import org.ejml.simple.SimpleMatrix;
 
 /**
- * Helper class that converts a chassis velocity (dx, dy, and dtheta components)
- * into individual wheel speeds.
+ * Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual
+ * wheel speeds.
  *
- * <p>The inverse kinematics (converting from a desired chassis velocity to
- * individual wheel speeds) uses the relative locations of the wheels with
- * respect to the center of rotation. The center of rotation for inverse
- * kinematics is also variable. This means that you can set your set your center
- * of rotation in a corner of the robot to perform special evasion maneuvers.
+ * <p>The inverse kinematics (converting from a desired chassis velocity to individual wheel speeds)
+ * uses the relative locations of the wheels with respect to the center of rotation. The center of
+ * rotation for inverse kinematics is also variable. This means that you can set your set your
+ * center of rotation in a corner of the robot to perform special evasion maneuvers.
  *
- * <p>Forward kinematics (converting an array of wheel speeds into the overall
- * chassis motion) is performs the exact opposite of what inverse kinematics
- * does. Since this is an overdetermined system (more equations than variables),
- * we use a least-squares approximation.
+ * <p>Forward kinematics (converting an array of wheel speeds into the overall chassis motion) is
+ * performs the exact opposite of what inverse kinematics does. Since this is an overdetermined
+ * system (more equations than variables), we use a least-squares approximation.
  *
- * <p>The inverse kinematics: [wheelSpeeds] = [wheelLocations] * [chassisSpeeds]
- * We take the Moore-Penrose pseudoinverse of [wheelLocations] and then
- * multiply by [wheelSpeeds] to get our chassis speeds.
+ * <p>The inverse kinematics: [wheelSpeeds] = [wheelLocations] * [chassisSpeeds] We take the
+ * Moore-Penrose pseudoinverse of [wheelLocations] and then multiply by [wheelSpeeds] to get our
+ * chassis speeds.
  *
- * <p>Forward kinematics is also used for odometry -- determining the position of
- * the robot on the field using encoders and a gyro.
+ * <p>Forward kinematics is also used for odometry -- determining the position of the robot on the
+ * field using encoders and a gyro.
  */
 public class MecanumDriveKinematics {
   private SimpleMatrix m_inverseKinematics;
@@ -46,19 +43,20 @@ public class MecanumDriveKinematics {
   /**
    * Constructs a mecanum drive kinematics object.
    *
-   * @param frontLeftWheelMeters  The location of the front-left wheel relative to the
-   *                              physical center of the robot.
-   * @param frontRightWheelMeters The location of the front-right wheel relative to
-   *                              the physical center of the robot.
-   * @param rearLeftWheelMeters   The location of the rear-left wheel relative to the
-   *                              physical center of the robot.
-   * @param rearRightWheelMeters  The location of the rear-right wheel relative to the
-   *                              physical center of the robot.
+   * @param frontLeftWheelMeters The location of the front-left wheel relative to the physical
+   *     center of the robot.
+   * @param frontRightWheelMeters The location of the front-right wheel relative to the physical
+   *     center of the robot.
+   * @param rearLeftWheelMeters The location of the rear-left wheel relative to the physical center
+   *     of the robot.
+   * @param rearRightWheelMeters The location of the rear-right wheel relative to the physical
+   *     center of the robot.
    */
-  public MecanumDriveKinematics(Translation2d frontLeftWheelMeters,
-                                Translation2d frontRightWheelMeters,
-                                Translation2d rearLeftWheelMeters,
-                                Translation2d rearRightWheelMeters) {
+  public MecanumDriveKinematics(
+      Translation2d frontLeftWheelMeters,
+      Translation2d frontRightWheelMeters,
+      Translation2d rearLeftWheelMeters,
+      Translation2d rearRightWheelMeters) {
     m_frontLeftWheelMeters = frontLeftWheelMeters;
     m_frontRightWheelMeters = frontRightWheelMeters;
     m_rearLeftWheelMeters = rearLeftWheelMeters;
@@ -66,8 +64,8 @@ public class MecanumDriveKinematics {
 
     m_inverseKinematics = new SimpleMatrix(4, 3);
 
-    setInverseKinematics(frontLeftWheelMeters, frontRightWheelMeters,
-        rearLeftWheelMeters, rearRightWheelMeters);
+    setInverseKinematics(
+        frontLeftWheelMeters, frontRightWheelMeters, rearLeftWheelMeters, rearRightWheelMeters);
     m_forwardKinematics = m_inverseKinematics.pseudoInverse();
 
     MathSharedStore.reportUsage(MathUsageId.kKinematics_MecanumDrive, 1);
@@ -77,23 +75,21 @@ public class MecanumDriveKinematics {
    * Performs inverse kinematics to return the wheel speeds from a desired chassis velocity. This
    * method is often used to convert joystick values into wheel speeds.
    *
-   * <p>This function also supports variable centers of rotation. During normal
-   * operations, the center of rotation is usually the same as the physical
-   * center of the robot; therefore, the argument is defaulted to that use case.
-   * However, if you wish to change the center of rotation for evasive
-   * maneuvers, vision alignment, or for any other use case, you can do so.
+   * <p>This function also supports variable centers of rotation. During normal operations, the
+   * center of rotation is usually the same as the physical center of the robot; therefore, the
+   * argument is defaulted to that use case. However, if you wish to change the center of rotation
+   * for evasive maneuvers, vision alignment, or for any other use case, you can do so.
    *
-   * @param chassisSpeeds    The desired chassis speed.
-   * @param centerOfRotationMeters The center of rotation. For example, if you set the
-   *                         center of rotation at one corner of the robot and provide
-   *                         a chassis speed that only has a dtheta component, the robot
-   *                         will rotate around that corner.
-   * @return  The wheel speeds. Use caution because they are not normalized. Sometimes, a user
-   *          input may cause one of the wheel speeds to go above the attainable max velocity. Use
-   *          the {@link MecanumDriveWheelSpeeds#normalize(double)} function to rectify this issue.
+   * @param chassisSpeeds The desired chassis speed.
+   * @param centerOfRotationMeters The center of rotation. For example, if you set the center of
+   *     rotation at one corner of the robot and provide a chassis speed that only has a dtheta
+   *     component, the robot will rotate around that corner.
+   * @return The wheel speeds. Use caution because they are not normalized. Sometimes, a user input
+   *     may cause one of the wheel speeds to go above the attainable max velocity. Use the {@link
+   *     MecanumDriveWheelSpeeds#normalize(double)} function to rectify this issue.
    */
-  public MecanumDriveWheelSpeeds toWheelSpeeds(ChassisSpeeds chassisSpeeds,
-                                               Translation2d centerOfRotationMeters) {
+  public MecanumDriveWheelSpeeds toWheelSpeeds(
+      ChassisSpeeds chassisSpeeds, Translation2d centerOfRotationMeters) {
     // We have a new center of rotation. We need to compute the matrix again.
     if (!centerOfRotationMeters.equals(m_prevCoR)) {
       var fl = m_frontLeftWheelMeters.minus(centerOfRotationMeters);
@@ -106,8 +102,11 @@ public class MecanumDriveKinematics {
     }
 
     var chassisSpeedsVector = new SimpleMatrix(3, 1);
-    chassisSpeedsVector.setColumn(0, 0,
-        chassisSpeeds.vxMetersPerSecond, chassisSpeeds.vyMetersPerSecond,
+    chassisSpeedsVector.setColumn(
+        0,
+        0,
+        chassisSpeeds.vxMetersPerSecond,
+        chassisSpeeds.vyMetersPerSecond,
         chassisSpeeds.omegaRadiansPerSecond);
 
     var wheelsMatrix = m_inverseKinematics.mult(chassisSpeedsVector);
@@ -115,8 +114,7 @@ public class MecanumDriveKinematics {
         wheelsMatrix.get(0, 0),
         wheelsMatrix.get(1, 0),
         wheelsMatrix.get(2, 0),
-        wheelsMatrix.get(3, 0)
-    );
+        wheelsMatrix.get(3, 0));
   }
 
   /**
@@ -140,13 +138,18 @@ public class MecanumDriveKinematics {
    */
   public ChassisSpeeds toChassisSpeeds(MecanumDriveWheelSpeeds wheelSpeeds) {
     var wheelSpeedsMatrix = new SimpleMatrix(4, 1);
-    wheelSpeedsMatrix.setColumn(0, 0,
-        wheelSpeeds.frontLeftMetersPerSecond, wheelSpeeds.frontRightMetersPerSecond,
-        wheelSpeeds.rearLeftMetersPerSecond, wheelSpeeds.rearRightMetersPerSecond
-    );
+    wheelSpeedsMatrix.setColumn(
+        0,
+        0,
+        wheelSpeeds.frontLeftMetersPerSecond,
+        wheelSpeeds.frontRightMetersPerSecond,
+        wheelSpeeds.rearLeftMetersPerSecond,
+        wheelSpeeds.rearRightMetersPerSecond);
     var chassisSpeedsVector = m_forwardKinematics.mult(wheelSpeedsMatrix);
 
-    return new ChassisSpeeds(chassisSpeedsVector.get(0, 0), chassisSpeedsVector.get(1, 0),
+    return new ChassisSpeeds(
+        chassisSpeedsVector.get(0, 0),
+        chassisSpeedsVector.get(1, 0),
         chassisSpeedsVector.get(2, 0));
   }
 
@@ -158,8 +161,8 @@ public class MecanumDriveKinematics {
    * @param rl The location of the rear-left wheel relative to the physical center of the robot.
    * @param rr The location of the rear-right wheel relative to the physical center of the robot.
    */
-  private void setInverseKinematics(Translation2d fl, Translation2d fr,
-                                    Translation2d rl, Translation2d rr) {
+  private void setInverseKinematics(
+      Translation2d fl, Translation2d fr, Translation2d rl, Translation2d rr) {
     m_inverseKinematics.setRow(0, 0, 1, -1, -(fl.getX() + fl.getY()));
     m_inverseKinematics.setRow(1, 0, 1, 1, fr.getX() - fr.getY());
     m_inverseKinematics.setRow(2, 0, 1, 1, rl.getX() - rl.getY());
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveMotorVoltages.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveMotorVoltages.java
index 4f2e705c70..5696c96935 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveMotorVoltages.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveMotorVoltages.java
@@ -4,49 +4,37 @@
 
 package edu.wpi.first.wpilibj.kinematics;
 
-/**
- * Represents the motor voltages for a mecanum drive drivetrain.
- */
+/** Represents the motor voltages for a mecanum drive drivetrain. */
 @SuppressWarnings("MemberName")
 public class MecanumDriveMotorVoltages {
-  /**
-   * Voltage of the front left motor.
-   */
+  /** Voltage of the front left motor. */
   public double frontLeftVoltage;
 
-  /**
-   * Voltage of the front right motor.
-   */
+  /** Voltage of the front right motor. */
   public double frontRightVoltage;
 
-  /**
-   * Voltage of the rear left motor.
-   */
+  /** Voltage of the rear left motor. */
   public double rearLeftVoltage;
 
-  /**
-   * Voltage of the rear right motor.
-   */
+  /** Voltage of the rear right motor. */
   public double rearRightVoltage;
 
-  /**
-   * Constructs a MecanumDriveMotorVoltages with zeros for all member fields.
-   */
-  public MecanumDriveMotorVoltages() {
-  }
+  /** Constructs a MecanumDriveMotorVoltages with zeros for all member fields. */
+  public MecanumDriveMotorVoltages() {}
 
   /**
    * Constructs a MecanumDriveMotorVoltages.
    *
-   * @param frontLeftVoltage  Voltage of the front left motor.
+   * @param frontLeftVoltage Voltage of the front left motor.
    * @param frontRightVoltage Voltage of the front right motor.
-   * @param rearLeftVoltage   Voltage of the rear left motor.
-   * @param rearRightVoltage  Voltage of the rear right motor.
+   * @param rearLeftVoltage Voltage of the rear left motor.
+   * @param rearRightVoltage Voltage of the rear right motor.
    */
-  public MecanumDriveMotorVoltages(double frontLeftVoltage,
-                                 double frontRightVoltage,
-                                 double rearLeftVoltage,
-                                 double rearRightVoltage) {
+  public MecanumDriveMotorVoltages(
+      double frontLeftVoltage,
+      double frontRightVoltage,
+      double rearLeftVoltage,
+      double rearRightVoltage) {
     this.frontLeftVoltage = frontLeftVoltage;
     this.frontRightVoltage = frontRightVoltage;
     this.rearLeftVoltage = rearLeftVoltage;
@@ -55,8 +43,9 @@ public class MecanumDriveMotorVoltages {
 
   @Override
   public String toString() {
-    return String.format("MecanumDriveMotorVoltages(Front Left: %.2f V, Front Right: %.2f V, "
-            + "Rear Left: %.2f V, Rear Right: %.2f V)", frontLeftVoltage, frontRightVoltage,
-        rearLeftVoltage, rearRightVoltage);
+    return String.format(
+        "MecanumDriveMotorVoltages(Front Left: %.2f V, Front Right: %.2f V, "
+            + "Rear Left: %.2f V, Rear Right: %.2f V)",
+        frontLeftVoltage, frontRightVoltage, rearLeftVoltage, rearRightVoltage);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometry.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometry.java
index 6e543b5369..b2dcc8649e 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometry.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometry.java
@@ -12,13 +12,11 @@ import edu.wpi.first.wpilibj.geometry.Twist2d;
 import edu.wpi.first.wpiutil.WPIUtilJNI;
 
 /**
- * Class for mecanum drive odometry. Odometry allows you to track the robot's
- * position on the field over a course of a match using readings from your
- * mecanum wheel encoders.
+ * Class for mecanum drive odometry. Odometry allows you to track the robot's position on the field
+ * over a course of a match using readings from your mecanum wheel encoders.
  *
- * <p>Teams can use odometry during the autonomous period for complex tasks like
- * path following. Furthermore, odometry can be used for latency compensation
- * when using computer-vision systems.
+ * <p>Teams can use odometry during the autonomous period for complex tasks like path following.
+ * Furthermore, odometry can be used for latency compensation when using computer-vision systems.
  */
 public class MecanumDriveOdometry {
   private final MecanumDriveKinematics m_kinematics;
@@ -31,12 +29,12 @@ public class MecanumDriveOdometry {
   /**
    * Constructs a MecanumDriveOdometry object.
    *
-   * @param kinematics        The mecanum drive kinematics for your drivetrain.
-   * @param gyroAngle         The angle reported by the gyroscope.
+   * @param kinematics The mecanum drive kinematics for your drivetrain.
+   * @param gyroAngle The angle reported by the gyroscope.
    * @param initialPoseMeters The starting position of the robot on the field.
    */
-  public MecanumDriveOdometry(MecanumDriveKinematics kinematics, Rotation2d gyroAngle,
-                              Pose2d initialPoseMeters) {
+  public MecanumDriveOdometry(
+      MecanumDriveKinematics kinematics, Rotation2d gyroAngle, Pose2d initialPoseMeters) {
     m_kinematics = kinematics;
     m_poseMeters = initialPoseMeters;
     m_gyroOffset = m_poseMeters.getRotation().minus(gyroAngle);
@@ -48,7 +46,7 @@ public class MecanumDriveOdometry {
    * Constructs a MecanumDriveOdometry object with the default pose at the origin.
    *
    * @param kinematics The mecanum drive kinematics for your drivetrain.
-   * @param gyroAngle  The angle reported by the gyroscope.
+   * @param gyroAngle The angle reported by the gyroscope.
    */
   public MecanumDriveOdometry(MecanumDriveKinematics kinematics, Rotation2d gyroAngle) {
     this(kinematics, gyroAngle, new Pose2d());
@@ -57,11 +55,11 @@ public class MecanumDriveOdometry {
   /**
    * Resets the robot's position on the field.
    *
-   * <p>The gyroscope angle does not need to be reset here on the user's robot code.
-   * The library automatically takes care of offsetting the gyro angle.
+   * <p>The gyroscope angle does not need to be reset here on the user's robot code. The library
+   * automatically takes care of offsetting the gyro angle.
    *
    * @param poseMeters The position on the field that your robot is at.
-   * @param gyroAngle  The angle reported by the gyroscope.
+   * @param gyroAngle The angle reported by the gyroscope.
    */
   public void resetPosition(Pose2d poseMeters, Rotation2d gyroAngle) {
     m_poseMeters = poseMeters;
@@ -79,30 +77,31 @@ public class MecanumDriveOdometry {
   }
 
   /**
-   * Updates the robot's position on the field using forward kinematics and
-   * integration of the pose over time. This method takes in the current time as
-   * a parameter to calculate period (difference between two timestamps). The
-   * period is used to calculate the change in distance from a velocity. This
-   * also takes in an angle parameter which is used instead of the
-   * angular rate that is calculated from forward kinematics.
+   * Updates the robot's position on the field using forward kinematics and integration of the pose
+   * over time. This method takes in the current time as a parameter to calculate period (difference
+   * between two timestamps). The period is used to calculate the change in distance from a
+   * velocity. This also takes in an angle parameter which is used instead of the angular rate that
+   * is calculated from forward kinematics.
    *
    * @param currentTimeSeconds The current time in seconds.
-   * @param gyroAngle          The angle reported by the gyroscope.
-   * @param wheelSpeeds        The current wheel speeds.
+   * @param gyroAngle The angle reported by the gyroscope.
+   * @param wheelSpeeds The current wheel speeds.
    * @return The new pose of the robot.
    */
-  public Pose2d updateWithTime(double currentTimeSeconds, Rotation2d gyroAngle,
-                               MecanumDriveWheelSpeeds wheelSpeeds) {
+  public Pose2d updateWithTime(
+      double currentTimeSeconds, Rotation2d gyroAngle, MecanumDriveWheelSpeeds wheelSpeeds) {
     double period = m_prevTimeSeconds >= 0 ? currentTimeSeconds - m_prevTimeSeconds : 0.0;
     m_prevTimeSeconds = currentTimeSeconds;
 
     var angle = gyroAngle.plus(m_gyroOffset);
 
     var chassisState = m_kinematics.toChassisSpeeds(wheelSpeeds);
-    var newPose = m_poseMeters.exp(
-        new Twist2d(chassisState.vxMetersPerSecond * period,
-            chassisState.vyMetersPerSecond * period,
-            angle.minus(m_previousAngle).getRadians()));
+    var newPose =
+        m_poseMeters.exp(
+            new Twist2d(
+                chassisState.vxMetersPerSecond * period,
+                chassisState.vyMetersPerSecond * period,
+                angle.minus(m_previousAngle).getRadians()));
 
     m_previousAngle = angle;
     m_poseMeters = new Pose2d(newPose.getTranslation(), angle);
@@ -110,20 +109,17 @@ public class MecanumDriveOdometry {
   }
 
   /**
-   * Updates the robot's position on the field using forward kinematics and
-   * integration of the pose over time. This method automatically calculates the
-   * current time to calculate period (difference between two timestamps). The
-   * period is used to calculate the change in distance from a velocity. This
-   * also takes in an angle parameter which is used instead of the
-   * angular rate that is calculated from forward kinematics.
+   * Updates the robot's position on the field using forward kinematics and integration of the pose
+   * over time. This method automatically calculates the current time to calculate period
+   * (difference between two timestamps). The period is used to calculate the change in distance
+   * from a velocity. This also takes in an angle parameter which is used instead of the angular
+   * rate that is calculated from forward kinematics.
    *
-   * @param gyroAngle   The angle reported by the gyroscope.
+   * @param gyroAngle The angle reported by the gyroscope.
    * @param wheelSpeeds The current wheel speeds.
    * @return The new pose of the robot.
    */
-  public Pose2d update(Rotation2d gyroAngle,
-                       MecanumDriveWheelSpeeds wheelSpeeds) {
-    return updateWithTime(WPIUtilJNI.now() * 1.0e-6, gyroAngle,
-        wheelSpeeds);
+  public Pose2d update(Rotation2d gyroAngle, MecanumDriveWheelSpeeds wheelSpeeds) {
+    return updateWithTime(WPIUtilJNI.now() * 1.0e-6, gyroAngle, wheelSpeeds);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveWheelSpeeds.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveWheelSpeeds.java
index 67f592f7e6..b9f753ea25 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveWheelSpeeds.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveWheelSpeeds.java
@@ -8,44 +8,34 @@ import java.util.stream.DoubleStream;
 
 @SuppressWarnings("MemberName")
 public class MecanumDriveWheelSpeeds {
-  /**
-   * Speed of the front left wheel.
-   */
+  /** Speed of the front left wheel. */
   public double frontLeftMetersPerSecond;
 
-  /**
-   * Speed of the front right wheel.
-   */
+  /** Speed of the front right wheel. */
   public double frontRightMetersPerSecond;
 
-  /**
-   * Speed of the rear left wheel.
-   */
+  /** Speed of the rear left wheel. */
   public double rearLeftMetersPerSecond;
 
-  /**
-   * Speed of the rear right wheel.
-   */
+  /** Speed of the rear right wheel. */
   public double rearRightMetersPerSecond;
 
-  /**
-   * Constructs a MecanumDriveWheelSpeeds with zeros for all member fields.
-   */
-  public MecanumDriveWheelSpeeds() {
-  }
+  /** Constructs a MecanumDriveWheelSpeeds with zeros for all member fields. */
+  public MecanumDriveWheelSpeeds() {}
 
   /**
    * Constructs a MecanumDriveWheelSpeeds.
    *
-   * @param frontLeftMetersPerSecond  Speed of the front left wheel.
+   * @param frontLeftMetersPerSecond Speed of the front left wheel.
    * @param frontRightMetersPerSecond Speed of the front right wheel.
-   * @param rearLeftMetersPerSecond   Speed of the rear left wheel.
-   * @param rearRightMetersPerSecond  Speed of the rear right wheel.
+   * @param rearLeftMetersPerSecond Speed of the rear left wheel.
+   * @param rearRightMetersPerSecond Speed of the rear right wheel.
    */
-  public MecanumDriveWheelSpeeds(double frontLeftMetersPerSecond,
-                                 double frontRightMetersPerSecond,
-                                 double rearLeftMetersPerSecond,
-                                 double rearRightMetersPerSecond) {
+  public MecanumDriveWheelSpeeds(
+      double frontLeftMetersPerSecond,
+      double frontRightMetersPerSecond,
+      double rearLeftMetersPerSecond,
+      double rearRightMetersPerSecond) {
     this.frontLeftMetersPerSecond = frontLeftMetersPerSecond;
     this.frontRightMetersPerSecond = frontRightMetersPerSecond;
     this.rearLeftMetersPerSecond = rearLeftMetersPerSecond;
@@ -53,36 +43,44 @@ public class MecanumDriveWheelSpeeds {
   }
 
   /**
-   * Normalizes the wheel speeds using some max attainable speed. Sometimes,
-   * after inverse kinematics, the requested speed from a/several modules may be
-   * above the max attainable speed for the driving motor on that module. To fix
-   * this issue, one can "normalize" all the wheel speeds to make sure that all
-   * requested module speeds are below the absolute threshold, while maintaining
-   * the ratio of speeds between modules.
+   * Normalizes the wheel speeds using some max attainable speed. Sometimes, after inverse
+   * kinematics, the requested speed from a/several modules may be above the max attainable speed
+   * for the driving motor on that module. To fix this issue, one can "normalize" all the wheel
+   * speeds to make sure that all requested module speeds are below the absolute threshold, while
+   * maintaining the ratio of speeds between modules.
    *
    * @param attainableMaxSpeedMetersPerSecond The absolute max speed that a wheel can reach.
    */
   public void normalize(double attainableMaxSpeedMetersPerSecond) {
-    double realMaxSpeed = DoubleStream.of(frontLeftMetersPerSecond,
-        frontRightMetersPerSecond, rearLeftMetersPerSecond, rearRightMetersPerSecond)
-        .max().getAsDouble();
+    double realMaxSpeed =
+        DoubleStream.of(
+                frontLeftMetersPerSecond,
+                frontRightMetersPerSecond,
+                rearLeftMetersPerSecond,
+                rearRightMetersPerSecond)
+            .max()
+            .getAsDouble();
 
     if (realMaxSpeed > attainableMaxSpeedMetersPerSecond) {
-      frontLeftMetersPerSecond = frontLeftMetersPerSecond / realMaxSpeed
-          * attainableMaxSpeedMetersPerSecond;
-      frontRightMetersPerSecond = frontRightMetersPerSecond / realMaxSpeed
-          * attainableMaxSpeedMetersPerSecond;
-      rearLeftMetersPerSecond = rearLeftMetersPerSecond / realMaxSpeed
-          * attainableMaxSpeedMetersPerSecond;
-      rearRightMetersPerSecond = rearRightMetersPerSecond / realMaxSpeed
-          * attainableMaxSpeedMetersPerSecond;
+      frontLeftMetersPerSecond =
+          frontLeftMetersPerSecond / realMaxSpeed * attainableMaxSpeedMetersPerSecond;
+      frontRightMetersPerSecond =
+          frontRightMetersPerSecond / realMaxSpeed * attainableMaxSpeedMetersPerSecond;
+      rearLeftMetersPerSecond =
+          rearLeftMetersPerSecond / realMaxSpeed * attainableMaxSpeedMetersPerSecond;
+      rearRightMetersPerSecond =
+          rearRightMetersPerSecond / realMaxSpeed * attainableMaxSpeedMetersPerSecond;
     }
   }
 
   @Override
   public String toString() {
-    return String.format("MecanumDriveWheelSpeeds(Front Left: %.2f m/s, Front Right: %.2f m/s, "
-            + "Rear Left: %.2f m/s, Rear Right: %.2f m/s)", frontLeftMetersPerSecond,
-        frontRightMetersPerSecond, rearLeftMetersPerSecond, rearRightMetersPerSecond);
+    return String.format(
+        "MecanumDriveWheelSpeeds(Front Left: %.2f m/s, Front Right: %.2f m/s, "
+            + "Rear Left: %.2f m/s, Rear Right: %.2f m/s)",
+        frontLeftMetersPerSecond,
+        frontRightMetersPerSecond,
+        rearLeftMetersPerSecond,
+        rearRightMetersPerSecond);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveKinematics.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveKinematics.java
index d23344bef8..fdaf2ec782 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveKinematics.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveKinematics.java
@@ -4,37 +4,33 @@
 
 package edu.wpi.first.wpilibj.kinematics;
 
-import java.util.Arrays;
-import java.util.Collections;
-
-import org.ejml.simple.SimpleMatrix;
-
 import edu.wpi.first.math.MathSharedStore;
 import edu.wpi.first.math.MathUsageId;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.geometry.Translation2d;
+import java.util.Arrays;
+import java.util.Collections;
+import org.ejml.simple.SimpleMatrix;
 
 /**
- * Helper class that converts a chassis velocity (dx, dy, and dtheta components)
- * into individual module states (speed and angle).
+ * Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual
+ * module states (speed and angle).
  *
- * <p>The inverse kinematics (converting from a desired chassis velocity to
- * individual module states) uses the relative locations of the modules with
- * respect to the center of rotation. The center of rotation for inverse
- * kinematics is also variable. This means that you can set your set your center
- * of rotation in a corner of the robot to perform special evasion maneuvers.
+ * <p>The inverse kinematics (converting from a desired chassis velocity to individual module
+ * states) uses the relative locations of the modules with respect to the center of rotation. The
+ * center of rotation for inverse kinematics is also variable. This means that you can set your set
+ * your center of rotation in a corner of the robot to perform special evasion maneuvers.
  *
- * <p>Forward kinematics (converting an array of module states into the overall
- * chassis motion) is performs the exact opposite of what inverse kinematics
- * does. Since this is an overdetermined system (more equations than variables),
- * we use a least-squares approximation.
+ * <p>Forward kinematics (converting an array of module states into the overall chassis motion) is
+ * performs the exact opposite of what inverse kinematics does. Since this is an overdetermined
+ * system (more equations than variables), we use a least-squares approximation.
  *
- * <p>The inverse kinematics: [moduleStates] = [moduleLocations] * [chassisSpeeds]
- * We take the Moore-Penrose pseudoinverse of [moduleLocations] and then
- * multiply by [moduleStates] to get our chassis speeds.
+ * <p>The inverse kinematics: [moduleStates] = [moduleLocations] * [chassisSpeeds] We take the
+ * Moore-Penrose pseudoinverse of [moduleLocations] and then multiply by [moduleStates] to get our
+ * chassis speeds.
  *
- * <p>Forward kinematics is also used for odometry -- determining the position of
- * the robot on the field using encoders and a gyro.
+ * <p>Forward kinematics is also used for odometry -- determining the position of the robot on the
+ * field using encoders and a gyro.
  */
 public class SwerveDriveKinematics {
   private final SimpleMatrix m_inverseKinematics;
@@ -45,15 +41,12 @@ public class SwerveDriveKinematics {
   private Translation2d m_prevCoR = new Translation2d();
 
   /**
-   * Constructs a swerve drive kinematics object. This takes in a variable
-   * number of wheel locations as Translation2ds. The order in which you pass in
-   * the wheel locations is the same order that you will receive the module
-   * states when performing inverse kinematics. It is also expected that you
-   * pass in the module states in the same order when calling the forward
-   * kinematics methods.
+   * Constructs a swerve drive kinematics object. This takes in a variable number of wheel locations
+   * as Translation2ds. The order in which you pass in the wheel locations is the same order that
+   * you will receive the module states when performing inverse kinematics. It is also expected that
+   * you pass in the module states in the same order when calling the forward kinematics methods.
    *
-   * @param wheelsMeters The locations of the wheels relative to the physical center
-   *                     of the robot.
+   * @param wheelsMeters The locations of the wheels relative to the physical center of the robot.
    */
   public SwerveDriveKinematics(Translation2d... wheelsMeters) {
     if (wheelsMeters.length < 2) {
@@ -73,43 +66,50 @@ public class SwerveDriveKinematics {
   }
 
   /**
-   * Performs inverse kinematics to return the module states from a desired
-   * chassis velocity. This method is often used to convert joystick values into
-   * module speeds and angles.
+   * Performs inverse kinematics to return the module states from a desired chassis velocity. This
+   * method is often used to convert joystick values into module speeds and angles.
    *
-   * <p>This function also supports variable centers of rotation. During normal
-   * operations, the center of rotation is usually the same as the physical
-   * center of the robot; therefore, the argument is defaulted to that use case.
-   * However, if you wish to change the center of rotation for evasive
-   * maneuvers, vision alignment, or for any other use case, you can do so.
+   * <p>This function also supports variable centers of rotation. During normal operations, the
+   * center of rotation is usually the same as the physical center of the robot; therefore, the
+   * argument is defaulted to that use case. However, if you wish to change the center of rotation
+   * for evasive maneuvers, vision alignment, or for any other use case, you can do so.
    *
-   * @param chassisSpeeds    The desired chassis speed.
-   * @param centerOfRotationMeters The center of rotation. For example, if you set the
-   *                         center of rotation at one corner of the robot and provide
-   *                         a chassis speed that only has a dtheta component, the robot
-   *                         will rotate around that corner.
-   * @return  An array containing the module states. Use caution because these
-   *          module states are not normalized. Sometimes, a user input may cause one of
-   *          the module speeds to go above the attainable max velocity. Use the
-   *          {@link #normalizeWheelSpeeds(SwerveModuleState[], double) normalizeWheelSpeeds}
-   *          function to rectify this issue.
+   * @param chassisSpeeds The desired chassis speed.
+   * @param centerOfRotationMeters The center of rotation. For example, if you set the center of
+   *     rotation at one corner of the robot and provide a chassis speed that only has a dtheta
+   *     component, the robot will rotate around that corner.
+   * @return An array containing the module states. Use caution because these module states are not
+   *     normalized. Sometimes, a user input may cause one of the module speeds to go above the
+   *     attainable max velocity. Use the {@link #normalizeWheelSpeeds(SwerveModuleState[], double)
+   *     normalizeWheelSpeeds} function to rectify this issue.
    */
   @SuppressWarnings({"LocalVariableName", "PMD.AvoidInstantiatingObjectsInLoops"})
-  public SwerveModuleState[] toSwerveModuleStates(ChassisSpeeds chassisSpeeds,
-                                                  Translation2d centerOfRotationMeters) {
+  public SwerveModuleState[] toSwerveModuleStates(
+      ChassisSpeeds chassisSpeeds, Translation2d centerOfRotationMeters) {
     if (!centerOfRotationMeters.equals(m_prevCoR)) {
       for (int i = 0; i < m_numModules; i++) {
-        m_inverseKinematics.setRow(i * 2 + 0, 0, /* Start Data */ 1, 0,
+        m_inverseKinematics.setRow(
+            i * 2 + 0,
+            0, /* Start Data */
+            1,
+            0,
             -m_modules[i].getY() + centerOfRotationMeters.getY());
-        m_inverseKinematics.setRow(i * 2 + 1, 0, /* Start Data */ 0, 1,
+        m_inverseKinematics.setRow(
+            i * 2 + 1,
+            0, /* Start Data */
+            0,
+            1,
             +m_modules[i].getX() - centerOfRotationMeters.getX());
       }
       m_prevCoR = centerOfRotationMeters;
     }
 
     var chassisSpeedsVector = new SimpleMatrix(3, 1);
-    chassisSpeedsVector.setColumn(0, 0,
-        chassisSpeeds.vxMetersPerSecond, chassisSpeeds.vyMetersPerSecond,
+    chassisSpeedsVector.setColumn(
+        0,
+        0,
+        chassisSpeeds.vxMetersPerSecond,
+        chassisSpeeds.vyMetersPerSecond,
         chassisSpeeds.omegaRadiansPerSecond);
 
     var moduleStatesMatrix = m_inverseKinematics.mult(chassisSpeedsVector);
@@ -140,22 +140,20 @@ public class SwerveDriveKinematics {
   }
 
   /**
-   * Performs forward kinematics to return the resulting chassis state from the
-   * given module states. This method is often used for odometry -- determining
-   * the robot's position on the field using data from the real-world speed and
-   * angle of each module on the robot.
+   * Performs forward kinematics to return the resulting chassis state from the given module states.
+   * This method is often used for odometry -- determining the robot's position on the field using
+   * data from the real-world speed and angle of each module on the robot.
    *
-   * @param wheelStates The state of the modules (as a SwerveModuleState type)
-   *                    as measured from respective encoders and gyros. The order of the swerve
-   *                    module states should be same as passed into the constructor of this class.
+   * @param wheelStates The state of the modules (as a SwerveModuleState type) as measured from
+   *     respective encoders and gyros. The order of the swerve module states should be same as
+   *     passed into the constructor of this class.
    * @return The resulting chassis speed.
    */
   public ChassisSpeeds toChassisSpeeds(SwerveModuleState... wheelStates) {
     if (wheelStates.length != m_numModules) {
       throw new IllegalArgumentException(
           "Number of modules is not consistent with number of wheel locations provided in "
-              + "constructor"
-      );
+              + "constructor");
     }
     var moduleStatesMatrix = new SimpleMatrix(m_numModules * 2, 1);
 
@@ -166,30 +164,30 @@ public class SwerveDriveKinematics {
     }
 
     var chassisSpeedsVector = m_forwardKinematics.mult(moduleStatesMatrix);
-    return new ChassisSpeeds(chassisSpeedsVector.get(0, 0), chassisSpeedsVector.get(1, 0),
+    return new ChassisSpeeds(
+        chassisSpeedsVector.get(0, 0),
+        chassisSpeedsVector.get(1, 0),
         chassisSpeedsVector.get(2, 0));
-
   }
 
   /**
-   * Normalizes the wheel speeds using some max attainable speed. Sometimes,
-   * after inverse kinematics, the requested speed from a/several modules may be
-   * above the max attainable speed for the driving motor on that module. To fix
-   * this issue, one can "normalize" all the wheel speeds to make sure that all
-   * requested module speeds are below the absolute threshold, while maintaining
-   * the ratio of speeds between modules.
+   * Normalizes the wheel speeds using some max attainable speed. Sometimes, after inverse
+   * kinematics, the requested speed from a/several modules may be above the max attainable speed
+   * for the driving motor on that module. To fix this issue, one can "normalize" all the wheel
+   * speeds to make sure that all requested module speeds are below the absolute threshold, while
+   * maintaining the ratio of speeds between modules.
    *
-   * @param moduleStates       Reference to array of module states. The array will be
-   *                           mutated with the normalized speeds!
+   * @param moduleStates Reference to array of module states. The array will be mutated with the
+   *     normalized speeds!
    * @param attainableMaxSpeedMetersPerSecond The absolute max speed that a module can reach.
    */
-  public static void normalizeWheelSpeeds(SwerveModuleState[] moduleStates,
-                                          double attainableMaxSpeedMetersPerSecond) {
+  public static void normalizeWheelSpeeds(
+      SwerveModuleState[] moduleStates, double attainableMaxSpeedMetersPerSecond) {
     double realMaxSpeed = Collections.max(Arrays.asList(moduleStates)).speedMetersPerSecond;
     if (realMaxSpeed > attainableMaxSpeedMetersPerSecond) {
       for (SwerveModuleState moduleState : moduleStates) {
-        moduleState.speedMetersPerSecond = moduleState.speedMetersPerSecond / realMaxSpeed
-            * attainableMaxSpeedMetersPerSecond;
+        moduleState.speedMetersPerSecond =
+            moduleState.speedMetersPerSecond / realMaxSpeed * attainableMaxSpeedMetersPerSecond;
       }
     }
   }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometry.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometry.java
index d290aecc05..0dd4a0098f 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometry.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometry.java
@@ -12,13 +12,12 @@ import edu.wpi.first.wpilibj.geometry.Twist2d;
 import edu.wpi.first.wpiutil.WPIUtilJNI;
 
 /**
- * Class for swerve drive odometry. Odometry allows you to track the robot's
- * position on the field over a course of a match using readings from your
- * swerve drive encoders and swerve azimuth encoders.
+ * Class for swerve drive odometry. Odometry allows you to track the robot's position on the field
+ * over a course of a match using readings from your swerve drive encoders and swerve azimuth
+ * encoders.
  *
- * <p>Teams can use odometry during the autonomous period for complex tasks like
- * path following. Furthermore, odometry can be used for latency compensation
- * when using computer-vision systems.
+ * <p>Teams can use odometry during the autonomous period for complex tasks like path following.
+ * Furthermore, odometry can be used for latency compensation when using computer-vision systems.
  */
 public class SwerveDriveOdometry {
   private final SwerveDriveKinematics m_kinematics;
@@ -31,12 +30,12 @@ public class SwerveDriveOdometry {
   /**
    * Constructs a SwerveDriveOdometry object.
    *
-   * @param kinematics  The swerve drive kinematics for your drivetrain.
-   * @param gyroAngle   The angle reported by the gyroscope.
+   * @param kinematics The swerve drive kinematics for your drivetrain.
+   * @param gyroAngle The angle reported by the gyroscope.
    * @param initialPose The starting position of the robot on the field.
    */
-  public SwerveDriveOdometry(SwerveDriveKinematics kinematics, Rotation2d gyroAngle,
-                             Pose2d initialPose) {
+  public SwerveDriveOdometry(
+      SwerveDriveKinematics kinematics, Rotation2d gyroAngle, Pose2d initialPose) {
     m_kinematics = kinematics;
     m_poseMeters = initialPose;
     m_gyroOffset = m_poseMeters.getRotation().minus(gyroAngle);
@@ -48,7 +47,7 @@ public class SwerveDriveOdometry {
    * Constructs a SwerveDriveOdometry object with the default pose at the origin.
    *
    * @param kinematics The swerve drive kinematics for your drivetrain.
-   * @param gyroAngle  The angle reported by the gyroscope.
+   * @param gyroAngle The angle reported by the gyroscope.
    */
   public SwerveDriveOdometry(SwerveDriveKinematics kinematics, Rotation2d gyroAngle) {
     this(kinematics, gyroAngle, new Pose2d());
@@ -57,10 +56,10 @@ public class SwerveDriveOdometry {
   /**
    * Resets the robot's position on the field.
    *
-   * <p>The gyroscope angle does not need to be reset here on the user's robot code.
-   * The library automatically takes care of offsetting the gyro angle.
+   * <p>The gyroscope angle does not need to be reset here on the user's robot code. The library
+   * automatically takes care of offsetting the gyro angle.
    *
-   * @param pose      The position on the field that your robot is at.
+   * @param pose The position on the field that your robot is at.
    * @param gyroAngle The angle reported by the gyroscope.
    */
   public void resetPosition(Pose2d pose, Rotation2d gyroAngle) {
@@ -79,32 +78,32 @@ public class SwerveDriveOdometry {
   }
 
   /**
-   * Updates the robot's position on the field using forward kinematics and
-   * integration of the pose over time. This method takes in the current time as
-   * a parameter to calculate period (difference between two timestamps). The
-   * period is used to calculate the change in distance from a velocity. This
-   * also takes in an angle parameter which is used instead of the
-   * angular rate that is calculated from forward kinematics.
+   * Updates the robot's position on the field using forward kinematics and integration of the pose
+   * over time. This method takes in the current time as a parameter to calculate period (difference
+   * between two timestamps). The period is used to calculate the change in distance from a
+   * velocity. This also takes in an angle parameter which is used instead of the angular rate that
+   * is calculated from forward kinematics.
    *
    * @param currentTimeSeconds The current time in seconds.
-   * @param gyroAngle          The angle reported by the gyroscope.
-   * @param moduleStates       The current state of all swerve modules. Please provide
-   *                           the states in the same order in which you instantiated your
-   *                           SwerveDriveKinematics.
+   * @param gyroAngle The angle reported by the gyroscope.
+   * @param moduleStates The current state of all swerve modules. Please provide the states in the
+   *     same order in which you instantiated your SwerveDriveKinematics.
    * @return The new pose of the robot.
    */
-  public Pose2d updateWithTime(double currentTimeSeconds, Rotation2d gyroAngle,
-                               SwerveModuleState... moduleStates) {
+  public Pose2d updateWithTime(
+      double currentTimeSeconds, Rotation2d gyroAngle, SwerveModuleState... moduleStates) {
     double period = m_prevTimeSeconds >= 0 ? currentTimeSeconds - m_prevTimeSeconds : 0.0;
     m_prevTimeSeconds = currentTimeSeconds;
 
     var angle = gyroAngle.plus(m_gyroOffset);
 
     var chassisState = m_kinematics.toChassisSpeeds(moduleStates);
-    var newPose = m_poseMeters.exp(
-        new Twist2d(chassisState.vxMetersPerSecond * period,
-            chassisState.vyMetersPerSecond * period,
-            angle.minus(m_previousAngle).getRadians()));
+    var newPose =
+        m_poseMeters.exp(
+            new Twist2d(
+                chassisState.vxMetersPerSecond * period,
+                chassisState.vyMetersPerSecond * period,
+                angle.minus(m_previousAngle).getRadians()));
 
     m_previousAngle = angle;
     m_poseMeters = new Pose2d(newPose.getTranslation(), angle);
@@ -113,17 +112,15 @@ public class SwerveDriveOdometry {
   }
 
   /**
-   * Updates the robot's position on the field using forward kinematics and
-   * integration of the pose over time. This method automatically calculates the
-   * current time to calculate period (difference between two timestamps). The
-   * period is used to calculate the change in distance from a velocity. This
-   * also takes in an angle parameter which is used instead of the angular
+   * Updates the robot's position on the field using forward kinematics and integration of the pose
+   * over time. This method automatically calculates the current time to calculate period
+   * (difference between two timestamps). The period is used to calculate the change in distance
+   * from a velocity. This also takes in an angle parameter which is used instead of the angular
    * rate that is calculated from forward kinematics.
    *
-   * @param gyroAngle    The angle reported by the gyroscope.
-   * @param moduleStates The current state of all swerve modules. Please provide
-   *                     the states in the same order in which you instantiated your
-   *                     SwerveDriveKinematics.
+   * @param gyroAngle The angle reported by the gyroscope.
+   * @param moduleStates The current state of all swerve modules. Please provide the states in the
+   *     same order in which you instantiated your SwerveDriveKinematics.
    * @return The new pose of the robot.
    */
   public Pose2d update(Rotation2d gyroAngle, SwerveModuleState... moduleStates) {
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveModuleState.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveModuleState.java
index 6fcde9f388..a3096da7f8 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveModuleState.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveModuleState.java
@@ -6,27 +6,18 @@ package edu.wpi.first.wpilibj.kinematics;
 
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 
-/**
- * Represents the state of one swerve module.
- */
+/** Represents the state of one swerve module. */
 @SuppressWarnings("MemberName")
 public class SwerveModuleState implements Comparable<SwerveModuleState> {
 
-  /**
-   * Speed of the wheel of the module.
-   */
+  /** Speed of the wheel of the module. */
   public double speedMetersPerSecond;
 
-  /**
-   * Angle of the module.
-   */
+  /** Angle of the module. */
   public Rotation2d angle = Rotation2d.fromDegrees(0);
 
-  /**
-   * Constructs a SwerveModuleState with zeros for speed and angle.
-   */
-  public SwerveModuleState() {
-  }
+  /** Constructs a SwerveModuleState with zeros for speed and angle. */
+  public SwerveModuleState() {}
 
   /**
    * Constructs a SwerveModuleState.
@@ -54,7 +45,7 @@ public class SwerveModuleState implements Comparable<SwerveModuleState> {
 
   @Override
   public String toString() {
-    return String.format("SwerveModuleState(Speed: %.2f m/s, Angle: %s)", speedMetersPerSecond,
-        angle);
+    return String.format(
+        "SwerveModuleState(Speed: %.2f m/s, Angle: %s)", speedMetersPerSecond, angle);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/math/Discretization.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/math/Discretization.java
index 0562e6fcd6..b32548730b 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/math/Discretization.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/math/Discretization.java
@@ -4,12 +4,11 @@
 
 package edu.wpi.first.wpilibj.math;
 
-import org.ejml.simple.SimpleMatrix;
-
 import edu.wpi.first.wpiutil.math.Matrix;
 import edu.wpi.first.wpiutil.math.Nat;
 import edu.wpi.first.wpiutil.math.Num;
 import edu.wpi.first.wpiutil.math.Pair;
+import org.ejml.simple.SimpleMatrix;
 
 @SuppressWarnings({"ParameterName", "MethodTypeParameterName"})
 public final class Discretization {
@@ -20,8 +19,8 @@ public final class Discretization {
   /**
    * Discretizes the given continuous A matrix.
    *
-   * @param <States>       Num representing the number of states.
-   * @param contA     Continuous system matrix.
+   * @param <States> Num representing the number of states.
+   * @param contA Continuous system matrix.
    * @param dtSeconds Discretization timestep.
    * @return the discrete matrix system.
    */
@@ -33,26 +32,25 @@ public final class Discretization {
   /**
    * Discretizes the given continuous A and B matrices.
    *
-   * <p>Rather than solving a (States + Inputs) x (States + Inputs) matrix
-   * exponential like in DiscretizeAB(), we take advantage of the structure of the
-   * block matrix of A and B.
+   * <p>Rather than solving a (States + Inputs) x (States + Inputs) matrix exponential like in
+   * DiscretizeAB(), we take advantage of the structure of the block matrix of A and B.
    *
-   * <p>1) The exponential of A*t, which is only N x N, is relatively cheap.
-   * 2) The upper-right quarter of the (States + Inputs) x (States + Inputs)
-   * matrix, which we can approximate using a taylor series to several terms
-   * and still be substantially cheaper than taking the big exponential.
+   * <p>1) The exponential of A*t, which is only N x N, is relatively cheap. 2) The upper-right
+   * quarter of the (States + Inputs) x (States + Inputs) matrix, which we can approximate using a
+   * taylor series to several terms and still be substantially cheaper than taking the big
+   * exponential.
    *
-   * @param states    Nat representing the states of the system.
-   * @param contA     Continuous system matrix.
-   * @param contB     Continuous input matrix.
+   * @param states Nat representing the states of the system.
+   * @param contA Continuous system matrix.
+   * @param contB Continuous input matrix.
    * @param dtseconds Discretization timestep.
    */
-  public static <States extends Num, Inputs extends Num> Pair<Matrix<States, States>,
-      Matrix<States, Inputs>>
-      discretizeABTaylor(Nat<States> states,
-                         Matrix<States, States> contA,
-                         Matrix<States, Inputs> contB,
-                         double dtseconds) {
+  public static <States extends Num, Inputs extends Num>
+      Pair<Matrix<States, States>, Matrix<States, Inputs>> discretizeABTaylor(
+          Nat<States> states,
+          Matrix<States, States> contA,
+          Matrix<States, Inputs> contB,
+          double dtseconds) {
     Matrix<States, States> lastTerm = Matrix.eye(states);
     double lastCoeff = dtseconds;
 
@@ -76,29 +74,25 @@ public final class Discretization {
   /**
    * Discretizes the given continuous A and Q matrices.
    *
-   * <p>Rather than solving a 2N x 2N matrix exponential like in DiscretizeQ() (which
-   * is expensive), we take advantage of the structure of the block matrix of A
-   * and Q.
+   * <p>Rather than solving a 2N x 2N matrix exponential like in DiscretizeQ() (which is expensive),
+   * we take advantage of the structure of the block matrix of A and Q.
    *
-   * <p>The exponential of A*t, which is only N x N, is relatively cheap.
-   * 2) The upper-right quarter of the 2N x 2N matrix, which we can approximate
-   * using a taylor series to several terms and still be substantially cheaper
-   * than taking the big exponential.
+   * <p>The exponential of A*t, which is only N x N, is relatively cheap. 2) The upper-right quarter
+   * of the 2N x 2N matrix, which we can approximate using a taylor series to several terms and
+   * still be substantially cheaper than taking the big exponential.
    *
-   * @param <States>       Nat representing the number of states.
-   * @param contA     Continuous system matrix.
-   * @param contQ     Continuous process noise covariance matrix.
+   * @param <States> Nat representing the number of states.
+   * @param contA Continuous system matrix.
+   * @param contQ Continuous process noise covariance matrix.
    * @param dtSeconds Discretization timestep.
    * @return a pair representing the discrete system matrix and process noise covariance matrix.
    */
   @SuppressWarnings("LocalVariableName")
-  public static <States extends Num> Pair<Matrix<States, States>,
-            Matrix<States, States>> discretizeAQTaylor(Matrix<States, States> contA,
-                                                       Matrix<States, States> contQ,
-                                                       double dtSeconds) {
+  public static <States extends Num>
+      Pair<Matrix<States, States>, Matrix<States, States>> discretizeAQTaylor(
+          Matrix<States, States> contA, Matrix<States, States> contQ, double dtSeconds) {
     Matrix<States, States> Q = (contQ.plus(contQ.transpose())).div(2.0);
 
-
     Matrix<States, States> lastTerm = Q.copy();
     double lastCoeff = dtSeconds;
 
@@ -126,11 +120,11 @@ public final class Discretization {
   }
 
   /**
-   * Returns a discretized version of the provided continuous measurement noise
-   * covariance matrix. Note that dt=0.0 divides R by zero.
+   * Returns a discretized version of the provided continuous measurement noise covariance matrix.
+   * Note that dt=0.0 divides R by zero.
    *
-   * @param <O>       Nat representing the number of outputs.
-   * @param R         Continuous measurement noise covariance matrix.
+   * @param <O> Nat representing the number of outputs.
+   * @param R Continuous measurement noise covariance matrix.
    * @param dtSeconds Discretization timestep.
    * @return Discretized version of the provided continuous measurement noise covariance matrix.
    */
@@ -141,19 +135,17 @@ public final class Discretization {
   /**
    * Discretizes the given continuous A and B matrices.
    *
-   * @param <States>       Nat representing the states of the system.
-   * @param <Inputs>       Nat representing the inputs to the system.
-   * @param contA     Continuous system matrix.
-   * @param contB     Continuous input matrix.
+   * @param <States> Nat representing the states of the system.
+   * @param <Inputs> Nat representing the inputs to the system.
+   * @param contA Continuous system matrix.
+   * @param contB Continuous input matrix.
    * @param dtSeconds Discretization timestep.
    * @return a Pair representing discA and diskB.
    */
   @SuppressWarnings("LocalVariableName")
-  public static <States extends Num, Inputs extends Num> Pair<Matrix<States, States>,
-            Matrix<States, Inputs>> discretizeAB(
-                                     Matrix<States, States> contA,
-                                     Matrix<States, Inputs> contB,
-                                     double dtSeconds) {
+  public static <States extends Num, Inputs extends Num>
+      Pair<Matrix<States, States>, Matrix<States, Inputs>> discretizeAB(
+          Matrix<States, States> contA, Matrix<States, Inputs> contB, double dtSeconds) {
     var scaledA = contA.times(dtSeconds);
     var scaledB = contB.times(dtSeconds);
 
@@ -163,10 +155,10 @@ public final class Discretization {
     Mcont.assignBlock(0, scaledA.getNumCols(), scaledB);
     var Mdisc = Mcont.exp();
 
-    var discA = new Matrix<States, States>(new SimpleMatrix(contB.getNumRows(),
-        contB.getNumRows()));
-    var discB = new Matrix<States, Inputs>(new SimpleMatrix(contB.getNumRows(),
-        contB.getNumCols()));
+    var discA =
+        new Matrix<States, States>(new SimpleMatrix(contB.getNumRows(), contB.getNumRows()));
+    var discB =
+        new Matrix<States, Inputs>(new SimpleMatrix(contB.getNumRows(), contB.getNumCols()));
 
     discA.extractFrom(0, 0, Mdisc);
     discB.extractFrom(0, contB.getNumRows(), Mdisc);
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/math/StateSpaceUtil.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/math/StateSpaceUtil.java
index a9ea125f8d..827927a598 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/math/StateSpaceUtil.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/math/StateSpaceUtil.java
@@ -4,10 +4,6 @@
 
 package edu.wpi.first.wpilibj.math;
 
-import java.util.Random;
-
-import org.ejml.simple.SimpleMatrix;
-
 import edu.wpi.first.math.WPIMathJNI;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpiutil.math.MathUtil;
@@ -18,6 +14,8 @@ import edu.wpi.first.wpiutil.math.VecBuilder;
 import edu.wpi.first.wpiutil.math.numbers.N1;
 import edu.wpi.first.wpiutil.math.numbers.N3;
 import edu.wpi.first.wpiutil.math.numbers.N4;
+import java.util.Random;
+import org.ejml.simple.SimpleMatrix;
 
 @SuppressWarnings("ParameterName")
 public final class StateSpaceUtil {
@@ -26,23 +24,20 @@ public final class StateSpaceUtil {
   }
 
   /**
-   * Creates a covariance matrix from the given vector for use with Kalman
-   * filters.
+   * Creates a covariance matrix from the given vector for use with Kalman filters.
    *
    * <p>Each element is squared and placed on the covariance matrix diagonal.
    *
-   * @param <States>     Num representing the states of the system.
-   * @param states  A Nat representing the states of the system.
-   * @param stdDevs For a Q matrix, its elements are the standard deviations of
-   *                each state from how the model behaves. For an R matrix, its
-   *                elements are the standard deviations for each output
-   *                measurement.
+   * @param <States> Num representing the states of the system.
+   * @param states A Nat representing the states of the system.
+   * @param stdDevs For a Q matrix, its elements are the standard deviations of each state from how
+   *     the model behaves. For an R matrix, its elements are the standard deviations for each
+   *     output measurement.
    * @return Process noise or measurement noise covariance matrix.
    */
   @SuppressWarnings("MethodTypeParameterName")
   public static <States extends Num> Matrix<States, States> makeCovarianceMatrix(
-      Nat<States> states, Matrix<States, N1> stdDevs
-  ) {
+      Nat<States> states, Matrix<States, N1> stdDevs) {
     var result = new Matrix<>(states, states);
     for (int i = 0; i < states.getNum(); i++) {
       result.set(i, i, Math.pow(stdDevs.get(i, 0), 2));
@@ -51,17 +46,15 @@ public final class StateSpaceUtil {
   }
 
   /**
-   * Creates a vector of normally distributed white noise with the given noise
-   * intensities for each element.
+   * Creates a vector of normally distributed white noise with the given noise intensities for each
+   * element.
    *
-   * @param <N>     Num representing the dimensionality of  the noise vector to create.
-   * @param stdDevs A matrix whose elements are the standard deviations of each
-   *                element of the noise vector.
+   * @param <N> Num representing the dimensionality of the noise vector to create.
+   * @param stdDevs A matrix whose elements are the standard deviations of each element of the noise
+   *     vector.
    * @return White noise vector.
    */
-  public static <N extends Num> Matrix<N, N1> makeWhiteNoiseVector(
-        Matrix<N, N1> stdDevs
-  ) {
+  public static <N extends Num> Matrix<N, N1> makeWhiteNoiseVector(Matrix<N, N1> stdDevs) {
     var rand = new Random();
 
     Matrix<N, N1> result = new Matrix<>(new SimpleMatrix(stdDevs.getNumRows(), 1));
@@ -74,19 +67,18 @@ public final class StateSpaceUtil {
   /**
    * Creates a cost matrix from the given vector for use with LQR.
    *
-   * <p>The cost matrix is constructed using Bryson's rule. The inverse square of
-   * each element in the input is taken and placed on the cost matrix diagonal.
+   * <p>The cost matrix is constructed using Bryson's rule. The inverse square of each element in
+   * the input is taken and placed on the cost matrix diagonal.
    *
-   * @param <States>   Nat representing the states of the system.
-   * @param costs An array. For a Q matrix, its elements are the maximum allowed
-   *              excursions of the states from the reference. For an R matrix,
-   *              its elements are the maximum allowed excursions of the control
-   *              inputs from no actuation.
+   * @param <States> Nat representing the states of the system.
+   * @param costs An array. For a Q matrix, its elements are the maximum allowed excursions of the
+   *     states from the reference. For an R matrix, its elements are the maximum allowed excursions
+   *     of the control inputs from no actuation.
    * @return State excursion or control effort cost matrix.
    */
   @SuppressWarnings("MethodTypeParameterName")
-  public static <States extends Num> Matrix<States, States>
-      makeCostMatrix(Matrix<States, N1> costs) {
+  public static <States extends Num> Matrix<States, States> makeCostMatrix(
+      Matrix<States, N1> costs) {
     Matrix<States, States> result =
         new Matrix<>(new SimpleMatrix(costs.getNumRows(), costs.getNumRows()));
     result.fill(0.0);
@@ -101,21 +93,20 @@ public final class StateSpaceUtil {
   /**
    * Returns true if (A, B) is a stabilizable pair.
    *
-   * <p>(A,B) is stabilizable if and only if the uncontrollable eigenvalues of A, if
-   * any, have absolute values less than one, where an eigenvalue is
-   * uncontrollable if rank(lambda * I - A, B) %3C n where n is number of states.
+   * <p>(A,B) is stabilizable if and only if the uncontrollable eigenvalues of A, if any, have
+   * absolute values less than one, where an eigenvalue is uncontrollable if rank(lambda * I - A, B)
+   * %3C n where n is number of states.
    *
    * @param <States> Num representing the size of A.
    * @param <Inputs> Num representing the columns of B.
-   * @param A   System matrix.
-   * @param B   Input matrix.
+   * @param A System matrix.
+   * @param B Input matrix.
    * @return If the system is stabilizable.
    */
   @SuppressWarnings("MethodTypeParameterName")
   public static <States extends Num, Inputs extends Num> boolean isStabilizable(
       Matrix<States, States> A, Matrix<States, Inputs> B) {
-    return WPIMathJNI.isStabilizable(A.getNumRows(), B.getNumCols(),
-            A.getData(), B.getData());
+    return WPIMathJNI.isStabilizable(A.getNumRows(), B.getNumCols(), A.getData(), B.getData());
   }
 
   /**
@@ -125,32 +116,24 @@ public final class StateSpaceUtil {
    * @return The given pose in vector form, with the third element, theta, in radians.
    */
   public static Matrix<N3, N1> poseToVector(Pose2d pose) {
-    return VecBuilder.fill(
-            pose.getX(),
-            pose.getY(),
-            pose.getRotation().getRadians()
-    );
+    return VecBuilder.fill(pose.getX(), pose.getY(), pose.getRotation().getRadians());
   }
 
   /**
    * Clamp the input u to the min and max.
    *
-   * @param u    The input to clamp.
+   * @param u The input to clamp.
    * @param umin The minimum input magnitude.
    * @param umax The maximum input magnitude.
-   * @param <I>  The number of inputs.
-   * @return     The clamped input.
+   * @param <I> The number of inputs.
+   * @return The clamped input.
    */
   @SuppressWarnings({"ParameterName", "LocalVariableName"})
-  public static <I extends Num> Matrix<I, N1> clampInputMaxMagnitude(Matrix<I, N1> u,
-                                                                     Matrix<I, N1> umin,
-                                                                     Matrix<I, N1> umax) {
+  public static <I extends Num> Matrix<I, N1> clampInputMaxMagnitude(
+      Matrix<I, N1> u, Matrix<I, N1> umin, Matrix<I, N1> umax) {
     var result = new Matrix<I, N1>(new SimpleMatrix(u.getNumRows(), 1));
     for (int i = 0; i < u.getNumRows(); i++) {
-      result.set(i, 0, MathUtil.clamp(
-            u.get(i, 0),
-            umin.get(i, 0),
-            umax.get(i, 0)));
+      result.set(i, 0, MathUtil.clamp(u.get(i, 0), umin.get(i, 0), umax.get(i, 0)));
     }
     return result;
   }
@@ -159,13 +142,13 @@ public final class StateSpaceUtil {
    * Normalize all inputs if any excedes the maximum magnitude. Useful for systems such as
    * differential drivetrains.
    *
-   * @param u            The input vector.
+   * @param u The input vector.
    * @param maxMagnitude The maximum magnitude any input can have.
-   * @param <I>          The number of inputs.
+   * @param <I> The number of inputs.
    * @return The normalizedInput
    */
-  public static <I extends Num> Matrix<I, N1> normalizeInputVector(Matrix<I, N1> u,
-                                                                   double maxMagnitude) {
+  public static <I extends Num> Matrix<I, N1> normalizeInputVector(
+      Matrix<I, N1> u, double maxMagnitude) {
     double maxValue = u.maxAbs();
     boolean isCapped = maxValue > maxMagnitude;
 
@@ -176,18 +159,17 @@ public final class StateSpaceUtil {
   }
 
   /**
-   * Convert a {@link Pose2d} to a vector of [x, y, cos(theta), sin(theta)],
-   * where theta is in radians.
+   * Convert a {@link Pose2d} to a vector of [x, y, cos(theta), sin(theta)], where theta is in
+   * radians.
    *
    * @param pose A pose to convert to a vector.
    */
   public static Matrix<N4, N1> poseTo4dVector(Pose2d pose) {
     return VecBuilder.fill(
-      pose.getTranslation().getX(),
-      pose.getTranslation().getY(),
-      pose.getRotation().getCos(),
-      pose.getRotation().getSin()
-    );
+        pose.getTranslation().getX(),
+        pose.getTranslation().getY(),
+        pose.getRotation().getCos(),
+        pose.getRotation().getSin());
   }
 
   /**
@@ -198,9 +180,8 @@ public final class StateSpaceUtil {
    */
   public static Matrix<N3, N1> poseTo3dVector(Pose2d pose) {
     return VecBuilder.fill(
-      pose.getTranslation().getX(),
-      pose.getTranslation().getY(),
-      pose.getRotation().getRadians()
-    );
+        pose.getTranslation().getX(),
+        pose.getTranslation().getY(),
+        pose.getRotation().getRadians());
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/CubicHermiteSpline.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/CubicHermiteSpline.java
index 02c570795a..1e64bfd95c 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/CubicHermiteSpline.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/CubicHermiteSpline.java
@@ -11,22 +11,20 @@ public class CubicHermiteSpline extends Spline {
   private final SimpleMatrix m_coefficients;
 
   /**
-   * Constructs a cubic hermite spline with the specified control vectors. Each
-   * control vector contains info about the location of the point and its first
-   * derivative.
+   * Constructs a cubic hermite spline with the specified control vectors. Each control vector
+   * contains info about the location of the point and its first derivative.
    *
-   * @param xInitialControlVector The control vector for the initial point in
-   *                              the x dimension.
-   * @param xFinalControlVector   The control vector for the final point in
-   *                              the x dimension.
-   * @param yInitialControlVector The control vector for the initial point in
-   *                              the y dimension.
-   * @param yFinalControlVector   The control vector for the final point in
-   *                              the y dimension.
+   * @param xInitialControlVector The control vector for the initial point in the x dimension.
+   * @param xFinalControlVector The control vector for the final point in the x dimension.
+   * @param yInitialControlVector The control vector for the initial point in the y dimension.
+   * @param yFinalControlVector The control vector for the final point in the y dimension.
    */
   @SuppressWarnings("ParameterName")
-  public CubicHermiteSpline(double[] xInitialControlVector, double[] xFinalControlVector,
-                            double[] yInitialControlVector, double[] yFinalControlVector) {
+  public CubicHermiteSpline(
+      double[] xInitialControlVector,
+      double[] xFinalControlVector,
+      double[] yInitialControlVector,
+      double[] yFinalControlVector) {
     super(3);
 
     // Populate the coefficients for the actual spline equations.
@@ -63,7 +61,6 @@ public class CubicHermiteSpline extends Spline {
       m_coefficients.set(4, i, m_coefficients.get(2, i) * (2 - i));
       m_coefficients.set(5, i, m_coefficients.get(3, i) * (2 - i));
     }
-
   }
 
   /**
@@ -83,30 +80,38 @@ public class CubicHermiteSpline extends Spline {
    */
   private SimpleMatrix makeHermiteBasis() {
     if (hermiteBasis == null) {
-      hermiteBasis = new SimpleMatrix(4, 4, true, new double[]{
-          +2.0, +1.0, -2.0, +1.0,
-          -3.0, -2.0, +3.0, -1.0,
-          +0.0, +1.0, +0.0, +0.0,
-          +1.0, +0.0, +0.0, +0.0
-        });
+      hermiteBasis =
+          new SimpleMatrix(
+              4,
+              4,
+              true,
+              new double[] {
+                +2.0, +1.0, -2.0, +1.0, -3.0, -2.0, +3.0, -1.0, +0.0, +1.0, +0.0, +0.0, +1.0, +0.0,
+                +0.0, +0.0
+              });
     }
     return hermiteBasis;
   }
 
   /**
-   * Returns the control vector for each dimension as a matrix from the
-   * user-provided arrays in the constructor.
+   * Returns the control vector for each dimension as a matrix from the user-provided arrays in the
+   * constructor.
    *
    * @param initialVector The control vector for the initial point.
-   * @param finalVector   The control vector for the final point.
+   * @param finalVector The control vector for the final point.
    * @return The control vector matrix for a dimension.
    */
   private SimpleMatrix getControlVectorFromArrays(double[] initialVector, double[] finalVector) {
     if (initialVector.length != 2 || finalVector.length != 2) {
       throw new IllegalArgumentException("Size of vectors must be 2");
     }
-    return new SimpleMatrix(4, 1, true, new double[]{
-        initialVector[0], initialVector[1],
-        finalVector[0], finalVector[1]});
+    return new SimpleMatrix(
+        4,
+        1,
+        true,
+        new double[] {
+          initialVector[0], initialVector[1],
+          finalVector[0], finalVector[1]
+        });
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/PoseWithCurvature.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/PoseWithCurvature.java
index e24a9ee9e1..1a1ce62be3 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/PoseWithCurvature.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/PoseWithCurvature.java
@@ -6,9 +6,7 @@ package edu.wpi.first.wpilibj.spline;
 
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 
-/**
- * Represents a pair of a pose and a curvature.
- */
+/** Represents a pair of a pose and a curvature. */
 @SuppressWarnings("MemberName")
 public class PoseWithCurvature {
   // Represents the pose.
@@ -20,7 +18,7 @@ public class PoseWithCurvature {
   /**
    * Constructs a PoseWithCurvature.
    *
-   * @param poseMeters           The pose.
+   * @param poseMeters The pose.
    * @param curvatureRadPerMeter The curvature.
    */
   public PoseWithCurvature(Pose2d poseMeters, double curvatureRadPerMeter) {
@@ -28,9 +26,7 @@ public class PoseWithCurvature {
     this.curvatureRadPerMeter = curvatureRadPerMeter;
   }
 
-  /**
-   * Constructs a PoseWithCurvature with default values.
-   */
+  /** Constructs a PoseWithCurvature with default values. */
   public PoseWithCurvature() {
     poseMeters = new Pose2d();
   }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSpline.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSpline.java
index 0ed7fc93ff..4f832103b0 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSpline.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSpline.java
@@ -11,22 +11,20 @@ public class QuinticHermiteSpline extends Spline {
   private final SimpleMatrix m_coefficients;
 
   /**
-   * Constructs a quintic hermite spline with the specified control vectors.
-   * Each control vector contains into about the location of the point, its
-   * first derivative, and its second derivative.
+   * Constructs a quintic hermite spline with the specified control vectors. Each control vector
+   * contains into about the location of the point, its first derivative, and its second derivative.
    *
-   * @param xInitialControlVector The control vector for the initial point in
-   *                              the x dimension.
-   * @param xFinalControlVector   The control vector for the final point in
-   *                              the x dimension.
-   * @param yInitialControlVector The control vector for the initial point in
-   *                              the y dimension.
-   * @param yFinalControlVector   The control vector for the final point in
-   *                              the y dimension.
+   * @param xInitialControlVector The control vector for the initial point in the x dimension.
+   * @param xFinalControlVector The control vector for the final point in the x dimension.
+   * @param yInitialControlVector The control vector for the initial point in the y dimension.
+   * @param yFinalControlVector The control vector for the final point in the y dimension.
    */
   @SuppressWarnings("ParameterName")
-  public QuinticHermiteSpline(double[] xInitialControlVector, double[] xFinalControlVector,
-                              double[] yInitialControlVector, double[] yFinalControlVector) {
+  public QuinticHermiteSpline(
+      double[] xInitialControlVector,
+      double[] xFinalControlVector,
+      double[] yInitialControlVector,
+      double[] yFinalControlVector) {
     super(5);
 
     // Populate the coefficients for the actual spline equations.
@@ -82,32 +80,39 @@ public class QuinticHermiteSpline extends Spline {
    */
   private SimpleMatrix makeHermiteBasis() {
     if (hermiteBasis == null) {
-      hermiteBasis = new SimpleMatrix(6, 6, true, new double[]{
-          -06.0, -03.0, -00.5, +06.0, -03.0, +00.5,
-          +15.0, +08.0, +01.5, -15.0, +07.0, +01.0,
-          -10.0, -06.0, -01.5, +10.0, -04.0, +00.5,
-          +00.0, +00.0, +00.5, +00.0, +00.0, +00.0,
-          +00.0, +01.0, +00.0, +00.0, +00.0, +00.0,
-          +01.0, +00.0, +00.0, +00.0, +00.0, +00.0
-        });
+      hermiteBasis =
+          new SimpleMatrix(
+              6,
+              6,
+              true,
+              new double[] {
+                -06.0, -03.0, -00.5, +06.0, -03.0, +00.5, +15.0, +08.0, +01.5, -15.0, +07.0, +01.0,
+                -10.0, -06.0, -01.5, +10.0, -04.0, +00.5, +00.0, +00.0, +00.5, +00.0, +00.0, +00.0,
+                +00.0, +01.0, +00.0, +00.0, +00.0, +00.0, +01.0, +00.0, +00.0, +00.0, +00.0, +00.0
+              });
     }
     return hermiteBasis;
   }
 
   /**
-   * Returns the control vector for each dimension as a matrix from the
-   * user-provided arrays in the constructor.
+   * Returns the control vector for each dimension as a matrix from the user-provided arrays in the
+   * constructor.
    *
    * @param initialVector The control vector for the initial point.
-   * @param finalVector   The control vector for the final point.
+   * @param finalVector The control vector for the final point.
    * @return The control vector matrix for a dimension.
    */
   private SimpleMatrix getControlVectorFromArrays(double[] initialVector, double[] finalVector) {
     if (initialVector.length != 3 || finalVector.length != 3) {
       throw new IllegalArgumentException("Size of vectors must be 3");
     }
-    return new SimpleMatrix(6, 1, true, new double[]{
-        initialVector[0], initialVector[1], initialVector[2],
-        finalVector[0], finalVector[1], finalVector[2]});
+    return new SimpleMatrix(
+        6,
+        1,
+        true,
+        new double[] {
+          initialVector[0], initialVector[1], initialVector[2],
+          finalVector[0], finalVector[1], finalVector[2]
+        });
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/Spline.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/Spline.java
index df999e3774..495d463781 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/Spline.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/Spline.java
@@ -4,17 +4,12 @@
 
 package edu.wpi.first.wpilibj.spline;
 
-import java.util.Arrays;
-
-import org.ejml.simple.SimpleMatrix;
-
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import java.util.Arrays;
+import org.ejml.simple.SimpleMatrix;
 
-/**
- * Represents a two-dimensional parametric spline that interpolates between two
- * points.
- */
+/** Represents a two-dimensional parametric spline that interpolates between two points. */
 public abstract class Spline {
   private final int m_degree;
 
@@ -79,20 +74,16 @@ public abstract class Spline {
     }
 
     // Find the curvature.
-    final double curvature =
-        (dx * ddy - ddx * dy) / ((dx * dx + dy * dy) * Math.hypot(dx, dy));
+    final double curvature = (dx * ddy - ddx * dy) / ((dx * dx + dy * dy) * Math.hypot(dx, dy));
 
-    return new PoseWithCurvature(
-        new Pose2d(x, y, new Rotation2d(dx, dy)),
-        curvature
-    );
+    return new PoseWithCurvature(new Pose2d(x, y, new Rotation2d(dx, dy)), curvature);
   }
 
   /**
    * Represents a control vector for a spline.
    *
-   * <p>Each element in each array represents the value of the derivative at the index. For
-   * example, the value of x[2] is the second derivative in the x dimension.
+   * <p>Each element in each array represents the value of the derivative at the index. For example,
+   * the value of x[2] is the second derivative in the x dimension.
    */
   @SuppressWarnings("MemberName")
   public static class ControlVector {
@@ -101,6 +92,7 @@ public abstract class Spline {
 
     /**
      * Instantiates a control vector.
+     *
      * @param x The x dimension of the control vector.
      * @param y The y dimension of the control vector.
      */
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/SplineHelper.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/SplineHelper.java
index a008554fb5..af9ee84ee3 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/SplineHelper.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/SplineHelper.java
@@ -4,31 +4,25 @@
 
 package edu.wpi.first.wpilibj.spline;
 
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj.geometry.Translation2d;
 import java.util.Arrays;
 import java.util.List;
 
-import edu.wpi.first.wpilibj.geometry.Pose2d;
-import edu.wpi.first.wpilibj.geometry.Translation2d;
-
 public final class SplineHelper {
-  /**
-   * Private constructor because this is a utility class.
-   */
-  private SplineHelper() {
-  }
+  /** Private constructor because this is a utility class. */
+  private SplineHelper() {}
 
   /**
-   * Returns 2 cubic control vectors from a set of exterior waypoints and
-   * interior translations.
+   * Returns 2 cubic control vectors from a set of exterior waypoints and interior translations.
    *
-   * @param start             The starting pose.
+   * @param start The starting pose.
    * @param interiorWaypoints The interior waypoints.
-   * @param end               The ending pose.
+   * @param end The ending pose.
    * @return 2 cubic control vectors.
    */
   public static Spline.ControlVector[] getCubicControlVectorsFromWaypoints(
-      Pose2d start, Translation2d[] interiorWaypoints, Pose2d end
-  ) {
+      Pose2d start, Translation2d[] interiorWaypoints, Pose2d end) {
     // Generate control vectors from poses.
     Spline.ControlVector initialCV;
     Spline.ControlVector endCV;
@@ -41,11 +35,11 @@ public final class SplineHelper {
     } else {
       double scalar = start.getTranslation().getDistance(interiorWaypoints[0]) * 1.2;
       initialCV = getCubicControlVector(scalar, start);
-      scalar = end.getTranslation().getDistance(interiorWaypoints[interiorWaypoints.length - 1])
-          * 1.2;
+      scalar =
+          end.getTranslation().getDistance(interiorWaypoints[interiorWaypoints.length - 1]) * 1.2;
       endCV = getCubicControlVector(scalar, end);
     }
-    return new Spline.ControlVector[]{initialCV, endCV};
+    return new Spline.ControlVector[] {initialCV, endCV};
   }
 
   /**
@@ -67,27 +61,29 @@ public final class SplineHelper {
       var controlVecA = getQuinticControlVector(scalar, p0);
       var controlVecB = getQuinticControlVector(scalar, p1);
 
-      splines[i]
-          = new QuinticHermiteSpline(controlVecA.x, controlVecB.x, controlVecA.y, controlVecB.y);
+      splines[i] =
+          new QuinticHermiteSpline(controlVecA.x, controlVecB.x, controlVecA.y, controlVecB.y);
     }
     return splines;
   }
 
   /**
-   * Returns a set of cubic splines corresponding to the provided control vectors. The
-   * user is free to set the direction of the start and end point. The
-   * directions for the middle waypoints are determined automatically to ensure
-   * continuous curvature throughout the path.
+   * Returns a set of cubic splines corresponding to the provided control vectors. The user is free
+   * to set the direction of the start and end point. The directions for the middle waypoints are
+   * determined automatically to ensure continuous curvature throughout the path.
    *
-   * @param start     The starting control vector.
-   * @param waypoints The middle waypoints. This can be left blank if you only
-   *                  wish to create a path with two waypoints.
-   * @param end       The ending control vector.
-   * @return A vector of cubic hermite splines that interpolate through the
-   *         provided waypoints and control vectors.
+   * @param start The starting control vector.
+   * @param waypoints The middle waypoints. This can be left blank if you only wish to create a path
+   *     with two waypoints.
+   * @param end The ending control vector.
+   * @return A vector of cubic hermite splines that interpolate through the provided waypoints and
+   *     control vectors.
    */
-  @SuppressWarnings({"LocalVariableName", "PMD.ExcessiveMethodLength",
-                        "PMD.AvoidInstantiatingObjectsInLoops"})
+  @SuppressWarnings({
+    "LocalVariableName",
+    "PMD.ExcessiveMethodLength",
+    "PMD.AvoidInstantiatingObjectsInLoops"
+  })
   public static CubicHermiteSpline[] getCubicSplinesFromControlVectors(
       Spline.ControlVector start, Translation2d[] waypoints, Spline.ControlVector end) {
 
@@ -151,10 +147,12 @@ public final class SplineHelper {
         }
       }
 
-      dx[dx.length - 1] = 3 * (newWaypts[newWaypts.length - 1].getX()
-          - newWaypts[newWaypts.length - 3].getX()) - xFinal[1];
-      dy[dy.length - 1] = 3 * (newWaypts[newWaypts.length - 1].getY()
-          - newWaypts[newWaypts.length - 3].getY()) - yFinal[1];
+      dx[dx.length - 1] =
+          3 * (newWaypts[newWaypts.length - 1].getX() - newWaypts[newWaypts.length - 3].getX())
+              - xFinal[1];
+      dy[dy.length - 1] =
+          3 * (newWaypts[newWaypts.length - 1].getY() - newWaypts[newWaypts.length - 3].getY())
+              - yFinal[1];
 
       // Compute solution to tridiagonal system
       thomasAlgorithm(a, b, c, dx, fx);
@@ -171,45 +169,44 @@ public final class SplineHelper {
       newFy[newFy.length - 1] = yFinal[1];
 
       for (int i = 0; i < newFx.length - 1; i++) {
-        splines[i] = new CubicHermiteSpline(
-            new double[]{newWaypts[i].getX(), newFx[i]},
-            new double[]{newWaypts[i + 1].getX(), newFx[i + 1]},
-            new double[]{newWaypts[i].getY(), newFy[i]},
-            new double[]{newWaypts[i + 1].getY(), newFy[i + 1]}
-        );
+        splines[i] =
+            new CubicHermiteSpline(
+                new double[] {newWaypts[i].getX(), newFx[i]},
+                new double[] {newWaypts[i + 1].getX(), newFx[i + 1]},
+                new double[] {newWaypts[i].getY(), newFy[i]},
+                new double[] {newWaypts[i + 1].getY(), newFy[i + 1]});
       }
     } else if (waypoints.length == 1) {
-      final var xDeriv = (3 * (xFinal[0]
-          - xInitial[0])
-          - xFinal[1] - xInitial[1])
-          / 4.0;
-      final var yDeriv = (3 * (yFinal[0]
-          - yInitial[0])
-          - yFinal[1] - yInitial[1])
-          / 4.0;
+      final var xDeriv = (3 * (xFinal[0] - xInitial[0]) - xFinal[1] - xInitial[1]) / 4.0;
+      final var yDeriv = (3 * (yFinal[0] - yInitial[0]) - yFinal[1] - yInitial[1]) / 4.0;
 
       double[] midXControlVector = {waypoints[0].getX(), xDeriv};
       double[] midYControlVector = {waypoints[0].getY(), yDeriv};
 
-      splines[0] = new CubicHermiteSpline(xInitial, midXControlVector,
-                                          yInitial, midYControlVector);
-      splines[1] = new CubicHermiteSpline(midXControlVector, xFinal,
-                                          midYControlVector, yFinal);
+      splines[0] =
+          new CubicHermiteSpline(
+              xInitial, midXControlVector,
+              yInitial, midYControlVector);
+      splines[1] =
+          new CubicHermiteSpline(
+              midXControlVector, xFinal,
+              midYControlVector, yFinal);
     } else {
-      splines[0] = new CubicHermiteSpline(xInitial, xFinal,
-                                          yInitial, yFinal);
+      splines[0] =
+          new CubicHermiteSpline(
+              xInitial, xFinal,
+              yInitial, yFinal);
     }
     return splines;
   }
 
   /**
-   * Returns a set of quintic splines corresponding to the provided control vectors.
-   * The user is free to set the direction of all control vectors. Continuous
-   * curvature is guaranteed throughout the path.
+   * Returns a set of quintic splines corresponding to the provided control vectors. The user is
+   * free to set the direction of all control vectors. Continuous curvature is guaranteed throughout
+   * the path.
    *
    * @param controlVectors The control vectors.
-   * @return A vector of quintic hermite splines that interpolate through the
-   *         provided waypoints.
+   * @return A vector of quintic hermite splines that interpolate through the provided waypoints.
    */
   @SuppressWarnings({"LocalVariableName", "PMD.AvoidInstantiatingObjectsInLoops"})
   public static QuinticHermiteSpline[] getQuinticSplinesFromControlVectors(
@@ -220,8 +217,10 @@ public final class SplineHelper {
       var xFinal = controlVectors[i + 1].x;
       var yInitial = controlVectors[i].y;
       var yFinal = controlVectors[i + 1].y;
-      splines[i] = new QuinticHermiteSpline(xInitial, xFinal,
-                                            yInitial, yFinal);
+      splines[i] =
+          new QuinticHermiteSpline(
+              xInitial, xFinal,
+              yInitial, yFinal);
     }
     return splines;
   }
@@ -229,15 +228,15 @@ public final class SplineHelper {
   /**
    * Thomas algorithm for solving tridiagonal systems Af = d.
    *
-   * @param a              the values of A above the diagonal
-   * @param b              the values of A on the diagonal
-   * @param c              the values of A below the diagonal
-   * @param d              the vector on the rhs
+   * @param a the values of A above the diagonal
+   * @param b the values of A on the diagonal
+   * @param c the values of A below the diagonal
+   * @param d the vector on the rhs
    * @param solutionVector the unknown (solution) vector, modified in-place
    */
   @SuppressWarnings({"ParameterName", "LocalVariableName"})
-  private static void thomasAlgorithm(double[] a, double[] b,
-                                      double[] c, double[] d, double[] solutionVector) {
+  private static void thomasAlgorithm(
+      double[] a, double[] b, double[] c, double[] d, double[] solutionVector) {
     int N = d.length;
 
     double[] cStar = new double[N];
@@ -263,15 +262,13 @@ public final class SplineHelper {
 
   private static Spline.ControlVector getCubicControlVector(double scalar, Pose2d point) {
     return new Spline.ControlVector(
-        new double[]{point.getX(), scalar * point.getRotation().getCos()},
-        new double[]{point.getY(), scalar * point.getRotation().getSin()}
-    );
+        new double[] {point.getX(), scalar * point.getRotation().getCos()},
+        new double[] {point.getY(), scalar * point.getRotation().getSin()});
   }
 
   private static Spline.ControlVector getQuinticControlVector(double scalar, Pose2d point) {
     return new Spline.ControlVector(
-        new double[]{point.getX(), scalar * point.getRotation().getCos(), 0.0},
-        new double[]{point.getY(), scalar * point.getRotation().getSin(), 0.0}
-    );
+        new double[] {point.getX(), scalar * point.getRotation().getCos(), 0.0},
+        new double[] {point.getY(), scalar * point.getRotation().getSin(), 0.0});
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/SplineParameterizer.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/SplineParameterizer.java
index e70606ba42..23675bcb08 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/SplineParameterizer.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/SplineParameterizer.java
@@ -32,19 +32,17 @@ import java.util.ArrayDeque;
 import java.util.ArrayList;
 import java.util.List;
 
-/**
- * Class used to parameterize a spline by its arc length.
- */
+/** Class used to parameterize a spline by its arc length. */
 public final class SplineParameterizer {
   private static final double kMaxDx = 0.127;
   private static final double kMaxDy = 0.00127;
   private static final double kMaxDtheta = 0.0872;
 
   /**
-   * A malformed spline does not actually explode the LIFO stack size. Instead, the stack size
-   * stays at a relatively small number (e.g. 30) and never decreases. Because of this, we must
-   * count iterations. Even long, complex paths don't usually go over 300 iterations, so hitting
-   * this maximum should definitely indicate something has gone wrong.
+   * A malformed spline does not actually explode the LIFO stack size. Instead, the stack size stays
+   * at a relatively small number (e.g. 30) and never decreases. Because of this, we must count
+   * iterations. Even long, complex paths don't usually go over 300 iterations, so hitting this
+   * maximum should definitely indicate something has gone wrong.
    */
   private static final int kMaxIterations = 5000;
 
@@ -71,35 +69,32 @@ public final class SplineParameterizer {
     }
   }
 
-  /**
-   * Private constructor because this is a utility class.
-   */
-  private SplineParameterizer() {
-  }
+  /** Private constructor because this is a utility class. */
+  private SplineParameterizer() {}
 
   /**
-   * Parameterizes the spline. This method breaks up the spline into various
-   * arcs until their dx, dy, and dtheta are within specific tolerances.
+   * Parameterizes the spline. This method breaks up the spline into various arcs until their dx,
+   * dy, and dtheta are within specific tolerances.
    *
    * @param spline The spline to parameterize.
    * @return A list of poses and curvatures that represents various points on the spline.
    * @throws MalformedSplineException When the spline is malformed (e.g. has close adjacent points
-   *                                  with approximately opposing headings)
+   *     with approximately opposing headings)
    */
   public static List<PoseWithCurvature> parameterize(Spline spline) {
     return parameterize(spline, 0.0, 1.0);
   }
 
   /**
-   * Parameterizes the spline. This method breaks up the spline into various
-   * arcs until their dx, dy, and dtheta are within specific tolerances.
+   * Parameterizes the spline. This method breaks up the spline into various arcs until their dx,
+   * dy, and dtheta are within specific tolerances.
    *
    * @param spline The spline to parameterize.
-   * @param t0     Starting internal spline parameter. It is recommended to use 0.0.
-   * @param t1     Ending internal spline parameter. It is recommended to use 1.0.
-   * @return       A list of poses and curvatures that represents various points on the spline.
+   * @param t0 Starting internal spline parameter. It is recommended to use 0.0.
+   * @param t1 Ending internal spline parameter. It is recommended to use 1.0.
+   * @return A list of poses and curvatures that represents various points on the spline.
    * @throws MalformedSplineException When the spline is malformed (e.g. has close adjacent points
-   *                                  with approximately opposing headings)
+   *     with approximately opposing headings)
    */
   @SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
   public static List<PoseWithCurvature> parameterize(Spline spline, double t0, double t1) {
@@ -124,11 +119,9 @@ public final class SplineParameterizer {
       end = spline.getPoint(current.t1);
 
       final var twist = start.poseMeters.log(end.poseMeters);
-      if (
-          Math.abs(twist.dy) > kMaxDy
+      if (Math.abs(twist.dy) > kMaxDy
           || Math.abs(twist.dx) > kMaxDx
-          || Math.abs(twist.dtheta) > kMaxDtheta
-      ) {
+          || Math.abs(twist.dtheta) > kMaxDtheta) {
         stack.addFirst(new StackContents((current.t0 + current.t1) / 2, current.t1));
         stack.addFirst(new StackContents(current.t0, (current.t0 + current.t1) / 2));
       } else {
@@ -138,10 +131,9 @@ public final class SplineParameterizer {
       iterations++;
       if (iterations >= kMaxIterations) {
         throw new MalformedSplineException(
-          "Could not parameterize a malformed spline. "
-          + "This means that you probably had two or more adjacent waypoints that were very close "
-          + "together with headings in opposing directions."
-        );
+            "Could not parameterize a malformed spline. This means that you probably had two or "
+                + " more adjacent waypoints that were very close together with headings in "
+                + "opposing directions.");
       }
     }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/system/LinearSystem.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/system/LinearSystem.java
index 9f1dae4b10..bd20199b85 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/system/LinearSystem.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/system/LinearSystem.java
@@ -10,44 +10,38 @@ import edu.wpi.first.wpiutil.math.Num;
 import edu.wpi.first.wpiutil.math.numbers.N1;
 
 @SuppressWarnings("ClassTypeParameterName")
-public class LinearSystem<States extends Num, Inputs extends Num,
-        Outputs extends Num> {
+public class LinearSystem<States extends Num, Inputs extends Num, Outputs extends Num> {
 
-  /**
-   * Continuous system matrix.
-   */
+  /** Continuous system matrix. */
   @SuppressWarnings("MemberName")
   private final Matrix<States, States> m_A;
 
-  /**
-   * Continuous input matrix.
-   */
+  /** Continuous input matrix. */
   @SuppressWarnings("MemberName")
   private final Matrix<States, Inputs> m_B;
 
-  /**
-   * Output matrix.
-   */
+  /** Output matrix. */
   @SuppressWarnings("MemberName")
   private final Matrix<Outputs, States> m_C;
 
-  /**
-   * Feedthrough matrix.
-   */
+  /** Feedthrough matrix. */
   @SuppressWarnings("MemberName")
   private final Matrix<Outputs, Inputs> m_D;
 
   /**
    * Construct a new LinearSystem from the four system matrices.
    *
-   * @param a             The system matrix A.
-   * @param b             The input matrix B.
-   * @param c             The output matrix C.
-   * @param d             The feedthrough matrix D.
+   * @param a The system matrix A.
+   * @param b The input matrix B.
+   * @param c The output matrix C.
+   * @param d The feedthrough matrix D.
    */
   @SuppressWarnings("ParameterName")
-  public LinearSystem(Matrix<States, States> a, Matrix<States, Inputs> b,
-                      Matrix<Outputs, States> c, Matrix<Outputs, Inputs> d) {
+  public LinearSystem(
+      Matrix<States, States> a,
+      Matrix<States, Inputs> b,
+      Matrix<Outputs, States> c,
+      Matrix<Outputs, Inputs> d) {
 
     this.m_A = a;
     this.m_B = b;
@@ -138,17 +132,16 @@ public class LinearSystem<States extends Num, Inputs extends Num,
   /**
    * Computes the new x given the old x and the control input.
    *
-   * <p>This is used by state observers directly to run updates based on state
-   * estimate.
+   * <p>This is used by state observers directly to run updates based on state estimate.
    *
-   * @param x         The current state.
-   * @param clampedU  The control input.
+   * @param x The current state.
+   * @param clampedU The control input.
    * @param dtSeconds Timestep for model update.
    * @return the updated x.
    */
   @SuppressWarnings("ParameterName")
-  public Matrix<States, N1> calculateX(Matrix<States, N1> x, Matrix<Inputs, N1> clampedU,
-                                       double dtSeconds) {
+  public Matrix<States, N1> calculateX(
+      Matrix<States, N1> x, Matrix<Inputs, N1> clampedU, double dtSeconds) {
     var discABpair = Discretization.discretizeAB(m_A, m_B, dtSeconds);
 
     return (discABpair.getFirst().times(x)).plus(discABpair.getSecond().times(clampedU));
@@ -157,23 +150,21 @@ public class LinearSystem<States extends Num, Inputs extends Num,
   /**
    * Computes the new y given the control input.
    *
-   * <p>This is used by state observers directly to run updates based on state
-   * estimate.
+   * <p>This is used by state observers directly to run updates based on state estimate.
    *
    * @param x The current state.
    * @param clampedU The control input.
    * @return the updated output matrix Y.
    */
   @SuppressWarnings("ParameterName")
-  public Matrix<Outputs, N1> calculateY(
-          Matrix<States, N1> x,
-          Matrix<Inputs, N1> clampedU) {
+  public Matrix<Outputs, N1> calculateY(Matrix<States, N1> x, Matrix<Inputs, N1> clampedU) {
     return m_C.times(x).plus(m_D.times(clampedU));
   }
 
   @Override
   public String toString() {
-    return String.format("Linear System: A\n%s\n\nB:\n%s\n\nC:\n%s\n\nD:\n%s\n", m_A.toString(),
-            m_B.toString(), m_C.toString(), m_D.toString());
+    return String.format(
+        "Linear System: A\n%s\n\nB:\n%s\n\nC:\n%s\n\nD:\n%s\n",
+        m_A.toString(), m_B.toString(), m_C.toString(), m_D.toString());
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/system/LinearSystemLoop.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/system/LinearSystemLoop.java
index 93f90cda7a..a40a63f4e4 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/system/LinearSystemLoop.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/system/LinearSystemLoop.java
@@ -4,11 +4,6 @@
 
 package edu.wpi.first.wpilibj.system;
 
-import java.util.function.Function;
-
-import org.ejml.MatrixDimensionException;
-import org.ejml.simple.SimpleMatrix;
-
 import edu.wpi.first.wpilibj.controller.LinearPlantInversionFeedforward;
 import edu.wpi.first.wpilibj.controller.LinearQuadraticRegulator;
 import edu.wpi.first.wpilibj.estimator.KalmanFilter;
@@ -16,24 +11,25 @@ import edu.wpi.first.wpilibj.math.StateSpaceUtil;
 import edu.wpi.first.wpiutil.math.Matrix;
 import edu.wpi.first.wpiutil.math.Num;
 import edu.wpi.first.wpiutil.math.numbers.N1;
+import java.util.function.Function;
+import org.ejml.MatrixDimensionException;
+import org.ejml.simple.SimpleMatrix;
 
 /**
- * Combines a controller, feedforward, and observer for controlling a mechanism with
- * full state feedback.
+ * Combines a controller, feedforward, and observer for controlling a mechanism with full state
+ * feedback.
  *
- * <p>For everything in this file, "inputs" and "outputs" are defined from the
- * perspective of the plant. This means U is an input and Y is an output
- * (because you give the plant U (powers) and it gives you back a Y (sensor
- * values). This is the opposite of what they mean from the perspective 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 everything in this file, "inputs" and "outputs" are defined from the perspective of the
+ * plant. This means U is an input and Y is an output (because you give the plant U (powers) and it
+ * gives you back a Y (sensor values). This is the opposite of what they mean from the perspective
+ * 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.
  */
 @SuppressWarnings("ClassTypeParameterName")
-public class LinearSystemLoop<States extends Num, Inputs extends Num,
-        Outputs extends Num> {
+public class LinearSystemLoop<States extends Num, Inputs extends Num, Outputs extends Num> {
 
   private final LinearQuadraticRegulator<States, Inputs, Outputs> m_controller;
   private final LinearPlantInversionFeedforward<States, Inputs, Outputs> m_feedforward;
@@ -42,81 +38,91 @@ public class LinearSystemLoop<States extends Num, Inputs extends Num,
   private Function<Matrix<Inputs, N1>, Matrix<Inputs, N1>> m_clampFunction;
 
   /**
-   * Constructs a state-space loop with the given plant, controller, and
-   * observer. By default, the initial reference is all zeros. Users should
-   * call reset with the initial system state before enabling the loop. This
-   * constructor assumes that the input(s) to this system are voltage.
+   * Constructs a state-space loop with the given plant, controller, and observer. By default, the
+   * initial reference is all zeros. Users should call reset with the initial system state before
+   * enabling the loop. This constructor assumes that the input(s) to this system are voltage.
    *
-   * @param plant      State-space plant.
+   * @param plant State-space plant.
    * @param controller State-space controller.
-   * @param observer   State-space observer.
+   * @param observer State-space observer.
    * @param maxVoltageVolts The maximum voltage that can be applied. Commonly 12.
    * @param dtSeconds The nominal timestep.
    */
-  public LinearSystemLoop(LinearSystem<States, Inputs, Outputs> plant,
-                          LinearQuadraticRegulator<States, Inputs, Outputs> controller,
-                          KalmanFilter<States, Inputs, Outputs> observer,
-                          double maxVoltageVolts,
-                          double dtSeconds) {
-    this(controller,
-        new LinearPlantInversionFeedforward<>(plant, dtSeconds), observer,
+  public LinearSystemLoop(
+      LinearSystem<States, Inputs, Outputs> plant,
+      LinearQuadraticRegulator<States, Inputs, Outputs> controller,
+      KalmanFilter<States, Inputs, Outputs> observer,
+      double maxVoltageVolts,
+      double dtSeconds) {
+    this(
+        controller,
+        new LinearPlantInversionFeedforward<>(plant, dtSeconds),
+        observer,
         u -> StateSpaceUtil.normalizeInputVector(u, maxVoltageVolts));
   }
 
   /**
-   * Constructs a state-space loop with the given plant, controller, and
-   * observer. By default, the initial reference is all zeros. Users should
-   * call reset with the initial system state before enabling the loop.
+   * Constructs a state-space loop with the given plant, controller, and observer. By default, the
+   * initial reference is all zeros. Users should call reset with the initial system state before
+   * enabling the loop.
    *
-   * @param plant      State-space plant.
+   * @param plant State-space plant.
    * @param controller State-space controller.
-   * @param observer   State-space observer.
+   * @param observer State-space observer.
    * @param clampFunction The function used to clamp the input U.
    * @param dtSeconds The nominal timestep.
    */
-  public LinearSystemLoop(LinearSystem<States, Inputs, Outputs> plant,
-                          LinearQuadraticRegulator<States, Inputs, Outputs> controller,
-                          KalmanFilter<States, Inputs, Outputs> observer,
-                          Function<Matrix<Inputs, N1>, Matrix<Inputs, N1>> clampFunction,
-                          double dtSeconds) {
-    this(controller, new LinearPlantInversionFeedforward<>(plant, dtSeconds),
-          observer, clampFunction);
+  public LinearSystemLoop(
+      LinearSystem<States, Inputs, Outputs> plant,
+      LinearQuadraticRegulator<States, Inputs, Outputs> controller,
+      KalmanFilter<States, Inputs, Outputs> observer,
+      Function<Matrix<Inputs, N1>, Matrix<Inputs, N1>> clampFunction,
+      double dtSeconds) {
+    this(
+        controller,
+        new LinearPlantInversionFeedforward<>(plant, dtSeconds),
+        observer,
+        clampFunction);
   }
 
   /**
-   * Constructs a state-space loop with the given controller, feedforward and
-   * observer. By default, the initial reference is all zeros. Users should
-   * call reset with the initial system state before enabling the loop.
+   * Constructs a state-space loop with the given controller, feedforward and observer. By default,
+   * the initial reference is all zeros. Users should call reset with the initial system state
+   * before enabling the loop.
    *
    * @param controller State-space controller.
    * @param feedforward Plant inversion feedforward.
-   * @param observer   State-space observer.
-   * @param maxVoltageVolts The maximum voltage that can be applied. Assumes that the
-   *                        inputs are voltages.
+   * @param observer State-space observer.
+   * @param maxVoltageVolts The maximum voltage that can be applied. Assumes that the inputs are
+   *     voltages.
    */
-  public LinearSystemLoop(LinearQuadraticRegulator<States, Inputs, Outputs> controller,
-                          LinearPlantInversionFeedforward<States, Inputs, Outputs> feedforward,
-                          KalmanFilter<States, Inputs, Outputs> observer,
-                          double maxVoltageVolts
-  ) {
-    this(controller, feedforward,
-          observer, u -> StateSpaceUtil.normalizeInputVector(u, maxVoltageVolts));
+  public LinearSystemLoop(
+      LinearQuadraticRegulator<States, Inputs, Outputs> controller,
+      LinearPlantInversionFeedforward<States, Inputs, Outputs> feedforward,
+      KalmanFilter<States, Inputs, Outputs> observer,
+      double maxVoltageVolts) {
+    this(
+        controller,
+        feedforward,
+        observer,
+        u -> StateSpaceUtil.normalizeInputVector(u, maxVoltageVolts));
   }
 
   /**
-   * Constructs a state-space loop with the given controller, feedforward, and
-   * observer. By default, the initial reference is all zeros. Users should
-   * call reset with the initial system state before enabling the loop.
+   * Constructs a state-space loop with the given controller, feedforward, and observer. By default,
+   * the initial reference is all zeros. Users should call reset with the initial system state
+   * before enabling the loop.
    *
    * @param controller State-space controller.
    * @param feedforward Plant inversion feedforward.
-   * @param observer   State-space observer.
+   * @param observer State-space observer.
    * @param clampFunction The function used to clamp the input U.
    */
-  public LinearSystemLoop(LinearQuadraticRegulator<States, Inputs, Outputs> controller,
-                          LinearPlantInversionFeedforward<States, Inputs, Outputs> feedforward,
-                          KalmanFilter<States, Inputs, Outputs> observer,
-                          Function<Matrix<Inputs, N1>, Matrix<Inputs, N1>> clampFunction) {
+  public LinearSystemLoop(
+      LinearQuadraticRegulator<States, Inputs, Outputs> controller,
+      LinearPlantInversionFeedforward<States, Inputs, Outputs> feedforward,
+      KalmanFilter<States, Inputs, Outputs> observer,
+      Function<Matrix<Inputs, N1>, Matrix<Inputs, N1>> clampFunction) {
     this.m_controller = controller;
     this.m_feedforward = feedforward;
     this.m_observer = observer;
@@ -157,7 +163,7 @@ public class LinearSystemLoop<States extends Num, Inputs extends Num,
   /**
    * Set an element of the initial state estimate x-hat.
    *
-   * @param row   Row of x-hat.
+   * @param row Row of x-hat.
    * @param value Value for element of x-hat.
    */
   public void setXHat(int row, double value) {
@@ -199,10 +205,11 @@ public class LinearSystemLoop<States extends Num, Inputs extends Num,
    */
   public void setNextR(double... nextR) {
     if (nextR.length != m_nextR.getNumRows()) {
-      throw new MatrixDimensionException(String.format("The next reference does not have the "
-                      + "correct number of entries! Expected %s, but got %s.",
-              m_nextR.getNumRows(),
-              nextR.length));
+      throw new MatrixDimensionException(
+          String.format(
+              "The next reference does not have the "
+                  + "correct number of entries! Expected %s, but got %s.",
+              m_nextR.getNumRows(), nextR.length));
     }
     m_nextR = new Matrix<>(new SimpleMatrix(m_nextR.getNumRows(), 1, true, nextR));
   }
@@ -254,9 +261,9 @@ public class LinearSystemLoop<States extends Num, Inputs extends Num,
   }
 
   /**
-   * Zeroes reference r and controller output u. The previous reference
-   * of the PlantInversionFeedforward and the initial state estimate of
-   * the KalmanFilter are set to the initial state provided.
+   * Zeroes reference r and controller output u. The previous reference of the
+   * PlantInversionFeedforward and the initial state estimate of the KalmanFilter are set to the
+   * initial state provided.
    *
    * @param initialState The initial state.
    */
@@ -288,15 +295,14 @@ public class LinearSystemLoop<States extends Num, Inputs extends Num,
 
   /**
    * Get the function used to clamp the input u.
+   *
    * @return The clamping function.
    */
   public Function<Matrix<Inputs, N1>, Matrix<Inputs, N1>> getClampFunction() {
     return m_clampFunction;
   }
 
-  /**
-   * Set the clamping function used to clamp inputs.
-   */
+  /** Set the clamping function used to clamp inputs. */
   public void setClampFunction(Function<Matrix<Inputs, N1>, Matrix<Inputs, N1>> clampFunction) {
     this.m_clampFunction = clampFunction;
   }
@@ -312,18 +318,19 @@ public class LinearSystemLoop<States extends Num, Inputs extends Num,
   }
 
   /**
-   * Sets new controller output, projects model forward, and runs observer
-   * prediction.
+   * Sets new controller output, projects model forward, and runs observer prediction.
    *
-   * <p>After calling this, the user should send the elements of u to the
-   * actuators.
+   * <p>After calling this, the user should send the elements of u to the actuators.
    *
    * @param dtSeconds Timestep for model update.
    */
   @SuppressWarnings("LocalVariableName")
   public void predict(double dtSeconds) {
-    var u = clampInput(m_controller.calculate(getObserver().getXhat(), m_nextR)
-          .plus(m_feedforward.calculate(m_nextR)));
+    var u =
+        clampInput(
+            m_controller
+                .calculate(getObserver().getXhat(), m_nextR)
+                .plus(m_feedforward.calculate(m_nextR)));
     getObserver().predict(u, dtSeconds);
   }
 
@@ -331,10 +338,9 @@ public class LinearSystemLoop<States extends Num, Inputs extends Num,
    * Clamp the input u to the min and max.
    *
    * @param unclampedU The input to clamp.
-   * @return           The clamped input.
+   * @return The clamped input.
    */
   public Matrix<Inputs, N1> clampInput(Matrix<Inputs, N1> unclampedU) {
     return m_clampFunction.apply(unclampedU);
   }
-
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/system/NumericalJacobian.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/system/NumericalJacobian.java
index 4d416ab397..97ef58ba09 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/system/NumericalJacobian.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/system/NumericalJacobian.java
@@ -4,13 +4,12 @@
 
 package edu.wpi.first.wpilibj.system;
 
-import java.util.function.BiFunction;
-import java.util.function.Function;
-
 import edu.wpi.first.wpiutil.math.Matrix;
 import edu.wpi.first.wpiutil.math.Nat;
 import edu.wpi.first.wpiutil.math.Num;
 import edu.wpi.first.wpiutil.math.numbers.N1;
+import java.util.function.BiFunction;
+import java.util.function.Function;
 
 public final class NumericalJacobian {
   private NumericalJacobian() {
@@ -22,23 +21,22 @@ public final class NumericalJacobian {
   /**
    * Computes the numerical Jacobian with respect to x for f(x).
    *
-   * @param <Rows>   Number of rows in the result of f(x).
+   * @param <Rows> Number of rows in the result of f(x).
    * @param <States> Num representing the number of rows in the output of f.
-   * @param <Cols>   Number of columns in the result of f(x).
-   * @param rows     Number of rows in the result of f(x).
-   * @param cols     Number of columns in the result of f(x).
-   * @param f        Vector-valued function from which to compute the Jacobian.
-   * @param x        Vector argument.
+   * @param <Cols> Number of columns in the result of f(x).
+   * @param rows Number of rows in the result of f(x).
+   * @param cols Number of columns in the result of f(x).
+   * @param f Vector-valued function from which to compute the Jacobian.
+   * @param x Vector argument.
    * @return The numerical Jacobian with respect to x for f(x, u, ...).
    */
   @SuppressWarnings({"ParameterName", "MethodTypeParameterName"})
-  public static <Rows extends Num, Cols extends Num, States extends Num> Matrix<Rows, Cols>
-      numericalJacobian(
+  public static <Rows extends Num, Cols extends Num, States extends Num>
+      Matrix<Rows, Cols> numericalJacobian(
           Nat<Rows> rows,
           Nat<Cols> cols,
           Function<Matrix<Cols, N1>, Matrix<States, N1>> f,
-          Matrix<Cols, N1> x
-  ) {
+          Matrix<Cols, N1> x) {
     var result = new Matrix<>(rows, cols);
 
     for (int i = 0; i < cols.getNum(); i++) {
@@ -58,15 +56,15 @@ public final class NumericalJacobian {
   /**
    * Returns numerical Jacobian with respect to x for f(x, u, ...).
    *
-   * @param <Rows>    Number of rows in the result of f(x, u).
-   * @param <States>  Number of rows in x.
-   * @param <Inputs>  Number of rows in the second input to f.
+   * @param <Rows> Number of rows in the result of f(x, u).
+   * @param <States> Number of rows in x.
+   * @param <Inputs> Number of rows in the second input to f.
    * @param <Outputs> Num representing the rows in the output of f.
-   * @param rows      Number of rows in the result of f(x, u).
-   * @param states    Number of rows in x.
-   * @param f         Vector-valued function from which to compute Jacobian.
-   * @param x         State vector.
-   * @param u         Input vector.
+   * @param rows Number of rows in the result of f(x, u).
+   * @param states Number of rows in x.
+   * @param f Vector-valued function from which to compute Jacobian.
+   * @param x State vector.
+   * @param u Input vector.
    * @return The numerical Jacobian with respect to x for f(x, u, ...).
    */
   @SuppressWarnings({"LambdaParameterName", "MethodTypeParameterName"})
@@ -76,8 +74,7 @@ public final class NumericalJacobian {
           Nat<States> states,
           BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<Outputs, N1>> f,
           Matrix<States, N1> x,
-          Matrix<Inputs, N1> u
-  ) {
+          Matrix<Inputs, N1> u) {
     return numericalJacobian(rows, states, _x -> f.apply(_x, u), x);
   }
 
@@ -86,23 +83,22 @@ public final class NumericalJacobian {
    *
    * @param <States> The states of the system.
    * @param <Inputs> The inputs to the system.
-   * @param <Rows>   Number of rows in the result of f(x, u).
-   * @param rows     Number of rows in the result of f(x, u).
-   * @param inputs   Number of rows in u.
-   * @param f        Vector-valued function from which to compute the Jacobian.
-   * @param x        State vector.
-   * @param u        Input vector.
+   * @param <Rows> Number of rows in the result of f(x, u).
+   * @param rows Number of rows in the result of f(x, u).
+   * @param inputs Number of rows in u.
+   * @param f Vector-valued function from which to compute the Jacobian.
+   * @param x State vector.
+   * @param u Input vector.
    * @return the numerical Jacobian with respect to u for f(x, u).
    */
   @SuppressWarnings({"LambdaParameterName", "MethodTypeParameterName"})
-  public static <Rows extends Num, States extends Num, Inputs extends Num> Matrix<Rows, Inputs>
-      numericalJacobianU(
+  public static <Rows extends Num, States extends Num, Inputs extends Num>
+      Matrix<Rows, Inputs> numericalJacobianU(
           Nat<Rows> rows,
           Nat<Inputs> inputs,
           BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<States, N1>> f,
           Matrix<States, N1> x,
-          Matrix<Inputs, N1> u
-  ) {
+          Matrix<Inputs, N1> u) {
     return numericalJacobian(rows, inputs, _u -> f.apply(x, _u), u);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/system/RungeKutta.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/system/RungeKutta.java
index 89903a96da..841d7c116b 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/system/RungeKutta.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/system/RungeKutta.java
@@ -4,13 +4,12 @@
 
 package edu.wpi.first.wpilibj.system;
 
-import java.util.function.BiFunction;
-import java.util.function.DoubleFunction;
-import java.util.function.Function;
-
 import edu.wpi.first.wpiutil.math.Matrix;
 import edu.wpi.first.wpiutil.math.Num;
 import edu.wpi.first.wpiutil.math.numbers.N1;
+import java.util.function.BiFunction;
+import java.util.function.DoubleFunction;
+import java.util.function.Function;
 
 public final class RungeKutta {
   private RungeKutta() {
@@ -20,17 +19,13 @@ public final class RungeKutta {
   /**
    * Performs Runge Kutta integration (4th order).
    *
-   * @param f         The function to integrate, which takes one argument x.
-   * @param x         The initial value of x.
+   * @param f The function to integrate, which takes one argument x.
+   * @param x The initial value of x.
    * @param dtSeconds The time over which to integrate.
    * @return the integration of dx/dt = f(x) for dt.
    */
   @SuppressWarnings("ParameterName")
-  public static double rungeKutta(
-          DoubleFunction<Double> f,
-          double x,
-          double dtSeconds
-  ) {
+  public static double rungeKutta(DoubleFunction<Double> f, double x, double dtSeconds) {
     final var halfDt = 0.5 * dtSeconds;
     final var k1 = f.apply(x);
     final var k2 = f.apply(x + k1 * halfDt);
@@ -42,17 +37,15 @@ public final class RungeKutta {
   /**
    * Performs Runge Kutta integration (4th order).
    *
-   * @param f         The function to integrate. It must take two arguments x and u.
-   * @param x         The initial value of x.
-   * @param u         The value u held constant over the integration period.
+   * @param f The function to integrate. It must take two arguments x and u.
+   * @param x The initial value of x.
+   * @param u The value u held constant over the integration period.
    * @param dtSeconds The time over which to integrate.
    * @return The result of Runge Kutta integration (4th order).
    */
   @SuppressWarnings("ParameterName")
   public static double rungeKutta(
-          BiFunction<Double, Double, Double> f,
-          double x, Double u, double dtSeconds
-  ) {
+      BiFunction<Double, Double, Double> f, double x, Double u, double dtSeconds) {
     final var halfDt = 0.5 * dtSeconds;
     final var k1 = f.apply(x, u);
     final var k2 = f.apply(x + k1 * halfDt, u);
@@ -64,18 +57,20 @@ public final class RungeKutta {
   /**
    * Performs 4th order Runge-Kutta integration of dx/dt = f(x, u) for dt.
    *
-   * @param <States>  A Num representing the states of the system to integrate.
-   * @param <Inputs>  A Num representing the inputs of the system to integrate.
-   * @param f         The function to integrate. It must take two arguments x and u.
-   * @param x         The initial value of x.
-   * @param u         The value u held constant over the integration period.
+   * @param <States> A Num representing the states of the system to integrate.
+   * @param <Inputs> A Num representing the inputs of the system to integrate.
+   * @param f The function to integrate. It must take two arguments x and u.
+   * @param x The initial value of x.
+   * @param u The value u held constant over the integration period.
    * @param dtSeconds The time over which to integrate.
    * @return the integration of dx/dt = f(x, u) for dt.
    */
   @SuppressWarnings({"ParameterName", "MethodTypeParameterName"})
   public static <States extends Num, Inputs extends Num> Matrix<States, N1> rungeKutta(
       BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<States, N1>> f,
-      Matrix<States, N1> x, Matrix<Inputs, N1> u, double dtSeconds) {
+      Matrix<States, N1> x,
+      Matrix<Inputs, N1> u,
+      double dtSeconds) {
 
     final var halfDt = 0.5 * dtSeconds;
     Matrix<States, N1> k1 = f.apply(x, u);
@@ -88,16 +83,15 @@ public final class RungeKutta {
   /**
    * Performs 4th order Runge-Kutta integration of dx/dt = f(x) for dt.
    *
-   * @param <States>  A Num prepresenting the states of the system.
-   * @param f         The function to integrate. It must take one argument x.
-   * @param x         The initial value of x.
+   * @param <States> A Num prepresenting the states of the system.
+   * @param f The function to integrate. It must take one argument x.
+   * @param x The initial value of x.
    * @param dtSeconds The time over which to integrate.
    * @return 4th order Runge-Kutta integration of dx/dt = f(x) for dt.
    */
   @SuppressWarnings({"ParameterName", "MethodTypeParameterName"})
   public static <States extends Num> Matrix<States, N1> rungeKutta(
-      Function<Matrix<States, N1>, Matrix<States, N1>> f,
-      Matrix<States, N1> x, double dtSeconds) {
+      Function<Matrix<States, N1>, Matrix<States, N1>> f, Matrix<States, N1> x, double dtSeconds) {
 
     final var halfDt = 0.5 * dtSeconds;
     Matrix<States, N1> k1 = f.apply(x);
@@ -106,5 +100,4 @@ public final class RungeKutta {
     Matrix<States, N1> k4 = f.apply(x.plus(k3.times(dtSeconds)));
     return x.plus((k1.plus(k2.times(2.0)).plus(k3.times(2.0)).plus(k4)).times(dtSeconds).div(6.0));
   }
-
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/system/plant/DCMotor.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/system/plant/DCMotor.java
index bd9ea3b929..1a681f2a82 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/system/plant/DCMotor.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/system/plant/DCMotor.java
@@ -6,37 +6,38 @@ package edu.wpi.first.wpilibj.system.plant;
 
 import edu.wpi.first.wpilibj.util.Units;
 
-/**
- * Holds the constants for a DC motor.
- */
+/** Holds the constants for a DC motor. */
 public class DCMotor {
   public final double m_nominalVoltageVolts;
   public final double m_stallTorqueNewtonMeters;
   public final double m_stallCurrentAmps;
   public final double m_freeCurrentAmps;
   public final double m_freeSpeedRadPerSec;
+
   @SuppressWarnings("MemberName")
   public final double m_rOhms;
+
   @SuppressWarnings("MemberName")
   public final double m_KvRadPerSecPerVolt;
+
   @SuppressWarnings("MemberName")
   public final double m_KtNMPerAmp;
 
-
   /**
    * Constructs a DC motor.
    *
-   * @param nominalVoltageVolts     Voltage at which the motor constants were measured.
+   * @param nominalVoltageVolts Voltage at which the motor constants were measured.
    * @param stallTorqueNewtonMeters Current draw when stalled.
-   * @param stallCurrentAmps        Current draw when stalled.
-   * @param freeCurrentAmps         Current draw under no load.
-   * @param freeSpeedRadPerSec      Angular velocity under no load.
+   * @param stallCurrentAmps Current draw when stalled.
+   * @param freeCurrentAmps Current draw under no load.
+   * @param freeSpeedRadPerSec Angular velocity under no load.
    */
-  public DCMotor(double nominalVoltageVolts,
-                 double stallTorqueNewtonMeters,
-                 double stallCurrentAmps,
-                 double freeCurrentAmps,
-                 double freeSpeedRadPerSec) {
+  public DCMotor(
+      double nominalVoltageVolts,
+      double stallTorqueNewtonMeters,
+      double stallCurrentAmps,
+      double freeCurrentAmps,
+      double freeSpeedRadPerSec) {
     this.m_nominalVoltageVolts = nominalVoltageVolts;
     this.m_stallTorqueNewtonMeters = stallTorqueNewtonMeters;
     this.m_stallCurrentAmps = stallCurrentAmps;
@@ -44,8 +45,8 @@ public class DCMotor {
     this.m_freeSpeedRadPerSec = freeSpeedRadPerSec;
 
     this.m_rOhms = nominalVoltageVolts / stallCurrentAmps;
-    this.m_KvRadPerSecPerVolt = freeSpeedRadPerSec / (nominalVoltageVolts - m_rOhms
-      * freeCurrentAmps);
+    this.m_KvRadPerSecPerVolt =
+        freeSpeedRadPerSec / (nominalVoltageVolts - m_rOhms * freeCurrentAmps);
     this.m_KtNMPerAmp = stallTorqueNewtonMeters / stallCurrentAmps;
   }
 
@@ -53,11 +54,11 @@ public class DCMotor {
    * Estimate the current being drawn by this motor.
    *
    * @param speedRadiansPerSec The speed of the rotor.
-   * @param voltageInputVolts  The input voltage.
+   * @param voltageInputVolts The input voltage.
    */
   public double getCurrent(double speedRadiansPerSec, double voltageInputVolts) {
     return -1.0 / m_KvRadPerSecPerVolt / m_rOhms * speedRadiansPerSec
-      + 1.0 / m_rOhms * voltageInputVolts;
+        + 1.0 / m_rOhms * voltageInputVolts;
   }
 
   /**
@@ -66,9 +67,8 @@ public class DCMotor {
    * @param numMotors Number of motors in the gearbox.
    */
   public static DCMotor getCIM(int numMotors) {
-    return new DCMotor(12,
-      2.42 * numMotors, 133,
-      2.7, Units.rotationsPerMinuteToRadiansPerSecond(5310));
+    return new DCMotor(
+        12, 2.42 * numMotors, 133, 2.7, Units.rotationsPerMinuteToRadiansPerSecond(5310));
   }
 
   /**
@@ -77,9 +77,9 @@ public class DCMotor {
    * @param numMotors Number of motors in the gearbox.
    */
   public static DCMotor getVex775Pro(int numMotors) {
-    return gearbox(new DCMotor(12,
-      0.71, 134,
-      0.7, Units.rotationsPerMinuteToRadiansPerSecond(18730)), numMotors);
+    return gearbox(
+        new DCMotor(12, 0.71, 134, 0.7, Units.rotationsPerMinuteToRadiansPerSecond(18730)),
+        numMotors);
   }
 
   /**
@@ -88,8 +88,9 @@ public class DCMotor {
    * @param numMotors Number of motors in the gearbox.
    */
   public static DCMotor getNEO(int numMotors) {
-    return gearbox(new DCMotor(12, 2.6,
-      105, 1.8, Units.rotationsPerMinuteToRadiansPerSecond(5676)), numMotors);
+    return gearbox(
+        new DCMotor(12, 2.6, 105, 1.8, Units.rotationsPerMinuteToRadiansPerSecond(5676)),
+        numMotors);
   }
 
   /**
@@ -98,8 +99,8 @@ public class DCMotor {
    * @param numMotors Number of motors in the gearbox.
    */
   public static DCMotor getMiniCIM(int numMotors) {
-    return gearbox(new DCMotor(12, 1.41, 89, 3,
-      Units.rotationsPerMinuteToRadiansPerSecond(5840)), numMotors);
+    return gearbox(
+        new DCMotor(12, 1.41, 89, 3, Units.rotationsPerMinuteToRadiansPerSecond(5840)), numMotors);
   }
 
   /**
@@ -108,8 +109,9 @@ public class DCMotor {
    * @param numMotors Number of motors in the gearbox.
    */
   public static DCMotor getBag(int numMotors) {
-    return gearbox(new DCMotor(12, 0.43, 53, 1.8,
-      Units.rotationsPerMinuteToRadiansPerSecond(13180)), numMotors);
+    return gearbox(
+        new DCMotor(12, 0.43, 53, 1.8, Units.rotationsPerMinuteToRadiansPerSecond(13180)),
+        numMotors);
   }
 
   /**
@@ -118,8 +120,9 @@ public class DCMotor {
    * @param numMotors Number of motors in the gearbox.
    */
   public static DCMotor getAndymarkRs775_125(int numMotors) {
-    return gearbox(new DCMotor(12, 0.28, 18, 1.6,
-      Units.rotationsPerMinuteToRadiansPerSecond(5800.0)), numMotors);
+    return gearbox(
+        new DCMotor(12, 0.28, 18, 1.6, Units.rotationsPerMinuteToRadiansPerSecond(5800.0)),
+        numMotors);
   }
 
   /**
@@ -128,8 +131,9 @@ public class DCMotor {
    * @param numMotors Number of motors in the gearbox.
    */
   public static DCMotor getBanebotsRs775(int numMotors) {
-    return gearbox(new DCMotor(12, 0.72, 97, 2.7,
-      Units.rotationsPerMinuteToRadiansPerSecond(13050.0)), numMotors);
+    return gearbox(
+        new DCMotor(12, 0.72, 97, 2.7, Units.rotationsPerMinuteToRadiansPerSecond(13050.0)),
+        numMotors);
   }
 
   /**
@@ -138,8 +142,9 @@ public class DCMotor {
    * @param numMotors Number of motors in the gearbox.
    */
   public static DCMotor getAndymark9015(int numMotors) {
-    return gearbox(new DCMotor(12, 0.36, 71, 3.7,
-      Units.rotationsPerMinuteToRadiansPerSecond(14270.0)), numMotors);
+    return gearbox(
+        new DCMotor(12, 0.36, 71, 3.7, Units.rotationsPerMinuteToRadiansPerSecond(14270.0)),
+        numMotors);
   }
 
   /**
@@ -148,8 +153,9 @@ public class DCMotor {
    * @param numMotors Number of motors in the gearbox.
    */
   public static DCMotor getBanebotsRs550(int numMotors) {
-    return gearbox(new DCMotor(12, 0.38, 84, 0.4,
-      Units.rotationsPerMinuteToRadiansPerSecond(19000.0)), numMotors);
+    return gearbox(
+        new DCMotor(12, 0.38, 84, 0.4, Units.rotationsPerMinuteToRadiansPerSecond(19000.0)),
+        numMotors);
   }
 
   /**
@@ -158,8 +164,9 @@ public class DCMotor {
    * @param numMotors Number of motors in the gearbox.
    */
   public static DCMotor getNeo550(int numMotors) {
-    return gearbox(new DCMotor(12, 0.97, 100, 1.4,
-      Units.rotationsPerMinuteToRadiansPerSecond(11000.0)), numMotors);
+    return gearbox(
+        new DCMotor(12, 0.97, 100, 1.4, Units.rotationsPerMinuteToRadiansPerSecond(11000.0)),
+        numMotors);
   }
 
   /**
@@ -168,12 +175,17 @@ public class DCMotor {
    * @param numMotors Number of motors in the gearbox.
    */
   public static DCMotor getFalcon500(int numMotors) {
-    return gearbox(new DCMotor(12, 4.69, 257, 1.5,
-      Units.rotationsPerMinuteToRadiansPerSecond(6380.0)), numMotors);
+    return gearbox(
+        new DCMotor(12, 4.69, 257, 1.5, Units.rotationsPerMinuteToRadiansPerSecond(6380.0)),
+        numMotors);
   }
 
   private static DCMotor gearbox(DCMotor motor, double numMotors) {
-    return new DCMotor(motor.m_nominalVoltageVolts, motor.m_stallTorqueNewtonMeters * numMotors,
-      motor.m_stallCurrentAmps, motor.m_freeCurrentAmps, motor.m_freeSpeedRadPerSec);
+    return new DCMotor(
+        motor.m_nominalVoltageVolts,
+        motor.m_stallTorqueNewtonMeters * numMotors,
+        motor.m_stallCurrentAmps,
+        motor.m_freeCurrentAmps,
+        motor.m_freeSpeedRadPerSec);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/system/plant/LinearSystemId.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/system/plant/LinearSystemId.java
index 732fcee068..e7091c0449 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/system/plant/LinearSystemId.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/system/plant/LinearSystemId.java
@@ -19,85 +19,85 @@ public final class LinearSystemId {
   /**
    * Create a state-space model of an elevator system.
    *
-   * @param motor        The motor (or gearbox) attached to the arm.
-   * @param massKg       The mass of the elevator carriage, in kilograms.
+   * @param motor The motor (or gearbox) attached to the arm.
+   * @param massKg The mass of the elevator carriage, in kilograms.
    * @param radiusMeters The radius of thd driving drum of the elevator, in meters.
-   * @param G            The reduction between motor and drum, as a ratio of output to input.
+   * @param G The reduction between motor and drum, as a ratio of output to input.
    * @return A LinearSystem representing the given characterized constants.
    */
   @SuppressWarnings("ParameterName")
-  public static LinearSystem<N2, N1, N1> createElevatorSystem(DCMotor motor, double massKg,
-                                                              double radiusMeters, double G) {
+  public static LinearSystem<N2, N1, N1> createElevatorSystem(
+      DCMotor motor, double massKg, double radiusMeters, double G) {
     return new LinearSystem<>(
-        Matrix.mat(Nat.N2(), Nat.N2()).fill(0, 1,
-                    0, -Math.pow(G, 2) * motor.m_KtNMPerAmp
-                            / (motor.m_rOhms * radiusMeters * radiusMeters * massKg
-                            * motor.m_KvRadPerSecPerVolt)),
-            VecBuilder.fill(
-                    0, G * motor.m_KtNMPerAmp / (motor.m_rOhms * radiusMeters * massKg)),
-            Matrix.mat(Nat.N1(), Nat.N2()).fill(1, 0),
-            new Matrix<>(Nat.N1(), Nat.N1()));
+        Matrix.mat(Nat.N2(), Nat.N2())
+            .fill(
+                0,
+                1,
+                0,
+                -Math.pow(G, 2)
+                    * motor.m_KtNMPerAmp
+                    / (motor.m_rOhms
+                        * radiusMeters
+                        * radiusMeters
+                        * massKg
+                        * motor.m_KvRadPerSecPerVolt)),
+        VecBuilder.fill(0, G * motor.m_KtNMPerAmp / (motor.m_rOhms * radiusMeters * massKg)),
+        Matrix.mat(Nat.N1(), Nat.N2()).fill(1, 0),
+        new Matrix<>(Nat.N1(), Nat.N1()));
   }
 
   /**
    * Create a state-space model of a flywheel system.
    *
-   * @param motor            The motor (or gearbox) attached to the arm.
+   * @param motor The motor (or gearbox) attached to the arm.
    * @param jKgMetersSquared The moment of inertia J of the flywheel.
-   * @param G                The reduction between motor and drum, as a ratio of output to input.
+   * @param G The reduction between motor and drum, as a ratio of output to input.
    * @return A LinearSystem representing the given characterized constants.
    */
   @SuppressWarnings("ParameterName")
-  public static LinearSystem<N1, N1, N1> createFlywheelSystem(DCMotor motor,
-                                                              double jKgMetersSquared,
-                                                              double G) {
+  public static LinearSystem<N1, N1, N1> createFlywheelSystem(
+      DCMotor motor, double jKgMetersSquared, double G) {
     return new LinearSystem<>(
         VecBuilder.fill(
-                    -G * G * motor.m_KtNMPerAmp
-                            / (motor.m_KvRadPerSecPerVolt * motor.m_rOhms * jKgMetersSquared)),
-            VecBuilder.fill(G * motor.m_KtNMPerAmp
-                    / (motor.m_rOhms * jKgMetersSquared)),
-            Matrix.eye(Nat.N1()),
-            new Matrix<>(Nat.N1(), Nat.N1()));
+            -G
+                * G
+                * motor.m_KtNMPerAmp
+                / (motor.m_KvRadPerSecPerVolt * motor.m_rOhms * jKgMetersSquared)),
+        VecBuilder.fill(G * motor.m_KtNMPerAmp / (motor.m_rOhms * jKgMetersSquared)),
+        Matrix.eye(Nat.N1()),
+        new Matrix<>(Nat.N1(), Nat.N1()));
   }
 
   /**
-   * Create a state-space model of a differential drive drivetrain. In this model, the
-   * states are [v_left, v_right]^T, inputs are [V_left, V_right]^T and outputs are
-   * [v_left, v_right]^T.
+   * Create a state-space model of a differential drive drivetrain. In this model, the states are
+   * [v_left, v_right]^T, inputs are [V_left, V_right]^T and outputs are [v_left, v_right]^T.
    *
-   * @param motor            the gearbox representing the motors driving the drivetrain.
-   * @param massKg           the mass of the robot.
-   * @param rMeters          the radius of the wheels in meters.
-   * @param rbMeters         the radius of the base (half the track width) in meters.
+   * @param motor the gearbox representing the motors driving the drivetrain.
+   * @param massKg the mass of the robot.
+   * @param rMeters the radius of the wheels in meters.
+   * @param rbMeters the radius of the base (half the track width) in meters.
    * @param JKgMetersSquared the moment of inertia of the robot.
-   * @param G                the gearing reduction as output over input.
+   * @param G the gearing reduction as output over input.
    * @return A LinearSystem representing a differential drivetrain.
    */
   @SuppressWarnings({"LocalVariableName", "ParameterName"})
-  public static LinearSystem<N2, N2, N2> createDrivetrainVelocitySystem(DCMotor motor,
-                                                                        double massKg,
-                                                                        double rMeters,
-                                                                        double rbMeters,
-                                                                        double JKgMetersSquared,
-                                                                        double G) {
+  public static LinearSystem<N2, N2, N2> createDrivetrainVelocitySystem(
+      DCMotor motor,
+      double massKg,
+      double rMeters,
+      double rbMeters,
+      double JKgMetersSquared,
+      double G) {
     var C1 =
-            -(G * G) * motor.m_KtNMPerAmp
-                    / (motor.m_KvRadPerSecPerVolt * motor.m_rOhms * rMeters * rMeters);
+        -(G * G)
+            * motor.m_KtNMPerAmp
+            / (motor.m_KvRadPerSecPerVolt * motor.m_rOhms * rMeters * rMeters);
     var C2 = G * motor.m_KtNMPerAmp / (motor.m_rOhms * rMeters);
 
     final double C3 = 1 / massKg + rbMeters * rbMeters / JKgMetersSquared;
     final double C4 = 1 / massKg - rbMeters * rbMeters / JKgMetersSquared;
-    var A = Matrix.mat(Nat.N2(), Nat.N2()).fill(
-            C3 * C1,
-            C4 * C1,
-            C4 * C1,
-            C3 * C1);
-    var B = Matrix.mat(Nat.N2(), Nat.N2()).fill(
-            C3 * C2,
-            C4 * C2,
-            C4 * C2,
-            C3 * C2);
+    var A = Matrix.mat(Nat.N2(), Nat.N2()).fill(C3 * C1, C4 * C1, C4 * C1, C3 * C1);
+    var B = Matrix.mat(Nat.N2(), Nat.N2()).fill(C3 * C2, C4 * C2, C4 * C2, C3 * C2);
     var C = Matrix.mat(Nat.N2(), Nat.N2()).fill(1.0, 0.0, 0.0, 1.0);
     var D = Matrix.mat(Nat.N2(), Nat.N2()).fill(0.0, 0.0, 0.0, 0.0);
 
@@ -107,87 +107,89 @@ public final class LinearSystemId {
   /**
    * Create a state-space model of a single jointed arm system.
    *
-   * @param motor            The motor (or gearbox) attached to the arm.
+   * @param motor The motor (or gearbox) attached to the arm.
    * @param jKgSquaredMeters The moment of inertia J of the arm.
-   * @param G                the gearing between the motor and arm, in output over input.
-   *                         Most of the time this will be greater than 1.
+   * @param G the gearing between the motor and arm, in output over input. Most of the time this
+   *     will be greater than 1.
    * @return A LinearSystem representing the given characterized constants.
    */
   @SuppressWarnings("ParameterName")
-  public static LinearSystem<N2, N1, N1> createSingleJointedArmSystem(DCMotor motor,
-                                                                      double jKgSquaredMeters,
-                                                                      double G) {
+  public static LinearSystem<N2, N1, N1> createSingleJointedArmSystem(
+      DCMotor motor, double jKgSquaredMeters, double G) {
     return new LinearSystem<>(
-        Matrix.mat(Nat.N2(), Nat.N2()).fill(0, 1,
-                    0, -Math.pow(G, 2) * motor.m_KtNMPerAmp
-                            / (motor.m_KvRadPerSecPerVolt * motor.m_rOhms * jKgSquaredMeters)),
-            VecBuilder.fill(0, G * motor.m_KtNMPerAmp
-                    / (motor.m_rOhms * jKgSquaredMeters)),
-            Matrix.mat(Nat.N1(), Nat.N2()).fill(1, 0),
-            new Matrix<>(Nat.N1(), Nat.N1()));
+        Matrix.mat(Nat.N2(), Nat.N2())
+            .fill(
+                0,
+                1,
+                0,
+                -Math.pow(G, 2)
+                    * motor.m_KtNMPerAmp
+                    / (motor.m_KvRadPerSecPerVolt * motor.m_rOhms * jKgSquaredMeters)),
+        VecBuilder.fill(0, G * motor.m_KtNMPerAmp / (motor.m_rOhms * jKgSquaredMeters)),
+        Matrix.mat(Nat.N1(), Nat.N2()).fill(1, 0),
+        new Matrix<>(Nat.N1(), Nat.N1()));
   }
 
   /**
-   * Identify a velocity system from it's kV (volts/(unit/sec)) and kA (volts/(unit/sec^2).
-   * These constants cam be found using frc-characterization.
+   * Identify a velocity system from it's kV (volts/(unit/sec)) and kA (volts/(unit/sec^2). These
+   * constants cam be found using frc-characterization.
    *
-   * <p>The distance unit you choose MUST be an SI unit (i.e. meters or radians). You can use
-   * the {@link edu.wpi.first.wpilibj.util.Units} class for converting between unit types.
+   * <p>The distance unit you choose MUST be an SI unit (i.e. meters or radians). You can use the
+   * {@link edu.wpi.first.wpilibj.util.Units} class for converting between unit types.
    *
-   * @param kV         The velocity gain, in volts per (units per second)
-   * @param kA         The acceleration gain, in volts per (units per second squared)
+   * @param kV The velocity gain, in volts per (units per second)
+   * @param kA The acceleration gain, in volts per (units per second squared)
    * @return A LinearSystem representing the given characterized constants.
    * @see <a href="https://github.com/wpilibsuite/frc-characterization">
-   * https://github.com/wpilibsuite/frc-characterization</a>
+   *     https://github.com/wpilibsuite/frc-characterization</a>
    */
   @SuppressWarnings("ParameterName")
   public static LinearSystem<N1, N1, N1> identifyVelocitySystem(double kV, double kA) {
     return new LinearSystem<>(
         VecBuilder.fill(-kV / kA),
-            VecBuilder.fill(1.0 / kA),
-            VecBuilder.fill(1.0),
-            VecBuilder.fill(0.0));
+        VecBuilder.fill(1.0 / kA),
+        VecBuilder.fill(1.0),
+        VecBuilder.fill(0.0));
   }
 
   /**
-   * Identify a position system from it's kV (volts/(unit/sec)) and kA (volts/(unit/sec^2).
-   * These constants cam be found using frc-characterization.
+   * Identify a position system from it's kV (volts/(unit/sec)) and kA (volts/(unit/sec^2). These
+   * constants cam be found using frc-characterization.
    *
-   * <p>The distance unit you choose MUST be an SI unit (i.e. meters or radians). You can use
-   * the {@link edu.wpi.first.wpilibj.util.Units} class for converting between unit types.
+   * <p>The distance unit you choose MUST be an SI unit (i.e. meters or radians). You can use the
+   * {@link edu.wpi.first.wpilibj.util.Units} class for converting between unit types.
    *
-   * @param kV         The velocity gain, in volts per (units per second)
-   * @param kA         The acceleration gain, in volts per (units per second squared)
+   * @param kV The velocity gain, in volts per (units per second)
+   * @param kA The acceleration gain, in volts per (units per second squared)
    * @return A LinearSystem representing the given characterized constants.
    * @see <a href="https://github.com/wpilibsuite/frc-characterization">
-   * https://github.com/wpilibsuite/frc-characterization</a>
+   *     https://github.com/wpilibsuite/frc-characterization</a>
    */
   @SuppressWarnings("ParameterName")
   public static LinearSystem<N2, N1, N1> identifyPositionSystem(double kV, double kA) {
     return new LinearSystem<>(
         Matrix.mat(Nat.N2(), Nat.N2()).fill(0.0, 1.0, 0.0, -kV / kA),
-            VecBuilder.fill(0.0, 1.0 / kA),
-            Matrix.mat(Nat.N1(), Nat.N2()).fill(1.0, 0.0),
-            VecBuilder.fill(0.0));
+        VecBuilder.fill(0.0, 1.0 / kA),
+        Matrix.mat(Nat.N1(), Nat.N2()).fill(1.0, 0.0),
+        VecBuilder.fill(0.0));
   }
 
   /**
-   * Identify a standard differential drive drivetrain, given the drivetrain's
-   * kV and kA in both linear (volts/(meter/sec) and volts/(meter/sec^2)) and
-   * angular (volts/(radian/sec) and volts/(radian/sec^2)) cases. This can be
-   * found using frc-characterization.
+   * Identify a standard differential drive drivetrain, given the drivetrain's kV and kA in both
+   * linear (volts/(meter/sec) and volts/(meter/sec^2)) and angular (volts/(radian/sec) and
+   * volts/(radian/sec^2)) cases. This can be found using frc-characterization.
    *
-   * @param kVLinear   The linear velocity gain, volts per (meter per second).
-   * @param kALinear   The linear acceleration gain, volts per (meter per second squared).
-   * @param kVAngular  The angular velocity gain, volts per (radians per second).
-   * @param kAAngular  The angular acceleration gain, volts per (radians per second squared).
+   * @param kVLinear The linear velocity gain, volts per (meter per second).
+   * @param kALinear The linear acceleration gain, volts per (meter per second squared).
+   * @param kVAngular The angular velocity gain, volts per (radians per second).
+   * @param kAAngular The angular acceleration gain, volts per (radians per second squared).
    * @return A LinearSystem representing the given characterized constants.
    * @see <a href="https://github.com/wpilibsuite/frc-characterization">
-   * https://github.com/wpilibsuite/frc-characterization</a>
+   *     https://github.com/wpilibsuite/frc-characterization</a>
    */
   @SuppressWarnings("ParameterName")
   public static LinearSystem<N2, N2, N2> identifyDrivetrainSystem(
-        double kVLinear, double kALinear, double kVAngular, double kAAngular) {
+      double kVLinear, double kALinear, double kVAngular, double kAAngular) {
 
     final double c = 0.5 / (kALinear * kAAngular);
     final double A1 = c * (-kALinear * kVAngular - kVLinear * kAAngular);
@@ -197,8 +199,8 @@ public final class LinearSystemId {
 
     return new LinearSystem<>(
         Matrix.mat(Nat.N2(), Nat.N2()).fill(A1, A2, A2, A1),
-            Matrix.mat(Nat.N2(), Nat.N2()).fill(B1, B2, B2, B1),
-            Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 0, 0, 1),
-            Matrix.mat(Nat.N2(), Nat.N2()).fill(0, 0, 0, 0));
+        Matrix.mat(Nat.N2(), Nat.N2()).fill(B1, B2, B2, B1),
+        Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 0, 0, 1),
+        Matrix.mat(Nat.N2(), Nat.N2()).fill(0, 0, 0, 0));
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/Trajectory.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/Trajectory.java
index acb33202f3..4e74dd9954 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/Trajectory.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/Trajectory.java
@@ -4,28 +4,23 @@
 
 package edu.wpi.first.wpilibj.trajectory;
 
+import com.fasterxml.jackson.annotation.JsonProperty;
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj.geometry.Transform2d;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Objects;
 import java.util.stream.Collectors;
 
-import com.fasterxml.jackson.annotation.JsonProperty;
-
-import edu.wpi.first.wpilibj.geometry.Pose2d;
-import edu.wpi.first.wpilibj.geometry.Transform2d;
-
 /**
- * Represents a time-parameterized trajectory. The trajectory contains of
- * various States that represent the pose, curvature, time elapsed, velocity,
- * and acceleration at that point.
+ * Represents a time-parameterized trajectory. The trajectory contains of various States that
+ * represent the pose, curvature, time elapsed, velocity, and acceleration at that point.
  */
 public class Trajectory {
   private final double m_totalTimeSeconds;
   private final List<State> m_states;
 
-  /**
-   * Constructs an empty trajectory.
-   */
+  /** Constructs an empty trajectory. */
   public Trajectory() {
     m_states = new ArrayList<>();
     m_totalTimeSeconds = 0.0;
@@ -45,8 +40,8 @@ public class Trajectory {
    * Linearly interpolates between two values.
    *
    * @param startValue The start value.
-   * @param endValue   The end value.
-   * @param t          The fraction for interpolation.
+   * @param endValue The end value.
+   * @param t The fraction for interpolation.
    * @return The interpolated value.
    */
   @SuppressWarnings("ParameterName")
@@ -58,8 +53,8 @@ public class Trajectory {
    * Linearly interpolates between two poses.
    *
    * @param startValue The start pose.
-   * @param endValue   The end pose.
-   * @param t          The fraction for interpolation.
+   * @param endValue The end pose.
+   * @param t The fraction for interpolation.
    * @return The interpolated pose.
    */
   @SuppressWarnings("ParameterName")
@@ -144,14 +139,15 @@ public class Trajectory {
       return sample;
     }
     // Interpolate between the two states for the state that we want.
-    return prevSample.interpolate(sample,
+    return prevSample.interpolate(
+        sample,
         (timeSeconds - prevSample.timeSeconds) / (sample.timeSeconds - prevSample.timeSeconds));
   }
 
   /**
-   * Transforms all poses in the trajectory by the given transform. This is
-   * useful for converting a robot-relative trajectory into a field-relative
-   * trajectory. This works with respect to the first pose in the trajectory.
+   * Transforms all poses in the trajectory by the given transform. This is useful for converting a
+   * robot-relative trajectory into a field-relative trajectory. This works with respect to the
+   * first pose in the trajectory.
    *
    * @param transform The transform to transform the trajectory by.
    * @return The transformed trajectory.
@@ -165,44 +161,54 @@ public class Trajectory {
     var newFirstPose = firstPose.plus(transform);
     List<State> newStates = new ArrayList<>();
 
-    newStates.add(new State(
-        firstState.timeSeconds, firstState.velocityMetersPerSecond,
-        firstState.accelerationMetersPerSecondSq, newFirstPose, firstState.curvatureRadPerMeter
-    ));
+    newStates.add(
+        new State(
+            firstState.timeSeconds,
+            firstState.velocityMetersPerSecond,
+            firstState.accelerationMetersPerSecondSq,
+            newFirstPose,
+            firstState.curvatureRadPerMeter));
 
     for (int i = 1; i < m_states.size(); i++) {
       var state = m_states.get(i);
       // We are transforming relative to the coordinate frame of the new initial pose.
-      newStates.add(new State(
-          state.timeSeconds, state.velocityMetersPerSecond,
-          state.accelerationMetersPerSecondSq, newFirstPose.plus(state.poseMeters.minus(firstPose)),
-          state.curvatureRadPerMeter
-      ));
+      newStates.add(
+          new State(
+              state.timeSeconds,
+              state.velocityMetersPerSecond,
+              state.accelerationMetersPerSecondSq,
+              newFirstPose.plus(state.poseMeters.minus(firstPose)),
+              state.curvatureRadPerMeter));
     }
 
     return new Trajectory(newStates);
   }
 
   /**
-   * Transforms all poses in the trajectory so that they are relative to the
-   * given pose. This is useful for converting a field-relative trajectory
-   * into a robot-relative trajectory.
+   * Transforms all poses in the trajectory so that they are relative to the given pose. This is
+   * useful for converting a field-relative trajectory into a robot-relative trajectory.
    *
-   * @param pose The pose that is the origin of the coordinate frame that
-   *             the current trajectory will be transformed into.
+   * @param pose The pose that is the origin of the coordinate frame that the current trajectory
+   *     will be transformed into.
    * @return The transformed trajectory.
    */
   public Trajectory relativeTo(Pose2d pose) {
-    return new Trajectory(m_states.stream().map(state -> new State(state.timeSeconds,
-        state.velocityMetersPerSecond, state.accelerationMetersPerSecondSq,
-        state.poseMeters.relativeTo(pose), state.curvatureRadPerMeter))
-        .collect(Collectors.toList()));
+    return new Trajectory(
+        m_states.stream()
+            .map(
+                state ->
+                    new State(
+                        state.timeSeconds,
+                        state.velocityMetersPerSecond,
+                        state.accelerationMetersPerSecondSq,
+                        state.poseMeters.relativeTo(pose),
+                        state.curvatureRadPerMeter))
+            .collect(Collectors.toList()));
   }
 
   /**
-   * Represents a time-parameterized trajectory. The trajectory contains of
-   * various States that represent the pose, curvature, time elapsed, velocity,
-   * and acceleration at that point.
+   * Represents a time-parameterized trajectory. The trajectory contains of various States that
+   * represent the pose, curvature, time elapsed, velocity, and acceleration at that point.
    */
   @SuppressWarnings("MemberName")
   public static class State {
@@ -233,15 +239,18 @@ public class Trajectory {
     /**
      * Constructs a State with the specified parameters.
      *
-     * @param timeSeconds                   The time elapsed since the beginning of the trajectory.
-     * @param velocityMetersPerSecond       The speed at that point of the trajectory.
+     * @param timeSeconds The time elapsed since the beginning of the trajectory.
+     * @param velocityMetersPerSecond The speed at that point of the trajectory.
      * @param accelerationMetersPerSecondSq The acceleration at that point of the trajectory.
-     * @param poseMeters                    The pose at that point of the trajectory.
-     * @param curvatureRadPerMeter          The curvature at that point of the trajectory.
+     * @param poseMeters The pose at that point of the trajectory.
+     * @param curvatureRadPerMeter The curvature at that point of the trajectory.
      */
-    public State(double timeSeconds, double velocityMetersPerSecond,
-                 double accelerationMetersPerSecondSq, Pose2d poseMeters,
-                 double curvatureRadPerMeter) {
+    public State(
+        double timeSeconds,
+        double velocityMetersPerSecond,
+        double accelerationMetersPerSecondSq,
+        Pose2d poseMeters,
+        double curvatureRadPerMeter) {
       this.timeSeconds = timeSeconds;
       this.velocityMetersPerSecond = velocityMetersPerSecond;
       this.accelerationMetersPerSecondSq = accelerationMetersPerSecondSq;
@@ -253,7 +262,7 @@ public class Trajectory {
      * Interpolates between two States.
      *
      * @param endValue The end value for the interpolation.
-     * @param i        The interpolant (fraction).
+     * @param i The interpolant (fraction).
      * @return The interpolated state.
      */
     @SuppressWarnings("ParameterName")
@@ -270,8 +279,9 @@ public class Trajectory {
       }
 
       // Check whether the robot is reversing at this stage.
-      final boolean reversing = velocityMetersPerSecond < 0
-          || Math.abs(velocityMetersPerSecond) < 1E-9 && accelerationMetersPerSecondSq < 0;
+      final boolean reversing =
+          velocityMetersPerSecond < 0
+              || Math.abs(velocityMetersPerSecond) < 1E-9 && accelerationMetersPerSecondSq < 0;
 
       // Calculate the new velocity
       // v_f = v_0 + at
@@ -279,29 +289,35 @@ public class Trajectory {
 
       // Calculate the change in position.
       // delta_s = v_0 t + 0.5 at^2
-      final double newS = (velocityMetersPerSecond * deltaT
-          + 0.5 * accelerationMetersPerSecondSq * Math.pow(deltaT, 2)) * (reversing ? -1.0 : 1.0);
+      final double newS =
+          (velocityMetersPerSecond * deltaT
+                  + 0.5 * accelerationMetersPerSecondSq * Math.pow(deltaT, 2))
+              * (reversing ? -1.0 : 1.0);
 
       // Return the new state. To find the new position for the new state, we need
       // to interpolate between the two endpoint poses. The fraction for
       // interpolation is the change in position (delta s) divided by the total
       // distance between the two endpoints.
-      final double interpolationFrac = newS
-          / endValue.poseMeters.getTranslation().getDistance(poseMeters.getTranslation());
+      final double interpolationFrac =
+          newS / endValue.poseMeters.getTranslation().getDistance(poseMeters.getTranslation());
 
       return new State(
-          newT, newV, accelerationMetersPerSecondSq,
+          newT,
+          newV,
+          accelerationMetersPerSecondSq,
           lerp(poseMeters, endValue.poseMeters, interpolationFrac),
-          lerp(curvatureRadPerMeter, endValue.curvatureRadPerMeter, interpolationFrac)
-      );
+          lerp(curvatureRadPerMeter, endValue.curvatureRadPerMeter, interpolationFrac));
     }
 
     @Override
     public String toString() {
       return String.format(
-        "State(Sec: %.2f, Vel m/s: %.2f, Accel m/s/s: %.2f, Pose: %s, Curvature: %.2f)",
-        timeSeconds, velocityMetersPerSecond, accelerationMetersPerSecondSq,
-        poseMeters, curvatureRadPerMeter);
+          "State(Sec: %.2f, Vel m/s: %.2f, Accel m/s/s: %.2f, Pose: %s, Curvature: %.2f)",
+          timeSeconds,
+          velocityMetersPerSecond,
+          accelerationMetersPerSecondSq,
+          poseMeters,
+          curvatureRadPerMeter);
     }
 
     @Override
@@ -314,17 +330,20 @@ public class Trajectory {
       }
       State state = (State) obj;
       return Double.compare(state.timeSeconds, timeSeconds) == 0
-              && Double.compare(state.velocityMetersPerSecond, velocityMetersPerSecond) == 0
-              && Double.compare(state.accelerationMetersPerSecondSq,
-                accelerationMetersPerSecondSq) == 0
-              && Double.compare(state.curvatureRadPerMeter, curvatureRadPerMeter) == 0
-              && Objects.equals(poseMeters, state.poseMeters);
+          && Double.compare(state.velocityMetersPerSecond, velocityMetersPerSecond) == 0
+          && Double.compare(state.accelerationMetersPerSecondSq, accelerationMetersPerSecondSq) == 0
+          && Double.compare(state.curvatureRadPerMeter, curvatureRadPerMeter) == 0
+          && Objects.equals(poseMeters, state.poseMeters);
     }
 
     @Override
     public int hashCode() {
-      return Objects.hash(timeSeconds, velocityMetersPerSecond,
-              accelerationMetersPerSecondSq, poseMeters, curvatureRadPerMeter);
+      return Objects.hash(
+          timeSeconds,
+          velocityMetersPerSecond,
+          accelerationMetersPerSecondSq,
+          poseMeters,
+          curvatureRadPerMeter);
     }
   }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryConfig.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryConfig.java
index 6f59cbd7c6..9cf359a2e9 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryConfig.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryConfig.java
@@ -4,9 +4,6 @@
 
 package edu.wpi.first.wpilibj.trajectory;
 
-import java.util.ArrayList;
-import java.util.List;
-
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
 import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics;
 import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
@@ -14,14 +11,16 @@ import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveKinematicsCo
 import edu.wpi.first.wpilibj.trajectory.constraint.MecanumDriveKinematicsConstraint;
 import edu.wpi.first.wpilibj.trajectory.constraint.SwerveDriveKinematicsConstraint;
 import edu.wpi.first.wpilibj.trajectory.constraint.TrajectoryConstraint;
+import java.util.ArrayList;
+import java.util.List;
 
 /**
  * Represents the configuration for generating a trajectory. This class stores the start velocity,
  * end velocity, max velocity, max acceleration, custom constraints, and the reversed flag.
  *
  * <p>The class must be constructed with a max velocity and max acceleration. The other parameters
- * (start velocity, end velocity, constraints, reversed) have been defaulted to reasonable
- * values (0, 0, {}, false). These values can be changed via the setXXX methods.
+ * (start velocity, end velocity, constraints, reversed) have been defaulted to reasonable values
+ * (0, 0, {}, false). These values can be changed via the setXXX methods.
  */
 public class TrajectoryConfig {
   private final double m_maxVelocity;
@@ -34,11 +33,11 @@ public class TrajectoryConfig {
   /**
    * Constructs the trajectory configuration class.
    *
-   * @param maxVelocityMetersPerSecond       The max velocity for the trajectory.
+   * @param maxVelocityMetersPerSecond The max velocity for the trajectory.
    * @param maxAccelerationMetersPerSecondSq The max acceleration for the trajectory.
    */
-  public TrajectoryConfig(double maxVelocityMetersPerSecond,
-                          double maxAccelerationMetersPerSecondSq) {
+  public TrajectoryConfig(
+      double maxVelocityMetersPerSecond, double maxAccelerationMetersPerSecondSq) {
     m_maxVelocity = maxVelocityMetersPerSecond;
     m_maxAcceleration = maxAccelerationMetersPerSecondSq;
     m_constraints = new ArrayList<>();
@@ -57,6 +56,7 @@ public class TrajectoryConfig {
 
   /**
    * Adds all user-defined constraints from a list to the trajectory.
+   *
    * @param constraints List of user-defined constraints.
    * @return Instance of the current config object.
    */
@@ -66,8 +66,8 @@ public class TrajectoryConfig {
   }
 
   /**
-   * Adds a differential drive kinematics constraint to ensure that
-   * no wheel velocity of a differential drive goes above the max velocity.
+   * Adds a differential drive kinematics constraint to ensure that no wheel velocity of a
+   * differential drive goes above the max velocity.
    *
    * @param kinematics The differential drive kinematics.
    * @return Instance of the current config object.
@@ -78,34 +78,34 @@ public class TrajectoryConfig {
   }
 
   /**
-  * Adds a mecanum drive kinematics constraint to ensure that
-  * no wheel velocity of a mecanum drive goes above the max velocity.
-  *
-  * @param kinematics The mecanum drive kinematics.
-  * @return Instance of the current config object.
-  */
+   * Adds a mecanum drive kinematics constraint to ensure that no wheel velocity of a mecanum drive
+   * goes above the max velocity.
+   *
+   * @param kinematics The mecanum drive kinematics.
+   * @return Instance of the current config object.
+   */
   public TrajectoryConfig setKinematics(MecanumDriveKinematics kinematics) {
     addConstraint(new MecanumDriveKinematicsConstraint(kinematics, m_maxVelocity));
     return this;
   }
 
   /**
-  * Adds a swerve drive kinematics constraint to ensure that
-  * no wheel velocity of a swerve drive goes above the max velocity.
-  *
-  * @param kinematics The swerve drive kinematics.
-  * @return Instance of the current config object.
-  */
+   * Adds a swerve drive kinematics constraint to ensure that no wheel velocity of a swerve drive
+   * goes above the max velocity.
+   *
+   * @param kinematics The swerve drive kinematics.
+   * @return Instance of the current config object.
+   */
   public TrajectoryConfig setKinematics(SwerveDriveKinematics kinematics) {
     addConstraint(new SwerveDriveKinematicsConstraint(kinematics, m_maxVelocity));
     return this;
   }
 
   /**
-  * Returns the starting velocity of the trajectory.
-  *
-  * @return The starting velocity of the trajectory.
-  */
+   * Returns the starting velocity of the trajectory.
+   *
+   * @return The starting velocity of the trajectory.
+   */
   public double getStartVelocity() {
     return m_startVelocity;
   }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGenerator.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGenerator.java
index 54422bd59e..b20b866676 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGenerator.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGenerator.java
@@ -4,12 +4,6 @@
 
 package edu.wpi.first.wpilibj.trajectory;
 
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.Collection;
-import java.util.List;
-import java.util.function.BiConsumer;
-
 import edu.wpi.first.math.MathSharedStore;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
@@ -20,17 +14,19 @@ import edu.wpi.first.wpilibj.spline.Spline;
 import edu.wpi.first.wpilibj.spline.SplineHelper;
 import edu.wpi.first.wpilibj.spline.SplineParameterizer;
 import edu.wpi.first.wpilibj.spline.SplineParameterizer.MalformedSplineException;
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.Collection;
+import java.util.List;
+import java.util.function.BiConsumer;
 
 public final class TrajectoryGenerator {
   private static final Trajectory kDoNothingTrajectory =
       new Trajectory(Arrays.asList(new Trajectory.State()));
   private static BiConsumer<String, StackTraceElement[]> errorFunc;
 
-  /**
-   * Private constructor because this is a utility class.
-   */
-  private TrajectoryGenerator() {
-  }
+  /** Private constructor because this is a utility class. */
+  private TrajectoryGenerator() {}
 
   private static void reportError(String error, StackTraceElement[] stackTrace) {
     if (errorFunc != null) {
@@ -51,22 +47,21 @@ public final class TrajectoryGenerator {
 
   /**
    * Generates a trajectory from the given control vectors and config. This method uses clamped
-   * cubic splines -- a method in which the exterior control vectors and interior waypoints
-   * are provided. The headings are automatically determined at the interior points to
-   * ensure continuous curvature.
+   * cubic splines -- a method in which the exterior control vectors and interior waypoints are
+   * provided. The headings are automatically determined at the interior points to ensure continuous
+   * curvature.
    *
-   * @param initial           The initial control vector.
+   * @param initial The initial control vector.
    * @param interiorWaypoints The interior waypoints.
-   * @param end               The ending control vector.
-   * @param config            The configuration for the trajectory.
+   * @param end The ending control vector.
+   * @param config The configuration for the trajectory.
    * @return The generated trajectory.
    */
   public static Trajectory generateTrajectory(
       Spline.ControlVector initial,
       List<Translation2d> interiorWaypoints,
       Spline.ControlVector end,
-      TrajectoryConfig config
-  ) {
+      TrajectoryConfig config) {
     final var flip = new Transform2d(new Translation2d(), Rotation2d.fromDegrees(180.0));
 
     // Clone the control vectors.
@@ -84,8 +79,10 @@ public final class TrajectoryGenerator {
     // Get the spline points
     List<PoseWithCurvature> points;
     try {
-      points = splinePointsFromSplines(SplineHelper.getCubicSplinesFromControlVectors(newInitial,
-          interiorWaypoints.toArray(new Translation2d[0]), newEnd));
+      points =
+          splinePointsFromSplines(
+              SplineHelper.getCubicSplinesFromControlVectors(
+                  newInitial, interiorWaypoints.toArray(new Translation2d[0]), newEnd));
     } catch (MalformedSplineException ex) {
       reportError(ex.getMessage(), ex.getStackTrace());
       return kDoNothingTrajectory;
@@ -100,49 +97,50 @@ public final class TrajectoryGenerator {
     }
 
     // Generate and return trajectory.
-    return TrajectoryParameterizer.timeParameterizeTrajectory(points, config.getConstraints(),
-        config.getStartVelocity(), config.getEndVelocity(), config.getMaxVelocity(),
-        config.getMaxAcceleration(), config.isReversed());
+    return TrajectoryParameterizer.timeParameterizeTrajectory(
+        points,
+        config.getConstraints(),
+        config.getStartVelocity(),
+        config.getEndVelocity(),
+        config.getMaxVelocity(),
+        config.getMaxAcceleration(),
+        config.isReversed());
   }
 
   /**
-   * Generates a trajectory from the given waypoints and config. This method uses clamped
-   * cubic splines -- a method in which the initial pose, final pose, and interior waypoints
-   * are provided.  The headings are automatically determined at the interior points to
-   * ensure continuous curvature.
+   * Generates a trajectory from the given waypoints and config. This method uses clamped cubic
+   * splines -- a method in which the initial pose, final pose, and interior waypoints are provided.
+   * The headings are automatically determined at the interior points to ensure continuous
+   * curvature.
    *
-   * @param start             The starting pose.
+   * @param start The starting pose.
    * @param interiorWaypoints The interior waypoints.
-   * @param end               The ending pose.
-   * @param config            The configuration for the trajectory.
+   * @param end The ending pose.
+   * @param config The configuration for the trajectory.
    * @return The generated trajectory.
    */
   public static Trajectory generateTrajectory(
-      Pose2d start, List<Translation2d> interiorWaypoints, Pose2d end,
-      TrajectoryConfig config
-  ) {
-    var controlVectors = SplineHelper.getCubicControlVectorsFromWaypoints(
-        start, interiorWaypoints.toArray(new Translation2d[0]), end
-    );
+      Pose2d start, List<Translation2d> interiorWaypoints, Pose2d end, TrajectoryConfig config) {
+    var controlVectors =
+        SplineHelper.getCubicControlVectorsFromWaypoints(
+            start, interiorWaypoints.toArray(new Translation2d[0]), end);
 
     // Return the generated trajectory.
     return generateTrajectory(controlVectors[0], interiorWaypoints, controlVectors[1], config);
   }
 
   /**
-   * Generates a trajectory from the given quintic control vectors and config. This method
-   * uses quintic hermite splines -- therefore, all points must be represented by control
-   * vectors. Continuous curvature is guaranteed in this method.
+   * Generates a trajectory from the given quintic control vectors and config. This method uses
+   * quintic hermite splines -- therefore, all points must be represented by control vectors.
+   * Continuous curvature is guaranteed in this method.
    *
    * @param controlVectors List of quintic control vectors.
-   * @param config         The configuration for the trajectory.
+   * @param config The configuration for the trajectory.
    * @return The generated trajectory.
    */
   @SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
   public static Trajectory generateTrajectory(
-      ControlVectorList controlVectors,
-      TrajectoryConfig config
-  ) {
+      ControlVectorList controlVectors, TrajectoryConfig config) {
     final var flip = new Transform2d(new Translation2d(), Rotation2d.fromDegrees(180.0));
     final var newControlVectors = new ArrayList<Spline.ControlVector>(controlVectors.size());
 
@@ -159,9 +157,10 @@ public final class TrajectoryGenerator {
     // Get the spline points
     List<PoseWithCurvature> points;
     try {
-      points = splinePointsFromSplines(SplineHelper.getQuinticSplinesFromControlVectors(
-          newControlVectors.toArray(new Spline.ControlVector[]{})
-      ));
+      points =
+          splinePointsFromSplines(
+              SplineHelper.getQuinticSplinesFromControlVectors(
+                  newControlVectors.toArray(new Spline.ControlVector[] {})));
     } catch (MalformedSplineException ex) {
       reportError(ex.getMessage(), ex.getStackTrace());
       return kDoNothingTrajectory;
@@ -176,19 +175,23 @@ public final class TrajectoryGenerator {
     }
 
     // Generate and return trajectory.
-    return TrajectoryParameterizer.timeParameterizeTrajectory(points, config.getConstraints(),
-        config.getStartVelocity(), config.getEndVelocity(), config.getMaxVelocity(),
-        config.getMaxAcceleration(), config.isReversed());
-
+    return TrajectoryParameterizer.timeParameterizeTrajectory(
+        points,
+        config.getConstraints(),
+        config.getStartVelocity(),
+        config.getEndVelocity(),
+        config.getMaxVelocity(),
+        config.getMaxAcceleration(),
+        config.isReversed());
   }
 
   /**
-   * Generates a trajectory from the given waypoints and config. This method
-   * uses quintic hermite splines -- therefore, all points must be represented by Pose2d
-   * objects. Continuous curvature is guaranteed in this method.
+   * Generates a trajectory from the given waypoints and config. This method uses quintic hermite
+   * splines -- therefore, all points must be represented by Pose2d objects. Continuous curvature is
+   * guaranteed in this method.
    *
    * @param waypoints List of waypoints..
-   * @param config    The configuration for the trajectory.
+   * @param config The configuration for the trajectory.
    * @return The generated trajectory.
    */
   @SuppressWarnings("LocalVariableName")
@@ -222,22 +225,25 @@ public final class TrajectoryGenerator {
     }
 
     // Generate and return trajectory.
-    return TrajectoryParameterizer.timeParameterizeTrajectory(points, config.getConstraints(),
-        config.getStartVelocity(), config.getEndVelocity(), config.getMaxVelocity(),
-        config.getMaxAcceleration(), config.isReversed());
+    return TrajectoryParameterizer.timeParameterizeTrajectory(
+        points,
+        config.getConstraints(),
+        config.getStartVelocity(),
+        config.getEndVelocity(),
+        config.getMaxVelocity(),
+        config.getMaxAcceleration(),
+        config.isReversed());
   }
 
   /**
-   * Generate spline points from a vector of splines by parameterizing the
-   * splines.
+   * Generate spline points from a vector of splines by parameterizing the splines.
    *
    * @param splines The splines to parameterize.
    * @return The spline points for use in time parameterization of a trajectory.
    * @throws MalformedSplineException When the spline is malformed (e.g. has close adjacent points
-   *                                  with approximately opposing headings)
+   *     with approximately opposing headings)
    */
-  public static List<PoseWithCurvature> splinePointsFromSplines(
-      Spline[] splines) {
+  public static List<PoseWithCurvature> splinePointsFromSplines(Spline[] splines) {
     // Create the vector of spline points.
     var splinePoints = new ArrayList<PoseWithCurvature>();
 
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryParameterizer.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryParameterizer.java
index 018568ead2..cfad464295 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryParameterizer.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryParameterizer.java
@@ -28,45 +28,38 @@
 
 package edu.wpi.first.wpilibj.trajectory;
 
+import edu.wpi.first.wpilibj.spline.PoseWithCurvature;
+import edu.wpi.first.wpilibj.trajectory.constraint.TrajectoryConstraint;
 import java.util.ArrayList;
 import java.util.List;
 
-import edu.wpi.first.wpilibj.spline.PoseWithCurvature;
-import edu.wpi.first.wpilibj.trajectory.constraint.TrajectoryConstraint;
-
-/**
- * Class used to parameterize a trajectory by time.
- */
+/** Class used to parameterize a trajectory by time. */
 public final class TrajectoryParameterizer {
-  /**
-   * Private constructor because this is a utility class.
-   */
-  private TrajectoryParameterizer() {
-  }
+  /** Private constructor because this is a utility class. */
+  private TrajectoryParameterizer() {}
 
   /**
-   * Parameterize the trajectory by time. This is where the velocity profile is
-   * generated.
+   * Parameterize the trajectory by time. This is where the velocity profile is generated.
    *
-   * <p>The derivation of the algorithm used can be found
-   * <a href="http://www2.informatik.uni-freiburg.de/~lau/students/Sprunk2008.pdf">
-   * here</a>.
+   * <p>The derivation of the algorithm used can be found <a
+   * href="http://www2.informatik.uni-freiburg.de/~lau/students/Sprunk2008.pdf">here</a>.
    *
-   * @param points                           Reference to the spline points.
-   * @param constraints                      A vector of various velocity and acceleration.
-   *                                         constraints.
-   * @param startVelocityMetersPerSecond     The start velocity for the trajectory.
-   * @param endVelocityMetersPerSecond       The end velocity for the trajectory.
-   * @param maxVelocityMetersPerSecond       The max velocity for the trajectory.
+   * @param points Reference to the spline points.
+   * @param constraints A vector of various velocity and acceleration. constraints.
+   * @param startVelocityMetersPerSecond The start velocity for the trajectory.
+   * @param endVelocityMetersPerSecond The end velocity for the trajectory.
+   * @param maxVelocityMetersPerSecond The max velocity for the trajectory.
    * @param maxAccelerationMetersPerSecondSq The max acceleration for the trajectory.
-   * @param reversed                         Whether the robot should move backwards.
-   *                                         Note that the robot will still move from
-   *                                         a -&gt; b -&gt; ... -&gt; z as defined in the
-   *                                         waypoints.
+   * @param reversed Whether the robot should move backwards. Note that the robot will still move
+   *     from a -&gt; b -&gt; ... -&gt; z as defined in the waypoints.
    * @return The trajectory.
    */
-  @SuppressWarnings({"PMD.ExcessiveMethodLength", "PMD.CyclomaticComplexity",
-      "PMD.NPathComplexity", "PMD.AvoidInstantiatingObjectsInLoops"})
+  @SuppressWarnings({
+    "PMD.ExcessiveMethodLength",
+    "PMD.CyclomaticComplexity",
+    "PMD.NPathComplexity",
+    "PMD.AvoidInstantiatingObjectsInLoops"
+  })
   public static Trajectory timeParameterizeTrajectory(
       List<PoseWithCurvature> points,
       List<TrajectoryConstraint> constraints,
@@ -74,11 +67,15 @@ public final class TrajectoryParameterizer {
       double endVelocityMetersPerSecond,
       double maxVelocityMetersPerSecond,
       double maxAccelerationMetersPerSecondSq,
-      boolean reversed
-  ) {
+      boolean reversed) {
     var constrainedStates = new ArrayList<ConstrainedState>(points.size());
-    var predecessor = new ConstrainedState(points.get(0), 0, startVelocityMetersPerSecond,
-        -maxAccelerationMetersPerSecondSq, maxAccelerationMetersPerSecondSq);
+    var predecessor =
+        new ConstrainedState(
+            points.get(0),
+            0,
+            startVelocityMetersPerSecond,
+            -maxAccelerationMetersPerSecondSq,
+            maxAccelerationMetersPerSecondSq);
 
     // Forward pass
     for (int i = 0; i < points.size(); i++) {
@@ -87,8 +84,12 @@ public final class TrajectoryParameterizer {
       constrainedState.pose = points.get(i);
 
       // Begin constraining based on predecessor.
-      double ds = constrainedState.pose.poseMeters.getTranslation().getDistance(
-          predecessor.pose.poseMeters.getTranslation());
+      double ds =
+          constrainedState
+              .pose
+              .poseMeters
+              .getTranslation()
+              .getDistance(predecessor.pose.poseMeters.getTranslation());
       constrainedState.distanceMeters = predecessor.distanceMeters + ds;
 
       // We may need to iterate to find the maximum end velocity and common
@@ -96,12 +97,12 @@ public final class TrajectoryParameterizer {
       while (true) {
         // Enforce global max velocity and max reachable velocity by global
         // acceleration limit. vf = std::sqrt(vi^2 + 2*a*d).
-        constrainedState.maxVelocityMetersPerSecond = Math.min(
-            maxVelocityMetersPerSecond,
-            Math.sqrt(predecessor.maxVelocityMetersPerSecond
-                * predecessor.maxVelocityMetersPerSecond
-                + predecessor.maxAccelerationMetersPerSecondSq * ds * 2.0)
-        );
+        constrainedState.maxVelocityMetersPerSecond =
+            Math.min(
+                maxVelocityMetersPerSecond,
+                Math.sqrt(
+                    predecessor.maxVelocityMetersPerSecond * predecessor.maxVelocityMetersPerSecond
+                        + predecessor.maxAccelerationMetersPerSecondSq * ds * 2.0));
 
         constrainedState.minAccelerationMetersPerSecondSq = -maxAccelerationMetersPerSecondSq;
         constrainedState.maxAccelerationMetersPerSecondSq = maxAccelerationMetersPerSecondSq;
@@ -109,12 +110,13 @@ public final class TrajectoryParameterizer {
         // At this point, the constrained state is fully constructed apart from
         // all the custom-defined user constraints.
         for (final var constraint : constraints) {
-          constrainedState.maxVelocityMetersPerSecond = Math.min(
-              constrainedState.maxVelocityMetersPerSecond,
-              constraint.getMaxVelocityMetersPerSecond(
-                  constrainedState.pose.poseMeters, constrainedState.pose.curvatureRadPerMeter,
-                  constrainedState.maxVelocityMetersPerSecond)
-          );
+          constrainedState.maxVelocityMetersPerSecond =
+              Math.min(
+                  constrainedState.maxVelocityMetersPerSecond,
+                  constraint.getMaxVelocityMetersPerSecond(
+                      constrainedState.pose.poseMeters,
+                      constrainedState.pose.curvatureRadPerMeter,
+                      constrainedState.maxVelocityMetersPerSecond));
         }
 
         // Now enforce all acceleration limits.
@@ -127,16 +129,18 @@ public final class TrajectoryParameterizer {
         // If the actual acceleration for this state is higher than the max
         // acceleration that we applied, then we need to reduce the max
         // acceleration of the predecessor and try again.
-        double actualAcceleration = (constrainedState.maxVelocityMetersPerSecond
-            * constrainedState.maxVelocityMetersPerSecond
-            - predecessor.maxVelocityMetersPerSecond * predecessor.maxVelocityMetersPerSecond)
-            / (ds * 2.0);
+        double actualAcceleration =
+            (constrainedState.maxVelocityMetersPerSecond
+                        * constrainedState.maxVelocityMetersPerSecond
+                    - predecessor.maxVelocityMetersPerSecond
+                        * predecessor.maxVelocityMetersPerSecond)
+                / (ds * 2.0);
 
         // If we violate the max acceleration constraint, let's modify the
         // predecessor.
         if (constrainedState.maxAccelerationMetersPerSecondSq < actualAcceleration - 1E-6) {
-          predecessor.maxAccelerationMetersPerSecondSq
-              = constrainedState.maxAccelerationMetersPerSecondSq;
+          predecessor.maxAccelerationMetersPerSecondSq =
+              constrainedState.maxAccelerationMetersPerSecondSq;
         } else {
           // Constrain the predecessor's max acceleration to the current
           // acceleration.
@@ -151,10 +155,13 @@ public final class TrajectoryParameterizer {
       predecessor = constrainedState;
     }
 
-    var successor = new ConstrainedState(points.get(points.size() - 1),
-        constrainedStates.get(constrainedStates.size() - 1).distanceMeters,
-        endVelocityMetersPerSecond,
-        -maxAccelerationMetersPerSecondSq, maxAccelerationMetersPerSecondSq);
+    var successor =
+        new ConstrainedState(
+            points.get(points.size() - 1),
+            constrainedStates.get(constrainedStates.size() - 1).distanceMeters,
+            endVelocityMetersPerSecond,
+            -maxAccelerationMetersPerSecondSq,
+            maxAccelerationMetersPerSecondSq);
 
     // Backward pass
     for (int i = points.size() - 1; i >= 0; i--) {
@@ -164,10 +171,10 @@ public final class TrajectoryParameterizer {
       while (true) {
         // Enforce max velocity limit (reverse)
         // vf = std::sqrt(vi^2 + 2*a*d), where vi = successor.
-        double newMaxVelocity = Math.sqrt(
-            successor.maxVelocityMetersPerSecond * successor.maxVelocityMetersPerSecond
-                + successor.minAccelerationMetersPerSecondSq * ds * 2.0
-        );
+        double newMaxVelocity =
+            Math.sqrt(
+                successor.maxVelocityMetersPerSecond * successor.maxVelocityMetersPerSecond
+                    + successor.minAccelerationMetersPerSecondSq * ds * 2.0);
 
         // No more limits to impose! This state can be finalized.
         if (newMaxVelocity >= constrainedState.maxVelocityMetersPerSecond) {
@@ -186,14 +193,15 @@ public final class TrajectoryParameterizer {
         // If the actual acceleration for this state is lower than the min
         // acceleration, then we need to lower the min acceleration of the
         // successor and try again.
-        double actualAcceleration = (constrainedState.maxVelocityMetersPerSecond
-            * constrainedState.maxVelocityMetersPerSecond
-            - successor.maxVelocityMetersPerSecond * successor.maxVelocityMetersPerSecond)
-            / (ds * 2.0);
+        double actualAcceleration =
+            (constrainedState.maxVelocityMetersPerSecond
+                        * constrainedState.maxVelocityMetersPerSecond
+                    - successor.maxVelocityMetersPerSecond * successor.maxVelocityMetersPerSecond)
+                / (ds * 2.0);
 
         if (constrainedState.minAccelerationMetersPerSecondSq > actualAcceleration + 1E-6) {
-          successor.minAccelerationMetersPerSecondSq
-              = constrainedState.minAccelerationMetersPerSecondSq;
+          successor.minAccelerationMetersPerSecondSq =
+              constrainedState.minAccelerationMetersPerSecondSq;
         } else {
           successor.minAccelerationMetersPerSecondSq = actualAcceleration;
           break;
@@ -218,8 +226,10 @@ public final class TrajectoryParameterizer {
 
       // Calculate the acceleration between the current state and the previous
       // state.
-      double accel = (state.maxVelocityMetersPerSecond * state.maxVelocityMetersPerSecond
-          - velocityMetersPerSecond * velocityMetersPerSecond) / (ds * 2);
+      double accel =
+          (state.maxVelocityMetersPerSecond * state.maxVelocityMetersPerSecond
+                  - velocityMetersPerSecond * velocityMetersPerSecond)
+              / (ds * 2);
 
       // Calculate dt
       double dt = 0.0;
@@ -232,8 +242,8 @@ public final class TrajectoryParameterizer {
           // delta_x = v * t
           dt = ds / velocityMetersPerSecond;
         } else {
-          throw new TrajectoryGenerationException("Something went wrong at iteration " + i
-              + " of time parameterization.");
+          throw new TrajectoryGenerationException(
+              "Something went wrong at iteration " + i + " of time parameterization.");
         }
       }
 
@@ -242,44 +252,53 @@ public final class TrajectoryParameterizer {
 
       timeSeconds += dt;
 
-      states.add(new Trajectory.State(
-          timeSeconds,
-          reversed ? -velocityMetersPerSecond : velocityMetersPerSecond,
-          reversed ? -accel : accel,
-          state.pose.poseMeters, state.pose.curvatureRadPerMeter
-      ));
+      states.add(
+          new Trajectory.State(
+              timeSeconds,
+              reversed ? -velocityMetersPerSecond : velocityMetersPerSecond,
+              reversed ? -accel : accel,
+              state.pose.poseMeters,
+              state.pose.curvatureRadPerMeter));
     }
 
     return new Trajectory(states);
   }
 
-  private static void enforceAccelerationLimits(boolean reverse,
-                                                List<TrajectoryConstraint> constraints,
-                                                ConstrainedState state) {
+  private static void enforceAccelerationLimits(
+      boolean reverse, List<TrajectoryConstraint> constraints, ConstrainedState state) {
 
     for (final var constraint : constraints) {
       double factor = reverse ? -1.0 : 1.0;
-      final var minMaxAccel = constraint.getMinMaxAccelerationMetersPerSecondSq(
-          state.pose.poseMeters, state.pose.curvatureRadPerMeter,
-          state.maxVelocityMetersPerSecond * factor);
+      final var minMaxAccel =
+          constraint.getMinMaxAccelerationMetersPerSecondSq(
+              state.pose.poseMeters,
+              state.pose.curvatureRadPerMeter,
+              state.maxVelocityMetersPerSecond * factor);
 
       if (minMaxAccel.minAccelerationMetersPerSecondSq
           > minMaxAccel.maxAccelerationMetersPerSecondSq) {
-        throw new TrajectoryGenerationException("The constraint's min acceleration "
-            + "was greater than its max acceleration.\n Offending Constraint: "
-            + constraint.getClass().getName()
-            + "\n If the offending constraint was packaged with WPILib, please file a bug report.");
+        throw new TrajectoryGenerationException(
+            "The constraint's min acceleration "
+                + "was greater than its max acceleration.\n Offending Constraint: "
+                + constraint.getClass().getName()
+                + "\n If the offending constraint was packaged with WPILib, please file a bug"
+                + " report.");
       }
 
-      state.minAccelerationMetersPerSecondSq = Math.max(state.minAccelerationMetersPerSecondSq,
-          reverse ? -minMaxAccel.maxAccelerationMetersPerSecondSq
-              : minMaxAccel.minAccelerationMetersPerSecondSq);
+      state.minAccelerationMetersPerSecondSq =
+          Math.max(
+              state.minAccelerationMetersPerSecondSq,
+              reverse
+                  ? -minMaxAccel.maxAccelerationMetersPerSecondSq
+                  : minMaxAccel.minAccelerationMetersPerSecondSq);
 
-      state.maxAccelerationMetersPerSecondSq = Math.min(state.maxAccelerationMetersPerSecondSq,
-          reverse ? -minMaxAccel.minAccelerationMetersPerSecondSq
-              : minMaxAccel.maxAccelerationMetersPerSecondSq);
+      state.maxAccelerationMetersPerSecondSq =
+          Math.min(
+              state.maxAccelerationMetersPerSecondSq,
+              reverse
+                  ? -minMaxAccel.minAccelerationMetersPerSecondSq
+                  : minMaxAccel.maxAccelerationMetersPerSecondSq);
     }
-
   }
 
   @SuppressWarnings("MemberName")
@@ -290,10 +309,12 @@ public final class TrajectoryParameterizer {
     double minAccelerationMetersPerSecondSq;
     double maxAccelerationMetersPerSecondSq;
 
-    ConstrainedState(PoseWithCurvature pose, double distanceMeters,
-                     double maxVelocityMetersPerSecond,
-                     double minAccelerationMetersPerSecondSq,
-                     double maxAccelerationMetersPerSecondSq) {
+    ConstrainedState(
+        PoseWithCurvature pose,
+        double distanceMeters,
+        double maxVelocityMetersPerSecond,
+        double minAccelerationMetersPerSecondSq,
+        double maxAccelerationMetersPerSecondSq) {
       this.pose = pose;
       this.distanceMeters = distanceMeters;
       this.maxVelocityMetersPerSecond = maxVelocityMetersPerSecond;
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryUtil.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryUtil.java
index 879d6f4210..60c4a49013 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryUtil.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryUtil.java
@@ -4,6 +4,10 @@
 
 package edu.wpi.first.wpilibj.trajectory;
 
+import com.fasterxml.jackson.core.JsonProcessingException;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import com.fasterxml.jackson.databind.ObjectReader;
+import com.fasterxml.jackson.databind.ObjectWriter;
 import java.io.BufferedReader;
 import java.io.BufferedWriter;
 import java.io.IOException;
@@ -11,11 +15,6 @@ import java.nio.file.Files;
 import java.nio.file.Path;
 import java.util.Arrays;
 
-import com.fasterxml.jackson.core.JsonProcessingException;
-import com.fasterxml.jackson.databind.ObjectMapper;
-import com.fasterxml.jackson.databind.ObjectReader;
-import com.fasterxml.jackson.databind.ObjectWriter;
-
 public final class TrajectoryUtil {
   private static final ObjectReader READER = new ObjectMapper().readerFor(Trajectory.State[].class);
   private static final ObjectWriter WRITER = new ObjectMapper().writerFor(Trajectory.State[].class);
@@ -26,6 +25,7 @@ public final class TrajectoryUtil {
 
   /**
    * Imports a Trajectory from a PathWeaver-style JSON file.
+   *
    * @param path the path of the json file to import from
    * @return The trajectory represented by the file.
    * @throws IOException if reading from the file fails
@@ -39,6 +39,7 @@ public final class TrajectoryUtil {
 
   /**
    * Exports a Trajectory to a PathWeaver-style JSON file.
+   *
    * @param trajectory the trajectory to export
    * @param path the path of the file to export to
    * @throws IOException if writing to the file fails
@@ -52,6 +53,7 @@ public final class TrajectoryUtil {
 
   /**
    * Deserializes a Trajectory from PathWeaver-style JSON.
+   *
    * @param json the string containing the serialized JSON
    * @return the trajectory represented by the JSON
    * @throws JsonProcessingException if deserializing the JSON fails
@@ -63,6 +65,7 @@ public final class TrajectoryUtil {
 
   /**
    * Serializes a Trajectory to PathWeaver-style JSON.
+   *
    * @param trajectory the trajectory to export
    * @return the string containing the serialized JSON
    * @throws JsonProcessingException if serializing the Trajectory fails
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrapezoidProfile.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrapezoidProfile.java
index a4b5fa89f2..f9ddb8a765 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrapezoidProfile.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrapezoidProfile.java
@@ -4,20 +4,19 @@
 
 package edu.wpi.first.wpilibj.trajectory;
 
-import java.util.Objects;
-
 import edu.wpi.first.math.MathSharedStore;
 import edu.wpi.first.math.MathUsageId;
+import java.util.Objects;
 
 /**
  * A trapezoid-shaped velocity profile.
  *
- * <p>While this class can be used for a profiled movement from start to finish,
- * the intended usage is to filter a reference's dynamics based on trapezoidal
- * velocity constraints. To compute the reference obeying this constraint, do
- * the following.
+ * <p>While this class can be used for a profiled movement from start to finish, the intended usage
+ * is to filter a reference's dynamics based on trapezoidal velocity constraints. To compute the
+ * reference obeying this constraint, do the following.
  *
  * <p>Initialization:
+ *
  * <pre><code>
  * TrapezoidProfile.Constraints constraints =
  *   new TrapezoidProfile.Constraints(kMaxV, kMaxA);
@@ -26,19 +25,18 @@ import edu.wpi.first.math.MathUsageId;
  * </code></pre>
  *
  * <p>Run on update:
+ *
  * <pre><code>
  * TrapezoidProfile profile =
  *   new TrapezoidProfile(constraints, unprofiledReference, previousProfiledReference);
  * previousProfiledReference = profile.calculate(timeSincePreviousUpdate);
  * </code></pre>
  *
- * <p>where `unprofiledReference` is free to change between calls. Note that when
- * the unprofiled reference is within the constraints, `calculate()` returns the
- * unprofiled reference unchanged.
+ * <p>where `unprofiledReference` is free to change between calls. Note that when the unprofiled
+ * reference is within the constraints, `calculate()` returns the unprofiled reference unchanged.
  *
- * <p>Otherwise, a timer can be started to provide monotonic values for
- * `calculate()` and to determine when the profile has completed via
- * `isFinished()`.
+ * <p>Otherwise, a timer can be started to provide monotonic values for `calculate()` and to
+ * determine when the profile has completed via `isFinished()`.
  */
 public class TrapezoidProfile {
   // The direction of the profile, either 1 for forwards or -1 for inverted
@@ -55,6 +53,7 @@ public class TrapezoidProfile {
   public static class Constraints {
     @SuppressWarnings("MemberName")
     public double maxVelocity;
+
     @SuppressWarnings("MemberName")
     public double maxAcceleration;
 
@@ -78,11 +77,11 @@ public class TrapezoidProfile {
   public static class State {
     @SuppressWarnings("MemberName")
     public double position;
+
     @SuppressWarnings("MemberName")
     public double velocity;
 
-    public State() {
-    }
+    public State() {}
 
     public State(double position, double velocity) {
       this.position = position;
@@ -109,8 +108,8 @@ public class TrapezoidProfile {
    * Construct a TrapezoidProfile.
    *
    * @param constraints The constraints on the profile, like maximum velocity.
-   * @param goal        The desired state when the profile is complete.
-   * @param initial     The initial state (usually the current state).
+   * @param goal The desired state when the profile is complete.
+   * @param initial The initial state (usually the current state).
    */
   public TrapezoidProfile(Constraints constraints, State goal, State initial) {
     m_direction = shouldFlipAcceleration(initial, goal) ? -1 : 1;
@@ -134,12 +133,12 @@ public class TrapezoidProfile {
     // Now we can calculate the parameters as if it was a full trapezoid instead
     // of a truncated one
 
-    double fullTrapezoidDist = cutoffDistBegin + (m_goal.position - m_initial.position)
-        + cutoffDistEnd;
+    double fullTrapezoidDist =
+        cutoffDistBegin + (m_goal.position - m_initial.position) + cutoffDistEnd;
     double accelerationTime = m_constraints.maxVelocity / m_constraints.maxAcceleration;
 
-    double fullSpeedDist = fullTrapezoidDist - accelerationTime * accelerationTime
-        * m_constraints.maxAcceleration;
+    double fullSpeedDist =
+        fullTrapezoidDist - accelerationTime * accelerationTime * m_constraints.maxAcceleration;
 
     // Handle the case where the profile never reaches full speed
     if (fullSpeedDist < 0) {
@@ -156,15 +155,15 @@ public class TrapezoidProfile {
    * Construct a TrapezoidProfile.
    *
    * @param constraints The constraints on the profile, like maximum velocity.
-   * @param goal        The desired state when the profile is complete.
+   * @param goal The desired state when the profile is complete.
    */
   public TrapezoidProfile(Constraints constraints, State goal) {
     this(constraints, goal, new State(0, 0));
   }
 
   /**
-   * Calculate the correct position and velocity for the profile at a time t
-   * where the beginning of the profile was at time t = 0.
+   * Calculate the correct position and velocity for the profile at a time t where the beginning of
+   * the profile was at time t = 0.
    *
    * @param t The time since the beginning of the profile.
    */
@@ -176,13 +175,15 @@ public class TrapezoidProfile {
       result.position += (m_initial.velocity + t * m_constraints.maxAcceleration / 2.0) * t;
     } else if (t < m_endFullSpeed) {
       result.velocity = m_constraints.maxVelocity;
-      result.position += (m_initial.velocity + m_endAccel * m_constraints.maxAcceleration
-          / 2.0) * m_endAccel + m_constraints.maxVelocity * (t - m_endAccel);
+      result.position +=
+          (m_initial.velocity + m_endAccel * m_constraints.maxAcceleration / 2.0) * m_endAccel
+              + m_constraints.maxVelocity * (t - m_endAccel);
     } else if (t <= m_endDeccel) {
       result.velocity = m_goal.velocity + (m_endDeccel - t) * m_constraints.maxAcceleration;
       double timeLeft = m_endDeccel - t;
-      result.position = m_goal.position - (m_goal.velocity + timeLeft
-          * m_constraints.maxAcceleration / 2.0) * timeLeft;
+      result.position =
+          m_goal.position
+              - (m_goal.velocity + timeLeft * m_constraints.maxAcceleration / 2.0) * timeLeft;
     } else {
       result = m_goal;
     }
@@ -247,20 +248,22 @@ public class TrapezoidProfile {
       deccelDist = distToTarget - fullSpeedDist - accelDist;
     }
 
-    double accelTime = (-velocity + Math.sqrt(Math.abs(velocity * velocity + 2 * acceleration
-        * accelDist))) / acceleration;
+    double accelTime =
+        (-velocity + Math.sqrt(Math.abs(velocity * velocity + 2 * acceleration * accelDist)))
+            / acceleration;
 
-    double deccelTime = (-deccelVelocity + Math.sqrt(Math.abs(deccelVelocity * deccelVelocity
-        + 2 * decceleration * deccelDist))) / decceleration;
+    double deccelTime =
+        (-deccelVelocity
+                + Math.sqrt(
+                    Math.abs(deccelVelocity * deccelVelocity + 2 * decceleration * deccelDist)))
+            / decceleration;
 
     double fullSpeedTime = fullSpeedDist / m_constraints.maxVelocity;
 
     return accelTime + fullSpeedTime + deccelTime;
   }
 
-  /**
-   * Returns the total time the profile takes to reach the goal.
-   */
+  /** Returns the total time the profile takes to reach the goal. */
   public double totalTime() {
     return m_endDeccel;
   }
@@ -268,8 +271,8 @@ public class TrapezoidProfile {
   /**
    * Returns true if the profile has reached the goal.
    *
-   * <p>The profile has reached the goal if the time since the profile started
-   * has exceeded the profile's total time.
+   * <p>The profile has reached the goal if the time since the profile started has exceeded the
+   * profile's total time.
    *
    * @param t The time since the beginning of the profile.
    */
@@ -282,8 +285,8 @@ public class TrapezoidProfile {
    *
    * <p>The profile is inverted if goal position is less than the initial position.
    *
-   * @param initial     The initial state (usually the current state).
-   * @param goal        The desired state when the profile is complete.
+   * @param initial The initial state (usually the current state).
+   * @param goal The desired state when the profile is complete.
    */
   private static boolean shouldFlipAcceleration(State initial, State goal) {
     return initial.position > goal.position;
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/CentripetalAccelerationConstraint.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/CentripetalAccelerationConstraint.java
index 7152550cee..7b1ae798b3 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/CentripetalAccelerationConstraint.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/CentripetalAccelerationConstraint.java
@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.trajectory.constraint;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 
 /**
- * A constraint on the maximum absolute centripetal acceleration allowed when
- * traversing a trajectory. The centripetal acceleration of a robot is defined
- * as the velocity squared divided by the radius of curvature.
+ * A constraint on the maximum absolute centripetal acceleration allowed when traversing a
+ * trajectory. The centripetal acceleration of a robot is defined as the velocity squared divided by
+ * the radius of curvature.
  *
- * <p>Effectively, limiting the maximum centripetal acceleration will cause the
- * robot to slow down around tight turns, making it easier to track trajectories
- * with sharp turns.
+ * <p>Effectively, limiting the maximum centripetal acceleration will cause the robot to slow down
+ * around tight turns, making it easier to track trajectories with sharp turns.
  */
 public class CentripetalAccelerationConstraint implements TrajectoryConstraint {
   private final double m_maxCentripetalAccelerationMetersPerSecondSq;
@@ -30,15 +29,15 @@ public class CentripetalAccelerationConstraint implements TrajectoryConstraint {
   /**
    * Returns the max velocity given the current pose and curvature.
    *
-   * @param poseMeters              The pose at the current point in the trajectory.
-   * @param curvatureRadPerMeter    The curvature at the current point in the trajectory.
+   * @param poseMeters The pose at the current point in the trajectory.
+   * @param curvatureRadPerMeter The curvature at the current point in the trajectory.
    * @param velocityMetersPerSecond The velocity at the current point in the trajectory before
-   *                                constraints are applied.
+   *     constraints are applied.
    * @return The absolute maximum velocity.
    */
   @Override
-  public double getMaxVelocityMetersPerSecond(Pose2d poseMeters, double curvatureRadPerMeter,
-                                              double velocityMetersPerSecond) {
+  public double getMaxVelocityMetersPerSecond(
+      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
     // ac = v^2 / r
     // k (curvature) = 1 / r
 
@@ -46,23 +45,22 @@ public class CentripetalAccelerationConstraint implements TrajectoryConstraint {
     // ac / k = v^2
     // v = std::sqrt(ac / k)
 
-    return Math.sqrt(m_maxCentripetalAccelerationMetersPerSecondSq
-        / Math.abs(curvatureRadPerMeter));
+    return Math.sqrt(
+        m_maxCentripetalAccelerationMetersPerSecondSq / Math.abs(curvatureRadPerMeter));
   }
 
   /**
-   * Returns the minimum and maximum allowable acceleration for the trajectory
-   * given pose, curvature, and speed.
+   * Returns the minimum and maximum allowable acceleration for the trajectory given pose,
+   * curvature, and speed.
    *
-   * @param poseMeters              The pose at the current point in the trajectory.
-   * @param curvatureRadPerMeter    The curvature at the current point in the trajectory.
+   * @param poseMeters The pose at the current point in the trajectory.
+   * @param curvatureRadPerMeter The curvature at the current point in the trajectory.
    * @param velocityMetersPerSecond The speed at the current point in the trajectory.
    * @return The min and max acceleration bounds.
    */
   @Override
-  public MinMax getMinMaxAccelerationMetersPerSecondSq(Pose2d poseMeters,
-                                                       double curvatureRadPerMeter,
-                                                       double velocityMetersPerSecond) {
+  public MinMax getMinMaxAccelerationMetersPerSecondSq(
+      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
     // The acceleration of the robot has no impact on the centripetal acceleration
     // of the robot.
     return new MinMax();
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/DifferentialDriveKinematicsConstraint.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/DifferentialDriveKinematicsConstraint.java
index 09d559a985..11c99ce07b 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/DifferentialDriveKinematicsConstraint.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/DifferentialDriveKinematicsConstraint.java
@@ -9,10 +9,9 @@ import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
 
 /**
- * A class that enforces constraints on the differential drive kinematics.
- * This can be used to ensure that the trajectory is constructed so that the
- * commanded velocities for both sides of the drivetrain stay below a certain
- * limit.
+ * A class that enforces constraints on the differential drive kinematics. This can be used to
+ * ensure that the trajectory is constructed so that the commanded velocities for both sides of the
+ * drivetrain stay below a certain limit.
  */
 public class DifferentialDriveKinematicsConstraint implements TrajectoryConstraint {
   private final double m_maxSpeedMetersPerSecond;
@@ -24,28 +23,28 @@ public class DifferentialDriveKinematicsConstraint implements TrajectoryConstrai
    * @param kinematics A kinematics component describing the drive geometry.
    * @param maxSpeedMetersPerSecond The max speed that a side of the robot can travel at.
    */
-  public DifferentialDriveKinematicsConstraint(final DifferentialDriveKinematics kinematics,
-                                               double maxSpeedMetersPerSecond) {
+  public DifferentialDriveKinematicsConstraint(
+      final DifferentialDriveKinematics kinematics, double maxSpeedMetersPerSecond) {
     m_maxSpeedMetersPerSecond = maxSpeedMetersPerSecond;
     m_kinematics = kinematics;
   }
 
-
   /**
    * Returns the max velocity given the current pose and curvature.
    *
-   * @param poseMeters              The pose at the current point in the trajectory.
-   * @param curvatureRadPerMeter    The curvature at the current point in the trajectory.
+   * @param poseMeters The pose at the current point in the trajectory.
+   * @param curvatureRadPerMeter The curvature at the current point in the trajectory.
    * @param velocityMetersPerSecond The velocity at the current point in the trajectory before
-   *                                constraints are applied.
+   *     constraints are applied.
    * @return The absolute maximum velocity.
    */
   @Override
-  public double getMaxVelocityMetersPerSecond(Pose2d poseMeters, double curvatureRadPerMeter,
-                                              double velocityMetersPerSecond) {
+  public double getMaxVelocityMetersPerSecond(
+      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
     // Create an object to represent the current chassis speeds.
-    var chassisSpeeds = new ChassisSpeeds(velocityMetersPerSecond,
-        0, velocityMetersPerSecond * curvatureRadPerMeter);
+    var chassisSpeeds =
+        new ChassisSpeeds(
+            velocityMetersPerSecond, 0, velocityMetersPerSecond * curvatureRadPerMeter);
 
     // Get the wheel speeds and normalize them to within the max velocity.
     var wheelSpeeds = m_kinematics.toWheelSpeeds(chassisSpeeds);
@@ -56,18 +55,17 @@ public class DifferentialDriveKinematicsConstraint implements TrajectoryConstrai
   }
 
   /**
-   * Returns the minimum and maximum allowable acceleration for the trajectory
-   * given pose, curvature, and speed.
+   * Returns the minimum and maximum allowable acceleration for the trajectory given pose,
+   * curvature, and speed.
    *
-   * @param poseMeters              The pose at the current point in the trajectory.
-   * @param curvatureRadPerMeter    The curvature at the current point in the trajectory.
+   * @param poseMeters The pose at the current point in the trajectory.
+   * @param curvatureRadPerMeter The curvature at the current point in the trajectory.
    * @param velocityMetersPerSecond The speed at the current point in the trajectory.
    * @return The min and max acceleration bounds.
    */
   @Override
-  public MinMax getMinMaxAccelerationMetersPerSecondSq(Pose2d poseMeters,
-                                                       double curvatureRadPerMeter,
-                                                       double velocityMetersPerSecond) {
+  public MinMax getMinMaxAccelerationMetersPerSecondSq(
+      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
     return new MinMax();
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/DifferentialDriveVoltageConstraint.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/DifferentialDriveVoltageConstraint.java
index c8e6cb8292..afc7cd4e1f 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/DifferentialDriveVoltageConstraint.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/DifferentialDriveVoltageConstraint.java
@@ -4,18 +4,18 @@
 
 package edu.wpi.first.wpilibj.trajectory.constraint;
 
+import static edu.wpi.first.wpiutil.ErrorMessages.requireNonNullParam;
+
 import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
 
-import static edu.wpi.first.wpiutil.ErrorMessages.requireNonNullParam;
-
 /**
  * A class that enforces constraints on differential drive voltage expenditure based on the motor
- * dynamics and the drive kinematics.  Ensures that the acceleration of any wheel of the robot
- * while following the trajectory is never higher than what can be achieved with the given
- * maximum voltage.
+ * dynamics and the drive kinematics. Ensures that the acceleration of any wheel of the robot while
+ * following the trajectory is never higher than what can be achieved with the given maximum
+ * voltage.
  */
 public class DifferentialDriveVoltageConstraint implements TrajectoryConstraint {
   private final SimpleMotorFeedforward m_feedforward;
@@ -26,40 +26,41 @@ public class DifferentialDriveVoltageConstraint implements TrajectoryConstraint
    * Creates a new DifferentialDriveVoltageConstraint.
    *
    * @param feedforward A feedforward component describing the behavior of the drive.
-   * @param kinematics  A kinematics component describing the drive geometry.
-   * @param maxVoltage  The maximum voltage available to the motors while following the path.
-   *                    Should be somewhat less than the nominal battery voltage (12V) to account
-   *                    for "voltage sag" due to current draw.
+   * @param kinematics A kinematics component describing the drive geometry.
+   * @param maxVoltage The maximum voltage available to the motors while following the path. Should
+   *     be somewhat less than the nominal battery voltage (12V) to account for "voltage sag" due to
+   *     current draw.
    */
-  public DifferentialDriveVoltageConstraint(SimpleMotorFeedforward feedforward,
-                                            DifferentialDriveKinematics kinematics,
-                                            double maxVoltage) {
-    m_feedforward = requireNonNullParam(feedforward, "feedforward",
-                                        "DifferentialDriveVoltageConstraint");
-    m_kinematics = requireNonNullParam(kinematics, "kinematics",
-                                       "DifferentialDriveVoltageConstraint");
+  public DifferentialDriveVoltageConstraint(
+      SimpleMotorFeedforward feedforward,
+      DifferentialDriveKinematics kinematics,
+      double maxVoltage) {
+    m_feedforward =
+        requireNonNullParam(feedforward, "feedforward", "DifferentialDriveVoltageConstraint");
+    m_kinematics =
+        requireNonNullParam(kinematics, "kinematics", "DifferentialDriveVoltageConstraint");
     m_maxVoltage = maxVoltage;
   }
 
   @Override
-  public double getMaxVelocityMetersPerSecond(Pose2d poseMeters, double curvatureRadPerMeter,
-                                              double velocityMetersPerSecond) {
+  public double getMaxVelocityMetersPerSecond(
+      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
     return Double.POSITIVE_INFINITY;
   }
 
   @Override
-  public MinMax getMinMaxAccelerationMetersPerSecondSq(Pose2d poseMeters,
-                                                       double curvatureRadPerMeter,
-                                                       double velocityMetersPerSecond) {
+  public MinMax getMinMaxAccelerationMetersPerSecondSq(
+      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
 
-    var wheelSpeeds = m_kinematics.toWheelSpeeds(new ChassisSpeeds(velocityMetersPerSecond, 0,
-                                                                   velocityMetersPerSecond
-                                                                       * curvatureRadPerMeter));
+    var wheelSpeeds =
+        m_kinematics.toWheelSpeeds(
+            new ChassisSpeeds(
+                velocityMetersPerSecond, 0, velocityMetersPerSecond * curvatureRadPerMeter));
 
-    double maxWheelSpeed = Math.max(wheelSpeeds.leftMetersPerSecond,
-                                    wheelSpeeds.rightMetersPerSecond);
-    double minWheelSpeed = Math.min(wheelSpeeds.leftMetersPerSecond,
-                                    wheelSpeeds.rightMetersPerSecond);
+    double maxWheelSpeed =
+        Math.max(wheelSpeeds.leftMetersPerSecond, wheelSpeeds.rightMetersPerSecond);
+    double minWheelSpeed =
+        Math.min(wheelSpeeds.leftMetersPerSecond, wheelSpeeds.rightMetersPerSecond);
 
     // Calculate maximum/minimum possible accelerations from motor dynamics
     // and max/min wheel speeds
@@ -97,12 +98,18 @@ public class DifferentialDriveVoltageConstraint implements TrajectoryConstraint
     } else {
       maxChassisAcceleration =
           maxWheelAcceleration
-              / (1 + m_kinematics.trackWidthMeters * Math.abs(curvatureRadPerMeter)
-              * Math.signum(velocityMetersPerSecond) / 2);
+              / (1
+                  + m_kinematics.trackWidthMeters
+                      * Math.abs(curvatureRadPerMeter)
+                      * Math.signum(velocityMetersPerSecond)
+                      / 2);
       minChassisAcceleration =
           minWheelAcceleration
-              / (1 - m_kinematics.trackWidthMeters * Math.abs(curvatureRadPerMeter)
-              * Math.signum(velocityMetersPerSecond) / 2);
+              / (1
+                  - m_kinematics.trackWidthMeters
+                      * Math.abs(curvatureRadPerMeter)
+                      * Math.signum(velocityMetersPerSecond)
+                      / 2);
     }
 
     // When turning about a point inside of the wheelbase (i.e. radius less than half
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/EllipticalRegionConstraint.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/EllipticalRegionConstraint.java
index 3f40d6aa0a..7ec8cee6ba 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/EllipticalRegionConstraint.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/EllipticalRegionConstraint.java
@@ -8,9 +8,7 @@ import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.geometry.Translation2d;
 
-/**
- * Enforces a particular constraint only within an elliptical region.
- */
+/** Enforces a particular constraint only within an elliptical region. */
 public class EllipticalRegionConstraint implements TrajectoryConstraint {
   private final Translation2d m_center;
   private final Translation2d m_radii;
@@ -19,46 +17,49 @@ public class EllipticalRegionConstraint implements TrajectoryConstraint {
   /**
    * Constructs a new EllipticalRegionConstraint.
    *
-   * @param center     The center of the ellipse in which to enforce the constraint.
-   * @param xWidth     The width of the ellipse in which to enforce the constraint.
-   * @param yWidth     The height of the ellipse in which to enforce the constraint.
-   * @param rotation   The rotation to apply to all radii around the origin.
+   * @param center The center of the ellipse in which to enforce the constraint.
+   * @param xWidth The width of the ellipse in which to enforce the constraint.
+   * @param yWidth The height of the ellipse in which to enforce the constraint.
+   * @param rotation The rotation to apply to all radii around the origin.
    * @param constraint The constraint to enforce when the robot is within the region.
    */
   @SuppressWarnings("ParameterName")
-  public EllipticalRegionConstraint(Translation2d center, double xWidth, double yWidth,
-                                    Rotation2d rotation, TrajectoryConstraint constraint) {
+  public EllipticalRegionConstraint(
+      Translation2d center,
+      double xWidth,
+      double yWidth,
+      Rotation2d rotation,
+      TrajectoryConstraint constraint) {
     m_center = center;
     m_radii = new Translation2d(xWidth / 2.0, yWidth / 2.0).rotateBy(rotation);
     m_constraint = constraint;
   }
 
   @Override
-  public double getMaxVelocityMetersPerSecond(Pose2d poseMeters, double curvatureRadPerMeter,
-                                              double velocityMetersPerSecond) {
+  public double getMaxVelocityMetersPerSecond(
+      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
     if (isPoseInRegion(poseMeters)) {
-      return m_constraint.getMaxVelocityMetersPerSecond(poseMeters, curvatureRadPerMeter,
-          velocityMetersPerSecond);
+      return m_constraint.getMaxVelocityMetersPerSecond(
+          poseMeters, curvatureRadPerMeter, velocityMetersPerSecond);
     } else {
       return Double.POSITIVE_INFINITY;
     }
   }
 
   @Override
-  public MinMax getMinMaxAccelerationMetersPerSecondSq(Pose2d poseMeters,
-                                                       double curvatureRadPerMeter,
-                                                       double velocityMetersPerSecond) {
+  public MinMax getMinMaxAccelerationMetersPerSecondSq(
+      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
     if (isPoseInRegion(poseMeters)) {
-      return m_constraint.getMinMaxAccelerationMetersPerSecondSq(poseMeters,
-          curvatureRadPerMeter, velocityMetersPerSecond);
+      return m_constraint.getMinMaxAccelerationMetersPerSecondSq(
+          poseMeters, curvatureRadPerMeter, velocityMetersPerSecond);
     } else {
       return new MinMax();
     }
   }
 
   /**
-   * Returns whether the specified robot pose is within the region that the constraint
-   * is enforced in.
+   * Returns whether the specified robot pose is within the region that the constraint is enforced
+   * in.
    *
    * @param robotPose The robot pose.
    * @return Whether the robot pose is within the constraint region.
@@ -69,9 +70,8 @@ public class EllipticalRegionConstraint implements TrajectoryConstraint {
     // If the inequality is satisfied, then it is inside the ellipse; otherwise
     // it is outside the ellipse.
     // Both sides have been multiplied by Rx^2 * Ry^2 for efficiency reasons.
-    return Math.pow(robotPose.getX() - m_center.getX(), 2)
-        * Math.pow(m_radii.getY(), 2)
-        + Math.pow(robotPose.getY() - m_center.getY(), 2)
-        * Math.pow(m_radii.getX(), 2) <= Math.pow(m_radii.getX(), 2) * Math.pow(m_radii.getY(), 2);
+    return Math.pow(robotPose.getX() - m_center.getX(), 2) * Math.pow(m_radii.getY(), 2)
+            + Math.pow(robotPose.getY() - m_center.getY(), 2) * Math.pow(m_radii.getX(), 2)
+        <= Math.pow(m_radii.getX(), 2) * Math.pow(m_radii.getY(), 2);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/MaxVelocityConstraint.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/MaxVelocityConstraint.java
index 2fec9f5ab5..c755aead34 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/MaxVelocityConstraint.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/MaxVelocityConstraint.java
@@ -7,9 +7,9 @@ package edu.wpi.first.wpilibj.trajectory.constraint;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 
 /**
- * Represents a constraint that enforces a max velocity. This can be composed with the
- * {@link EllipticalRegionConstraint} or {@link RectangularRegionConstraint} to enforce
- * a max velocity in a region.
+ * Represents a constraint that enforces a max velocity. This can be composed with the {@link
+ * EllipticalRegionConstraint} or {@link RectangularRegionConstraint} to enforce a max velocity in a
+ * region.
  */
 public class MaxVelocityConstraint implements TrajectoryConstraint {
   private final double m_maxVelocity;
@@ -24,8 +24,8 @@ public class MaxVelocityConstraint implements TrajectoryConstraint {
   }
 
   @Override
-  public double getMaxVelocityMetersPerSecond(Pose2d poseMeters, double curvatureRadPerMeter,
-                                              double velocityMetersPerSecond) {
+  public double getMaxVelocityMetersPerSecond(
+      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
     return m_maxVelocity;
   }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/MecanumDriveKinematicsConstraint.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/MecanumDriveKinematicsConstraint.java
index bcb1e56f22..80f5c732ee 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/MecanumDriveKinematicsConstraint.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/MecanumDriveKinematicsConstraint.java
@@ -9,10 +9,9 @@ import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics;
 
 /**
- * A class that enforces constraints on the mecanum drive kinematics.
- * This can be used to ensure that the trajectory is constructed so that the
- * commanded velocities for all 4 wheels of the drivetrain stay below a certain
- * limit.
+ * A class that enforces constraints on the mecanum drive kinematics. This can be used to ensure
+ * that the trajectory is constructed so that the commanded velocities for all 4 wheels of the
+ * drivetrain stay below a certain limit.
  */
 public class MecanumDriveKinematicsConstraint implements TrajectoryConstraint {
   private final double m_maxSpeedMetersPerSecond;
@@ -23,25 +22,24 @@ public class MecanumDriveKinematicsConstraint implements TrajectoryConstraint {
    *
    * @param maxSpeedMetersPerSecond The max speed that a side of the robot can travel at.
    */
-  public MecanumDriveKinematicsConstraint(final MecanumDriveKinematics kinematics,
-                                               double maxSpeedMetersPerSecond) {
+  public MecanumDriveKinematicsConstraint(
+      final MecanumDriveKinematics kinematics, double maxSpeedMetersPerSecond) {
     m_maxSpeedMetersPerSecond = maxSpeedMetersPerSecond;
     m_kinematics = kinematics;
   }
 
-
   /**
    * Returns the max velocity given the current pose and curvature.
    *
-   * @param poseMeters              The pose at the current point in the trajectory.
-   * @param curvatureRadPerMeter    The curvature at the current point in the trajectory.
+   * @param poseMeters The pose at the current point in the trajectory.
+   * @param curvatureRadPerMeter The curvature at the current point in the trajectory.
    * @param velocityMetersPerSecond The velocity at the current point in the trajectory before
-   *                                constraints are applied.
+   *     constraints are applied.
    * @return The absolute maximum velocity.
    */
   @Override
-  public double getMaxVelocityMetersPerSecond(Pose2d poseMeters, double curvatureRadPerMeter,
-                                              double velocityMetersPerSecond) {
+  public double getMaxVelocityMetersPerSecond(
+      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
     // Represents the velocity of the chassis in the x direction
     var xdVelocity = velocityMetersPerSecond * poseMeters.getRotation().getCos();
 
@@ -49,8 +47,8 @@ public class MecanumDriveKinematicsConstraint implements TrajectoryConstraint {
     var ydVelocity = velocityMetersPerSecond * poseMeters.getRotation().getSin();
 
     // Create an object to represent the current chassis speeds.
-    var chassisSpeeds = new ChassisSpeeds(xdVelocity,
-        ydVelocity, velocityMetersPerSecond * curvatureRadPerMeter);
+    var chassisSpeeds =
+        new ChassisSpeeds(xdVelocity, ydVelocity, velocityMetersPerSecond * curvatureRadPerMeter);
 
     // Get the wheel speeds and normalize them to within the max velocity.
     var wheelSpeeds = m_kinematics.toWheelSpeeds(chassisSpeeds);
@@ -64,18 +62,17 @@ public class MecanumDriveKinematicsConstraint implements TrajectoryConstraint {
   }
 
   /**
-   * Returns the minimum and maximum allowable acceleration for the trajectory
-   * given pose, curvature, and speed.
+   * Returns the minimum and maximum allowable acceleration for the trajectory given pose,
+   * curvature, and speed.
    *
-   * @param poseMeters              The pose at the current point in the trajectory.
-   * @param curvatureRadPerMeter    The curvature at the current point in the trajectory.
+   * @param poseMeters The pose at the current point in the trajectory.
+   * @param curvatureRadPerMeter The curvature at the current point in the trajectory.
    * @param velocityMetersPerSecond The speed at the current point in the trajectory.
    * @return The min and max acceleration bounds.
    */
   @Override
-  public MinMax getMinMaxAccelerationMetersPerSecondSq(Pose2d poseMeters,
-                                                       double curvatureRadPerMeter,
-                                                       double velocityMetersPerSecond) {
+  public MinMax getMinMaxAccelerationMetersPerSecondSq(
+      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
     return new MinMax();
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/RectangularRegionConstraint.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/RectangularRegionConstraint.java
index ef06646280..0827d991da 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/RectangularRegionConstraint.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/RectangularRegionConstraint.java
@@ -7,9 +7,7 @@ package edu.wpi.first.wpilibj.trajectory.constraint;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Translation2d;
 
-/**
- * Enforces a particular constraint only within a rectangular region.
- */
+/** Enforces a particular constraint only within a rectangular region. */
 public class RectangularRegionConstraint implements TrajectoryConstraint {
   private final Translation2d m_bottomLeftPoint;
   private final Translation2d m_topRightPoint;
@@ -18,45 +16,44 @@ public class RectangularRegionConstraint implements TrajectoryConstraint {
   /**
    * Constructs a new RectangularRegionConstraint.
    *
-   * @param bottomLeftPoint The bottom left point of the rectangular region in which to
-   *                        enforce the constraint.
-   * @param topRightPoint   The top right point of the rectangular region in which to enforce
-   *                        the constraint.
-   * @param constraint      The constraint to enforce when the robot is within the region.
+   * @param bottomLeftPoint The bottom left point of the rectangular region in which to enforce the
+   *     constraint.
+   * @param topRightPoint The top right point of the rectangular region in which to enforce the
+   *     constraint.
+   * @param constraint The constraint to enforce when the robot is within the region.
    */
-  public RectangularRegionConstraint(Translation2d bottomLeftPoint, Translation2d topRightPoint,
-                                     TrajectoryConstraint constraint) {
+  public RectangularRegionConstraint(
+      Translation2d bottomLeftPoint, Translation2d topRightPoint, TrajectoryConstraint constraint) {
     m_bottomLeftPoint = bottomLeftPoint;
     m_topRightPoint = topRightPoint;
     m_constraint = constraint;
   }
 
   @Override
-  public double getMaxVelocityMetersPerSecond(Pose2d poseMeters, double curvatureRadPerMeter,
-                                              double velocityMetersPerSecond) {
+  public double getMaxVelocityMetersPerSecond(
+      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
     if (isPoseInRegion(poseMeters)) {
-      return m_constraint.getMaxVelocityMetersPerSecond(poseMeters, curvatureRadPerMeter,
-          velocityMetersPerSecond);
+      return m_constraint.getMaxVelocityMetersPerSecond(
+          poseMeters, curvatureRadPerMeter, velocityMetersPerSecond);
     } else {
       return Double.POSITIVE_INFINITY;
     }
   }
 
   @Override
-  public MinMax getMinMaxAccelerationMetersPerSecondSq(Pose2d poseMeters,
-                                                       double curvatureRadPerMeter,
-                                                       double velocityMetersPerSecond) {
+  public MinMax getMinMaxAccelerationMetersPerSecondSq(
+      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
     if (isPoseInRegion(poseMeters)) {
-      return m_constraint.getMinMaxAccelerationMetersPerSecondSq(poseMeters,
-          curvatureRadPerMeter, velocityMetersPerSecond);
+      return m_constraint.getMinMaxAccelerationMetersPerSecondSq(
+          poseMeters, curvatureRadPerMeter, velocityMetersPerSecond);
     } else {
       return new MinMax();
     }
   }
 
   /**
-   * Returns whether the specified robot pose is within the region that the constraint
-   * is enforced in.
+   * Returns whether the specified robot pose is within the region that the constraint is enforced
+   * in.
    *
    * @param robotPose The robot pose.
    * @return Whether the robot pose is within the constraint region.
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/SwerveDriveKinematicsConstraint.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/SwerveDriveKinematicsConstraint.java
index 1769e0b615..af61a44c7e 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/SwerveDriveKinematicsConstraint.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/SwerveDriveKinematicsConstraint.java
@@ -9,10 +9,9 @@ import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
 
 /**
- * A class that enforces constraints on the swerve drive kinematics.
- * This can be used to ensure that the trajectory is constructed so that the
- * commanded velocities for all 4 wheels of the drivetrain stay below a certain
- * limit.
+ * A class that enforces constraints on the swerve drive kinematics. This can be used to ensure that
+ * the trajectory is constructed so that the commanded velocities for all 4 wheels of the drivetrain
+ * stay below a certain limit.
  */
 public class SwerveDriveKinematicsConstraint implements TrajectoryConstraint {
   private final double m_maxSpeedMetersPerSecond;
@@ -23,25 +22,24 @@ public class SwerveDriveKinematicsConstraint implements TrajectoryConstraint {
    *
    * @param maxSpeedMetersPerSecond The max speed that a side of the robot can travel at.
    */
-  public SwerveDriveKinematicsConstraint(final SwerveDriveKinematics kinematics,
-                                               double maxSpeedMetersPerSecond) {
+  public SwerveDriveKinematicsConstraint(
+      final SwerveDriveKinematics kinematics, double maxSpeedMetersPerSecond) {
     m_maxSpeedMetersPerSecond = maxSpeedMetersPerSecond;
     m_kinematics = kinematics;
   }
 
-
   /**
    * Returns the max velocity given the current pose and curvature.
    *
-   * @param poseMeters              The pose at the current point in the trajectory.
-   * @param curvatureRadPerMeter    The curvature at the current point in the trajectory.
+   * @param poseMeters The pose at the current point in the trajectory.
+   * @param curvatureRadPerMeter The curvature at the current point in the trajectory.
    * @param velocityMetersPerSecond The velocity at the current point in the trajectory before
-   *                                constraints are applied.
+   *     constraints are applied.
    * @return The absolute maximum velocity.
    */
   @Override
-  public double getMaxVelocityMetersPerSecond(Pose2d poseMeters, double curvatureRadPerMeter,
-                                              double velocityMetersPerSecond) {
+  public double getMaxVelocityMetersPerSecond(
+      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
     // Represents the velocity of the chassis in the x direction
     var xdVelocity = velocityMetersPerSecond * poseMeters.getRotation().getCos();
 
@@ -49,8 +47,8 @@ public class SwerveDriveKinematicsConstraint implements TrajectoryConstraint {
     var ydVelocity = velocityMetersPerSecond * poseMeters.getRotation().getSin();
 
     // Create an object to represent the current chassis speeds.
-    var chassisSpeeds = new ChassisSpeeds(xdVelocity,
-        ydVelocity, velocityMetersPerSecond * curvatureRadPerMeter);
+    var chassisSpeeds =
+        new ChassisSpeeds(xdVelocity, ydVelocity, velocityMetersPerSecond * curvatureRadPerMeter);
 
     // Get the wheel speeds and normalize them to within the max velocity.
     var wheelSpeeds = m_kinematics.toSwerveModuleStates(chassisSpeeds);
@@ -64,18 +62,17 @@ public class SwerveDriveKinematicsConstraint implements TrajectoryConstraint {
   }
 
   /**
-   * Returns the minimum and maximum allowable acceleration for the trajectory
-   * given pose, curvature, and speed.
+   * Returns the minimum and maximum allowable acceleration for the trajectory given pose,
+   * curvature, and speed.
    *
-   * @param poseMeters              The pose at the current point in the trajectory.
-   * @param curvatureRadPerMeter    The curvature at the current point in the trajectory.
+   * @param poseMeters The pose at the current point in the trajectory.
+   * @param curvatureRadPerMeter The curvature at the current point in the trajectory.
    * @param velocityMetersPerSecond The speed at the current point in the trajectory.
    * @return The min and max acceleration bounds.
    */
   @Override
-  public MinMax getMinMaxAccelerationMetersPerSecondSq(Pose2d poseMeters,
-                                                       double curvatureRadPerMeter,
-                                                       double velocityMetersPerSecond) {
+  public MinMax getMinMaxAccelerationMetersPerSecondSq(
+      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
     return new MinMax();
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/TrajectoryConstraint.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/TrajectoryConstraint.java
index 175392f539..56275578d2 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/TrajectoryConstraint.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/TrajectoryConstraint.java
@@ -7,38 +7,36 @@ package edu.wpi.first.wpilibj.trajectory.constraint;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 
 /**
- * An interface for defining user-defined velocity and acceleration constraints
- * while generating trajectories.
+ * An interface for defining user-defined velocity and acceleration constraints while generating
+ * trajectories.
  */
 public interface TrajectoryConstraint {
 
   /**
    * Returns the max velocity given the current pose and curvature.
    *
-   * @param poseMeters              The pose at the current point in the trajectory.
-   * @param curvatureRadPerMeter    The curvature at the current point in the trajectory.
+   * @param poseMeters The pose at the current point in the trajectory.
+   * @param curvatureRadPerMeter The curvature at the current point in the trajectory.
    * @param velocityMetersPerSecond The velocity at the current point in the trajectory before
-   *                                constraints are applied.
+   *     constraints are applied.
    * @return The absolute maximum velocity.
    */
-  double getMaxVelocityMetersPerSecond(Pose2d poseMeters, double curvatureRadPerMeter,
-                                       double velocityMetersPerSecond);
+  double getMaxVelocityMetersPerSecond(
+      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond);
 
   /**
-   * Returns the minimum and maximum allowable acceleration for the trajectory
-   * given pose, curvature, and speed.
+   * Returns the minimum and maximum allowable acceleration for the trajectory given pose,
+   * curvature, and speed.
    *
-   * @param poseMeters              The pose at the current point in the trajectory.
-   * @param curvatureRadPerMeter    The curvature at the current point in the trajectory.
+   * @param poseMeters The pose at the current point in the trajectory.
+   * @param curvatureRadPerMeter The curvature at the current point in the trajectory.
    * @param velocityMetersPerSecond The speed at the current point in the trajectory.
    * @return The min and max acceleration bounds.
    */
-  MinMax getMinMaxAccelerationMetersPerSecondSq(Pose2d poseMeters, double curvatureRadPerMeter,
-                                                double velocityMetersPerSecond);
+  MinMax getMinMaxAccelerationMetersPerSecondSq(
+      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond);
 
-  /**
-   * Represents a minimum and maximum acceleration.
-   */
+  /** Represents a minimum and maximum acceleration. */
   @SuppressWarnings("MemberName")
   class MinMax {
     public double minAccelerationMetersPerSecondSq = -Double.MAX_VALUE;
@@ -50,16 +48,13 @@ public interface TrajectoryConstraint {
      * @param minAccelerationMetersPerSecondSq The minimum acceleration.
      * @param maxAccelerationMetersPerSecondSq The maximum acceleration.
      */
-    public MinMax(double minAccelerationMetersPerSecondSq,
-                  double maxAccelerationMetersPerSecondSq) {
+    public MinMax(
+        double minAccelerationMetersPerSecondSq, double maxAccelerationMetersPerSecondSq) {
       this.minAccelerationMetersPerSecondSq = minAccelerationMetersPerSecondSq;
       this.maxAccelerationMetersPerSecondSq = maxAccelerationMetersPerSecondSq;
     }
 
-    /**
-     * Constructs a MinMax with default values.
-     */
-    public MinMax() {
-    }
+    /** Constructs a MinMax with default values. */
+    public MinMax() {}
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/util/Units.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/util/Units.java
index 3b13532612..8da25a4bc0 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/util/Units.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/util/Units.java
@@ -4,17 +4,13 @@
 
 package edu.wpi.first.wpilibj.util;
 
-/**
- * Utility class that converts between commonly used units in FRC.
- */
+/** Utility class that converts between commonly used units in FRC. */
 public final class Units {
   private static final double kInchesPerFoot = 12.0;
   private static final double kMetersPerInch = 0.0254;
   private static final double kSecondsPerMinute = 60;
 
-  /**
-   * Utility class, so constructor is private.
-   */
+  /** Utility class, so constructor is private. */
   private Units() {
     throw new UnsupportedOperationException("This is a utility class!");
   }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/MatBuilder.java b/wpimath/src/main/java/edu/wpi/first/wpiutil/math/MatBuilder.java
index 881f77b19e..b75ef91ce6 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/MatBuilder.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpiutil/math/MatBuilder.java
@@ -5,7 +5,6 @@
 package edu.wpi.first.wpiutil.math;
 
 import java.util.Objects;
-
 import org.ejml.simple.SimpleMatrix;
 
 /**
@@ -19,8 +18,8 @@ public class MatBuilder<R extends Num, C extends Num> {
   final Nat<C> m_cols;
 
   /**
-   * Fills the matrix with the given data, encoded in row major form.
-   * (The matrix is filled row by row, left to right with the given data).
+   * Fills the matrix with the given data, encoded in row major form. (The matrix is filled row by
+   * row, left to right with the given data).
    *
    * @param data The data to fill the matrix with.
    * @return The constructed matrix.
@@ -28,8 +27,14 @@ public class MatBuilder<R extends Num, C extends Num> {
   @SuppressWarnings("LineLength")
   public final Matrix<R, C> fill(double... data) {
     if (Objects.requireNonNull(data).length != this.m_rows.getNum() * this.m_cols.getNum()) {
-      throw new IllegalArgumentException("Invalid matrix data provided. Wanted " + this.m_rows.getNum()
-          + " x " + this.m_cols.getNum() + " matrix, but got " + data.length + " elements");
+      throw new IllegalArgumentException(
+          "Invalid matrix data provided. Wanted "
+              + this.m_rows.getNum()
+              + " x "
+              + this.m_cols.getNum()
+              + " matrix, but got "
+              + data.length
+              + " elements");
     } else {
       return new Matrix<>(new SimpleMatrix(this.m_rows.getNum(), this.m_cols.getNum(), true, data));
     }
@@ -37,6 +42,7 @@ public class MatBuilder<R extends Num, C extends Num> {
 
   /**
    * Creates a new {@link MatBuilder} with the given dimensions.
+   *
    * @param rows The number of rows of the matrix.
    * @param cols The number of columns of the matrix.
    */
diff --git a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/MathUtil.java b/wpimath/src/main/java/edu/wpi/first/wpiutil/math/MathUtil.java
index cdfcee8d2a..b04b009f1c 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/MathUtil.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpiutil/math/MathUtil.java
@@ -13,8 +13,8 @@ public final class MathUtil {
    * Returns value clamped between low and high boundaries.
    *
    * @param value Value to clamp.
-   * @param low   The lower boundary to which to clamp value.
-   * @param high  The higher boundary to which to clamp value.
+   * @param low The lower boundary to which to clamp value.
+   * @param high The higher boundary to which to clamp value.
    */
   public static int clamp(int value, int low, int high) {
     return Math.max(low, Math.min(value, high));
@@ -24,8 +24,8 @@ public final class MathUtil {
    * Returns value clamped between low and high boundaries.
    *
    * @param value Value to clamp.
-   * @param low   The lower boundary to which to clamp value.
-   * @param high  The higher boundary to which to clamp value.
+   * @param low The lower boundary to which to clamp value.
+   * @param high The higher boundary to which to clamp value.
    */
   public static double clamp(double value, double low, double high) {
     return Math.max(low, Math.min(value, high));
diff --git a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/Matrix.java b/wpimath/src/main/java/edu/wpi/first/wpiutil/math/Matrix.java
index be09e43ea8..a49273d3ff 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/Matrix.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpiutil/math/Matrix.java
@@ -4,8 +4,9 @@
 
 package edu.wpi.first.wpiutil.math;
 
+import edu.wpi.first.math.WPIMathJNI;
+import edu.wpi.first.wpiutil.math.numbers.N1;
 import java.util.Objects;
-
 import org.ejml.MatrixDimensionException;
 import org.ejml.data.DMatrixRMaj;
 import org.ejml.dense.row.CommonOps_DDRM;
@@ -15,9 +16,6 @@ import org.ejml.dense.row.factory.DecompositionFactory_DDRM;
 import org.ejml.interfaces.decomposition.CholeskyDecomposition_F64;
 import org.ejml.simple.SimpleMatrix;
 
-import edu.wpi.first.math.WPIMathJNI;
-import edu.wpi.first.wpiutil.math.numbers.N1;
-
 /**
  * A shape-safe wrapper over Efficient Java Matrix Library (EJML) matrices.
  *
@@ -33,24 +31,22 @@ public class Matrix<R extends Num, C extends Num> {
   /**
    * Constructs an empty zero matrix of the given dimensions.
    *
-   * @param rows    The number of rows of the matrix.
+   * @param rows The number of rows of the matrix.
    * @param columns The number of columns of the matrix.
    */
   public Matrix(Nat<R> rows, Nat<C> columns) {
-    this.m_storage = new SimpleMatrix(
-      Objects.requireNonNull(rows).getNum(),
-      Objects.requireNonNull(columns).getNum()
-    );
+    this.m_storage =
+        new SimpleMatrix(
+            Objects.requireNonNull(rows).getNum(), Objects.requireNonNull(columns).getNum());
   }
 
   /**
-   * Constructs a new {@link Matrix} with the given storage.
-   * Caller should make sure that the provided generic bounds match
-   * the shape of the provided {@link Matrix}.
+   * Constructs a new {@link Matrix} with the given storage. Caller should make sure that the
+   * provided generic bounds match the shape of the provided {@link Matrix}.
    *
-   * <p>NOTE:It is not recommend to use this constructor unless the
-   * {@link SimpleMatrix} API is absolutely necessary due to the desired
-   * function not being accessible through the {@link Matrix} wrapper.
+   * <p>NOTE:It is not recommend to use this constructor unless the {@link SimpleMatrix} API is
+   * absolutely necessary due to the desired function not being accessible through the {@link
+   * Matrix} wrapper.
    *
    * @param storage The {@link SimpleMatrix} to back this value.
    */
@@ -70,10 +66,9 @@ public class Matrix<R extends Num, C extends Num> {
   /**
    * Gets the underlying {@link SimpleMatrix} that this {@link Matrix} wraps.
    *
-   * <p>NOTE:The use of this method is heavily discouraged as this removes any
-   * guarantee of type safety. This should only be called if the {@link SimpleMatrix}
-   * API is absolutely necessary due to the desired function not being accessible through
-   * the {@link Matrix} wrapper.
+   * <p>NOTE:The use of this method is heavily discouraged as this removes any guarantee of type
+   * safety. This should only be called if the {@link SimpleMatrix} API is absolutely necessary due
+   * to the desired function not being accessible through the {@link Matrix} wrapper.
    *
    * @return The underlying {@link SimpleMatrix} storage.
    */
@@ -113,8 +108,8 @@ public class Matrix<R extends Num, C extends Num> {
   /**
    * Sets the value at the given indices.
    *
-   * @param row   The row of the element.
-   * @param col   The column of the element.
+   * @param row The row of the element.
+   * @param col The column of the element.
    * @param value The value to insert at the given location.
    */
   public final void set(int row, int col, double value) {
@@ -128,22 +123,19 @@ public class Matrix<R extends Num, C extends Num> {
    * @param val The row vector to set the given row to.
    */
   public final void setRow(int row, Matrix<N1, C> val) {
-    this.m_storage.setRow(row, 0,
-        Objects.requireNonNull(val).m_storage.getDDRM().getData());
+    this.m_storage.setRow(row, 0, Objects.requireNonNull(val).m_storage.getDDRM().getData());
   }
 
   /**
    * Sets a column to a given column vector.
    *
    * @param column The column to set.
-   * @param val    The column vector to set the given row to.
+   * @param val The column vector to set the given row to.
    */
   public final void setColumn(int column, Matrix<R, N1> val) {
-    this.m_storage.setColumn(column, 0,
-        Objects.requireNonNull(val).m_storage.getDDRM().getData());
+    this.m_storage.setColumn(column, 0, Objects.requireNonNull(val).m_storage.getDDRM().getData());
   }
 
-
   /**
    * Sets all the elements in "this" matrix equal to the specified value.
    *
@@ -156,8 +148,8 @@ public class Matrix<R extends Num, C extends Num> {
   /**
    * Returns the diagonal elements inside a vector or square matrix.
    *
-   * <p>If "this" {@link Matrix} is a vector then a square matrix is returned. If a "this"
-   * {@link Matrix} is a matrix then a vector of diagonal elements is returned.
+   * <p>If "this" {@link Matrix} is a vector then a square matrix is returned. If a "this" {@link
+   * Matrix} is a matrix then a vector of diagonal elements is returned.
    *
    * @return The diagonal elements inside a vector or a square matrix.
    */
@@ -183,7 +175,6 @@ public class Matrix<R extends Num, C extends Num> {
     return CommonOps_DDRM.elementMaxAbs(this.m_storage.getDDRM());
   }
 
-
   /**
    * Returns the smallest element of this matrix.
    *
@@ -205,12 +196,12 @@ public class Matrix<R extends Num, C extends Num> {
   /**
    * Multiplies this matrix with another that has C rows.
    *
-   * <p>As matrix multiplication is only defined if the number of columns
-   * in the first matrix matches the number of rows in the second,
-   * this operation will fail to compile under any other circumstances.
+   * <p>As matrix multiplication is only defined if the number of columns in the first matrix
+   * matches the number of rows in the second, this operation will fail to compile under any other
+   * circumstances.
    *
    * @param other The other matrix to multiply by.
-   * @param <C2>  The number of columns in the second matrix.
+   * @param <C2> The number of columns in the second matrix.
    * @return The result of the matrix multiplication between "this" and the given matrix.
    */
   public final <C2 extends Num> Matrix<R, C2> times(Matrix<C, C2> other) {
@@ -228,12 +219,11 @@ public class Matrix<R extends Num, C extends Num> {
   }
 
   /**
-   * Returns a matrix which is the result of an element by element multiplication of
-   * "this" and other.
+   * Returns a matrix which is the result of an element by element multiplication of "this" and
+   * other.
    *
    * <p>c<sub>i,j</sub> = a<sub>i,j</sub>*other<sub>i,j</sub>
    *
-   *
    * @param other The other {@link Matrix} to preform element multiplication on.
    * @return The element by element multiplication of "this" and other.
    */
@@ -251,7 +241,6 @@ public class Matrix<R extends Num, C extends Num> {
     return new Matrix<>(this.m_storage.minus(value));
   }
 
-
   /**
    * Subtracts the given matrix from this matrix.
    *
@@ -262,7 +251,6 @@ public class Matrix<R extends Num, C extends Num> {
     return new Matrix<>(this.m_storage.minus(Objects.requireNonNull(value).m_storage));
   }
 
-
   /**
    * Adds the given value to all the elements of this matrix.
    *
@@ -312,7 +300,6 @@ public class Matrix<R extends Num, C extends Num> {
     return new Matrix<>(this.m_storage.transpose());
   }
 
-
   /**
    * Returns a copy of this matrix.
    *
@@ -322,7 +309,6 @@ public class Matrix<R extends Num, C extends Num> {
     return new Matrix<>(this.m_storage.copy());
   }
 
-
   /**
    * Returns the inverse matrix of "this" matrix.
    *
@@ -336,8 +322,8 @@ public class Matrix<R extends Num, C extends Num> {
   /**
    * Returns the solution x to the equation Ax = b, where A is "this" matrix.
    *
-   * <p>The matrix equation could also be written as x = A<sup>-1</sup>b. Where the
-   * pseudo inverse is used if A is not square.
+   * <p>The matrix equation could also be written as x = A<sup>-1</sup>b. Where the pseudo inverse
+   * is used if A is not square.
    *
    * @param b The right-hand side of the equation to solve.
    * @return The solution to the linear system.
@@ -348,39 +334,50 @@ public class Matrix<R extends Num, C extends Num> {
   }
 
   /**
-   * Computes the matrix exponential using Eigen's solver.
-   * This method only works for square matrices, and will
-   * otherwise throw an {@link MatrixDimensionException}.
+   * Computes the matrix exponential using Eigen's solver. This method only works for square
+   * matrices, and will otherwise throw an {@link MatrixDimensionException}.
    *
    * @return The exponential of A.
    */
   public final Matrix<R, C> exp() {
     if (this.getNumRows() != this.getNumCols()) {
-      throw new MatrixDimensionException("Non-square matrices cannot be exponentiated! "
-            + "This matrix is " + this.getNumRows() + " x " + this.getNumCols());
+      throw new MatrixDimensionException(
+          "Non-square matrices cannot be exponentiated! "
+              + "This matrix is "
+              + this.getNumRows()
+              + " x "
+              + this.getNumCols());
     }
     Matrix<R, C> toReturn = new Matrix<>(new SimpleMatrix(this.getNumRows(), this.getNumCols()));
-    WPIMathJNI.exp(this.m_storage.getDDRM().getData(), this.getNumRows(),
-          toReturn.m_storage.getDDRM().getData());
+    WPIMathJNI.exp(
+        this.m_storage.getDDRM().getData(),
+        this.getNumRows(),
+        toReturn.m_storage.getDDRM().getData());
     return toReturn;
   }
 
   /**
-   * Computes the matrix power using Eigen's solver.
-   * This method only works for square matrices, and will
-   * otherwise throw an {@link MatrixDimensionException}.
+   * Computes the matrix power using Eigen's solver. This method only works for square matrices, and
+   * will otherwise throw an {@link MatrixDimensionException}.
    *
    * @param exponent The exponent.
    * @return The exponential of A.
    */
   public final Matrix<R, C> pow(double exponent) {
     if (this.getNumRows() != this.getNumCols()) {
-      throw new MatrixDimensionException("Non-square matrices cannot be raised to a power! "
-            + "This matrix is " + this.getNumRows() + " x " + this.getNumCols());
+      throw new MatrixDimensionException(
+          "Non-square matrices cannot be raised to a power! "
+              + "This matrix is "
+              + this.getNumRows()
+              + " x "
+              + this.getNumCols());
     }
     Matrix<R, C> toReturn = new Matrix<>(new SimpleMatrix(this.getNumRows(), this.getNumCols()));
-    WPIMathJNI.pow(this.m_storage.getDDRM().getData(), this.getNumRows(), exponent,
-          toReturn.m_storage.getDDRM().getData());
+    WPIMathJNI.pow(
+        this.m_storage.getDDRM().getData(),
+        this.getNumRows(),
+        exponent,
+        toReturn.m_storage.getDDRM().getData());
     return toReturn;
   }
 
@@ -396,7 +393,7 @@ public class Matrix<R extends Num, C extends Num> {
   /**
    * Computes the Frobenius normal of the matrix.
    *
-   * <p>normF = Sqrt{  &sum;<sub>i=1:m</sub> &sum;<sub>j=1:n</sub> { a<sub>ij</sub><sup>2</sup>}   }
+   * <p>normF = Sqrt{ &sum;<sub>i=1:m</sub> &sum;<sub>j=1:n</sub> { a<sub>ij</sub><sup>2</sup>} }
    *
    * @return The matrix's Frobenius normal.
    */
@@ -480,37 +477,35 @@ public class Matrix<R extends Num, C extends Num> {
   }
 
   /**
-   * Extracts a matrix of a given size and start position with new underlying
-   * storage.
+   * Extracts a matrix of a given size and start position with new underlying storage.
    *
    * @param height The number of rows of the extracted matrix.
-   * @param width  The number of columns of the extracted matrix.
+   * @param width The number of columns of the extracted matrix.
    * @param startingRow The starting row of the extracted matrix.
    * @param startingCol The starting column of the extracted matrix.
    * @return The extracted matrix.
    */
   public final <R2 extends Num, C2 extends Num> Matrix<R2, C2> block(
       Nat<R2> height, Nat<C2> width, int startingRow, int startingCol) {
-    return new Matrix<>(this.m_storage.extractMatrix(
-      startingRow,
-      Objects.requireNonNull(height).getNum() + startingRow,
-      startingCol,
-      Objects.requireNonNull(width).getNum() + startingCol));
+    return new Matrix<>(
+        this.m_storage.extractMatrix(
+            startingRow,
+            Objects.requireNonNull(height).getNum() + startingRow,
+            startingCol,
+            Objects.requireNonNull(width).getNum() + startingCol));
   }
 
   /**
    * Assign a matrix of a given size and start position.
    *
    * @param startingRow The row to start at.
-   * @param startingCol  The column to start at.
-   * @param other  The matrix to assign the block to.
+   * @param startingCol The column to start at.
+   * @param other The matrix to assign the block to.
    */
-  public <R2 extends Num, C2 extends Num> void assignBlock(int startingRow, int startingCol,
-                                                           Matrix<R2, C2> other) {
+  public <R2 extends Num, C2 extends Num> void assignBlock(
+      int startingRow, int startingCol, Matrix<R2, C2> other) {
     this.m_storage.insertIntoThis(
-        startingRow,
-        startingCol,
-        Objects.requireNonNull(other).m_storage);
+        startingRow, startingCol, Objects.requireNonNull(other).m_storage);
   }
 
   /**
@@ -519,30 +514,30 @@ public class Matrix<R extends Num, C extends Num> {
    *
    * @param startingRow The starting row in the supplied matrix to extract the submatrix.
    * @param startingCol The starting column in the supplied matrix to extract the submatrix.
-   * @param other       The matrix to extract the submatrix from.
+   * @param other The matrix to extract the submatrix from.
    */
-  public <R2 extends Num, C2 extends Num> void extractFrom(int startingRow, int startingCol,
-                                                           Matrix<R2, C2> other) {
-    CommonOps_DDRM.extract(other.m_storage.getDDRM(), startingRow, startingCol,
-        this.m_storage.getDDRM());
+  public <R2 extends Num, C2 extends Num> void extractFrom(
+      int startingRow, int startingCol, Matrix<R2, C2> other) {
+    CommonOps_DDRM.extract(
+        other.m_storage.getDDRM(), startingRow, startingCol, this.m_storage.getDDRM());
   }
 
   /**
-   * Decompose "this" matrix using Cholesky Decomposition. If the "this" matrix is zeros, it
-   * will return the zero matrix.
+   * Decompose "this" matrix using Cholesky Decomposition. If the "this" matrix is zeros, it will
+   * return the zero matrix.
    *
-   * @param lowerTriangular Whether or not we want to decompose to the lower triangular
-   *                        Cholesky matrix.
+   * @param lowerTriangular Whether or not we want to decompose to the lower triangular Cholesky
+   *     matrix.
    * @return The decomposed matrix.
    * @throws RuntimeException if the matrix could not be decomposed(ie. is not positive
-   *                          semidefinite).
+   *     semidefinite).
    */
   @SuppressWarnings("PMD.AvoidThrowingRawExceptionTypes")
   public Matrix<R, C> lltDecompose(boolean lowerTriangular) {
     SimpleMatrix temp = m_storage.copy();
 
     CholeskyDecomposition_F64<DMatrixRMaj> chol =
-            DecompositionFactory_DDRM.chol(temp.numRows(), lowerTriangular);
+        DecompositionFactory_DDRM.chol(temp.numRows(), lowerTriangular);
     if (!chol.decompose(temp.getMatrix())) {
       // check that the input is not all zeros -- if they are, we special case and return all
       // zeros.
@@ -555,8 +550,8 @@ public class Matrix<R extends Num, C extends Num> {
         return new Matrix<>(new SimpleMatrix(temp.numRows(), temp.numCols()));
       }
 
-      throw new RuntimeException("Cholesky decomposition failed! Input matrix:\n"
-          + m_storage.toString());
+      throw new RuntimeException(
+          "Cholesky decomposition failed! Input matrix:\n" + m_storage.toString());
     }
 
     return new Matrix<>(SimpleMatrix.wrap(chol.getT(null)));
@@ -594,8 +589,8 @@ public class Matrix<R extends Num, C extends Num> {
   }
 
   /**
-   * Entrypoint to the {@link MatBuilder} class for creation
-   * of custom matrices with the given dimensions and contents.
+   * Entrypoint to the {@link MatBuilder} class for creation of custom matrices with the given
+   * dimensions and contents.
    *
    * @param rows The number of rows of the desired matrix.
    * @param cols The number of columns of the desired matrix.
@@ -608,8 +603,8 @@ public class Matrix<R extends Num, C extends Num> {
   }
 
   /**
-   * Reassigns dimensions of a {@link Matrix} to allow for operations with
-   * other matrices that have wildcard dimensions.
+   * Reassigns dimensions of a {@link Matrix} to allow for operations with other matrices that have
+   * wildcard dimensions.
    *
    * @param mat The {@link Matrix} to remove the dimensions from.
    * @return The matrix with reassigned dimensions.
@@ -622,40 +617,40 @@ public class Matrix<R extends Num, C extends Num> {
   /**
    * Checks if another {@link Matrix} is identical to "this" one within a specified tolerance.
    *
-   * <p>This will check if each element is in tolerance of the corresponding element
-   * from the other {@link Matrix} or if the elements have the same symbolic meaning. For two
-   * elements to have the same symbolic meaning they both must be either Double.NaN,
-   * Double.POSITIVE_INFINITY, or Double.NEGATIVE_INFINITY.
+   * <p>This will check if each element is in tolerance of the corresponding element from the other
+   * {@link Matrix} or if the elements have the same symbolic meaning. For two elements to have the
+   * same symbolic meaning they both must be either Double.NaN, Double.POSITIVE_INFINITY, or
+   * Double.NEGATIVE_INFINITY.
    *
-   * <p>NOTE:It is recommend to use {@link Matrix#isEqual(Matrix, double)} over this
-   * method when checking if two matrices are equal as {@link Matrix#isEqual(Matrix, double)}
-   * will return false if an element is uncountable. This method should only be used when
-   * uncountable elements need to compared.
+   * <p>NOTE:It is recommend to use {@link Matrix#isEqual(Matrix, double)} over this method when
+   * checking if two matrices are equal as {@link Matrix#isEqual(Matrix, double)} will return false
+   * if an element is uncountable. This method should only be used when uncountable elements need to
+   * compared.
    *
-   * @param other     The {@link Matrix} to check against this one.
+   * @param other The {@link Matrix} to check against this one.
    * @param tolerance The tolerance to check equality with.
    * @return true if this matrix is identical to the one supplied.
    */
   public boolean isIdentical(Matrix<?, ?> other, double tolerance) {
-    return MatrixFeatures_DDRM.isIdentical(this.m_storage.getDDRM(),
-        other.m_storage.getDDRM(), tolerance);
+    return MatrixFeatures_DDRM.isIdentical(
+        this.m_storage.getDDRM(), other.m_storage.getDDRM(), tolerance);
   }
 
   /**
    * Checks if another {@link Matrix} is equal to "this" within a specified tolerance.
    *
-   * <p>This will check if each element is in tolerance of the corresponding element
-   * from the other {@link Matrix}.
+   * <p>This will check if each element is in tolerance of the corresponding element from the other
+   * {@link Matrix}.
    *
    * <p>tol &ge; |a<sub>ij</sub> - b<sub>ij</sub>|
    *
-   * @param other     The {@link Matrix} to check against this one.
+   * @param other The {@link Matrix} to check against this one.
    * @param tolerance The tolerance to check equality with.
    * @return true if this matrix is equal to the one supplied.
    */
   public boolean isEqual(Matrix<?, ?> other, double tolerance) {
-    return MatrixFeatures_DDRM.isEquals(this.m_storage.getDDRM(),
-        other.m_storage.getDDRM(), tolerance);
+    return MatrixFeatures_DDRM.isEquals(
+        this.m_storage.getDDRM(), other.m_storage.getDDRM(), tolerance);
   }
 
   @Override
diff --git a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/MatrixUtils.java b/wpimath/src/main/java/edu/wpi/first/wpiutil/math/MatrixUtils.java
index 4597ead66a..ac0e5fd670 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/MatrixUtils.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpiutil/math/MatrixUtils.java
@@ -4,11 +4,9 @@
 
 package edu.wpi.first.wpiutil.math;
 
-import java.util.Objects;
-
-import org.ejml.simple.SimpleMatrix;
-
 import edu.wpi.first.wpiutil.math.numbers.N1;
+import java.util.Objects;
+import org.ejml.simple.SimpleMatrix;
 
 @Deprecated
 public final class MatrixUtils {
@@ -28,7 +26,8 @@ public final class MatrixUtils {
   @SuppressWarnings("LineLength")
   public static <R extends Num, C extends Num> Matrix<R, C> zeros(Nat<R> rows, Nat<C> cols) {
     return new Matrix<>(
-        new SimpleMatrix(Objects.requireNonNull(rows).getNum(), Objects.requireNonNull(cols).getNum()));
+        new SimpleMatrix(
+            Objects.requireNonNull(rows).getNum(), Objects.requireNonNull(cols).getNum()));
   }
 
   /**
@@ -54,8 +53,8 @@ public final class MatrixUtils {
   }
 
   /**
-   * Entrypoint to the MatBuilder class for creation
-   * of custom matrices with the given dimensions and contents.
+   * Entrypoint to the MatBuilder class for creation of custom matrices with the given dimensions
+   * and contents.
    *
    * @param rows The number of rows of the desired matrix.
    * @param cols The number of columns of the desired matrix.
@@ -68,8 +67,8 @@ public final class MatrixUtils {
   }
 
   /**
-   * Entrypoint to the VecBuilder class for creation
-   * of custom vectors with the given size and contents.
+   * Entrypoint to the VecBuilder class for creation of custom vectors with the given size and
+   * contents.
    *
    * @param dim The dimension of the vector.
    * @param <D> The dimension of the vector as a generic.
diff --git a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/Num.java b/wpimath/src/main/java/edu/wpi/first/wpiutil/math/Num.java
index 4fd52a7ff5..8201255e09 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/Num.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpiutil/math/Num.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.first.wpiutil.math;
 
-/**
- * A number expressed as a java class.
- */
+/** A number expressed as a java class. */
 public abstract class Num {
   /**
    * The number this is backing.
diff --git a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/SimpleMatrixUtils.java b/wpimath/src/main/java/edu/wpi/first/wpiutil/math/SimpleMatrixUtils.java
index cddd4597f8..eb042aaac2 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/SimpleMatrixUtils.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpiutil/math/SimpleMatrixUtils.java
@@ -4,8 +4,8 @@
 
 package edu.wpi.first.wpiutil.math;
 
+import edu.wpi.first.math.WPIMathJNI;
 import java.util.function.BiFunction;
-
 import org.ejml.data.DMatrixRMaj;
 import org.ejml.dense.row.NormOps_DDRM;
 import org.ejml.dense.row.factory.DecompositionFactory_DDRM;
@@ -13,11 +13,8 @@ import org.ejml.interfaces.decomposition.CholeskyDecomposition_F64;
 import org.ejml.simple.SimpleBase;
 import org.ejml.simple.SimpleMatrix;
 
-import edu.wpi.first.math.WPIMathJNI;
-
 public final class SimpleMatrixUtils {
-  private SimpleMatrixUtils() {
-  }
+  private SimpleMatrixUtils() {}
 
   /**
    * Compute the matrix exponential, e^M of the given matrix.
@@ -55,8 +52,11 @@ public final class SimpleMatrixUtils {
   }
 
   @SuppressWarnings({"LocalVariableName", "ParameterName", "LineLength"})
-  private static SimpleMatrix dispatchPade(SimpleMatrix U, SimpleMatrix V,
-                                           int nSquarings, BiFunction<SimpleMatrix, SimpleMatrix, SimpleMatrix> solveProvider) {
+  private static SimpleMatrix dispatchPade(
+      SimpleMatrix U,
+      SimpleMatrix V,
+      int nSquarings,
+      BiFunction<SimpleMatrix, SimpleMatrix, SimpleMatrix> solveProvider) {
     SimpleMatrix P = U.plus(V);
     SimpleMatrix Q = U.negative().plus(V);
 
@@ -71,7 +71,7 @@ public final class SimpleMatrixUtils {
 
   @SuppressWarnings({"MethodName", "LocalVariableName", "ParameterName"})
   private static Pair<SimpleMatrix, SimpleMatrix> _pade3(SimpleMatrix A) {
-    double[] b = new double[]{120, 60, 12, 1};
+    double[] b = new double[] {120, 60, 12, 1};
     SimpleMatrix ident = eye(A.numRows(), A.numCols());
 
     SimpleMatrix A2 = A.mult(A);
@@ -82,7 +82,7 @@ public final class SimpleMatrixUtils {
 
   @SuppressWarnings({"MethodName", "LocalVariableName", "ParameterName"})
   private static Pair<SimpleMatrix, SimpleMatrix> _pade5(SimpleMatrix A) {
-    double[] b = new double[]{30240, 15120, 3360, 420, 30, 1};
+    double[] b = new double[] {30240, 15120, 3360, 420, 30, 1};
     SimpleMatrix ident = eye(A.numRows(), A.numCols());
     SimpleMatrix A2 = A.mult(A);
     SimpleMatrix A4 = A2.mult(A2);
@@ -95,24 +95,26 @@ public final class SimpleMatrixUtils {
 
   @SuppressWarnings({"MethodName", "LocalVariableName", "LineLength", "ParameterName"})
   private static Pair<SimpleMatrix, SimpleMatrix> _pade7(SimpleMatrix A) {
-    double[] b = new double[]{17297280, 8648640, 1995840, 277200, 25200, 1512, 56, 1};
+    double[] b = new double[] {17297280, 8648640, 1995840, 277200, 25200, 1512, 56, 1};
     SimpleMatrix ident = eye(A.numRows(), A.numCols());
     SimpleMatrix A2 = A.mult(A);
     SimpleMatrix A4 = A2.mult(A2);
     SimpleMatrix A6 = A4.mult(A2);
 
     SimpleMatrix U =
-            A.mult(A6.scale(b[7]).plus(A4.scale(b[5])).plus(A2.scale(b[3])).plus(ident.scale(b[1])));
+        A.mult(A6.scale(b[7]).plus(A4.scale(b[5])).plus(A2.scale(b[3])).plus(ident.scale(b[1])));
     SimpleMatrix V =
-            A6.scale(b[6]).plus(A4.scale(b[4])).plus(A2.scale(b[2])).plus(ident.scale(b[0]));
+        A6.scale(b[6]).plus(A4.scale(b[4])).plus(A2.scale(b[2])).plus(ident.scale(b[0]));
 
     return new Pair<>(U, V);
   }
 
   @SuppressWarnings({"MethodName", "LocalVariableName", "ParameterName", "LineLength"})
   private static Pair<SimpleMatrix, SimpleMatrix> _pade9(SimpleMatrix A) {
-    double[] b = new double[]{17643225600.0, 8821612800.0, 2075673600, 302702400, 30270240,
-        2162160, 110880, 3960, 90, 1};
+    double[] b =
+        new double[] {
+          17643225600.0, 8821612800.0, 2075673600, 302702400, 30270240, 2162160, 110880, 3960, 90, 1
+        };
     SimpleMatrix ident = eye(A.numRows(), A.numCols());
     SimpleMatrix A2 = A.mult(A);
     SimpleMatrix A4 = A2.mult(A2);
@@ -120,18 +122,41 @@ public final class SimpleMatrixUtils {
     SimpleMatrix A8 = A6.mult(A2);
 
     SimpleMatrix U =
-            A.mult(A8.scale(b[9]).plus(A6.scale(b[7])).plus(A4.scale(b[5])).plus(A2.scale(b[3])).plus(ident.scale(b[1])));
+        A.mult(
+            A8.scale(b[9])
+                .plus(A6.scale(b[7]))
+                .plus(A4.scale(b[5]))
+                .plus(A2.scale(b[3]))
+                .plus(ident.scale(b[1])));
     SimpleMatrix V =
-            A8.scale(b[8]).plus(A6.scale(b[6])).plus(A4.scale(b[4])).plus(A2.scale(b[2])).plus(ident.scale(b[0]));
+        A8.scale(b[8])
+            .plus(A6.scale(b[6]))
+            .plus(A4.scale(b[4]))
+            .plus(A2.scale(b[2]))
+            .plus(ident.scale(b[0]));
 
     return new Pair<>(U, V);
   }
 
   @SuppressWarnings({"MethodName", "LocalVariableName", "LineLength", "ParameterName"})
   private static Pair<SimpleMatrix, SimpleMatrix> _pade13(SimpleMatrix A) {
-    double[] b = new double[]{64764752532480000.0, 32382376266240000.0, 7771770303897600.0,
-        1187353796428800.0, 129060195264000.0, 10559470521600.0, 670442572800.0,
-        33522128640.0, 1323241920, 40840800, 960960, 16380, 182, 1};
+    double[] b =
+        new double[] {
+          64764752532480000.0,
+          32382376266240000.0,
+          7771770303897600.0,
+          1187353796428800.0,
+          129060195264000.0,
+          10559470521600.0,
+          670442572800.0,
+          33522128640.0,
+          1323241920,
+          40840800,
+          960960,
+          16380,
+          182,
+          1
+        };
     SimpleMatrix ident = eye(A.numRows(), A.numCols());
 
     SimpleMatrix A2 = A.mult(A);
@@ -139,9 +164,17 @@ public final class SimpleMatrixUtils {
     SimpleMatrix A6 = A4.mult(A2);
 
     SimpleMatrix U =
-            A.mult(A6.scale(b[13]).plus(A4.scale(b[11])).plus(A2.scale(b[9])).plus(A6.scale(b[7])).plus(A4.scale(b[5])).plus(A2.scale(b[3])).plus(ident.scale(b[1])));
+        A.mult(
+            A6.scale(b[13])
+                .plus(A4.scale(b[11]))
+                .plus(A2.scale(b[9]))
+                .plus(A6.scale(b[7]))
+                .plus(A4.scale(b[5]))
+                .plus(A2.scale(b[3]))
+                .plus(ident.scale(b[1])));
     SimpleMatrix V =
-            A6.mult(A6.scale(b[12]).plus(A4.scale(b[10])).plus(A2.scale(b[8]))).plus(A6.scale(b[6]).plus(A4.scale(b[4])).plus(A2.scale(b[2])).plus(ident.scale(b[0])));
+        A6.mult(A6.scale(b[12]).plus(A4.scale(b[10])).plus(A2.scale(b[8])))
+            .plus(A6.scale(b[6]).plus(A4.scale(b[4])).plus(A2.scale(b[2])).plus(ident.scale(b[0])));
 
     return new Pair<>(U, V);
   }
@@ -168,7 +201,7 @@ public final class SimpleMatrixUtils {
    * @param src The matrix to decompose.
    * @return The decomposed matrix.
    * @throws RuntimeException if the matrix could not be decomposed (ie. is not positive
-   *                          semidefinite).
+   *     semidefinite).
    */
   public static SimpleMatrix lltDecompose(SimpleMatrix src) {
     return lltDecompose(src, false);
@@ -182,14 +215,14 @@ public final class SimpleMatrixUtils {
    * @param lowerTriangular if we want to decompose to the lower triangular Cholesky matrix.
    * @return The decomposed matrix.
    * @throws RuntimeException if the matrix could not be decomposed (ie. is not positive
-   *                          semidefinite).
+   *     semidefinite).
    */
   @SuppressWarnings("PMD.AvoidThrowingRawExceptionTypes")
   public static SimpleMatrix lltDecompose(SimpleMatrix src, boolean lowerTriangular) {
     SimpleMatrix temp = src.copy();
 
     CholeskyDecomposition_F64<DMatrixRMaj> chol =
-            DecompositionFactory_DDRM.chol(temp.numRows(), lowerTriangular);
+        DecompositionFactory_DDRM.chol(temp.numRows(), lowerTriangular);
     if (!chol.decompose(temp.getMatrix())) {
       // check that the input is not all zeros -- if they are, we special case and return all
       // zeros.
@@ -215,11 +248,9 @@ public final class SimpleMatrixUtils {
    * @return the exponential of A.
    */
   @SuppressWarnings("ParameterName")
-  public static SimpleMatrix exp(
-          SimpleMatrix A) {
+  public static SimpleMatrix exp(SimpleMatrix A) {
     SimpleMatrix toReturn = new SimpleMatrix(A.numRows(), A.numRows());
     WPIMathJNI.exp(A.getDDRM().getData(), A.numRows(), toReturn.getDDRM().getData());
     return toReturn;
   }
-
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/VecBuilder.java b/wpimath/src/main/java/edu/wpi/first/wpiutil/math/VecBuilder.java
index 78c9bb94ae..29e5a7a6a1 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/VecBuilder.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpiutil/math/VecBuilder.java
@@ -15,8 +15,6 @@ import edu.wpi.first.wpiutil.math.numbers.N7;
 import edu.wpi.first.wpiutil.math.numbers.N8;
 import edu.wpi.first.wpiutil.math.numbers.N9;
 
-
-
 /**
  * A specialization of {@link MatBuilder} for constructing vectors (Nx1 matrices).
  *
@@ -96,8 +94,7 @@ public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
    * @param n5 the fifth element.
    * @param n6 the sixth element.
    */
-  public static Vector<N6> fill(double n1, double n2, double n3, double n4, double n5,
-                                    double n6) {
+  public static Vector<N6> fill(double n1, double n2, double n3, double n4, double n5, double n6) {
     return new VecBuilder<>(Nat.N6()).fillVec(n1, n2, n3, n4, n5, n6);
   }
 
@@ -112,8 +109,8 @@ public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
    * @param n6 the sixth element.
    * @param n7 the seventh element.
    */
-  public static Vector<N7> fill(double n1, double n2, double n3, double n4, double n5,
-                                    double n6, double n7) {
+  public static Vector<N7> fill(
+      double n1, double n2, double n3, double n4, double n5, double n6, double n7) {
     return new VecBuilder<>(Nat.N7()).fillVec(n1, n2, n3, n4, n5, n6, n7);
   }
 
@@ -129,8 +126,8 @@ public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
    * @param n7 the seventh element.
    * @param n8 the eighth element.
    */
-  public static Vector<N8> fill(double n1, double n2, double n3, double n4, double n5,
-                                    double n6, double n7, double n8) {
+  public static Vector<N8> fill(
+      double n1, double n2, double n3, double n4, double n5, double n6, double n7, double n8) {
     return new VecBuilder<>(Nat.N8()).fillVec(n1, n2, n3, n4, n5, n6, n7, n8);
   }
 
@@ -147,8 +144,16 @@ public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
    * @param n8 the eighth element.
    * @param n9 the ninth element.
    */
-  public static Vector<N9> fill(double n1, double n2, double n3, double n4, double n5,
-                                    double n6, double n7, double n8, double n9) {
+  public static Vector<N9> fill(
+      double n1,
+      double n2,
+      double n3,
+      double n4,
+      double n5,
+      double n6,
+      double n7,
+      double n8,
+      double n9) {
     return new VecBuilder<>(Nat.N9()).fillVec(n1, n2, n3, n4, n5, n6, n7, n8, n9);
   }
 
@@ -167,8 +172,17 @@ public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
    * @param n10 the tenth element.
    */
   @SuppressWarnings("PMD.ExcessiveParameterList")
-  public static Vector<N10> fill(double n1, double n2, double n3, double n4, double n5,
-                                    double n6, double n7, double n8, double n9, double n10) {
+  public static Vector<N10> fill(
+      double n1,
+      double n2,
+      double n3,
+      double n4,
+      double n5,
+      double n6,
+      double n7,
+      double n8,
+      double n9,
+      double n10) {
     return new VecBuilder<>(Nat.N10()).fillVec(n1, n2, n3, n4, n5, n6, n7, n8, n9, n10);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/Vector.java b/wpimath/src/main/java/edu/wpi/first/wpiutil/math/Vector.java
index ab6cd1466d..276ee34f6e 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/Vector.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpiutil/math/Vector.java
@@ -4,9 +4,8 @@
 
 package edu.wpi.first.wpiutil.math;
 
-import org.ejml.simple.SimpleMatrix;
-
 import edu.wpi.first.wpiutil.math.numbers.N1;
+import org.ejml.simple.SimpleMatrix;
 
 /**
  * A shape-safe wrapper over Efficient Java Matrix Library (EJML) matrices.
@@ -20,20 +19,19 @@ public class Vector<R extends Num> extends Matrix<R, N1> {
   /**
    * Constructs an empty zero vector of the given dimensions.
    *
-   * @param rows    The number of rows of the vector.
+   * @param rows The number of rows of the vector.
    */
   public Vector(Nat<R> rows) {
     super(rows, Nat.N1());
   }
 
   /**
-   * Constructs a new {@link Vector} with the given storage.
-   * Caller should make sure that the provided generic bounds match
-   * the shape of the provided {@link Vector}.
+   * Constructs a new {@link Vector} with the given storage. Caller should make sure that the
+   * provided generic bounds match the shape of the provided {@link Vector}.
    *
-   * <p>NOTE:It is not recommended to use this constructor unless the
-   * {@link SimpleMatrix} API is absolutely necessary due to the desired
-   * function not being accessible through the {@link Vector} wrapper.
+   * <p>NOTE:It is not recommended to use this constructor unless the {@link SimpleMatrix} API is
+   * absolutely necessary due to the desired function not being accessible through the {@link
+   * Vector} wrapper.
    *
    * @param storage The {@link SimpleMatrix} to back this vector.
    */
diff --git a/wpimath/src/test/java/edu/wpi/first/math/DrakeTest.java b/wpimath/src/test/java/edu/wpi/first/math/DrakeTest.java
index 87228741f7..4140faebeb 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/DrakeTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/DrakeTest.java
@@ -4,13 +4,12 @@
 
 package edu.wpi.first.math;
 
-import org.ejml.simple.SimpleMatrix;
-import org.junit.jupiter.api.Test;
-
-
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import org.ejml.simple.SimpleMatrix;
+import org.junit.jupiter.api.Test;
+
 @SuppressWarnings({"ParameterName", "LocalVariableName"})
 public class DrakeTest {
   public static void assertMatrixEqual(SimpleMatrix A, SimpleMatrix B) {
@@ -21,8 +20,8 @@ public class DrakeTest {
     }
   }
 
-  private boolean solveDAREandVerify(SimpleMatrix A, SimpleMatrix B, SimpleMatrix Q,
-                                     SimpleMatrix R) {
+  private boolean solveDAREandVerify(
+      SimpleMatrix A, SimpleMatrix B, SimpleMatrix Q, SimpleMatrix R) {
     var X = Drake.discreteAlgebraicRiccatiEquation(A, B, Q, R);
 
     // expect that x is the same as it's transpose
@@ -30,11 +29,19 @@ public class DrakeTest {
     assertMatrixEqual(X, X.transpose());
 
     // Verify that this is a solution to the DARE.
-    SimpleMatrix Y = A.transpose().mult(X).mult(A)
+    SimpleMatrix Y =
+        A.transpose()
+            .mult(X)
+            .mult(A)
             .minus(X)
-            .minus(A.transpose().mult(X).mult(B)
-                    .mult(((B.transpose().mult(X).mult(B)).plus(R))
-                            .invert()).mult(B.transpose()).mult(X).mult(A))
+            .minus(
+                A.transpose()
+                    .mult(X)
+                    .mult(B)
+                    .mult(((B.transpose().mult(X).mult(B)).plus(R)).invert())
+                    .mult(B.transpose())
+                    .mult(X)
+                    .mult(A))
             .plus(Q);
     assertMatrixEqual(Y, new SimpleMatrix(Y.numRows(), Y.numCols()));
 
@@ -47,20 +54,21 @@ public class DrakeTest {
     int m1 = 1;
 
     // we know from Scipy that this should be [[0.05048525 0.10097051 0.20194102 0.40388203]]
-    SimpleMatrix A1 = new SimpleMatrix(n1, n1, true, new double[]{0.5, 1, 0, 0, 0, 0, 1,
-        0, 0, 0, 0, 1, 0, 0, 0, 0}).transpose();
-    SimpleMatrix B1 = new SimpleMatrix(n1, m1, true, new double[]{0, 0, 0, 1});
-    SimpleMatrix Q1 = new SimpleMatrix(n1, n1, true, new double[]{1, 0,
-                                                                  0, 0, 0, 0, 0, 0, 0, 0,
-                                                                  0, 0, 0, 0, 0, 0});
-    SimpleMatrix R1 = new SimpleMatrix(m1, m1, true, new double[]{0.25});
+    SimpleMatrix A1 =
+        new SimpleMatrix(
+                n1, n1, true, new double[] {0.5, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0})
+            .transpose();
+    SimpleMatrix B1 = new SimpleMatrix(n1, m1, true, new double[] {0, 0, 0, 1});
+    SimpleMatrix Q1 =
+        new SimpleMatrix(
+            n1, n1, true, new double[] {1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0});
+    SimpleMatrix R1 = new SimpleMatrix(m1, m1, true, new double[] {0.25});
     assertTrue(solveDAREandVerify(A1, B1, Q1, R1));
 
-    SimpleMatrix A2 = new SimpleMatrix(2, 2, true, new double[]{1, 1, 0, 1});
-    SimpleMatrix B2 = new SimpleMatrix(2, 1, true, new double[]{0, 1});
-    SimpleMatrix Q2 = new SimpleMatrix(2, 2, true, new double[]{1, 0, 0, 0});
-    SimpleMatrix R2 = new SimpleMatrix(1, 1, true, new double[]{0.3});
+    SimpleMatrix A2 = new SimpleMatrix(2, 2, true, new double[] {1, 1, 0, 1});
+    SimpleMatrix B2 = new SimpleMatrix(2, 1, true, new double[] {0, 1});
+    SimpleMatrix Q2 = new SimpleMatrix(2, 2, true, new double[] {1, 0, 0, 0});
+    SimpleMatrix R2 = new SimpleMatrix(1, 1, true, new double[] {0.3});
     assertTrue(solveDAREandVerify(A2, B2, Q2, R2));
-
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/WPIMathJNITest.java b/wpimath/src/test/java/edu/wpi/first/math/WPIMathJNITest.java
index 8860af3c80..6a1bf2edaf 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/WPIMathJNITest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/WPIMathJNITest.java
@@ -4,10 +4,10 @@
 
 package edu.wpi.first.math;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 
+import org.junit.jupiter.api.Test;
+
 public class WPIMathJNITest {
   @Test
   public void testLink() {
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/LinearFilterTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/LinearFilterTest.java
index 820432b1a8..9405bf1ffc 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/LinearFilterTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/LinearFilterTest.java
@@ -4,20 +4,19 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.util.Random;
-import java.util.function.DoubleFunction;
-import java.util.stream.Stream;
-
-import org.junit.jupiter.api.Test;
-import org.junit.jupiter.params.ParameterizedTest;
-import org.junit.jupiter.params.provider.Arguments;
-import org.junit.jupiter.params.provider.MethodSource;
-
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertThrows;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 import static org.junit.jupiter.params.provider.Arguments.arguments;
 
+import java.util.Random;
+import java.util.function.DoubleFunction;
+import java.util.stream.Stream;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.Arguments;
+import org.junit.jupiter.params.provider.MethodSource;
+
 class LinearFilterTest {
   private static final double kFilterStep = 0.005;
   private static final double kFilterTime = 2.0;
@@ -46,9 +45,7 @@ class LinearFilterTest {
     assertThrows(IllegalArgumentException.class, () -> LinearFilter.movingAverage(0));
   }
 
-  /**
-   * Test if the filter reduces the noise produced by a signal generator.
-   */
+  /** Test if the filter reduces the noise produced by a signal generator. */
   @ParameterizedTest
   @MethodSource("noiseFilterProvider")
   void noiseReduceTest(final LinearFilter filter) {
@@ -65,25 +62,25 @@ class LinearFilterTest {
       noiseGenError += Math.abs(noise - theory);
     }
 
-    assertTrue(noiseGenError > filterError,
-        "Filter should have reduced noise accumulation from " + noiseGenError
-            + " but failed. The filter error was " + filterError);
+    assertTrue(
+        noiseGenError > filterError,
+        "Filter should have reduced noise accumulation from "
+            + noiseGenError
+            + " but failed. The filter error was "
+            + filterError);
   }
 
   static Stream<LinearFilter> noiseFilterProvider() {
     return Stream.of(
         LinearFilter.singlePoleIIR(kSinglePoleIIRTimeConstant, kFilterStep),
-        LinearFilter.movingAverage(kMovAvgTaps)
-    );
+        LinearFilter.movingAverage(kMovAvgTaps));
   }
 
-  /**
-   * Test if the linear filters produce consistent output for a given data set.
-   */
+  /** Test if the linear filters produce consistent output for a given data set. */
   @ParameterizedTest
   @MethodSource("outputFilterProvider")
-  void outputTest(final LinearFilter filter, final DoubleFunction<Double> data,
-                  final double expectedOutput) {
+  void outputTest(
+      final LinearFilter filter, final DoubleFunction<Double> data, final double expectedOutput) {
     double filterOutput = 0.0;
     for (double t = 0.0; t < kFilterTime; t += kFilterStep) {
       filterOutput = filter.calculate(data.apply(t));
@@ -94,18 +91,21 @@ class LinearFilterTest {
 
   static Stream<Arguments> outputFilterProvider() {
     return Stream.of(
-        arguments(LinearFilter.singlePoleIIR(kSinglePoleIIRTimeConstant, kFilterStep),
+        arguments(
+            LinearFilter.singlePoleIIR(kSinglePoleIIRTimeConstant, kFilterStep),
             (DoubleFunction<Double>) LinearFilterTest::getData,
             kSinglePoleIIRExpectedOutput),
-        arguments(LinearFilter.highPass(kHighPassTimeConstant, kFilterStep),
+        arguments(
+            LinearFilter.highPass(kHighPassTimeConstant, kFilterStep),
             (DoubleFunction<Double>) LinearFilterTest::getData,
             kHighPassExpectedOutput),
-        arguments(LinearFilter.movingAverage(kMovAvgTaps),
+        arguments(
+            LinearFilter.movingAverage(kMovAvgTaps),
             (DoubleFunction<Double>) LinearFilterTest::getData,
             kMovAvgExpectedOutput),
-        arguments(LinearFilter.movingAverage(kMovAvgTaps),
+        arguments(
+            LinearFilter.movingAverage(kMovAvgTaps),
             (DoubleFunction<Double>) LinearFilterTest::getPulseData,
-            0.0)
-    );
+            0.0));
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/MedianFilterTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/MedianFilterTest.java
index aaadf99c26..ff2b77ef5b 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/MedianFilterTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/MedianFilterTest.java
@@ -4,10 +4,10 @@
 
 package edu.wpi.first.wpilibj;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
+import org.junit.jupiter.api.Test;
+
 public class MedianFilterTest {
   @Test
   void medianFilterNotFullTestEven() {
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/UtilityClassTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/UtilityClassTest.java
index c8d7598df0..eada292f85 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/UtilityClassTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/UtilityClassTest.java
@@ -4,22 +4,21 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.lang.reflect.Constructor;
-import java.lang.reflect.InvocationTargetException;
-import java.lang.reflect.Modifier;
-import java.util.Arrays;
-import java.util.stream.Stream;
-
-import org.junit.jupiter.api.DynamicTest;
-import org.junit.jupiter.api.Test;
-import org.junit.jupiter.api.TestFactory;
-
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertThrows;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 import static org.junit.jupiter.api.DynamicTest.dynamicTest;
 
+import java.lang.reflect.Constructor;
+import java.lang.reflect.InvocationTargetException;
+import java.lang.reflect.Modifier;
+import java.util.Arrays;
+import java.util.stream.Stream;
+import org.junit.jupiter.api.DynamicTest;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.api.TestFactory;
+
 @SuppressWarnings("PMD.AbstractClassWithoutAbstractMethod")
 public abstract class UtilityClassTest<T> {
   private final Class<T> m_clazz;
@@ -30,8 +29,7 @@ public abstract class UtilityClassTest<T> {
 
   @Test
   public void singleConstructorTest() {
-    assertEquals(1, m_clazz.getDeclaredConstructors().length,
-        "More than one constructor defined");
+    assertEquals(1, m_clazz.getDeclaredConstructors().length, "More than one constructor defined");
   }
 
   @Test
@@ -52,7 +50,9 @@ public abstract class UtilityClassTest<T> {
   Stream<DynamicTest> publicMethodsStaticTestFactory() {
     return Arrays.stream(m_clazz.getDeclaredMethods())
         .filter(method -> Modifier.isPublic(method.getModifiers()))
-        .map(method -> dynamicTest(method.getName(),
-            () -> assertTrue(Modifier.isStatic(method.getModifiers()))));
+        .map(
+            method ->
+                dynamicTest(
+                    method.getName(), () -> assertTrue(Modifier.isStatic(method.getModifiers()))));
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/controller/ControlAffinePlantInversionFeedforwardTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/controller/ControlAffinePlantInversionFeedforwardTest.java
index b6ecb28ee6..7eeae12b45 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/controller/ControlAffinePlantInversionFeedforwardTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/controller/ControlAffinePlantInversionFeedforwardTest.java
@@ -4,31 +4,25 @@
 
 package edu.wpi.first.wpilibj.controller;
 
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import edu.wpi.first.wpiutil.math.Matrix;
 import edu.wpi.first.wpiutil.math.Nat;
 import edu.wpi.first.wpiutil.math.VecBuilder;
 import edu.wpi.first.wpiutil.math.numbers.N1;
 import edu.wpi.first.wpiutil.math.numbers.N2;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
+import org.junit.jupiter.api.Test;
 
 class ControlAffinePlantInversionFeedforwardTest {
   @SuppressWarnings("LocalVariableName")
   @Test
   void testCalculate() {
     ControlAffinePlantInversionFeedforward<N2, N1> feedforward =
-            new ControlAffinePlantInversionFeedforward<N2, N1>(
-                    Nat.N2(),
-                    Nat.N1(),
-                    this::getDynamics,
-                    0.02);
+        new ControlAffinePlantInversionFeedforward<N2, N1>(
+            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);
+    assertEquals(
+        48.0, feedforward.calculate(VecBuilder.fill(2, 2), VecBuilder.fill(3, 3)).get(0, 0), 1e-6);
   }
 
   @SuppressWarnings("LocalVariableName")
@@ -36,22 +30,20 @@ class ControlAffinePlantInversionFeedforwardTest {
   void testCalculateState() {
     ControlAffinePlantInversionFeedforward<N2, N1> feedforward =
         new ControlAffinePlantInversionFeedforward<N2, N1>(
-            Nat.N2(),
-            Nat.N1(),
-            this::getDynamics,
-            0.02);
+            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);
+    assertEquals(
+        48.0, feedforward.calculate(VecBuilder.fill(2, 2), VecBuilder.fill(3, 3)).get(0, 0), 1e-6);
   }
 
   @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)
+    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;
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/controller/LinearPlantInversionFeedforwardTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/controller/LinearPlantInversionFeedforwardTest.java
index 80f98309b5..8695bbce70 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/controller/LinearPlantInversionFeedforwardTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/controller/LinearPlantInversionFeedforwardTest.java
@@ -4,15 +4,14 @@
 
 package edu.wpi.first.wpilibj.controller;
 
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import edu.wpi.first.wpiutil.math.Matrix;
 import edu.wpi.first.wpiutil.math.Nat;
 import edu.wpi.first.wpiutil.math.VecBuilder;
 import edu.wpi.first.wpiutil.math.numbers.N1;
 import edu.wpi.first.wpiutil.math.numbers.N2;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
+import org.junit.jupiter.api.Test;
 
 class LinearPlantInversionFeedforwardTest {
   @SuppressWarnings("LocalVariableName")
@@ -22,11 +21,11 @@ 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<N2, N1, N1>(A, B, 0.02);
 
-    assertEquals(47.502599, feedforward.calculate(
-            VecBuilder.fill(2, 2),
-            VecBuilder.fill(3, 3)).get(0, 0),
-            0.002);
+    assertEquals(
+        47.502599,
+        feedforward.calculate(VecBuilder.fill(2, 2), VecBuilder.fill(3, 3)).get(0, 0),
+        0.002);
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/controller/LinearQuadraticRegulatorTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/controller/LinearQuadraticRegulatorTest.java
index 613f5afbe6..8c81fc717e 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/controller/LinearQuadraticRegulatorTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/controller/LinearQuadraticRegulatorTest.java
@@ -4,7 +4,7 @@
 
 package edu.wpi.first.wpilibj.controller;
 
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import edu.wpi.first.wpilibj.system.LinearSystem;
 import edu.wpi.first.wpilibj.system.plant.DCMotor;
@@ -12,9 +12,7 @@ import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
 import edu.wpi.first.wpiutil.math.VecBuilder;
 import edu.wpi.first.wpiutil.math.numbers.N1;
 import edu.wpi.first.wpiutil.math.numbers.N2;
-
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
+import org.junit.jupiter.api.Test;
 
 public class LinearQuadraticRegulatorTest {
   public static LinearSystem<N2, N1, N1> elevatorPlant;
@@ -55,8 +53,7 @@ public class LinearQuadraticRegulatorTest {
     var rElms = VecBuilder.fill(12.0);
     var dt = 0.00505;
 
-    var controller = new LinearQuadraticRegulator<>(
-          elevatorPlant, qElms, rElms, dt);
+    var controller = new LinearQuadraticRegulator<>(elevatorPlant, qElms, rElms, dt);
 
     var k = controller.getK();
 
@@ -69,21 +66,15 @@ public class LinearQuadraticRegulatorTest {
 
     var dt = 0.020;
 
-    var plant = LinearSystemId.createElevatorSystem(
-          DCMotor.getVex775Pro(4),
-          8.0,
-          0.75 * 25.4 / 1000.0,
-          14.67);
+    var plant =
+        LinearSystemId.createElevatorSystem(
+            DCMotor.getVex775Pro(4), 8.0, 0.75 * 25.4 / 1000.0, 14.67);
 
-    var regulator = new LinearQuadraticRegulator<>(
-          plant,
-          VecBuilder.fill(0.1, 0.2),
-          VecBuilder.fill(12.0),
-          dt);
+    var regulator =
+        new LinearQuadraticRegulator<>(plant, VecBuilder.fill(0.1, 0.2), VecBuilder.fill(12.0), dt);
 
     assertEquals(10.381, regulator.getK().get(0, 0), 1e-2);
     assertEquals(0.6929, regulator.getK().get(0, 1), 1e-2);
-
   }
 
   @Test
@@ -102,8 +93,7 @@ public class LinearQuadraticRegulatorTest {
     var rElms = VecBuilder.fill(12.0);
     var dt = 0.00505;
 
-    var controller = new LinearQuadraticRegulator<>(
-          plant, qElms, rElms, dt);
+    var controller = new LinearQuadraticRegulator<>(plant, qElms, rElms, dt);
 
     var k = controller.getK();
 
@@ -115,17 +105,12 @@ public class LinearQuadraticRegulatorTest {
   public void testLatencyCompensate() {
     var dt = 0.02;
 
-    var plant = LinearSystemId.createElevatorSystem(
-          DCMotor.getVex775Pro(4),
-          8.0,
-          0.75 * 25.4 / 1000.0,
-          14.67);
+    var plant =
+        LinearSystemId.createElevatorSystem(
+            DCMotor.getVex775Pro(4), 8.0, 0.75 * 25.4 / 1000.0, 14.67);
 
-    var regulator = new LinearQuadraticRegulator<>(
-          plant,
-          VecBuilder.fill(0.1, 0.2),
-          VecBuilder.fill(12.0),
-          dt);
+    var regulator =
+        new LinearQuadraticRegulator<>(plant, VecBuilder.fill(0.1, 0.2), VecBuilder.fill(12.0), dt);
 
     regulator.latencyCompensate(plant, dt, 0.01);
 
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/controller/LinearSystemLoopTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/controller/LinearSystemLoopTest.java
index 0ba638ab44..8f9668f355 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/controller/LinearSystemLoopTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/controller/LinearSystemLoopTest.java
@@ -4,11 +4,8 @@
 
 package edu.wpi.first.wpilibj.controller;
 
-import java.util.ArrayList;
-import java.util.List;
-import java.util.Random;
-
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.wpilibj.estimator.KalmanFilter;
 import edu.wpi.first.wpilibj.system.LinearSystem;
@@ -21,35 +18,34 @@ import edu.wpi.first.wpiutil.math.Nat;
 import edu.wpi.first.wpiutil.math.VecBuilder;
 import edu.wpi.first.wpiutil.math.numbers.N1;
 import edu.wpi.first.wpiutil.math.numbers.N2;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.api.Assertions.assertTrue;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Random;
+import org.junit.jupiter.api.Test;
 
 public class LinearSystemLoopTest {
   public static final double kDt = 0.00505;
   private static final double kPositionStddev = 0.0001;
   private static final Random random = new Random();
 
-  LinearSystem<N2, N1, N1> m_plant = LinearSystemId.createElevatorSystem(DCMotor.getVex775Pro(2), 5,
-      0.0181864, 1.0);
+  LinearSystem<N2, N1, N1> m_plant =
+      LinearSystemId.createElevatorSystem(DCMotor.getVex775Pro(2), 5, 0.0181864, 1.0);
 
-  KalmanFilter<N2, N1, N1> m_observer = new KalmanFilter<>(Nat.N2(), Nat.N1(), m_plant,
-      VecBuilder.fill(0.05, 1.0),
-      VecBuilder.fill(0.0001), kDt);
+  KalmanFilter<N2, N1, N1> m_observer =
+      new KalmanFilter<>(
+          Nat.N2(), Nat.N1(), m_plant, VecBuilder.fill(0.05, 1.0), VecBuilder.fill(0.0001), kDt);
 
-  LinearQuadraticRegulator<N2, N1, N1> m_controller = new LinearQuadraticRegulator<>(
-      m_plant, VecBuilder.fill(0.02, 0.4), VecBuilder.fill(12.0),
-        0.00505);
+  LinearQuadraticRegulator<N2, N1, N1> m_controller =
+      new LinearQuadraticRegulator<>(
+          m_plant, VecBuilder.fill(0.02, 0.4), VecBuilder.fill(12.0), 0.00505);
 
   private final LinearSystemLoop<N2, N1, N1> m_loop =
       new LinearSystemLoop<>(m_plant, m_controller, m_observer, 12, 0.00505);
 
   @SuppressWarnings("LocalVariableName")
-  private static void updateTwoState(LinearSystem<N2, N1, N1> plant, LinearSystemLoop<N2, N1, N1>
-      loop, double noise) {
-    Matrix<N1, N1> y = plant.calculateY(loop.getXHat(), loop.getU()).plus(
-          VecBuilder.fill(noise)
-    );
+  private static void updateTwoState(
+      LinearSystem<N2, N1, N1> plant, LinearSystemLoop<N2, N1, N1> loop, double noise) {
+    Matrix<N1, N1> y = plant.calculateY(loop.getXHat(), loop.getU()).plus(VecBuilder.fill(noise));
 
     loop.correct(y);
     loop.predict(kDt);
@@ -67,10 +63,11 @@ public class LinearSystemLoopTest {
     TrapezoidProfile profile;
     TrapezoidProfile.State state;
     for (int i = 0; i < 1000; i++) {
-      profile = new TrapezoidProfile(
-            constraints, new TrapezoidProfile.State(m_loop.getXHat(0), m_loop.getXHat(1)),
-            new TrapezoidProfile.State(references.get(0, 0), references.get(1, 0))
-      );
+      profile =
+          new TrapezoidProfile(
+              constraints,
+              new TrapezoidProfile.State(m_loop.getXHat(0), m_loop.getXHat(1)),
+              new TrapezoidProfile.State(references.get(0, 0), references.get(1, 0)));
       state = profile.calculate(kDt);
       m_loop.setNextR(VecBuilder.fill(state.position, state.velocity));
 
@@ -82,24 +79,22 @@ public class LinearSystemLoopTest {
 
     assertEquals(2.0, m_loop.getXHat(0), 0.05);
     assertEquals(0.0, m_loop.getXHat(1), 0.5);
-
   }
 
   @Test
   @SuppressWarnings({"LocalVariableName", "PMD.AvoidInstantiatingObjectsInLoops"})
   public void testFlywheelEnabled() {
 
-    LinearSystem<N1, N1, N1> plant = LinearSystemId.createFlywheelSystem(DCMotor.getNEO(2),
-          0.00289, 1.0);
-    KalmanFilter<N1, N1, N1> observer = new KalmanFilter<>(Nat.N1(), Nat.N1(), plant,
-          VecBuilder.fill(1.0),
-          VecBuilder.fill(kPositionStddev), kDt);
+    LinearSystem<N1, N1, N1> plant =
+        LinearSystemId.createFlywheelSystem(DCMotor.getNEO(2), 0.00289, 1.0);
+    KalmanFilter<N1, N1, N1> observer =
+        new KalmanFilter<>(
+            Nat.N1(), Nat.N1(), plant, VecBuilder.fill(1.0), VecBuilder.fill(kPositionStddev), kDt);
 
     var qElms = VecBuilder.fill(9.0);
     var rElms = VecBuilder.fill(12.0);
 
-    var controller = new LinearQuadraticRegulator<>(
-          plant, qElms, rElms, kDt);
+    var controller = new LinearQuadraticRegulator<>(plant, qElms, rElms, kDt);
 
     var feedforward = new LinearPlantInversionFeedforward<>(plant, kDt);
 
@@ -125,9 +120,10 @@ public class LinearSystemLoopTest {
 
       loop.setNextR(references);
 
-      Matrix<N1, N1> y = plant.calculateY(loop.getXHat(), loop.getU()).plus(
-            VecBuilder.fill(random.nextGaussian() * kPositionStddev)
-      );
+      Matrix<N1, N1> y =
+          plant
+              .calculateY(loop.getXHat(), loop.getU())
+              .plus(VecBuilder.fill(random.nextGaussian() * kPositionStddev));
 
       loop.correct(y);
       loop.predict(kDt);
@@ -158,5 +154,4 @@ public class LinearSystemLoopTest {
 
     assertEquals(0.0, loop.getError(0), 0.1);
   }
-
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/AngleStatisticsTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/AngleStatisticsTest.java
index 7aa56aa72d..f3003e9731 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/AngleStatisticsTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/AngleStatisticsTest.java
@@ -4,38 +4,36 @@
 
 package edu.wpi.first.wpilibj.estimator;
 
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.wpiutil.math.Matrix;
 import edu.wpi.first.wpiutil.math.Nat;
 import edu.wpi.first.wpiutil.math.VecBuilder;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.api.Assertions.assertTrue;
+import org.junit.jupiter.api.Test;
 
 public class AngleStatisticsTest {
   @Test
   public void testMean() {
     // 3 states, 2 sigmas
-    var sigmas = Matrix.mat(Nat.N3(), Nat.N2()).fill(
-            1, 1.2,
-            Math.toRadians(359), Math.toRadians(3),
-            1, 2
-    );
+    var sigmas =
+        Matrix.mat(Nat.N3(), Nat.N2()).fill(1, 1.2, Math.toRadians(359), Math.toRadians(3), 1, 2);
     // Weights need to produce the mean of the sigmas
     var weights = new Matrix<>(Nat.N2(), Nat.N1());
     weights.fill(1.0 / sigmas.getNumCols());
 
-    assertTrue(AngleStatistics.angleMean(sigmas, weights, 1).isEqual(
-            VecBuilder.fill(1.1, Math.toRadians(1), 1.5), 1e-6));
+    assertTrue(
+        AngleStatistics.angleMean(sigmas, weights, 1)
+            .isEqual(VecBuilder.fill(1.1, Math.toRadians(1), 1.5), 1e-6));
   }
 
   @Test
   public void testResidual() {
     var first = VecBuilder.fill(1, Math.toRadians(1), 2);
     var second = VecBuilder.fill(1, Math.toRadians(359), 1);
-    assertTrue(AngleStatistics.angleResidual(first, second, 1).isEqual(
-            VecBuilder.fill(0, Math.toRadians(2), 1), 1e-6));
+    assertTrue(
+        AngleStatistics.angleResidual(first, second, 1)
+            .isEqual(VecBuilder.fill(0, Math.toRadians(2), 1), 1e-6));
   }
 
   @Test
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/DifferentialDrivePoseEstimatorTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/DifferentialDrivePoseEstimatorTest.java
index 1391ad49a8..c800b65211 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/DifferentialDrivePoseEstimatorTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/DifferentialDrivePoseEstimatorTest.java
@@ -4,10 +4,7 @@
 
 package edu.wpi.first.wpilibj.estimator;
 
-import java.util.List;
-import java.util.Random;
-
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
@@ -20,30 +17,36 @@ import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
 import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
 import edu.wpi.first.wpiutil.math.MatBuilder;
 import edu.wpi.first.wpiutil.math.Nat;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
+import java.util.List;
+import java.util.Random;
+import org.junit.jupiter.api.Test;
 
 public class DifferentialDrivePoseEstimatorTest {
-  @SuppressWarnings({"LocalVariableName", "PMD.ExcessiveMethodLength",
-        "PMD.AvoidInstantiatingObjectsInLoops"})
+  @SuppressWarnings({
+    "LocalVariableName",
+    "PMD.ExcessiveMethodLength",
+    "PMD.AvoidInstantiatingObjectsInLoops"
+  })
   @Test
   public void testAccuracy() {
-    var estimator = new DifferentialDrivePoseEstimator(new Rotation2d(), new Pose2d(),
+    var estimator =
+        new DifferentialDrivePoseEstimator(
+            new Rotation2d(),
+            new Pose2d(),
             new MatBuilder<>(Nat.N5(), Nat.N1()).fill(0.02, 0.02, 0.01, 0.02, 0.02),
             new MatBuilder<>(Nat.N3(), Nat.N1()).fill(0.01, 0.01, 0.001),
             new MatBuilder<>(Nat.N3(), Nat.N1()).fill(0.1, 0.1, 0.01));
 
-    var traj = TrajectoryGenerator.generateTrajectory(
+    var traj =
+        TrajectoryGenerator.generateTrajectory(
             List.of(
-                    new Pose2d(0, 0, Rotation2d.fromDegrees(45)),
-                    new Pose2d(3, 0, Rotation2d.fromDegrees(-90)),
-                    new Pose2d(0, 0, Rotation2d.fromDegrees(135)),
-                    new Pose2d(-3, 0, Rotation2d.fromDegrees(-90)),
-                    new Pose2d(0, 0, Rotation2d.fromDegrees(45))
-            ),
+                new Pose2d(0, 0, Rotation2d.fromDegrees(45)),
+                new Pose2d(3, 0, Rotation2d.fromDegrees(-90)),
+                new Pose2d(0, 0, Rotation2d.fromDegrees(135)),
+                new Pose2d(-3, 0, Rotation2d.fromDegrees(-90)),
+                new Pose2d(0, 0, Rotation2d.fromDegrees(45))),
             new TrajectoryConfig(10, 5));
 
-
     var kinematics = new DifferentialDriveKinematics(1);
     var rand = new Random(4915);
 
@@ -63,24 +66,26 @@ public class DifferentialDrivePoseEstimatorTest {
     DifferentialDriveWheelSpeeds input;
     while (t <= traj.getTotalTimeSeconds()) {
       groundtruthState = traj.sample(t);
-      input = kinematics.toWheelSpeeds(new ChassisSpeeds(
-              groundtruthState.velocityMetersPerSecond, 0.0,
-              // ds/dt * dtheta/ds = dtheta/dt
-              groundtruthState.velocityMetersPerSecond * groundtruthState.curvatureRadPerMeter
-      ));
+      input =
+          kinematics.toWheelSpeeds(
+              new ChassisSpeeds(
+                  groundtruthState.velocityMetersPerSecond,
+                  0.0,
+                  // ds/dt * dtheta/ds = dtheta/dt
+                  groundtruthState.velocityMetersPerSecond
+                      * groundtruthState.curvatureRadPerMeter));
 
       if (lastVisionUpdateTime + visionUpdateRate + rand.nextGaussian() * 0.4 < t) {
         if (lastVisionPose != null) {
           estimator.addVisionMeasurement(lastVisionPose, lastVisionUpdateTime);
         }
         var groundPose = groundtruthState.poseMeters;
-        lastVisionPose = new Pose2d(
+        lastVisionPose =
+            new Pose2d(
                 new Translation2d(
-                        groundPose.getTranslation().getX() + rand.nextGaussian() * 0.1,
-                        groundPose.getTranslation().getY() + rand.nextGaussian() * 0.1
-                ),
-                new Rotation2d(rand.nextGaussian() * 0.01).plus(groundPose.getRotation())
-        );
+                    groundPose.getTranslation().getX() + rand.nextGaussian() * 0.1,
+                    groundPose.getTranslation().getY() + rand.nextGaussian() * 0.1),
+                new Rotation2d(rand.nextGaussian() * 0.01).plus(groundPose.getRotation()));
         lastVisionUpdateTime = t;
       }
 
@@ -91,15 +96,16 @@ public class DifferentialDrivePoseEstimatorTest {
       distanceRight += input.rightMetersPerSecond * dt;
 
       var rotNoise = new Rotation2d(rand.nextGaussian() * 0.001);
-      var xHat = estimator.updateWithTime(
+      var xHat =
+          estimator.updateWithTime(
               t,
               groundtruthState.poseMeters.getRotation().plus(rotNoise),
               input,
-              distanceLeft, distanceRight
-      );
+              distanceLeft,
+              distanceRight);
 
       double error =
-              groundtruthState.poseMeters.getTranslation().getDistance(xHat.getTranslation());
+          groundtruthState.poseMeters.getTranslation().getDistance(xHat.getTranslation());
       if (error > maxError) {
         maxError = error;
       }
@@ -108,13 +114,7 @@ public class DifferentialDrivePoseEstimatorTest {
       t += dt;
     }
 
-    assertEquals(
-            0.0, errorSum / (traj.getTotalTimeSeconds() / dt), 0.035,
-            "Incorrect mean error"
-    );
-    assertEquals(
-            0.0, maxError, 0.055,
-            "Incorrect max error"
-    );
+    assertEquals(0.0, errorSum / (traj.getTotalTimeSeconds() / dt), 0.035, "Incorrect mean error");
+    assertEquals(0.0, maxError, 0.055, "Incorrect max error");
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/ExtendedKalmanFilterTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/ExtendedKalmanFilterTest.java
index e2c05ff0ef..26b409c324 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/ExtendedKalmanFilterTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/ExtendedKalmanFilterTest.java
@@ -4,11 +4,8 @@
 
 package edu.wpi.first.wpilibj.estimator;
 
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.List;
-
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
+import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
@@ -25,9 +22,10 @@ import edu.wpi.first.wpiutil.math.numbers.N1;
 import edu.wpi.first.wpiutil.math.numbers.N2;
 import edu.wpi.first.wpiutil.math.numbers.N3;
 import edu.wpi.first.wpiutil.math.numbers.N5;
-
-import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
-import static org.junit.jupiter.api.Assertions.assertEquals;
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.List;
+import org.junit.jupiter.api.Test;
 
 @SuppressWarnings("ParameterName")
 public class ExtendedKalmanFilterTest {
@@ -41,8 +39,9 @@ public class ExtendedKalmanFilterTest {
     final var J = 5.6; // Robot moment of inertia
 
     final var C1 =
-          -Math.pow(gr, 2) * motors.m_KtNMPerAmp / (
-                motors.m_KvRadPerSecPerVolt * motors.m_rOhms * r * r);
+        -Math.pow(gr, 2)
+            * motors.m_KtNMPerAmp
+            / (motors.m_KvRadPerSecPerVolt * motors.m_rOhms * r * r);
     final var C2 = gr * motors.m_KtNMPerAmp / (motors.m_rOhms * r);
     final var k1 = 1.0 / m + rb * rb / J;
     final var k2 = 1.0 / m - rb * rb / J;
@@ -67,13 +66,7 @@ public class ExtendedKalmanFilterTest {
   }
 
   public static Matrix<N5, N1> getGlobalMeasurementModel(Matrix<N5, N1> x, Matrix<N2, N1> u) {
-    return VecBuilder.fill(
-          x.get(0, 0),
-          x.get(1, 0),
-          x.get(2, 0),
-          x.get(3, 0),
-          x.get(4, 0)
-    );
+    return VecBuilder.fill(x.get(0, 0), x.get(1, 0), x.get(2, 0), x.get(3, 0), x.get(4, 0));
   }
 
   @SuppressWarnings("LocalVariableName")
@@ -81,49 +74,59 @@ public class ExtendedKalmanFilterTest {
   public void testInit() {
     double dtSeconds = 0.00505;
 
-    assertDoesNotThrow(() -> {
-      ExtendedKalmanFilter<N5, N2, N3> observer =
-            new ExtendedKalmanFilter<>(Nat.N5(), Nat.N2(), Nat.N3(),
+    assertDoesNotThrow(
+        () -> {
+          ExtendedKalmanFilter<N5, N2, N3> observer =
+              new ExtendedKalmanFilter<>(
+                  Nat.N5(),
+                  Nat.N2(),
+                  Nat.N3(),
                   ExtendedKalmanFilterTest::getDynamics,
                   ExtendedKalmanFilterTest::getLocalMeasurementModel,
                   VecBuilder.fill(0.5, 0.5, 10.0, 1.0, 1.0),
-                  VecBuilder.fill(0.0001, 0.01, 0.01), dtSeconds);
+                  VecBuilder.fill(0.0001, 0.01, 0.01),
+                  dtSeconds);
 
-      Matrix<N2, N1> u = VecBuilder.fill(12.0, 12.0);
-      observer.predict(u, dtSeconds);
+          Matrix<N2, N1> u = VecBuilder.fill(12.0, 12.0);
+          observer.predict(u, dtSeconds);
 
-      var localY = getLocalMeasurementModel(observer.getXhat(), u);
-      observer.correct(u, localY);
-
-      var globalY = getGlobalMeasurementModel(observer.getXhat(), u);
-      var R = StateSpaceUtil.makeCostMatrix(
-            VecBuilder.fill(0.01, 0.01, 0.0001, 0.5, 0.5));
-      observer.correct(Nat.N5(),
-            u, globalY, ExtendedKalmanFilterTest::getGlobalMeasurementModel, R);
-    });
+          var localY = getLocalMeasurementModel(observer.getXhat(), u);
+          observer.correct(u, localY);
 
+          var globalY = getGlobalMeasurementModel(observer.getXhat(), u);
+          var R = StateSpaceUtil.makeCostMatrix(VecBuilder.fill(0.01, 0.01, 0.0001, 0.5, 0.5));
+          observer.correct(
+              Nat.N5(), u, globalY, ExtendedKalmanFilterTest::getGlobalMeasurementModel, R);
+        });
   }
 
-  @SuppressWarnings({"LocalVariableName", "PMD.AvoidInstantiatingObjectsInLoops",
-      "PMD.ExcessiveMethodLength"})
+  @SuppressWarnings({
+    "LocalVariableName",
+    "PMD.AvoidInstantiatingObjectsInLoops",
+    "PMD.ExcessiveMethodLength"
+  })
   @Test
   public void testConvergence() {
     double dtSeconds = 0.00505;
     double rbMeters = 0.8382 / 2.0; // Robot radius
 
     ExtendedKalmanFilter<N5, N2, N3> observer =
-          new ExtendedKalmanFilter<>(Nat.N5(), Nat.N2(), Nat.N3(),
-                ExtendedKalmanFilterTest::getDynamics,
-                ExtendedKalmanFilterTest::getLocalMeasurementModel,
-                VecBuilder.fill(0.5, 0.5, 10.0, 1.0, 1.0),
-                VecBuilder.fill(0.001, 0.01, 0.01), dtSeconds);
+        new ExtendedKalmanFilter<>(
+            Nat.N5(),
+            Nat.N2(),
+            Nat.N3(),
+            ExtendedKalmanFilterTest::getDynamics,
+            ExtendedKalmanFilterTest::getLocalMeasurementModel,
+            VecBuilder.fill(0.5, 0.5, 10.0, 1.0, 1.0),
+            VecBuilder.fill(0.001, 0.01, 0.01),
+            dtSeconds);
 
-    List<Pose2d> waypoints = Arrays.asList(new Pose2d(2.75, 22.521, new Rotation2d()),
-          new Pose2d(24.73, 19.68, Rotation2d.fromDegrees(5.846)));
-    var trajectory = TrajectoryGenerator.generateTrajectory(
-          waypoints,
-          new TrajectoryConfig(8.8, 0.1)
-    );
+    List<Pose2d> waypoints =
+        Arrays.asList(
+            new Pose2d(2.75, 22.521, new Rotation2d()),
+            new Pose2d(24.73, 19.68, Rotation2d.fromDegrees(5.846)));
+    var trajectory =
+        TrajectoryGenerator.generateTrajectory(waypoints, new TrajectoryConfig(8.8, 0.1));
 
     Matrix<N5, N1> r = new Matrix<>(Nat.N5(), Nat.N1());
 
@@ -136,14 +139,21 @@ public class ExtendedKalmanFilterTest {
     List<Double> observerXs = new ArrayList<>();
     List<Double> observerYs = new ArrayList<>();
 
-    var B = NumericalJacobian.numericalJacobianU(Nat.N5(), Nat.N2(),
-          ExtendedKalmanFilterTest::getDynamics, new Matrix<>(Nat.N5(), Nat.N1()), u);
+    var B =
+        NumericalJacobian.numericalJacobianU(
+            Nat.N5(),
+            Nat.N2(),
+            ExtendedKalmanFilterTest::getDynamics,
+            new Matrix<>(Nat.N5(), Nat.N1()),
+            u);
 
-    observer.setXhat(VecBuilder.fill(
-          trajectory.getInitialPose().getTranslation().getX(),
-          trajectory.getInitialPose().getTranslation().getY(),
-          trajectory.getInitialPose().getRotation().getRadians(),
-          0.0, 0.0));
+    observer.setXhat(
+        VecBuilder.fill(
+            trajectory.getInitialPose().getTranslation().getX(),
+            trajectory.getInitialPose().getTranslation().getY(),
+            trajectory.getInitialPose().getRotation().getRadians(),
+            0.0,
+            0.0));
 
     var groundTruthX = observer.getXhat();
 
@@ -159,19 +169,17 @@ public class ExtendedKalmanFilterTest {
       nextR.set(3, 0, vl);
       nextR.set(4, 0, vr);
 
-      var localY =
-            getLocalMeasurementModel(groundTruthX, u);
+      var localY = getLocalMeasurementModel(groundTruthX, u);
       var whiteNoiseStdDevs = VecBuilder.fill(0.0001, 0.5, 0.5);
-      observer.correct(u,
-            localY.plus(StateSpaceUtil.makeWhiteNoiseVector(whiteNoiseStdDevs)));
+      observer.correct(u, localY.plus(StateSpaceUtil.makeWhiteNoiseVector(whiteNoiseStdDevs)));
 
       Matrix<N5, N1> rdot = nextR.minus(r).div(dtSeconds);
       u = new Matrix<>(B.solve(rdot.minus(getDynamics(r, new Matrix<>(Nat.N2(), Nat.N1())))));
 
       observer.predict(u, dtSeconds);
 
-      groundTruthX = RungeKutta.rungeKutta(ExtendedKalmanFilterTest::getDynamics,
-            groundTruthX, u, dtSeconds);
+      groundTruthX =
+          RungeKutta.rungeKutta(ExtendedKalmanFilterTest::getDynamics, groundTruthX, u, dtSeconds);
 
       r = nextR;
 
@@ -186,8 +194,7 @@ public class ExtendedKalmanFilterTest {
     observer.correct(u, localY);
 
     var globalY = getGlobalMeasurementModel(observer.getXhat(), u);
-    var R = StateSpaceUtil.makeCostMatrix(
-          VecBuilder.fill(0.01, 0.01, 0.0001, 0.5, 0.5));
+    var R = StateSpaceUtil.makeCostMatrix(VecBuilder.fill(0.01, 0.01, 0.0001, 0.5, 0.5));
     observer.correct(Nat.N5(), u, globalY, ExtendedKalmanFilterTest::getGlobalMeasurementModel, R);
 
     //    var chartBuilder = new XYChartBuilder();
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/KalmanFilterTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/KalmanFilterTest.java
index dd6e8edd03..f497150455 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/KalmanFilterTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/KalmanFilterTest.java
@@ -4,11 +4,8 @@
 
 package edu.wpi.first.wpilibj.estimator;
 
-import java.util.ArrayList;
-import java.util.List;
-import java.util.Random;
-
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
+import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
@@ -24,9 +21,10 @@ import edu.wpi.first.wpiutil.math.numbers.N1;
 import edu.wpi.first.wpiutil.math.numbers.N2;
 import edu.wpi.first.wpiutil.math.numbers.N3;
 import edu.wpi.first.wpiutil.math.numbers.N6;
-
-import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
-import static org.junit.jupiter.api.Assertions.assertEquals;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Random;
+import org.junit.jupiter.api.Test;
 
 public class KalmanFilterTest {
   private static LinearSystem<N2, N1, N1> elevatorPlant;
@@ -49,28 +47,19 @@ public class KalmanFilterTest {
 
   // A swerve drive system where the states are [x, y, theta, vx, vy, vTheta]^T,
   // Y is [x, y, theta]^T and u is [ax, ay, alpha}^T
-  LinearSystem<N6, N3, N3> m_swerveObserverSystem = new LinearSystem<>(
-      Matrix.mat(Nat.N6(), Nat.N6()).fill( // A
-              0, 0, 0, 1, 0, 0,
-              0, 0, 0, 0, 1, 0,
-              0, 0, 0, 0, 0, 1,
-              0, 0, 0, 0, 0, 0,
-              0, 0, 0, 0, 0, 0,
-              0, 0, 0, 0, 0, 0),
-        Matrix.mat(Nat.N6(), Nat.N3()).fill( // B
-              0, 0, 0,
-              0, 0, 0,
-              0, 0, 0,
-              1, 0, 0,
-              0, 1, 0,
-              0, 0, 1
-        ),
-        Matrix.mat(Nat.N3(), Nat.N6()).fill( // C
-              1, 0, 0, 0, 0, 0,
-              0, 1, 0, 0, 0, 0,
-              0, 0, 1, 0, 0, 0
-        ),
-        new Matrix<>(Nat.N3(), Nat.N3())); // D
+  LinearSystem<N6, N3, N3> m_swerveObserverSystem =
+      new LinearSystem<>(
+          Matrix.mat(Nat.N6(), Nat.N6())
+              .fill( // A
+                  0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+                  0, 0, 0, 0, 0, 0, 0, 0, 0),
+          Matrix.mat(Nat.N6(), Nat.N3())
+              .fill( // B
+                  0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1),
+          Matrix.mat(Nat.N3(), Nat.N6())
+              .fill( // C
+                  1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0),
+          new Matrix<>(Nat.N3(), Nat.N3())); // D
 
   @Test
   @SuppressWarnings("LocalVariableName")
@@ -88,13 +77,15 @@ public class KalmanFilterTest {
 
     var random = new Random();
 
-    var filter = new KalmanFilter<>(Nat.N6(), Nat.N3(),
-          m_swerveObserverSystem,
-          VecBuilder.fill(0.1, 0.1, 0.1, 0.1, 0.1, 0.1), // state
-          // weights
-          VecBuilder.fill(2, 2, 2), // measurement weights
-          0.020
-    );
+    var filter =
+        new KalmanFilter<>(
+            Nat.N6(),
+            Nat.N3(),
+            m_swerveObserverSystem,
+            VecBuilder.fill(0.1, 0.1, 0.1, 0.1, 0.1, 0.1), // state
+            // weights
+            VecBuilder.fill(2, 2, 2), // measurement weights
+            0.020);
 
     List<Double> xhatsX = new ArrayList<>();
     List<Double> measurementsX = new ArrayList<>();
@@ -104,8 +95,8 @@ public class KalmanFilterTest {
     Matrix<N3, N1> measurement;
     for (int i = 0; i < 100; i++) {
       // the robot is at [0, 0, 0] so we just park here
-      measurement = VecBuilder.fill(
-            random.nextGaussian(), random.nextGaussian(), random.nextGaussian());
+      measurement =
+          VecBuilder.fill(random.nextGaussian(), random.nextGaussian(), random.nextGaussian());
       filter.correct(VecBuilder.fill(0.0, 0.0, 0.0), measurement);
 
       // we continue to not accelerate
@@ -117,14 +108,14 @@ public class KalmanFilterTest {
       xhatsY.add(filter.getXhat(1));
     }
 
-    //var chart = new XYChartBuilder().build();
-    //chart.addSeries("Xhat, x/y", xhatsX, xhatsY);
-    //chart.addSeries("Measured position, x/y", measurementsX, measurementsY);
-    //try {
+    // var chart = new XYChartBuilder().build();
+    // chart.addSeries("Xhat, x/y", xhatsX, xhatsY);
+    // chart.addSeries("Measured position, x/y", measurementsX, measurementsY);
+    // try {
     //  new SwingWrapper<>(chart).displayChart();
     //  Thread.sleep(10000000);
-    //} catch (Exception ign) {
-    //}
+    // } catch (Exception ign) {
+    // }
     assertEquals(0.0, filter.getXhat(0), 0.3);
     assertEquals(0.0, filter.getXhat(0), 0.3);
   }
@@ -135,13 +126,15 @@ public class KalmanFilterTest {
 
     var random = new Random();
 
-    var filter = new KalmanFilter<>(Nat.N6(), Nat.N3(),
-          m_swerveObserverSystem,
-          VecBuilder.fill(0.1, 0.1, 0.1, 0.1, 0.1, 0.1), // state
-          // weights
-          VecBuilder.fill(4, 4, 4), // measurement weights
-          0.020
-    );
+    var filter =
+        new KalmanFilter<>(
+            Nat.N6(),
+            Nat.N3(),
+            m_swerveObserverSystem,
+            VecBuilder.fill(0.1, 0.1, 0.1, 0.1, 0.1, 0.1), // state
+            // weights
+            VecBuilder.fill(4, 4, 4), // measurement weights
+            0.020);
 
     List<Double> xhatsX = new ArrayList<>();
     List<Double> measurementsX = new ArrayList<>();
@@ -154,11 +147,12 @@ public class KalmanFilterTest {
 
     for (int i = 0; i < 300; i++) {
       // the robot is at [0, 0, 0] so we just park here
-      var measurement = VecBuilder.fill(
-            random.nextGaussian() / 10d,
-            random.nextGaussian() / 10d,
-            random.nextGaussian() / 4d // std dev of [1, 1, 1]
-      );
+      var measurement =
+          VecBuilder.fill(
+              random.nextGaussian() / 10d,
+              random.nextGaussian() / 10d,
+              random.nextGaussian() / 4d // std dev of [1, 1, 1]
+              );
 
       filter.correct(VecBuilder.fill(0.0, 0.0, 0.0), measurement);
 
@@ -171,13 +165,13 @@ public class KalmanFilterTest {
       xhatsY.add(filter.getXhat(1));
     }
 
-    //var chart = new XYChartBuilder().build();
-    //chart.addSeries("Xhat, x/y", xhatsX, xhatsY);
-    //chart.addSeries("Measured position, x/y", measurementsX, measurementsY);
-    //try {
+    // var chart = new XYChartBuilder().build();
+    // chart.addSeries("Xhat, x/y", xhatsX, xhatsY);
+    // chart.addSeries("Measured position, x/y", measurementsX, measurementsY);
+    // try {
     //  new SwingWrapper<>(chart).displayChart();
     //  Thread.sleep(10000000);
-    //} catch (Exception ign) {}
+    // } catch (Exception ign) {}
 
     assertEquals(0.0, filter.getXhat(0), 0.2);
     assertEquals(0.0, filter.getXhat(1), 0.2);
@@ -189,41 +183,41 @@ public class KalmanFilterTest {
 
     var random = new Random();
 
-    var filter = new KalmanFilter<>(Nat.N6(), Nat.N3(),
-          m_swerveObserverSystem,
-          VecBuilder.fill(0.1, 0.1, 0.1, 0.1, 0.1, 0.1), // state
-          // weights
-          VecBuilder.fill(4, 4, 4), // measurement weights
-          0.020
-    );
+    var filter =
+        new KalmanFilter<>(
+            Nat.N6(),
+            Nat.N3(),
+            m_swerveObserverSystem,
+            VecBuilder.fill(0.1, 0.1, 0.1, 0.1, 0.1, 0.1), // state
+            // weights
+            VecBuilder.fill(4, 4, 4), // measurement weights
+            0.020);
 
     List<Double> xhatsX = new ArrayList<>();
     List<Double> measurementsX = new ArrayList<>();
     List<Double> xhatsY = new ArrayList<>();
     List<Double> measurementsY = new ArrayList<>();
 
-    var trajectory = TrajectoryGenerator.generateTrajectory(
-          List.of(
-                new Pose2d(0, 0, new Rotation2d()),
-                new Pose2d(5, 5, new Rotation2d())
-          ), new TrajectoryConfig(2, 2)
-    );
+    var trajectory =
+        TrajectoryGenerator.generateTrajectory(
+            List.of(new Pose2d(0, 0, new Rotation2d()), new Pose2d(5, 5, new Rotation2d())),
+            new TrajectoryConfig(2, 2));
     var time = 0.0;
     var lastVelocity = VecBuilder.fill(0.0, 0.0, 0.0);
 
     while (time <= trajectory.getTotalTimeSeconds()) {
       var sample = trajectory.sample(time);
-      var measurement = VecBuilder.fill(
-            sample.poseMeters.getTranslation().getX() + random.nextGaussian() / 5d,
-            sample.poseMeters.getTranslation().getY() + random.nextGaussian() / 5d,
-            sample.poseMeters.getRotation().getRadians() + random.nextGaussian() / 3d
-      );
+      var measurement =
+          VecBuilder.fill(
+              sample.poseMeters.getTranslation().getX() + random.nextGaussian() / 5d,
+              sample.poseMeters.getTranslation().getY() + random.nextGaussian() / 5d,
+              sample.poseMeters.getRotation().getRadians() + random.nextGaussian() / 3d);
 
-      var velocity = VecBuilder.fill(
-            sample.velocityMetersPerSecond * sample.poseMeters.getRotation().getCos(),
-            sample.velocityMetersPerSecond * sample.poseMeters.getRotation().getSin(),
-            sample.curvatureRadPerMeter * sample.velocityMetersPerSecond
-      );
+      var velocity =
+          VecBuilder.fill(
+              sample.velocityMetersPerSecond * sample.poseMeters.getRotation().getCos(),
+              sample.velocityMetersPerSecond * sample.poseMeters.getRotation().getSin(),
+              sample.curvatureRadPerMeter * sample.velocityMetersPerSecond);
       var u = (velocity.minus(lastVelocity)).div(0.020);
       lastVelocity = velocity;
 
@@ -238,18 +232,22 @@ public class KalmanFilterTest {
       time += 0.020;
     }
 
-    //var chart = new XYChartBuilder().build();
-    //chart.addSeries("Xhat, x/y", xhatsX, xhatsY);
-    //chart.addSeries("Measured position, x/y", measurementsX, measurementsY);
-    //try {
+    // var chart = new XYChartBuilder().build();
+    // chart.addSeries("Xhat, x/y", xhatsX, xhatsY);
+    // chart.addSeries("Measured position, x/y", measurementsX, measurementsY);
+    // try {
     //        new SwingWrapper<>(chart).displayChart();
     //        Thread.sleep(10000000);
-    //} catch (Exception ign) {
-    //}
+    // } catch (Exception ign) {
+    // }
 
-    assertEquals(trajectory.sample(trajectory.getTotalTimeSeconds()).poseMeters
-          .getTranslation().getX(), filter.getXhat(0), 0.2);
-    assertEquals(trajectory.sample(trajectory.getTotalTimeSeconds()).poseMeters
-          .getTranslation().getY(), filter.getXhat(1), 0.2);
+    assertEquals(
+        trajectory.sample(trajectory.getTotalTimeSeconds()).poseMeters.getTranslation().getX(),
+        filter.getXhat(0),
+        0.2);
+    assertEquals(
+        trajectory.sample(trajectory.getTotalTimeSeconds()).poseMeters.getTranslation().getY(),
+        filter.getXhat(1),
+        0.2);
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/MecanumDrivePoseEstimatorTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/MecanumDrivePoseEstimatorTest.java
index 8f17c00abd..c59844dace 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/MecanumDrivePoseEstimatorTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/MecanumDrivePoseEstimatorTest.java
@@ -4,10 +4,7 @@
 
 package edu.wpi.first.wpilibj.estimator;
 
-import java.util.List;
-import java.util.Random;
-
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
@@ -17,35 +14,42 @@ import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics;
 import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
 import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
 import edu.wpi.first.wpiutil.math.VecBuilder;
-
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
+import java.util.List;
+import java.util.Random;
+import org.junit.jupiter.api.Test;
 
 public class MecanumDrivePoseEstimatorTest {
   @Test
-  @SuppressWarnings({"LocalVariableName", "PMD.AvoidInstantiatingObjectsInLoops",
-          "PMD.ExcessiveMethodLength"})
+  @SuppressWarnings({
+    "LocalVariableName",
+    "PMD.AvoidInstantiatingObjectsInLoops",
+    "PMD.ExcessiveMethodLength"
+  })
   public void testAccuracy() {
-    var kinematics = new MecanumDriveKinematics(
+    var kinematics =
+        new MecanumDriveKinematics(
             new Translation2d(1, 1), new Translation2d(1, -1),
             new Translation2d(-1, -1), new Translation2d(-1, 1));
 
-    var estimator = new MecanumDrivePoseEstimator(
-            new Rotation2d(), new Pose2d(), kinematics,
+    var estimator =
+        new MecanumDrivePoseEstimator(
+            new Rotation2d(),
+            new Pose2d(),
+            kinematics,
             VecBuilder.fill(0.1, 0.1, 0.1),
             VecBuilder.fill(0.05),
-            VecBuilder.fill(0.1, 0.1, 0.1)
-    );
+            VecBuilder.fill(0.1, 0.1, 0.1));
 
-    var trajectory = TrajectoryGenerator.generateTrajectory(
-            List.of(new Pose2d(),
-                    new Pose2d(20, 20, Rotation2d.fromDegrees(0)),
-                    new Pose2d(10, 10, Rotation2d.fromDegrees(180)),
-                    new Pose2d(30, 30, Rotation2d.fromDegrees(0)),
-                    new Pose2d(20, 20, Rotation2d.fromDegrees(180)),
-                    new Pose2d(10, 10, Rotation2d.fromDegrees(0))),
-            new TrajectoryConfig(0.5, 2)
-    );
+    var trajectory =
+        TrajectoryGenerator.generateTrajectory(
+            List.of(
+                new Pose2d(),
+                new Pose2d(20, 20, Rotation2d.fromDegrees(0)),
+                new Pose2d(10, 10, Rotation2d.fromDegrees(180)),
+                new Pose2d(30, 30, Rotation2d.fromDegrees(0)),
+                new Pose2d(20, 20, Rotation2d.fromDegrees(180)),
+                new Pose2d(10, 10, Rotation2d.fromDegrees(0))),
+            new TrajectoryConfig(0.5, 2));
 
     var rand = new Random(5190);
 
@@ -66,35 +70,42 @@ public class MecanumDrivePoseEstimatorTest {
           estimator.addVisionMeasurement(lastVisionPose, lastVisionUpdateTime);
         }
 
-        lastVisionPose = new Pose2d(
+        lastVisionPose =
+            new Pose2d(
                 new Translation2d(
-                        groundTruthState.poseMeters.getTranslation().getX()
-                                + rand.nextGaussian() * 0.1,
-                        groundTruthState.poseMeters.getTranslation().getY()
-                                + rand.nextGaussian() * 0.1
-                ),
-                new Rotation2d(
-                        rand.nextGaussian() * 0.1).plus(groundTruthState.poseMeters.getRotation())
-        );
+                    groundTruthState.poseMeters.getTranslation().getX() + rand.nextGaussian() * 0.1,
+                    groundTruthState.poseMeters.getTranslation().getY()
+                        + rand.nextGaussian() * 0.1),
+                new Rotation2d(rand.nextGaussian() * 0.1)
+                    .plus(groundTruthState.poseMeters.getRotation()));
 
         lastVisionUpdateTime = t;
       }
 
-      var wheelSpeeds = kinematics.toWheelSpeeds(new ChassisSpeeds(
-              groundTruthState.velocityMetersPerSecond, 0,
-              groundTruthState.velocityMetersPerSecond * groundTruthState.curvatureRadPerMeter));
+      var wheelSpeeds =
+          kinematics.toWheelSpeeds(
+              new ChassisSpeeds(
+                  groundTruthState.velocityMetersPerSecond,
+                  0,
+                  groundTruthState.velocityMetersPerSecond
+                      * groundTruthState.curvatureRadPerMeter));
 
       wheelSpeeds.frontLeftMetersPerSecond += rand.nextGaussian() * 0.1;
       wheelSpeeds.frontRightMetersPerSecond += rand.nextGaussian() * 0.1;
       wheelSpeeds.rearLeftMetersPerSecond += rand.nextGaussian() * 0.1;
       wheelSpeeds.rearRightMetersPerSecond += rand.nextGaussian() * 0.1;
 
-      var xHat = estimator.updateWithTime(t,
-              groundTruthState.poseMeters.getRotation()
-                      .plus(new Rotation2d(rand.nextGaussian() * 0.05)), wheelSpeeds);
+      var xHat =
+          estimator.updateWithTime(
+              t,
+              groundTruthState
+                  .poseMeters
+                  .getRotation()
+                  .plus(new Rotation2d(rand.nextGaussian() * 0.05)),
+              wheelSpeeds);
 
       double error =
-              groundTruthState.poseMeters.getTranslation().getDistance(xHat.getTranslation());
+          groundTruthState.poseMeters.getTranslation().getDistance(xHat.getTranslation());
       if (error > maxError) {
         maxError = error;
       }
@@ -104,12 +115,7 @@ public class MecanumDrivePoseEstimatorTest {
     }
 
     assertEquals(
-            0.0, errorSum / (trajectory.getTotalTimeSeconds() / dt), 0.25,
-            "Incorrect mean error"
-    );
-    assertEquals(
-            0.0, maxError, 0.42,
-            "Incorrect max error"
-    );
+        0.0, errorSum / (trajectory.getTotalTimeSeconds() / dt), 0.25, "Incorrect mean error");
+    assertEquals(0.0, maxError, 0.42, "Incorrect max error");
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/MerweScaledSigmaPointsTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/MerweScaledSigmaPointsTest.java
index 80c2acc505..4462b7dc01 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/MerweScaledSigmaPointsTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/MerweScaledSigmaPointsTest.java
@@ -4,36 +4,40 @@
 
 package edu.wpi.first.wpilibj.estimator;
 
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.wpiutil.math.Matrix;
 import edu.wpi.first.wpiutil.math.Nat;
 import edu.wpi.first.wpiutil.math.VecBuilder;
-
-import static org.junit.jupiter.api.Assertions.assertTrue;
+import org.junit.jupiter.api.Test;
 
 public class MerweScaledSigmaPointsTest {
   @Test
   public void testZeroMeanPoints() {
     var merweScaledSigmaPoints = new MerweScaledSigmaPoints<>(Nat.N2());
-    var points = merweScaledSigmaPoints.sigmaPoints(VecBuilder.fill(0, 0),
-          Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 0, 0, 1));
+    var points =
+        merweScaledSigmaPoints.sigmaPoints(
+            VecBuilder.fill(0, 0), Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 0, 0, 1));
 
-    assertTrue(points.isEqual(Matrix.mat(Nat.N2(), Nat.N5()).fill(
-            0.0, 0.00173205, 0.0, -0.00173205, 0.0,
-            0.0, 0.0, 0.00173205, 0.0, -0.00173205
-    ), 1E-6));
+    assertTrue(
+        points.isEqual(
+            Matrix.mat(Nat.N2(), Nat.N5())
+                .fill(
+                    0.0, 0.00173205, 0.0, -0.00173205, 0.0, 0.0, 0.0, 0.00173205, 0.0, -0.00173205),
+            1E-6));
   }
 
   @Test
   public void testNonzeroMeanPoints() {
     var merweScaledSigmaPoints = new MerweScaledSigmaPoints<>(Nat.N2());
-    var points = merweScaledSigmaPoints.sigmaPoints(VecBuilder.fill(1, 2),
-          Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 0, 0, 10));
+    var points =
+        merweScaledSigmaPoints.sigmaPoints(
+            VecBuilder.fill(1, 2), Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 0, 0, 10));
 
-    assertTrue(points.isEqual(Matrix.mat(Nat.N2(), Nat.N5()).fill(
-            1.0, 1.00173205, 1.0, 0.99826795, 1.0,
-            2.0, 2.0, 2.00547723, 2.0, 1.99452277
-    ), 1E-6));
+    assertTrue(
+        points.isEqual(
+            Matrix.mat(Nat.N2(), Nat.N5())
+                .fill(1.0, 1.00173205, 1.0, 0.99826795, 1.0, 2.0, 2.0, 2.00547723, 2.0, 1.99452277),
+            1E-6));
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/SwerveDrivePoseEstimatorTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/SwerveDrivePoseEstimatorTest.java
index 9f40ddf7cf..8ed50c4e5c 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/SwerveDrivePoseEstimatorTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/SwerveDrivePoseEstimatorTest.java
@@ -4,10 +4,7 @@
 
 package edu.wpi.first.wpilibj.estimator;
 
-import java.util.List;
-import java.util.Random;
-
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
@@ -17,38 +14,42 @@ import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
 import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
 import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
 import edu.wpi.first.wpiutil.math.VecBuilder;
-
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
+import java.util.List;
+import java.util.Random;
+import org.junit.jupiter.api.Test;
 
 public class SwerveDrivePoseEstimatorTest {
   @Test
-  @SuppressWarnings({"LocalVariableName", "PMD.AvoidInstantiatingObjectsInLoops",
-        "PMD.ExcessiveMethodLength"})
+  @SuppressWarnings({
+    "LocalVariableName",
+    "PMD.AvoidInstantiatingObjectsInLoops",
+    "PMD.ExcessiveMethodLength"
+  })
   public void testAccuracy() {
-    var kinematics = new SwerveDriveKinematics(
+    var kinematics =
+        new SwerveDriveKinematics(
             new Translation2d(1, 1),
             new Translation2d(1, -1),
             new Translation2d(-1, -1),
-            new Translation2d(-1, 1)
-    );
-    var estimator = new SwerveDrivePoseEstimator(
-            new Rotation2d(), new Pose2d(), kinematics,
+            new Translation2d(-1, 1));
+    var estimator =
+        new SwerveDrivePoseEstimator(
+            new Rotation2d(),
+            new Pose2d(),
+            kinematics,
             VecBuilder.fill(0.1, 0.1, 0.1),
             VecBuilder.fill(0.005),
-            VecBuilder.fill(0.1, 0.1, 0.1)
-    );
+            VecBuilder.fill(0.1, 0.1, 0.1));
 
-    var trajectory = TrajectoryGenerator.generateTrajectory(
+    var trajectory =
+        TrajectoryGenerator.generateTrajectory(
             List.of(
-                    new Pose2d(0, 0, Rotation2d.fromDegrees(45)),
-                    new Pose2d(3, 0, Rotation2d.fromDegrees(-90)),
-                    new Pose2d(0, 0, Rotation2d.fromDegrees(135)),
-                    new Pose2d(-3, 0, Rotation2d.fromDegrees(-90)),
-                    new Pose2d(0, 0, Rotation2d.fromDegrees(45))
-            ),
-            new TrajectoryConfig(0.5, 2)
-    );
+                new Pose2d(0, 0, Rotation2d.fromDegrees(45)),
+                new Pose2d(3, 0, Rotation2d.fromDegrees(-90)),
+                new Pose2d(0, 0, Rotation2d.fromDegrees(135)),
+                new Pose2d(-3, 0, Rotation2d.fromDegrees(-90)),
+                new Pose2d(0, 0, Rotation2d.fromDegrees(45))),
+            new TrajectoryConfig(0.5, 2));
 
     var rand = new Random(4915);
 
@@ -69,39 +70,41 @@ public class SwerveDrivePoseEstimatorTest {
           estimator.addVisionMeasurement(lastVisionPose, lastVisionUpdateTime);
         }
 
-        lastVisionPose = new Pose2d(
+        lastVisionPose =
+            new Pose2d(
                 new Translation2d(
-                        groundTruthState.poseMeters.getTranslation().getX()
-                                + rand.nextGaussian() * 0.1,
-                        groundTruthState.poseMeters.getTranslation().getY()
-                                + rand.nextGaussian() * 0.1
-                ),
-                new Rotation2d(
-                        rand.nextGaussian() * 0.1).plus(groundTruthState.poseMeters.getRotation())
-        );
+                    groundTruthState.poseMeters.getTranslation().getX() + rand.nextGaussian() * 0.1,
+                    groundTruthState.poseMeters.getTranslation().getY()
+                        + rand.nextGaussian() * 0.1),
+                new Rotation2d(rand.nextGaussian() * 0.1)
+                    .plus(groundTruthState.poseMeters.getRotation()));
 
         lastVisionUpdateTime = t;
-
       }
 
-      var moduleStates = kinematics.toSwerveModuleStates(new ChassisSpeeds(
-              groundTruthState.velocityMetersPerSecond,
-              0.0,
-              groundTruthState.velocityMetersPerSecond * groundTruthState.curvatureRadPerMeter)
-      );
+      var moduleStates =
+          kinematics.toSwerveModuleStates(
+              new ChassisSpeeds(
+                  groundTruthState.velocityMetersPerSecond,
+                  0.0,
+                  groundTruthState.velocityMetersPerSecond
+                      * groundTruthState.curvatureRadPerMeter));
       for (var moduleState : moduleStates) {
         moduleState.angle = moduleState.angle.plus(new Rotation2d(rand.nextGaussian() * 0.005));
         moduleState.speedMetersPerSecond += rand.nextGaussian() * 0.1;
       }
 
-      var xHat = estimator.updateWithTime(
+      var xHat =
+          estimator.updateWithTime(
               t,
-              groundTruthState.poseMeters.getRotation()
-                      .plus(new Rotation2d(rand.nextGaussian() * 0.05)),
+              groundTruthState
+                  .poseMeters
+                  .getRotation()
+                  .plus(new Rotation2d(rand.nextGaussian() * 0.05)),
               moduleStates);
 
       double error =
-              groundTruthState.poseMeters.getTranslation().getDistance(xHat.getTranslation());
+          groundTruthState.poseMeters.getTranslation().getDistance(xHat.getTranslation());
       if (error > maxError) {
         maxError = error;
       }
@@ -111,12 +114,7 @@ public class SwerveDrivePoseEstimatorTest {
     }
 
     assertEquals(
-            0.0, errorSum / (trajectory.getTotalTimeSeconds() / dt), 0.25,
-            "Incorrect mean error"
-    );
-    assertEquals(
-            0.0, maxError, 0.42,
-            "Incorrect max error"
-    );
+        0.0, errorSum / (trajectory.getTotalTimeSeconds() / dt), 0.25, "Incorrect mean error");
+    assertEquals(0.0, maxError, 0.42, "Incorrect max error");
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/UnscentedKalmanFilterTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/UnscentedKalmanFilterTest.java
index 3c4900a5d0..dbfd3907d7 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/UnscentedKalmanFilterTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/UnscentedKalmanFilterTest.java
@@ -4,11 +4,9 @@
 
 package edu.wpi.first.wpilibj.estimator;
 
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.List;
-
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
@@ -27,11 +25,10 @@ import edu.wpi.first.wpiutil.math.numbers.N1;
 import edu.wpi.first.wpiutil.math.numbers.N2;
 import edu.wpi.first.wpiutil.math.numbers.N4;
 import edu.wpi.first.wpiutil.math.numbers.N6;
-
-import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.api.Assertions.assertTrue;
-
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.List;
+import org.junit.jupiter.api.Test;
 
 public class UnscentedKalmanFilterTest {
   @SuppressWarnings({"LocalVariableName", "ParameterName"})
@@ -44,8 +41,10 @@ public class UnscentedKalmanFilterTest {
     var m = 63.503;
     var J = 5.6;
 
-    var C1 = -Math.pow(gHigh, 2) * motors.m_KtNMPerAmp
-          / (motors.m_KvRadPerSecPerVolt * motors.m_rOhms * r * r);
+    var C1 =
+        -Math.pow(gHigh, 2)
+            * motors.m_KtNMPerAmp
+            / (motors.m_KvRadPerSecPerVolt * motors.m_rOhms * r * r);
     var C2 = gHigh * motors.m_KtNMPerAmp / (motors.m_rOhms * r);
 
     var c = x.get(2, 0);
@@ -63,13 +62,12 @@ public class UnscentedKalmanFilterTest {
     var w = (vr - vl) / (2.0 * rb);
 
     return VecBuilder.fill(
-          xvel * c,
-          xvel * s,
-          -s * w,
-          c * w,
-          k1 * ((C1 * vl) + (C2 * Vl)) + k2 * ((C1 * vr) + (C2 * Vr)),
-          k2 * ((C1 * vl) + (C2 * Vl)) + k1 * ((C1 * vr) + (C2 * Vr))
-    );
+        xvel * c,
+        xvel * s,
+        -s * w,
+        c * w,
+        k1 * ((C1 * vl) + (C2 * Vl)) + k2 * ((C1 * vr) + (C2 * Vr)),
+        k2 * ((C1 * vl) + (C2 * Vl)) + k1 * ((C1 * vr) + (C2 * Vr)));
   }
 
   @SuppressWarnings("ParameterName")
@@ -85,25 +83,31 @@ public class UnscentedKalmanFilterTest {
   @Test
   @SuppressWarnings("LocalVariableName")
   public void testInit() {
-    assertDoesNotThrow(() -> {
-      UnscentedKalmanFilter<N6, N2, N4> observer = new UnscentedKalmanFilter<>(
-            Nat.N6(), Nat.N4(),
-            UnscentedKalmanFilterTest::getDynamics,
-            UnscentedKalmanFilterTest::getLocalMeasurementModel,
-            VecBuilder.fill(0.5, 0.5, 0.7, 0.7, 1.0, 1.0),
-            VecBuilder.fill(0.001, 0.001, 0.5, 0.5),
-            0.00505);
+    assertDoesNotThrow(
+        () -> {
+          UnscentedKalmanFilter<N6, N2, N4> observer =
+              new UnscentedKalmanFilter<>(
+                  Nat.N6(),
+                  Nat.N4(),
+                  UnscentedKalmanFilterTest::getDynamics,
+                  UnscentedKalmanFilterTest::getLocalMeasurementModel,
+                  VecBuilder.fill(0.5, 0.5, 0.7, 0.7, 1.0, 1.0),
+                  VecBuilder.fill(0.001, 0.001, 0.5, 0.5),
+                  0.00505);
 
-      var u = VecBuilder.fill(12.0, 12.0);
-      observer.predict(u, 0.00505);
+          var u = VecBuilder.fill(12.0, 12.0);
+          observer.predict(u, 0.00505);
 
-      var localY = getLocalMeasurementModel(observer.getXhat(), u);
-      observer.correct(u, localY);
-    });
+          var localY = getLocalMeasurementModel(observer.getXhat(), u);
+          observer.correct(u, localY);
+        });
   }
 
-  @SuppressWarnings({"LocalVariableName", "PMD.AvoidInstantiatingObjectsInLoops",
-        "PMD.ExcessiveMethodLength"})
+  @SuppressWarnings({
+    "LocalVariableName",
+    "PMD.AvoidInstantiatingObjectsInLoops",
+    "PMD.ExcessiveMethodLength"
+  })
   @Test
   public void testConvergence() {
     double dtSeconds = 0.00505;
@@ -125,39 +129,46 @@ public class UnscentedKalmanFilterTest {
     List<Double> timeData = new ArrayList<>();
     List<Matrix<?, ?>> rdots = new ArrayList<>();
 
-    UnscentedKalmanFilter<N6, N2, N4> observer = new UnscentedKalmanFilter<>(
-          Nat.N6(), Nat.N4(),
-          UnscentedKalmanFilterTest::getDynamics,
-          UnscentedKalmanFilterTest::getLocalMeasurementModel,
-          VecBuilder.fill(0.5, 0.5, 0.7, 0.7, 1.0, 1.0),
-          VecBuilder.fill(0.001, 0.001, 0.5, 0.5),
-          dtSeconds);
+    UnscentedKalmanFilter<N6, N2, N4> observer =
+        new UnscentedKalmanFilter<>(
+            Nat.N6(),
+            Nat.N4(),
+            UnscentedKalmanFilterTest::getDynamics,
+            UnscentedKalmanFilterTest::getLocalMeasurementModel,
+            VecBuilder.fill(0.5, 0.5, 0.7, 0.7, 1.0, 1.0),
+            VecBuilder.fill(0.001, 0.001, 0.5, 0.5),
+            dtSeconds);
 
-    List<Pose2d> waypoints = Arrays.asList(new Pose2d(2.75, 22.521, new Rotation2d()),
-          new Pose2d(24.73, 19.68, Rotation2d.fromDegrees(5.846)));
-    var trajectory = TrajectoryGenerator.generateTrajectory(
-          waypoints,
-          new TrajectoryConfig(8.8, 0.1)
-    );
+    List<Pose2d> waypoints =
+        Arrays.asList(
+            new Pose2d(2.75, 22.521, new Rotation2d()),
+            new Pose2d(24.73, 19.68, Rotation2d.fromDegrees(5.846)));
+    var trajectory =
+        TrajectoryGenerator.generateTrajectory(waypoints, new TrajectoryConfig(8.8, 0.1));
 
     Matrix<N6, N1> nextR;
     Matrix<N2, N1> u = new Matrix<>(Nat.N2(), Nat.N1());
 
-    var B = NumericalJacobian.numericalJacobianU(Nat.N6(), Nat.N2(),
-          UnscentedKalmanFilterTest::getDynamics, new Matrix<>(Nat.N6(), Nat.N1()), u);
+    var B =
+        NumericalJacobian.numericalJacobianU(
+            Nat.N6(),
+            Nat.N2(),
+            UnscentedKalmanFilterTest::getDynamics,
+            new Matrix<>(Nat.N6(), Nat.N1()),
+            u);
 
     observer.setXhat(VecBuilder.fill(2.75, 22.521, 1.0, 0.0, 0.0, 0.0)); // TODO not hard code this
 
     var ref = trajectory.sample(0.0);
 
-    Matrix<N6, N1> r = VecBuilder.fill(
-          ref.poseMeters.getTranslation().getX(),
-          ref.poseMeters.getTranslation().getY(),
-          ref.poseMeters.getRotation().getCos(),
-          ref.poseMeters.getRotation().getSin(),
-          ref.velocityMetersPerSecond * (1 - (ref.curvatureRadPerMeter * rbMeters)),
-          ref.velocityMetersPerSecond * (1 + (ref.curvatureRadPerMeter * rbMeters))
-    );
+    Matrix<N6, N1> r =
+        VecBuilder.fill(
+            ref.poseMeters.getTranslation().getX(),
+            ref.poseMeters.getTranslation().getY(),
+            ref.poseMeters.getRotation().getCos(),
+            ref.poseMeters.getRotation().getSin(),
+            ref.velocityMetersPerSecond * (1 - (ref.curvatureRadPerMeter * rbMeters)),
+            ref.velocityMetersPerSecond * (1 + (ref.curvatureRadPerMeter * rbMeters)));
     nextR = r.copy();
 
     var trueXhat = observer.getXhat();
@@ -176,13 +187,10 @@ public class UnscentedKalmanFilterTest {
       nextR.set(4, 0, vl);
       nextR.set(5, 0, vr);
 
-      Matrix<N4, N1> localY =
-            getLocalMeasurementModel(trueXhat, new Matrix<>(Nat.N2(), Nat.N1()));
+      Matrix<N4, N1> localY = getLocalMeasurementModel(trueXhat, new Matrix<>(Nat.N2(), Nat.N1()));
       var noiseStdDev = VecBuilder.fill(0.001, 0.001, 0.5, 0.5);
 
-      observer.correct(u,
-            localY.plus(StateSpaceUtil.makeWhiteNoiseVector(
-                  noiseStdDev)));
+      observer.correct(u, localY.plus(StateSpaceUtil.makeWhiteNoiseVector(noiseStdDev)));
 
       var rdot = nextR.minus(r).div(dtSeconds);
       u = new Matrix<>(B.solve(rdot.minus(getDynamics(r, new Matrix<>(Nat.N2(), Nat.N1())))));
@@ -208,20 +216,25 @@ public class UnscentedKalmanFilterTest {
 
       r = nextR;
       observer.predict(u, dtSeconds);
-      trueXhat = RungeKutta.rungeKutta(UnscentedKalmanFilterTest::getDynamics,
-            trueXhat, u, dtSeconds);
+      trueXhat =
+          RungeKutta.rungeKutta(UnscentedKalmanFilterTest::getDynamics, trueXhat, u, dtSeconds);
     }
 
     var localY = getLocalMeasurementModel(trueXhat, u);
     observer.correct(u, localY);
 
     var globalY = getGlobalMeasurementModel(trueXhat, u);
-    var R = StateSpaceUtil.makeCostMatrix(
-          VecBuilder.fill(0.01, 0.01, 0.0001, 0.0001, 0.5, 0.5));
-    observer.correct(Nat.N6(), u, globalY,
-        UnscentedKalmanFilterTest::getGlobalMeasurementModel, R,
+    var R = StateSpaceUtil.makeCostMatrix(VecBuilder.fill(0.01, 0.01, 0.0001, 0.0001, 0.5, 0.5));
+    observer.correct(
+        Nat.N6(),
+        u,
+        globalY,
+        UnscentedKalmanFilterTest::getGlobalMeasurementModel,
+        R,
         (sigmas, weights) -> sigmas.times(Matrix.changeBoundsUnchecked(weights)),
-        Matrix::minus, Matrix::minus, Matrix::plus);
+        Matrix::minus,
+        Matrix::minus,
+        Matrix::plus);
 
     final var finalPosition = trajectory.sample(trajectory.getTotalTimeSeconds());
 
@@ -284,12 +297,15 @@ public class UnscentedKalmanFilterTest {
   public void testLinearUKF() {
     var dt = 0.020;
     var plant = LinearSystemId.identifyVelocitySystem(0.02, 0.006);
-    var observer = new UnscentedKalmanFilter<>(Nat.N1(), Nat.N1(),
-        (x, u) -> plant.getA().times(x).plus(plant.getB().times(u)),
-          plant::calculateY,
-          VecBuilder.fill(0.05),
-          VecBuilder.fill(1.0),
-          dt);
+    var observer =
+        new UnscentedKalmanFilter<>(
+            Nat.N1(),
+            Nat.N1(),
+            (x, u) -> plant.getA().times(x).plus(plant.getB().times(u)),
+            plant::calculateY,
+            VecBuilder.fill(0.05),
+            VecBuilder.fill(1.0),
+            dt);
 
     var time = new ArrayList<Double>();
     var refData = new ArrayList<Double>();
@@ -340,56 +356,92 @@ public class UnscentedKalmanFilterTest {
   @Test
   public void testUnscentedTransform() {
     // From FilterPy
-    var ret = UnscentedKalmanFilter.unscentedTransform(Nat.N4(), Nat.N4(),
-          Matrix.mat(Nat.N4(), Nat.N9()).fill(
-              -0.9, -0.822540333075852, -0.8922540333075852, -0.9,
-                  -0.9, -0.9774596669241481, -0.9077459666924148, -0.9, -0.9,
-              1.0, 1.0, 1.077459666924148, 1.0, 1.0, 1.0, 0.9225403330758519, 1.0, 1.0,
-              -0.9, -0.9, -0.9, -0.822540333075852, -0.8922540333075852, -0.9,
-                  -0.9, -0.9774596669241481, -0.9077459666924148,
-              1.0, 1.0, 1.0, 1.0, 1.077459666924148, 1.0, 1.0, 1.0, 0.9225403330758519
-          ),
-          VecBuilder.fill(
-              -132.33333333,
-              16.66666667,
-              16.66666667,
-              16.66666667,
-              16.66666667,
-              16.66666667,
-              16.66666667,
-              16.66666667,
-              16.66666667
-          ),
-          VecBuilder.fill(
-              -129.34333333,
-              16.66666667,
-              16.66666667,
-              16.66666667,
-              16.66666667,
-              16.66666667,
-              16.66666667,
-              16.66666667,
-              16.66666667
-          ), (sigmas, weights) -> sigmas.times(Matrix.changeBoundsUnchecked(weights)), Matrix::minus
-    );
+    var ret =
+        UnscentedKalmanFilter.unscentedTransform(
+            Nat.N4(),
+            Nat.N4(),
+            Matrix.mat(Nat.N4(), Nat.N9())
+                .fill(
+                    -0.9,
+                    -0.822540333075852,
+                    -0.8922540333075852,
+                    -0.9,
+                    -0.9,
+                    -0.9774596669241481,
+                    -0.9077459666924148,
+                    -0.9,
+                    -0.9,
+                    1.0,
+                    1.0,
+                    1.077459666924148,
+                    1.0,
+                    1.0,
+                    1.0,
+                    0.9225403330758519,
+                    1.0,
+                    1.0,
+                    -0.9,
+                    -0.9,
+                    -0.9,
+                    -0.822540333075852,
+                    -0.8922540333075852,
+                    -0.9,
+                    -0.9,
+                    -0.9774596669241481,
+                    -0.9077459666924148,
+                    1.0,
+                    1.0,
+                    1.0,
+                    1.0,
+                    1.077459666924148,
+                    1.0,
+                    1.0,
+                    1.0,
+                    0.9225403330758519),
+            VecBuilder.fill(
+                -132.33333333,
+                16.66666667,
+                16.66666667,
+                16.66666667,
+                16.66666667,
+                16.66666667,
+                16.66666667,
+                16.66666667,
+                16.66666667),
+            VecBuilder.fill(
+                -129.34333333,
+                16.66666667,
+                16.66666667,
+                16.66666667,
+                16.66666667,
+                16.66666667,
+                16.66666667,
+                16.66666667,
+                16.66666667),
+            (sigmas, weights) -> sigmas.times(Matrix.changeBoundsUnchecked(weights)),
+            Matrix::minus);
+
+    assertTrue(VecBuilder.fill(-0.9, 1, -0.9, 1).isEqual(ret.getFirst(), 1E-5));
 
     assertTrue(
-          VecBuilder.fill(-0.9, 1, -0.9, 1).isEqual(
-          ret.getFirst(), 1E-5
-    ));
-
-    assertTrue(
-            Matrix.mat(Nat.N4(), Nat.N4()).fill(
-                  2.02000002e-01, 2.00000500e-02, -2.69044710e-29,
-                  -4.59511477e-29,
-                  2.00000500e-02, 2.00001000e-01, -2.98781068e-29,
-                  -5.12759588e-29,
-                  -2.73372625e-29, -3.09882635e-29, 2.02000002e-01,
-                  2.00000500e-02,
-                  -4.67065917e-29, -5.10705197e-29, 2.00000500e-02,
-                  2.00001000e-01
-            ).isEqual(
-            ret.getSecond(), 1E-5
-    ));
+        Matrix.mat(Nat.N4(), Nat.N4())
+            .fill(
+                2.02000002e-01,
+                2.00000500e-02,
+                -2.69044710e-29,
+                -4.59511477e-29,
+                2.00000500e-02,
+                2.00001000e-01,
+                -2.98781068e-29,
+                -5.12759588e-29,
+                -2.73372625e-29,
+                -3.09882635e-29,
+                2.02000002e-01,
+                2.00000500e-02,
+                -4.67065917e-29,
+                -5.10705197e-29,
+                2.00000500e-02,
+                2.00001000e-01)
+            .isEqual(ret.getSecond(), 1E-5));
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Pose2dTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Pose2dTest.java
index f5028cfaa9..effdb2abb8 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Pose2dTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Pose2dTest.java
@@ -4,28 +4,26 @@
 
 package edu.wpi.first.wpilibj.geometry;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertNotEquals;
 
+import org.junit.jupiter.api.Test;
+
 class Pose2dTest {
   private static final double kEpsilon = 1E-9;
 
   @Test
   void testTransformBy() {
     var initial = new Pose2d(new Translation2d(1.0, 2.0), Rotation2d.fromDegrees(45.0));
-    var transformation = new Transform2d(new Translation2d(5.0, 0.0),
-        Rotation2d.fromDegrees(5.0));
+    var transformation = new Transform2d(new Translation2d(5.0, 0.0), Rotation2d.fromDegrees(5.0));
 
     var transformed = initial.plus(transformation);
 
     assertAll(
         () -> assertEquals(transformed.getX(), 1 + 5.0 / Math.sqrt(2.0), kEpsilon),
         () -> assertEquals(transformed.getY(), 2 + 5.0 / Math.sqrt(2.0), kEpsilon),
-        () -> assertEquals(transformed.getRotation().getDegrees(), 50.0, kEpsilon)
-    );
+        () -> assertEquals(transformed.getRotation().getDegrees(), 50.0, kEpsilon));
   }
 
   @Test
@@ -36,11 +34,9 @@ class Pose2dTest {
     var finalRelativeToInitial = last.relativeTo(initial);
 
     assertAll(
-        () -> assertEquals(finalRelativeToInitial.getX(), 5.0 * Math.sqrt(2.0),
-            kEpsilon),
+        () -> assertEquals(finalRelativeToInitial.getX(), 5.0 * Math.sqrt(2.0), kEpsilon),
         () -> assertEquals(finalRelativeToInitial.getY(), 0.0, kEpsilon),
-        () -> assertEquals(finalRelativeToInitial.getRotation().getDegrees(), 0.0, kEpsilon)
-    );
+        () -> assertEquals(finalRelativeToInitial.getRotation().getDegrees(), 0.0, kEpsilon));
   }
 
   @Test
@@ -66,7 +62,6 @@ class Pose2dTest {
     assertAll(
         () -> assertEquals(transform.getX(), 5.0 * Math.sqrt(2.0), kEpsilon),
         () -> assertEquals(transform.getY(), 0.0, kEpsilon),
-        () -> assertEquals(transform.getRotation().getDegrees(), 0.0, kEpsilon)
-    );
+        () -> assertEquals(transform.getRotation().getDegrees(), 0.0, kEpsilon));
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Rotation2dTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Rotation2dTest.java
index 4b6e38d1c6..51a4245857 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Rotation2dTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Rotation2dTest.java
@@ -4,12 +4,12 @@
 
 package edu.wpi.first.wpilibj.geometry;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertNotEquals;
 
+import org.junit.jupiter.api.Test;
+
 class Rotation2dTest {
   private static final double kEpsilon = 1E-9;
 
@@ -20,8 +20,7 @@ class Rotation2dTest {
 
     assertAll(
         () -> assertEquals(one.getDegrees(), 60.0, kEpsilon),
-        () -> assertEquals(two.getDegrees(), 45.0, kEpsilon)
-    );
+        () -> assertEquals(two.getDegrees(), 45.0, kEpsilon));
   }
 
   @Test
@@ -31,8 +30,7 @@ class Rotation2dTest {
 
     assertAll(
         () -> assertEquals(one.getRadians(), Math.PI / 4, kEpsilon),
-        () -> assertEquals(two.getRadians(), Math.PI / 6, kEpsilon)
-    );
+        () -> assertEquals(two.getRadians(), Math.PI / 6, kEpsilon));
   }
 
   @Test
@@ -42,8 +40,7 @@ class Rotation2dTest {
 
     assertAll(
         () -> assertEquals(rotated.getRadians(), Math.PI / 2.0, kEpsilon),
-        () -> assertEquals(rotated.getDegrees(), 90.0, kEpsilon)
-    );
+        () -> assertEquals(rotated.getDegrees(), 90.0, kEpsilon));
   }
 
   @Test
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Transform2dTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Transform2dTest.java
index 56a963ba46..40dd7a36a4 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Transform2dTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Transform2dTest.java
@@ -4,30 +4,29 @@
 
 package edu.wpi.first.wpilibj.geometry;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
+import org.junit.jupiter.api.Test;
+
 class Transform2dTest {
   private static final double kEpsilon = 1E-9;
 
   @Test
   void testInverse() {
     var initial = new Pose2d(new Translation2d(1.0, 2.0), Rotation2d.fromDegrees(45.0));
-    var transformation = new Transform2d(new Translation2d(5.0, 0.0),
-        Rotation2d.fromDegrees(5.0));
+    var transformation = new Transform2d(new Translation2d(5.0, 0.0), Rotation2d.fromDegrees(5.0));
 
     var transformed = initial.plus(transformation);
     var untransformed = transformed.plus(transformation.inverse());
 
     assertAll(
-        () -> assertEquals(initial.getX(), untransformed.getX(),
-                           kEpsilon),
-        () -> assertEquals(initial.getY(), untransformed.getY(),
-                           kEpsilon),
-        () -> assertEquals(initial.getRotation().getDegrees(),
-                           untransformed.getRotation().getDegrees(), kEpsilon)
-    );
+        () -> assertEquals(initial.getX(), untransformed.getX(), kEpsilon),
+        () -> assertEquals(initial.getY(), untransformed.getY(), kEpsilon),
+        () ->
+            assertEquals(
+                initial.getRotation().getDegrees(),
+                untransformed.getRotation().getDegrees(),
+                kEpsilon));
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Translation2dTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Translation2dTest.java
index 5a5501a795..d2f58ea68c 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Translation2dTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Translation2dTest.java
@@ -4,12 +4,12 @@
 
 package edu.wpi.first.wpilibj.geometry;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertNotEquals;
 
+import org.junit.jupiter.api.Test;
+
 class Translation2dTest {
   private static final double kEpsilon = 1E-9;
 
@@ -22,8 +22,7 @@ class Translation2dTest {
 
     assertAll(
         () -> assertEquals(sum.getX(), 3.0, kEpsilon),
-        () -> assertEquals(sum.getY(), 8.0, kEpsilon)
-    );
+        () -> assertEquals(sum.getY(), 8.0, kEpsilon));
   }
 
   @Test
@@ -35,8 +34,7 @@ class Translation2dTest {
 
     assertAll(
         () -> assertEquals(difference.getX(), -1.0, kEpsilon),
-        () -> assertEquals(difference.getY(), -2.0, kEpsilon)
-    );
+        () -> assertEquals(difference.getY(), -2.0, kEpsilon));
   }
 
   @Test
@@ -46,8 +44,7 @@ class Translation2dTest {
 
     assertAll(
         () -> assertEquals(rotated.getX(), 0.0, kEpsilon),
-        () -> assertEquals(rotated.getY(), 3.0, kEpsilon)
-    );
+        () -> assertEquals(rotated.getY(), 3.0, kEpsilon));
   }
 
   @Test
@@ -57,8 +54,7 @@ class Translation2dTest {
 
     assertAll(
         () -> assertEquals(mult.getX(), 9.0, kEpsilon),
-        () -> assertEquals(mult.getY(), 15.0, kEpsilon)
-    );
+        () -> assertEquals(mult.getY(), 15.0, kEpsilon));
   }
 
   @Test
@@ -68,8 +64,7 @@ class Translation2dTest {
 
     assertAll(
         () -> assertEquals(div.getX(), 1.5, kEpsilon),
-        () -> assertEquals(div.getY(), 2.5, kEpsilon)
-    );
+        () -> assertEquals(div.getY(), 2.5, kEpsilon));
   }
 
   @Test
@@ -92,8 +87,7 @@ class Translation2dTest {
 
     assertAll(
         () -> assertEquals(inverted.getX(), 4.5, kEpsilon),
-        () -> assertEquals(inverted.getY(), -7, kEpsilon)
-    );
+        () -> assertEquals(inverted.getY(), -7, kEpsilon));
   }
 
   @Test
@@ -118,7 +112,6 @@ class Translation2dTest {
         () -> assertEquals(one.getX(), 1.0, kEpsilon),
         () -> assertEquals(one.getY(), 1.0, kEpsilon),
         () -> assertEquals(two.getX(), 1.0, kEpsilon),
-        () -> assertEquals(two.getY(), Math.sqrt(3), kEpsilon)
-    );
+        () -> assertEquals(two.getY(), Math.sqrt(3), kEpsilon));
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Twist2dTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Twist2dTest.java
index 5f9450d895..45d8e2c420 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Twist2dTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Twist2dTest.java
@@ -4,12 +4,12 @@
 
 package edu.wpi.first.wpilibj.geometry;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertNotEquals;
 
+import org.junit.jupiter.api.Test;
+
 class Twist2dTest {
   private static final double kEpsilon = 1E-9;
 
@@ -21,8 +21,7 @@ class Twist2dTest {
     assertAll(
         () -> assertEquals(straightPose.getX(), 5.0, kEpsilon),
         () -> assertEquals(straightPose.getY(), 0.0, kEpsilon),
-        () -> assertEquals(straightPose.getRotation().getRadians(), 0.0, kEpsilon)
-    );
+        () -> assertEquals(straightPose.getRotation().getRadians(), 0.0, kEpsilon));
   }
 
   @Test
@@ -33,8 +32,7 @@ class Twist2dTest {
     assertAll(
         () -> assertEquals(quarterCirclePose.getX(), 5.0, kEpsilon),
         () -> assertEquals(quarterCirclePose.getY(), 5.0, kEpsilon),
-        () -> assertEquals(quarterCirclePose.getRotation().getDegrees(), 90.0, kEpsilon)
-    );
+        () -> assertEquals(quarterCirclePose.getRotation().getDegrees(), 90.0, kEpsilon));
   }
 
   @Test
@@ -45,8 +43,7 @@ class Twist2dTest {
     assertAll(
         () -> assertEquals(diagonalPose.getX(), 2.0, kEpsilon),
         () -> assertEquals(diagonalPose.getY(), 2.0, kEpsilon),
-        () -> assertEquals(diagonalPose.getRotation().getDegrees(), 0.0, kEpsilon)
-    );
+        () -> assertEquals(diagonalPose.getRotation().getDegrees(), 0.0, kEpsilon));
   }
 
   @Test
@@ -72,7 +69,6 @@ class Twist2dTest {
     assertAll(
         () -> assertEquals(twist.dx, 5.0 / 2.0 * Math.PI, kEpsilon),
         () -> assertEquals(twist.dy, 0.0, kEpsilon),
-        () -> assertEquals(twist.dtheta, Math.PI / 2.0, kEpsilon)
-    );
+        () -> assertEquals(twist.dtheta, Math.PI / 2.0, kEpsilon));
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/ChassisSpeedsTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/ChassisSpeedsTest.java
index 89c1468bc2..45311bf4c2 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/ChassisSpeedsTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/ChassisSpeedsTest.java
@@ -4,26 +4,23 @@
 
 package edu.wpi.first.wpilibj.kinematics;
 
-import org.junit.jupiter.api.Test;
-
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
-
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import org.junit.jupiter.api.Test;
+
 class ChassisSpeedsTest {
   private static final double kEpsilon = 1E-9;
 
   @Test
   void testFieldRelativeConstruction() {
-    final var chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(
-        1.0, 0.0, 0.5, Rotation2d.fromDegrees(-90.0)
-    );
+    final var chassisSpeeds =
+        ChassisSpeeds.fromFieldRelativeSpeeds(1.0, 0.0, 0.5, Rotation2d.fromDegrees(-90.0));
 
     assertAll(
         () -> assertEquals(0.0, chassisSpeeds.vxMetersPerSecond, kEpsilon),
         () -> assertEquals(1.0, chassisSpeeds.vyMetersPerSecond, kEpsilon),
-        () -> assertEquals(0.5, chassisSpeeds.omegaRadiansPerSecond, kEpsilon)
-    );
+        () -> assertEquals(0.5, chassisSpeeds.omegaRadiansPerSecond, kEpsilon));
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveKinematicsTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveKinematicsTest.java
index d67fcc4f69..e2c5b1d2be 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveKinematicsTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveKinematicsTest.java
@@ -4,15 +4,15 @@
 
 package edu.wpi.first.wpilibj.kinematics;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
+import org.junit.jupiter.api.Test;
+
 class DifferentialDriveKinematicsTest {
   private static final double kEpsilon = 1E-9;
-  private final DifferentialDriveKinematics m_kinematics
-      = new DifferentialDriveKinematics(0.381 * 2);
+  private final DifferentialDriveKinematics m_kinematics =
+      new DifferentialDriveKinematics(0.381 * 2);
 
   @Test
   void testInverseKinematicsForZeros() {
@@ -21,8 +21,7 @@ class DifferentialDriveKinematicsTest {
 
     assertAll(
         () -> assertEquals(0.0, wheelSpeeds.leftMetersPerSecond, kEpsilon),
-        () -> assertEquals(0.0, wheelSpeeds.rightMetersPerSecond, kEpsilon)
-    );
+        () -> assertEquals(0.0, wheelSpeeds.rightMetersPerSecond, kEpsilon));
   }
 
   @Test
@@ -33,8 +32,7 @@ class DifferentialDriveKinematicsTest {
     assertAll(
         () -> assertEquals(0.0, chassisSpeeds.vxMetersPerSecond, kEpsilon),
         () -> assertEquals(0.0, chassisSpeeds.vyMetersPerSecond, kEpsilon),
-        () -> assertEquals(0.0, chassisSpeeds.omegaRadiansPerSecond, kEpsilon)
-    );
+        () -> assertEquals(0.0, chassisSpeeds.omegaRadiansPerSecond, kEpsilon));
   }
 
   @Test
@@ -44,8 +42,7 @@ class DifferentialDriveKinematicsTest {
 
     assertAll(
         () -> assertEquals(3.0, wheelSpeeds.leftMetersPerSecond, kEpsilon),
-        () -> assertEquals(3.0, wheelSpeeds.rightMetersPerSecond, kEpsilon)
-    );
+        () -> assertEquals(3.0, wheelSpeeds.rightMetersPerSecond, kEpsilon));
   }
 
   @Test
@@ -56,8 +53,7 @@ class DifferentialDriveKinematicsTest {
     assertAll(
         () -> assertEquals(3.0, chassisSpeeds.vxMetersPerSecond, kEpsilon),
         () -> assertEquals(0.0, chassisSpeeds.vyMetersPerSecond, kEpsilon),
-        () -> assertEquals(0.0, chassisSpeeds.omegaRadiansPerSecond, kEpsilon)
-    );
+        () -> assertEquals(0.0, chassisSpeeds.omegaRadiansPerSecond, kEpsilon));
   }
 
   @Test
@@ -67,8 +63,7 @@ class DifferentialDriveKinematicsTest {
 
     assertAll(
         () -> assertEquals(-0.381 * Math.PI, wheelSpeeds.leftMetersPerSecond, kEpsilon),
-        () -> assertEquals(+0.381 * Math.PI, wheelSpeeds.rightMetersPerSecond, kEpsilon)
-    );
+        () -> assertEquals(+0.381 * Math.PI, wheelSpeeds.rightMetersPerSecond, kEpsilon));
   }
 
   @Test
@@ -79,7 +74,6 @@ class DifferentialDriveKinematicsTest {
     assertAll(
         () -> assertEquals(0.0, chassisSpeeds.vxMetersPerSecond, kEpsilon),
         () -> assertEquals(0.0, chassisSpeeds.vyMetersPerSecond, kEpsilon),
-        () -> assertEquals(-Math.PI, chassisSpeeds.omegaRadiansPerSecond, kEpsilon)
-    );
+        () -> assertEquals(-Math.PI, chassisSpeeds.omegaRadiansPerSecond, kEpsilon));
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometryTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometryTest.java
index e2ddc59c2b..136b45528a 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometryTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometryTest.java
@@ -4,18 +4,17 @@
 
 package edu.wpi.first.wpilibj.kinematics;
 
-import org.junit.jupiter.api.Test;
-
-import edu.wpi.first.wpilibj.geometry.Pose2d;
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
-
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import org.junit.jupiter.api.Test;
+
 class DifferentialDriveOdometryTest {
   private static final double kEpsilon = 1E-9;
-  private final DifferentialDriveOdometry m_odometry = new DifferentialDriveOdometry(
-      new Rotation2d());
+  private final DifferentialDriveOdometry m_odometry =
+      new DifferentialDriveOdometry(new Rotation2d());
 
   @Test
   void testOdometryWithEncoderDistances() {
@@ -25,7 +24,6 @@ class DifferentialDriveOdometryTest {
     assertAll(
         () -> assertEquals(pose.getX(), 5.0, kEpsilon),
         () -> assertEquals(pose.getY(), 5.0, kEpsilon),
-        () -> assertEquals(pose.getRotation().getDegrees(), 90.0, kEpsilon)
-    );
+        () -> assertEquals(pose.getRotation().getDegrees(), 90.0, kEpsilon));
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveKinematicsTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveKinematicsTest.java
index 6698e5f1fd..0cf9aa1934 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveKinematicsTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveKinematicsTest.java
@@ -4,13 +4,12 @@
 
 package edu.wpi.first.wpilibj.kinematics;
 
-import org.junit.jupiter.api.Test;
-
-import edu.wpi.first.wpilibj.geometry.Translation2d;
-
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
+import edu.wpi.first.wpilibj.geometry.Translation2d;
+import org.junit.jupiter.api.Test;
+
 class MecanumDriveKinematicsTest {
   private static final double kEpsilon = 1E-9;
 
@@ -37,8 +36,7 @@ class MecanumDriveKinematicsTest {
         () -> assertEquals(3.536, moduleStates.frontLeftMetersPerSecond, 0.1),
         () -> assertEquals(3.536, moduleStates.frontRightMetersPerSecond, 0.1),
         () -> assertEquals(3.536, moduleStates.rearLeftMetersPerSecond, 0.1),
-        () -> assertEquals(3.536, moduleStates.rearRightMetersPerSecond, 0.1)
-    );
+        () -> assertEquals(3.536, moduleStates.rearRightMetersPerSecond, 0.1));
   }
 
   @Test
@@ -55,8 +53,7 @@ class MecanumDriveKinematicsTest {
     assertAll(
         () -> assertEquals(5, moduleStates.vxMetersPerSecond, 0.1),
         () -> assertEquals(0, moduleStates.vyMetersPerSecond, 0.1),
-        () -> assertEquals(0, moduleStates.omegaRadiansPerSecond, 0.1)
-    );
+        () -> assertEquals(0, moduleStates.omegaRadiansPerSecond, 0.1));
   }
 
   @Test
@@ -74,8 +71,7 @@ class MecanumDriveKinematicsTest {
         () -> assertEquals(-2.828427, moduleStates.frontLeftMetersPerSecond, 0.1),
         () -> assertEquals(2.828427, moduleStates.frontRightMetersPerSecond, 0.1),
         () -> assertEquals(2.828427, moduleStates.rearLeftMetersPerSecond, 0.1),
-        () -> assertEquals(-2.828427, moduleStates.rearRightMetersPerSecond, 0.1)
-    );
+        () -> assertEquals(-2.828427, moduleStates.rearRightMetersPerSecond, 0.1));
   }
 
   @Test
@@ -92,8 +88,7 @@ class MecanumDriveKinematicsTest {
     assertAll(
         () -> assertEquals(0, moduleStates.vxMetersPerSecond, 0.1),
         () -> assertEquals(4, moduleStates.vyMetersPerSecond, 0.1),
-        () -> assertEquals(0, moduleStates.omegaRadiansPerSecond, 0.1)
-    );
+        () -> assertEquals(0, moduleStates.omegaRadiansPerSecond, 0.1));
   }
 
   @Test
@@ -111,8 +106,7 @@ class MecanumDriveKinematicsTest {
         () -> assertEquals(-106.629191, moduleStates.frontLeftMetersPerSecond, 0.1),
         () -> assertEquals(106.629191, moduleStates.frontRightMetersPerSecond, 0.1),
         () -> assertEquals(-106.629191, moduleStates.rearLeftMetersPerSecond, 0.1),
-        () -> assertEquals(106.629191, moduleStates.rearRightMetersPerSecond, 0.1)
-    );
+        () -> assertEquals(106.629191, moduleStates.rearRightMetersPerSecond, 0.1));
   }
 
   @Test
@@ -128,8 +122,7 @@ class MecanumDriveKinematicsTest {
     assertAll(
         () -> assertEquals(0, moduleStates.vxMetersPerSecond, 0.1),
         () -> assertEquals(0, moduleStates.vyMetersPerSecond, 0.1),
-        () -> assertEquals(2 * Math.PI, moduleStates.omegaRadiansPerSecond, 0.1)
-    );
+        () -> assertEquals(2 * Math.PI, moduleStates.omegaRadiansPerSecond, 0.1));
   }
 
   @Test
@@ -147,8 +140,7 @@ class MecanumDriveKinematicsTest {
         () -> assertEquals(-17.677670, moduleStates.frontLeftMetersPerSecond, 0.1),
         () -> assertEquals(20.506097, moduleStates.frontRightMetersPerSecond, 0.1),
         () -> assertEquals(-13.435, moduleStates.rearLeftMetersPerSecond, 0.1),
-        () -> assertEquals(16.26, moduleStates.rearRightMetersPerSecond, 0.1)
-    );
+        () -> assertEquals(16.26, moduleStates.rearRightMetersPerSecond, 0.1));
   }
 
   @Test
@@ -164,8 +156,7 @@ class MecanumDriveKinematicsTest {
     assertAll(
         () -> assertEquals(2, moduleStates.vxMetersPerSecond, 0.1),
         () -> assertEquals(3, moduleStates.vyMetersPerSecond, 0.1),
-        () -> assertEquals(1, moduleStates.omegaRadiansPerSecond, 0.1)
-    );
+        () -> assertEquals(1, moduleStates.omegaRadiansPerSecond, 0.1));
   }
 
   @Test
@@ -183,8 +174,7 @@ class MecanumDriveKinematicsTest {
         () -> assertEquals(0, moduleStates.frontLeftMetersPerSecond, 0.1),
         () -> assertEquals(16.971, moduleStates.frontRightMetersPerSecond, 0.1),
         () -> assertEquals(-16.971, moduleStates.rearLeftMetersPerSecond, 0.1),
-        () -> assertEquals(33.941, moduleStates.rearRightMetersPerSecond, 0.1)
-    );
+        () -> assertEquals(33.941, moduleStates.rearRightMetersPerSecond, 0.1));
   }
 
   @Test
@@ -200,8 +190,7 @@ class MecanumDriveKinematicsTest {
     assertAll(
         () -> assertEquals(12, moduleStates.vxMetersPerSecond, 0.1),
         () -> assertEquals(-12, moduleStates.vyMetersPerSecond, 0.1),
-        () -> assertEquals(1, moduleStates.omegaRadiansPerSecond, 0.1)
-    );
+        () -> assertEquals(1, moduleStates.omegaRadiansPerSecond, 0.1));
   }
 
   @Test
@@ -219,8 +208,7 @@ class MecanumDriveKinematicsTest {
         () -> assertEquals(2.12, moduleStates.frontLeftMetersPerSecond, 0.1),
         () -> assertEquals(21.92, moduleStates.frontRightMetersPerSecond, 0.1),
         () -> assertEquals(-12.02, moduleStates.rearLeftMetersPerSecond, 0.1),
-        () -> assertEquals(36.06, moduleStates.rearRightMetersPerSecond, 0.1)
-    );
+        () -> assertEquals(36.06, moduleStates.rearRightMetersPerSecond, 0.1));
   }
 
   @Test
@@ -237,8 +225,7 @@ class MecanumDriveKinematicsTest {
     assertAll(
         () -> assertEquals(17, moduleStates.vxMetersPerSecond, 0.1),
         () -> assertEquals(-10, moduleStates.vyMetersPerSecond, 0.1),
-        () -> assertEquals(1, moduleStates.omegaRadiansPerSecond, 0.1)
-    );
+        () -> assertEquals(1, moduleStates.omegaRadiansPerSecond, 0.1));
   }
 
   @Test
@@ -252,8 +239,6 @@ class MecanumDriveKinematicsTest {
         () -> assertEquals(5.0 * factor, wheelSpeeds.frontLeftMetersPerSecond, kEpsilon),
         () -> assertEquals(6.0 * factor, wheelSpeeds.frontRightMetersPerSecond, kEpsilon),
         () -> assertEquals(4.0 * factor, wheelSpeeds.rearLeftMetersPerSecond, kEpsilon),
-        () -> assertEquals(7.0 * factor, wheelSpeeds.rearRightMetersPerSecond, kEpsilon)
-    );
+        () -> assertEquals(7.0 * factor, wheelSpeeds.rearRightMetersPerSecond, kEpsilon));
   }
-
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometryTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometryTest.java
index 8e7eae0597..5d26d0def7 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometryTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometryTest.java
@@ -4,14 +4,13 @@
 
 package edu.wpi.first.wpilibj.kinematics;
 
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.geometry.Translation2d;
-
-import static org.junit.jupiter.api.Assertions.assertAll;
-import static org.junit.jupiter.api.Assertions.assertEquals;
+import org.junit.jupiter.api.Test;
 
 class MecanumDriveOdometryTest {
   private final Translation2d m_fl = new Translation2d(12, 12);
@@ -19,12 +18,11 @@ class MecanumDriveOdometryTest {
   private final Translation2d m_bl = new Translation2d(-12, 12);
   private final Translation2d m_br = new Translation2d(-12, -12);
 
-
   private final MecanumDriveKinematics m_kinematics =
       new MecanumDriveKinematics(m_fl, m_fr, m_bl, m_br);
 
-  private final MecanumDriveOdometry m_odometry = new MecanumDriveOdometry(m_kinematics,
-      new Rotation2d());
+  private final MecanumDriveOdometry m_odometry =
+      new MecanumDriveOdometry(m_kinematics, new Rotation2d());
 
   @Test
   void testMultipleConsecutiveUpdates() {
@@ -36,8 +34,7 @@ class MecanumDriveOdometryTest {
     assertAll(
         () -> assertEquals(secondPose.getX(), 0.0, 0.01),
         () -> assertEquals(secondPose.getY(), 0.0, 0.01),
-        () -> assertEquals(secondPose.getRotation().getDegrees(), 0.0, 0.01)
-    );
+        () -> assertEquals(secondPose.getRotation().getDegrees(), 0.0, 0.01));
   }
 
   @Test
@@ -51,8 +48,7 @@ class MecanumDriveOdometryTest {
     assertAll(
         () -> assertEquals(5.0 / 10.0, pose.getX(), 0.01),
         () -> assertEquals(0, pose.getY(), 0.01),
-        () -> assertEquals(0.0, pose.getRotation().getDegrees(), 0.01)
-    );
+        () -> assertEquals(0.0, pose.getRotation().getDegrees(), 0.01));
   }
 
   @Test
@@ -67,8 +63,7 @@ class MecanumDriveOdometryTest {
     assertAll(
         () -> assertEquals(12.0, pose.getX(), 0.01),
         () -> assertEquals(12.0, pose.getY(), 0.01),
-        () -> assertEquals(90.0, pose.getRotation().getDegrees(), 0.01)
-    );
+        () -> assertEquals(90.0, pose.getRotation().getDegrees(), 0.01));
   }
 
   @Test
@@ -76,16 +71,13 @@ class MecanumDriveOdometryTest {
     var gyro = Rotation2d.fromDegrees(90.0);
     var fieldAngle = Rotation2d.fromDegrees(0.0);
     m_odometry.resetPosition(new Pose2d(new Translation2d(), fieldAngle), gyro);
-    var speeds = new MecanumDriveWheelSpeeds(3.536, 3.536,
-        3.536, 3.536);
+    var speeds = new MecanumDriveWheelSpeeds(3.536, 3.536, 3.536, 3.536);
     m_odometry.updateWithTime(0.0, gyro, new MecanumDriveWheelSpeeds());
     var pose = m_odometry.updateWithTime(1.0, gyro, speeds);
 
     assertAll(
         () -> assertEquals(5.0, pose.getX(), 0.1),
         () -> assertEquals(0.00, pose.getY(), 0.1),
-        () -> assertEquals(0.00, pose.getRotation().getRadians(), 0.1)
-    );
+        () -> assertEquals(0.00, pose.getRotation().getRadians(), 0.1));
   }
-
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveKinematicsTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveKinematicsTest.java
index ac949d5afc..dc40fe3106 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveKinematicsTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveKinematicsTest.java
@@ -4,13 +4,12 @@
 
 package edu.wpi.first.wpilibj.kinematics;
 
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.geometry.Translation2d;
-
-import static org.junit.jupiter.api.Assertions.assertAll;
-import static org.junit.jupiter.api.Assertions.assertEquals;
+import org.junit.jupiter.api.Test;
 
 class SwerveDriveKinematicsTest {
   private static final double kEpsilon = 1E-9;
@@ -37,8 +36,7 @@ class SwerveDriveKinematicsTest {
         () -> assertEquals(0.0, moduleStates[0].angle.getRadians(), kEpsilon),
         () -> assertEquals(0.0, moduleStates[1].angle.getRadians(), kEpsilon),
         () -> assertEquals(0.0, moduleStates[2].angle.getRadians(), kEpsilon),
-        () -> assertEquals(0.0, moduleStates[3].angle.getRadians(), kEpsilon)
-    );
+        () -> assertEquals(0.0, moduleStates[3].angle.getRadians(), kEpsilon));
   }
 
   @Test
@@ -49,8 +47,7 @@ class SwerveDriveKinematicsTest {
     assertAll(
         () -> assertEquals(0.0, chassisSpeeds.vxMetersPerSecond, kEpsilon),
         () -> assertEquals(5.0, chassisSpeeds.vyMetersPerSecond, kEpsilon),
-        () -> assertEquals(0.0, chassisSpeeds.omegaRadiansPerSecond, kEpsilon)
-    );
+        () -> assertEquals(0.0, chassisSpeeds.omegaRadiansPerSecond, kEpsilon));
   }
 
   @Test
@@ -67,8 +64,7 @@ class SwerveDriveKinematicsTest {
         () -> assertEquals(90.0, moduleStates[0].angle.getDegrees(), kEpsilon),
         () -> assertEquals(90.0, moduleStates[1].angle.getDegrees(), kEpsilon),
         () -> assertEquals(90.0, moduleStates[2].angle.getDegrees(), kEpsilon),
-        () -> assertEquals(90.0, moduleStates[3].angle.getDegrees(), kEpsilon)
-    );
+        () -> assertEquals(90.0, moduleStates[3].angle.getDegrees(), kEpsilon));
   }
 
   @Test
@@ -79,8 +75,7 @@ class SwerveDriveKinematicsTest {
     assertAll(
         () -> assertEquals(0.0, chassisSpeeds.vxMetersPerSecond, kEpsilon),
         () -> assertEquals(5.0, chassisSpeeds.vyMetersPerSecond, kEpsilon),
-        () -> assertEquals(0.0, chassisSpeeds.omegaRadiansPerSecond, kEpsilon)
-    );
+        () -> assertEquals(0.0, chassisSpeeds.omegaRadiansPerSecond, kEpsilon));
   }
 
   @Test
@@ -104,8 +99,7 @@ class SwerveDriveKinematicsTest {
         () -> assertEquals(135.0, moduleStates[0].angle.getDegrees(), kEpsilon),
         () -> assertEquals(45.0, moduleStates[1].angle.getDegrees(), kEpsilon),
         () -> assertEquals(-135.0, moduleStates[2].angle.getDegrees(), kEpsilon),
-        () -> assertEquals(-45.0, moduleStates[3].angle.getDegrees(), kEpsilon)
-    );
+        () -> assertEquals(-45.0, moduleStates[3].angle.getDegrees(), kEpsilon));
   }
 
   @Test
@@ -120,8 +114,7 @@ class SwerveDriveKinematicsTest {
     assertAll(
         () -> assertEquals(0.0, chassisSpeeds.vxMetersPerSecond, kEpsilon),
         () -> assertEquals(0.0, chassisSpeeds.vyMetersPerSecond, kEpsilon),
-        () -> assertEquals(2 * Math.PI, chassisSpeeds.omegaRadiansPerSecond, 0.1)
-    );
+        () -> assertEquals(2 * Math.PI, chassisSpeeds.omegaRadiansPerSecond, 0.1));
   }
 
   @Test
@@ -147,8 +140,7 @@ class SwerveDriveKinematicsTest {
         () -> assertEquals(0.0, moduleStates[0].angle.getDegrees(), kEpsilon),
         () -> assertEquals(0.0, moduleStates[1].angle.getDegrees(), kEpsilon),
         () -> assertEquals(-90.0, moduleStates[2].angle.getDegrees(), kEpsilon),
-        () -> assertEquals(-45.0, moduleStates[3].angle.getDegrees(), kEpsilon)
-    );
+        () -> assertEquals(-45.0, moduleStates[3].angle.getDegrees(), kEpsilon));
   }
 
   @Test
@@ -172,23 +164,27 @@ class SwerveDriveKinematicsTest {
     assertAll(
         () -> assertEquals(75.398, chassisSpeeds.vxMetersPerSecond, 0.1),
         () -> assertEquals(-75.398, chassisSpeeds.vyMetersPerSecond, 0.1),
-        () -> assertEquals(2 * Math.PI, chassisSpeeds.omegaRadiansPerSecond, 0.1)
-    );
+        () -> assertEquals(2 * Math.PI, chassisSpeeds.omegaRadiansPerSecond, 0.1));
   }
 
-  private void assertModuleState(SwerveModuleState expected, SwerveModuleState actual,
-                                 SwerveModuleState tolerance) {
+  private void assertModuleState(
+      SwerveModuleState expected, SwerveModuleState actual, SwerveModuleState tolerance) {
     assertAll(
-        () -> assertEquals(expected.speedMetersPerSecond, actual.speedMetersPerSecond,
-            tolerance.speedMetersPerSecond),
-        () -> assertEquals(expected.angle.getDegrees(), actual.angle.getDegrees(),
-            tolerance.angle.getDegrees())
-    );
+        () ->
+            assertEquals(
+                expected.speedMetersPerSecond,
+                actual.speedMetersPerSecond,
+                tolerance.speedMetersPerSecond),
+        () ->
+            assertEquals(
+                expected.angle.getDegrees(),
+                actual.angle.getDegrees(),
+                tolerance.angle.getDegrees()));
   }
 
   /**
-   * Test the rotation of the robot about a non-central point with
-   * both linear and angular velocities.
+   * Test the rotation of the robot about a non-central point with both linear and angular
+   * velocities.
    */
   @Test
   void testOffCenterCORRotationAndTranslationInverseKinematics() {
@@ -198,12 +194,13 @@ class SwerveDriveKinematicsTest {
 
     // By equation (13.14) from state-space guide, our wheels/angles will be as follows,
     // (+-1 degree or speed):
-    SwerveModuleState[] expectedStates = new SwerveModuleState[]{
-        new SwerveModuleState(23.43, Rotation2d.fromDegrees(-140.19)),
-        new SwerveModuleState(23.43, Rotation2d.fromDegrees(-39.81)),
-        new SwerveModuleState(54.08, Rotation2d.fromDegrees(-109.44)),
-        new SwerveModuleState(54.08, Rotation2d.fromDegrees(-70.56))
-      };
+    SwerveModuleState[] expectedStates =
+        new SwerveModuleState[] {
+          new SwerveModuleState(23.43, Rotation2d.fromDegrees(-140.19)),
+          new SwerveModuleState(23.43, Rotation2d.fromDegrees(-39.81)),
+          new SwerveModuleState(54.08, Rotation2d.fromDegrees(-109.44)),
+          new SwerveModuleState(54.08, Rotation2d.fromDegrees(-70.56))
+        };
     var stateTolerance = new SwerveModuleState(0.1, Rotation2d.fromDegrees(0.1));
 
     for (int i = 0; i < expectedStates.length; i++) {
@@ -232,8 +229,7 @@ class SwerveDriveKinematicsTest {
     assertAll(
         () -> assertEquals(0.0, chassisSpeeds.vxMetersPerSecond, 0.1),
         () -> assertEquals(-33.0, chassisSpeeds.vyMetersPerSecond, 0.1),
-        () -> assertEquals(1.5, chassisSpeeds.omegaRadiansPerSecond, 0.1)
-    );
+        () -> assertEquals(1.5, chassisSpeeds.omegaRadiansPerSecond, 0.1));
   }
 
   @Test
@@ -252,8 +248,6 @@ class SwerveDriveKinematicsTest {
         () -> assertEquals(5.0 * factor, arr[0].speedMetersPerSecond, kEpsilon),
         () -> assertEquals(6.0 * factor, arr[1].speedMetersPerSecond, kEpsilon),
         () -> assertEquals(4.0 * factor, arr[2].speedMetersPerSecond, kEpsilon),
-        () -> assertEquals(7.0 * factor, arr[3].speedMetersPerSecond, kEpsilon)
-    );
+        () -> assertEquals(7.0 * factor, arr[3].speedMetersPerSecond, kEpsilon));
   }
-
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometryTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometryTest.java
index 775a1f7202..64e1aa587b 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometryTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometryTest.java
@@ -4,14 +4,13 @@
 
 package edu.wpi.first.wpilibj.kinematics;
 
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.geometry.Translation2d;
-
-import static org.junit.jupiter.api.Assertions.assertAll;
-import static org.junit.jupiter.api.Assertions.assertEquals;
+import org.junit.jupiter.api.Test;
 
 class SwerveDriveOdometryTest {
   private final Translation2d m_fl = new Translation2d(12, 12);
@@ -22,29 +21,32 @@ class SwerveDriveOdometryTest {
   private final SwerveDriveKinematics m_kinematics =
       new SwerveDriveKinematics(m_fl, m_fr, m_bl, m_br);
 
-  private final SwerveDriveOdometry m_odometry = new SwerveDriveOdometry(m_kinematics,
-      new Rotation2d());
+  private final SwerveDriveOdometry m_odometry =
+      new SwerveDriveOdometry(m_kinematics, new Rotation2d());
 
   @Test
   void testTwoIterations() {
     // 5 units/sec  in the x axis (forward)
     final SwerveModuleState[] wheelSpeeds = {
-        new SwerveModuleState(5, Rotation2d.fromDegrees(0)),
-        new SwerveModuleState(5, Rotation2d.fromDegrees(0)),
-        new SwerveModuleState(5, Rotation2d.fromDegrees(0)),
-        new SwerveModuleState(5, Rotation2d.fromDegrees(0))
-      };
+      new SwerveModuleState(5, Rotation2d.fromDegrees(0)),
+      new SwerveModuleState(5, Rotation2d.fromDegrees(0)),
+      new SwerveModuleState(5, Rotation2d.fromDegrees(0)),
+      new SwerveModuleState(5, Rotation2d.fromDegrees(0))
+    };
 
-    m_odometry.updateWithTime(0.0, new Rotation2d(),
-        new SwerveModuleState(), new SwerveModuleState(),
-        new SwerveModuleState(), new SwerveModuleState());
+    m_odometry.updateWithTime(
+        0.0,
+        new Rotation2d(),
+        new SwerveModuleState(),
+        new SwerveModuleState(),
+        new SwerveModuleState(),
+        new SwerveModuleState());
     var pose = m_odometry.updateWithTime(0.10, new Rotation2d(), wheelSpeeds);
 
     assertAll(
         () -> assertEquals(5.0 / 10.0, pose.getX(), 0.01),
         () -> assertEquals(0, pose.getY(), 0.01),
-        () -> assertEquals(0.0, pose.getRotation().getDegrees(), 0.01)
-    );
+        () -> assertEquals(0.0, pose.getRotation().getDegrees(), 0.01));
   }
 
   @Test
@@ -56,11 +58,11 @@ class SwerveDriveOdometryTest {
     //        Module 3: speed 42.14888838624436 angle -26.565051177077986
 
     final SwerveModuleState[] wheelSpeeds = {
-        new SwerveModuleState(18.85, Rotation2d.fromDegrees(90.0)),
-        new SwerveModuleState(42.15, Rotation2d.fromDegrees(26.565)),
-        new SwerveModuleState(18.85, Rotation2d.fromDegrees(-90)),
-        new SwerveModuleState(42.15, Rotation2d.fromDegrees(-26.565))
-      };
+      new SwerveModuleState(18.85, Rotation2d.fromDegrees(90.0)),
+      new SwerveModuleState(42.15, Rotation2d.fromDegrees(26.565)),
+      new SwerveModuleState(18.85, Rotation2d.fromDegrees(-90)),
+      new SwerveModuleState(42.15, Rotation2d.fromDegrees(-26.565))
+    };
     final var zero = new SwerveModuleState();
 
     m_odometry.updateWithTime(0.0, new Rotation2d(), zero, zero, zero, zero);
@@ -69,8 +71,7 @@ class SwerveDriveOdometryTest {
     assertAll(
         () -> assertEquals(12.0, pose.getX(), 0.01),
         () -> assertEquals(12.0, pose.getY(), 0.01),
-        () -> assertEquals(90.0, pose.getRotation().getDegrees(), 0.01)
-    );
+        () -> assertEquals(90.0, pose.getRotation().getDegrees(), 0.01));
   }
 
   @Test
@@ -86,8 +87,6 @@ class SwerveDriveOdometryTest {
     assertAll(
         () -> assertEquals(1.0, pose.getX(), 0.1),
         () -> assertEquals(0.00, pose.getY(), 0.1),
-        () -> assertEquals(0.00, pose.getRotation().getRadians(), 0.1)
-    );
+        () -> assertEquals(0.00, pose.getRotation().getRadians(), 0.1));
   }
-
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/math/StateSpaceUtilTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/math/StateSpaceUtilTest.java
index e7e8d52f07..af810af69f 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/math/StateSpaceUtilTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/math/StateSpaceUtilTest.java
@@ -4,12 +4,9 @@
 
 package edu.wpi.first.wpilibj.math;
 
-import java.util.ArrayList;
-import java.util.List;
-
-import org.ejml.dense.row.MatrixFeatures_DDRM;
-import org.ejml.simple.SimpleMatrix;
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
@@ -19,16 +16,16 @@ import edu.wpi.first.wpiutil.math.SimpleMatrixUtils;
 import edu.wpi.first.wpiutil.math.VecBuilder;
 import edu.wpi.first.wpiutil.math.numbers.N1;
 import edu.wpi.first.wpiutil.math.numbers.N2;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.api.Assertions.assertFalse;
-import static org.junit.jupiter.api.Assertions.assertTrue;
+import java.util.ArrayList;
+import java.util.List;
+import org.ejml.dense.row.MatrixFeatures_DDRM;
+import org.ejml.simple.SimpleMatrix;
+import org.junit.jupiter.api.Test;
 
 public class StateSpaceUtilTest {
   @Test
   public void testCostArray() {
-    var mat = StateSpaceUtil.makeCostMatrix(
-          VecBuilder.fill(1.0, 2.0, 3.0));
+    var mat = StateSpaceUtil.makeCostMatrix(VecBuilder.fill(1.0, 2.0, 3.0));
 
     assertEquals(1.0, mat.get(0, 0), 1e-3);
     assertEquals(0.0, mat.get(0, 1), 1e-3);
@@ -43,8 +40,7 @@ public class StateSpaceUtilTest {
 
   @Test
   public void testCovArray() {
-    var mat = StateSpaceUtil.makeCovarianceMatrix(Nat.N3(),
-          VecBuilder.fill(1.0, 2.0, 3.0));
+    var mat = StateSpaceUtil.makeCovarianceMatrix(Nat.N3(), VecBuilder.fill(1.0, 2.0, 3.0));
 
     assertEquals(1.0, mat.get(0, 0), 1e-3);
     assertEquals(0.0, mat.get(0, 1), 1e-3);
@@ -123,8 +119,7 @@ public class StateSpaceUtilTest {
     var x1Discrete = discA.times(x0);
 
     // We now have pos = vel = 1 and accel = 0, which should give us:
-    var x1Truth = VecBuilder.fill(x0.get(0, 0) + 1.0 * x0.get(1, 0),
-          x0.get(1, 0));
+    var x1Truth = VecBuilder.fill(x0.get(0, 0) + 1.0 * x0.get(1, 0), x0.get(1, 0));
     assertTrue(x1Truth.isEqual(x1Discrete, 1E-4));
   }
 
@@ -141,8 +136,9 @@ public class StateSpaceUtilTest {
     var x1Discrete = abPair.getFirst().times(x0).plus(abPair.getSecond().times(u));
 
     // We now have pos = vel = accel = 1, which should give us:
-    var x1Truth = VecBuilder.fill(x0.get(0, 0) + x0.get(1, 0) + 0.5 * u.get(0, 0), x0.get(0, 0)
-          + u.get(0, 0));
+    var x1Truth =
+        VecBuilder.fill(
+            x0.get(0, 0) + x0.get(1, 0) + 0.5 * u.get(0, 0), x0.get(0, 0) + u.get(0, 0));
 
     assertTrue(x1Truth.isEqual(x1Discrete, 1E-4));
   }
@@ -152,14 +148,16 @@ public class StateSpaceUtilTest {
     Matrix<N2, N2> wrappedMatrix = Matrix.eye(Nat.N2());
     var wrappedResult = wrappedMatrix.exp();
 
-    assertTrue(wrappedResult.isEqual(
-        Matrix.mat(Nat.N2(), Nat.N2()).fill(Math.E, 0, 0, Math.E), 1E-9));
+    assertTrue(
+        wrappedResult.isEqual(Matrix.mat(Nat.N2(), Nat.N2()).fill(Math.E, 0, 0, Math.E), 1E-9));
 
     var matrix = Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 2, 3, 4);
     wrappedResult = matrix.times(0.01).exp();
 
-    assertTrue(wrappedResult.isEqual(Matrix.mat(Nat.N2(), Nat.N2()).fill(1.01035625, 0.02050912,
-              0.03076368, 1.04111993), 1E-8));
+    assertTrue(
+        wrappedResult.isEqual(
+            Matrix.mat(Nat.N2(), Nat.N2()).fill(1.01035625, 0.02050912, 0.03076368, 1.04111993),
+            1E-8));
   }
 
   @Test
@@ -167,21 +165,22 @@ public class StateSpaceUtilTest {
     SimpleMatrix matrix = SimpleMatrixUtils.eye(2);
     var result = SimpleMatrixUtils.exp(matrix);
 
-    assertTrue(MatrixFeatures_DDRM.isIdentical(
-          result.getDDRM(),
-          new SimpleMatrix(2, 2, true, new double[]{Math.E, 0, 0, Math.E}).getDDRM(),
-          1E-9
-    ));
+    assertTrue(
+        MatrixFeatures_DDRM.isIdentical(
+            result.getDDRM(),
+            new SimpleMatrix(2, 2, true, new double[] {Math.E, 0, 0, Math.E}).getDDRM(),
+            1E-9));
 
-    matrix = new SimpleMatrix(2, 2, true, new double[]{1, 2, 3, 4});
+    matrix = new SimpleMatrix(2, 2, true, new double[] {1, 2, 3, 4});
     result = SimpleMatrixUtils.exp(matrix.scale(0.01));
 
-    assertTrue(MatrixFeatures_DDRM.isIdentical(
-          result.getDDRM(),
-          new SimpleMatrix(2, 2, true, new double[]{1.01035625, 0.02050912,
-              0.03076368, 1.04111993}).getDDRM(),
-          1E-8
-    ));
+    assertTrue(
+        MatrixFeatures_DDRM.isIdentical(
+            result.getDDRM(),
+            new SimpleMatrix(
+                    2, 2, true, new double[] {1.01035625, 0.02050912, 0.03076368, 1.04111993})
+                .getDDRM(),
+            1E-8));
   }
 
   @Test
@@ -192,5 +191,4 @@ public class StateSpaceUtilTest {
     assertEquals(pose.getTranslation().getY(), vector.get(1, 0), 1e-6);
     assertEquals(pose.getRotation().getRadians(), vector.get(2, 0), 1e-6);
   }
-
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/spline/CubicHermiteSplineTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/spline/CubicHermiteSplineTest.java
index 06ede82807..8d4d101bf9 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/spline/CubicHermiteSplineTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/spline/CubicHermiteSplineTest.java
@@ -4,22 +4,19 @@
 
 package edu.wpi.first.wpilibj.spline;
 
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.List;
-
-import org.junit.jupiter.api.Test;
-
-import edu.wpi.first.wpilibj.geometry.Pose2d;
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
-import edu.wpi.first.wpilibj.geometry.Translation2d;
-import edu.wpi.first.wpilibj.spline.SplineParameterizer.MalformedSplineException;
-
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertThrows;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.geometry.Translation2d;
+import edu.wpi.first.wpilibj.spline.SplineParameterizer.MalformedSplineException;
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.List;
+import org.junit.jupiter.api.Test;
 
 class CubicHermiteSplineTest {
   private static final double kMaxDx = 0.127;
@@ -29,15 +26,15 @@ class CubicHermiteSplineTest {
   @SuppressWarnings({"ParameterName", "PMD.UnusedLocalVariable"})
   private void run(Pose2d a, List<Translation2d> waypoints, Pose2d b) {
     // Start the timer.
-    //var start = System.nanoTime();
+    // var start = System.nanoTime();
 
     // Generate and parameterize the spline.
     var controlVectors =
-        SplineHelper.getCubicControlVectorsFromWaypoints(a,
-            waypoints.toArray(new Translation2d[0]), b);
-    var splines
-        = SplineHelper.getCubicSplinesFromControlVectors(
-        controlVectors[0], waypoints.toArray(new Translation2d[0]), controlVectors[1]);
+        SplineHelper.getCubicControlVectorsFromWaypoints(
+            a, waypoints.toArray(new Translation2d[0]), b);
+    var splines =
+        SplineHelper.getCubicSplinesFromControlVectors(
+            controlVectors[0], waypoints.toArray(new Translation2d[0]), controlVectors[1]);
 
     var poses = new ArrayList<PoseWithCurvature>();
 
@@ -48,10 +45,10 @@ class CubicHermiteSplineTest {
     }
 
     // End the timer.
-    //var end = System.nanoTime();
+    // var end = System.nanoTime();
 
     // Calculate the duration (used when benchmarking)
-    //var durationMicroseconds = (end - start) / 1000.0;
+    // var durationMicroseconds = (end - start) / 1000.0;
 
     for (int i = 0; i < poses.size() - 1; i++) {
       var p0 = poses.get(i);
@@ -62,19 +59,18 @@ class CubicHermiteSplineTest {
       assertAll(
           () -> assertTrue(Math.abs(twist.dx) < kMaxDx),
           () -> assertTrue(Math.abs(twist.dy) < kMaxDy),
-          () -> assertTrue(Math.abs(twist.dtheta) < kMaxDtheta)
-      );
+          () -> assertTrue(Math.abs(twist.dtheta) < kMaxDtheta));
     }
 
     // Check first point
     assertAll(
-        () -> assertEquals(a.getX(),
-            poses.get(0).poseMeters.getX(), 1E-9),
-        () -> assertEquals(a.getY(),
-            poses.get(0).poseMeters.getY(), 1E-9),
-        () -> assertEquals(a.getRotation().getRadians(),
-            poses.get(0).poseMeters.getRotation().getRadians(), 1E-9)
-    );
+        () -> assertEquals(a.getX(), poses.get(0).poseMeters.getX(), 1E-9),
+        () -> assertEquals(a.getY(), poses.get(0).poseMeters.getY(), 1E-9),
+        () ->
+            assertEquals(
+                a.getRotation().getRadians(),
+                poses.get(0).poseMeters.getRotation().getRadians(),
+                1E-9));
 
     // Check interior waypoints
     boolean interiorsGood = true;
@@ -92,13 +88,13 @@ class CubicHermiteSplineTest {
 
     // Check last point
     assertAll(
-        () -> assertEquals(b.getX(),
-            poses.get(poses.size() - 1).poseMeters.getX(), 1E-9),
-        () -> assertEquals(b.getY(),
-            poses.get(poses.size() - 1).poseMeters.getY(), 1E-9),
-        () -> assertEquals(b.getRotation().getRadians(),
-            poses.get(poses.size() - 1).poseMeters.getRotation().getRadians(), 1E-9)
-    );
+        () -> assertEquals(b.getX(), poses.get(poses.size() - 1).poseMeters.getX(), 1E-9),
+        () -> assertEquals(b.getY(), poses.get(poses.size() - 1).poseMeters.getY(), 1E-9),
+        () ->
+            assertEquals(
+                b.getRotation().getRadians(),
+                poses.get(poses.size() - 1).poseMeters.getRotation().getRadians(),
+                1E-9));
   }
 
   @SuppressWarnings("PMD.JUnitTestsShouldIncludeAssert")
@@ -148,12 +144,19 @@ class CubicHermiteSplineTest {
 
   @Test
   void testMalformed() {
-    assertThrows(MalformedSplineException.class, () -> run(
-        new Pose2d(0, 0, Rotation2d.fromDegrees(0)),
-        new ArrayList<>(), new Pose2d(1, 0, Rotation2d.fromDegrees(180))));
-    assertThrows(MalformedSplineException.class, () -> run(
-        new Pose2d(10, 10, Rotation2d.fromDegrees(90)),
-        Arrays.asList(new Translation2d(10, 10.5)),
-        new Pose2d(10, 11, Rotation2d.fromDegrees(-90))));
+    assertThrows(
+        MalformedSplineException.class,
+        () ->
+            run(
+                new Pose2d(0, 0, Rotation2d.fromDegrees(0)),
+                new ArrayList<>(),
+                new Pose2d(1, 0, Rotation2d.fromDegrees(180))));
+    assertThrows(
+        MalformedSplineException.class,
+        () ->
+            run(
+                new Pose2d(10, 10, Rotation2d.fromDegrees(90)),
+                Arrays.asList(new Translation2d(10, 10.5)),
+                new Pose2d(10, 11, Rotation2d.fromDegrees(-90))));
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSplineTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSplineTest.java
index 5f8c1e22a5..f00ab9a1cf 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSplineTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSplineTest.java
@@ -4,38 +4,36 @@
 
 package edu.wpi.first.wpilibj.spline;
 
-import java.util.List;
-
-import org.junit.jupiter.api.Test;
-
-import edu.wpi.first.wpilibj.geometry.Pose2d;
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
-import edu.wpi.first.wpilibj.spline.SplineParameterizer.MalformedSplineException;
-
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertThrows;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.spline.SplineParameterizer.MalformedSplineException;
+import java.util.List;
+import org.junit.jupiter.api.Test;
+
 class QuinticHermiteSplineTest {
   private static final double kMaxDx = 0.127;
   private static final double kMaxDy = 0.00127;
   private static final double kMaxDtheta = 0.0872;
 
-  @SuppressWarnings({ "ParameterName", "PMD.UnusedLocalVariable" })
+  @SuppressWarnings({"ParameterName", "PMD.UnusedLocalVariable"})
   private void run(Pose2d a, Pose2d b) {
     // Start the timer.
-    //var start = System.nanoTime();
+    // var start = System.nanoTime();
 
     // Generate and parameterize the spline.
     var spline = SplineHelper.getQuinticSplinesFromWaypoints(List.of(a, b))[0];
     var poses = SplineParameterizer.parameterize(spline);
 
     // End the timer.
-    //var end = System.nanoTime();
+    // var end = System.nanoTime();
 
     // Calculate the duration (used when benchmarking)
-    //var durationMicroseconds = (end - start) / 1000.0;
+    // var durationMicroseconds = (end - start) / 1000.0;
 
     for (int i = 0; i < poses.size() - 1; i++) {
       var p0 = poses.get(i);
@@ -51,22 +49,23 @@ class QuinticHermiteSplineTest {
 
     // Check first point
     assertAll(
-        () -> assertEquals(
-            a.getX(), poses.get(0).poseMeters.getX(), 1E-9),
-        () -> assertEquals(
-            a.getY(), poses.get(0).poseMeters.getY(), 1E-9),
-        () -> assertEquals(
-            a.getRotation().getRadians(), poses.get(0).poseMeters.getRotation().getRadians(),
-            1E-9));
+        () -> assertEquals(a.getX(), poses.get(0).poseMeters.getX(), 1E-9),
+        () -> assertEquals(a.getY(), poses.get(0).poseMeters.getY(), 1E-9),
+        () ->
+            assertEquals(
+                a.getRotation().getRadians(),
+                poses.get(0).poseMeters.getRotation().getRadians(),
+                1E-9));
 
     // Check last point
     assertAll(
-        () -> assertEquals(b.getX(), poses.get(poses.size() - 1)
-            .poseMeters.getX(), 1E-9),
-        () -> assertEquals(b.getY(), poses.get(poses.size() - 1)
-            .poseMeters.getY(), 1E-9),
-        () -> assertEquals(b.getRotation().getRadians(),
-            poses.get(poses.size() - 1).poseMeters.getRotation().getRadians(), 1E-9));
+        () -> assertEquals(b.getX(), poses.get(poses.size() - 1).poseMeters.getX(), 1E-9),
+        () -> assertEquals(b.getY(), poses.get(poses.size() - 1).poseMeters.getY(), 1E-9),
+        () ->
+            assertEquals(
+                b.getRotation().getRadians(),
+                poses.get(poses.size() - 1).poseMeters.getRotation().getRadians(),
+                1E-9));
   }
 
   @SuppressWarnings("PMD.JUnitTestsShouldIncludeAssert")
@@ -91,13 +90,17 @@ class QuinticHermiteSplineTest {
 
   @Test
   void testMalformed() {
-    assertThrows(MalformedSplineException.class,
-        () -> run(
-          new Pose2d(0, 0, Rotation2d.fromDegrees(0)),
-          new Pose2d(1, 0, Rotation2d.fromDegrees(180))));
-    assertThrows(MalformedSplineException.class,
-        () -> run(
-          new Pose2d(10, 10, Rotation2d.fromDegrees(90)),
-          new Pose2d(10, 11, Rotation2d.fromDegrees(-90))));
+    assertThrows(
+        MalformedSplineException.class,
+        () ->
+            run(
+                new Pose2d(0, 0, Rotation2d.fromDegrees(0)),
+                new Pose2d(1, 0, Rotation2d.fromDegrees(180))));
+    assertThrows(
+        MalformedSplineException.class,
+        () ->
+            run(
+                new Pose2d(10, 10, Rotation2d.fromDegrees(90)),
+                new Pose2d(10, 11, Rotation2d.fromDegrees(-90))));
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/system/LinearSystemIDTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/system/LinearSystemIDTest.java
index 5b099b6081..8015a2f6a3 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/system/LinearSystemIDTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/system/LinearSystemIDTest.java
@@ -4,47 +4,51 @@
 
 package edu.wpi.first.wpilibj.system;
 
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.wpilibj.system.plant.DCMotor;
 import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
 import edu.wpi.first.wpiutil.math.Matrix;
 import edu.wpi.first.wpiutil.math.Nat;
 import edu.wpi.first.wpiutil.math.VecBuilder;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.api.Assertions.assertTrue;
+import org.junit.jupiter.api.Test;
 
 class LinearSystemIDTest {
   @Test
   public void testDrivetrainVelocitySystem() {
-    var model = LinearSystemId.createDrivetrainVelocitySystem(
-            DCMotor.getNEO(4), 70, 0.05, 0.4, 6.0, 6
-    );
-    assertTrue(model.getA().isEqual(Matrix.mat(Nat.N2(),
-            Nat.N2()).fill(-10.14132, 3.06598, 3.06598, -10.14132), 0.001));
+    var model =
+        LinearSystemId.createDrivetrainVelocitySystem(DCMotor.getNEO(4), 70, 0.05, 0.4, 6.0, 6);
+    assertTrue(
+        model
+            .getA()
+            .isEqual(
+                Matrix.mat(Nat.N2(), Nat.N2()).fill(-10.14132, 3.06598, 3.06598, -10.14132),
+                0.001));
 
-    assertTrue(model.getB().isEqual(Matrix.mat(Nat.N2(),
-            Nat.N2()).fill(4.2590, -1.28762, -1.2876, 4.2590), 0.001));
+    assertTrue(
+        model
+            .getB()
+            .isEqual(
+                Matrix.mat(Nat.N2(), Nat.N2()).fill(4.2590, -1.28762, -1.2876, 4.2590), 0.001));
 
-    assertTrue(model.getC().isEqual(Matrix.mat(Nat.N2(),
-            Nat.N2()).fill(1.0, 0.0, 0.0, 1.0), 0.001));
+    assertTrue(
+        model.getC().isEqual(Matrix.mat(Nat.N2(), Nat.N2()).fill(1.0, 0.0, 0.0, 1.0), 0.001));
 
-    assertTrue(model.getD().isEqual(Matrix.mat(Nat.N2(),
-            Nat.N2()).fill(0.0, 0.0, 0.0, 0.0), 0.001));
+    assertTrue(
+        model.getD().isEqual(Matrix.mat(Nat.N2(), Nat.N2()).fill(0.0, 0.0, 0.0, 0.0), 0.001));
   }
 
   @Test
   public void testElevatorSystem() {
 
     var model = LinearSystemId.createElevatorSystem(DCMotor.getNEO(2), 5, 0.05, 12);
-    assertTrue(model.getA().isEqual(Matrix.mat(Nat.N2(),
-            Nat.N2()).fill(0, 1, 0, -99.05473), 0.001));
+    assertTrue(
+        model.getA().isEqual(Matrix.mat(Nat.N2(), Nat.N2()).fill(0, 1, 0, -99.05473), 0.001));
 
     assertTrue(model.getB().isEqual(VecBuilder.fill(0, 20.8), 0.001));
 
-    assertTrue(model.getC().isEqual(Matrix.mat(Nat.N1(),
-            Nat.N2()).fill(1, 0), 0.001));
+    assertTrue(model.getC().isEqual(Matrix.mat(Nat.N1(), Nat.N2()).fill(1, 0), 0.001));
 
     assertTrue(model.getD().isEqual(VecBuilder.fill(0), 0.001));
   }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/system/RungeKuttaTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/system/RungeKuttaTest.java
index f1e9809c7f..22418c09a7 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/system/RungeKuttaTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/system/RungeKuttaTest.java
@@ -4,14 +4,13 @@
 
 package edu.wpi.first.wpilibj.system;
 
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import edu.wpi.first.wpiutil.math.Matrix;
 import edu.wpi.first.wpiutil.math.Nat;
 import edu.wpi.first.wpiutil.math.VecBuilder;
 import edu.wpi.first.wpiutil.math.numbers.N1;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
+import org.junit.jupiter.api.Test;
 
 public class RungeKuttaTest {
   @Test
@@ -21,12 +20,15 @@ public class RungeKuttaTest {
     Matrix<N1, N1> y0 = VecBuilder.fill(0.0);
 
     //noinspection SuspiciousNameCombination
-    var y1 = RungeKutta.rungeKutta((Matrix<N1, N1> x) -> {
-      var y = new Matrix<>(Nat.N1(), Nat.N1());
-      y.set(0, 0, Math.exp(x.get(0, 0)));
-      return y; },
-            y0, 0.1
-    );
+    var y1 =
+        RungeKutta.rungeKutta(
+            (Matrix<N1, N1> x) -> {
+              var y = new Matrix<>(Nat.N1(), Nat.N1());
+              y.set(0, 0, Math.exp(x.get(0, 0)));
+              return y;
+            },
+            y0,
+            0.1);
 
     assertEquals(Math.exp(0.1) - Math.exp(0.0), y1.get(0, 0), 1e-3);
   }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/CentripetalAccelerationConstraintTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/CentripetalAccelerationConstraintTest.java
index c1c7098a33..3aab65c5f9 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/CentripetalAccelerationConstraintTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/CentripetalAccelerationConstraintTest.java
@@ -4,14 +4,12 @@
 
 package edu.wpi.first.wpilibj.trajectory;
 
-import java.util.Collections;
-
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.wpilibj.trajectory.constraint.CentripetalAccelerationConstraint;
 import edu.wpi.first.wpilibj.util.Units;
-
-import static org.junit.jupiter.api.Assertions.assertTrue;
+import java.util.Collections;
+import org.junit.jupiter.api.Test;
 
 class CentripetalAccelerationConstraintTest {
   @SuppressWarnings("LocalVariableName")
@@ -20,8 +18,8 @@ class CentripetalAccelerationConstraintTest {
     double maxCentripetalAcceleration = Units.feetToMeters(7.0); // 7 feet per second squared
     var constraint = new CentripetalAccelerationConstraint(maxCentripetalAcceleration);
 
-    Trajectory trajectory = TrajectoryGeneratorTest.getTrajectory(
-        Collections.singletonList(constraint));
+    Trajectory trajectory =
+        TrajectoryGeneratorTest.getTrajectory(Collections.singletonList(constraint));
 
     var duration = trajectory.getTotalTimeSeconds();
     var t = 0.0;
@@ -29,12 +27,11 @@ class CentripetalAccelerationConstraintTest {
 
     while (t < duration) {
       var point = trajectory.sample(t);
-      var centripetalAcceleration
-          = Math.pow(point.velocityMetersPerSecond, 2) * point.curvatureRadPerMeter;
+      var centripetalAcceleration =
+          Math.pow(point.velocityMetersPerSecond, 2) * point.curvatureRadPerMeter;
 
       t += dt;
       assertTrue(centripetalAcceleration <= maxCentripetalAcceleration + 0.05);
     }
   }
-
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/DifferentialDriveKinematicsConstraintTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/DifferentialDriveKinematicsConstraintTest.java
index 9c86309005..b206d42ced 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/DifferentialDriveKinematicsConstraintTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/DifferentialDriveKinematicsConstraintTest.java
@@ -4,17 +4,15 @@
 
 package edu.wpi.first.wpilibj.trajectory;
 
-import java.util.Collections;
-
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
 import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveKinematicsConstraint;
 import edu.wpi.first.wpilibj.util.Units;
-
-import static org.junit.jupiter.api.Assertions.assertAll;
-import static org.junit.jupiter.api.Assertions.assertTrue;
+import java.util.Collections;
+import org.junit.jupiter.api.Test;
 
 class DifferentialDriveKinematicsConstraintTest {
   @SuppressWarnings({"LocalVariableName", "PMD.AvoidInstantiatingObjectsInLoops"})
@@ -24,8 +22,8 @@ class DifferentialDriveKinematicsConstraintTest {
     var kinematics = new DifferentialDriveKinematics(Units.inchesToMeters(27));
     var constraint = new DifferentialDriveKinematicsConstraint(kinematics, maxVelocity);
 
-    Trajectory trajectory = TrajectoryGeneratorTest.getTrajectory(
-        Collections.singletonList(constraint));
+    Trajectory trajectory =
+        TrajectoryGeneratorTest.getTrajectory(Collections.singletonList(constraint));
 
     var duration = trajectory.getTotalTimeSeconds();
     var t = 0.0;
@@ -33,18 +31,18 @@ class DifferentialDriveKinematicsConstraintTest {
 
     while (t < duration) {
       var point = trajectory.sample(t);
-      var chassisSpeeds = new ChassisSpeeds(
-          point.velocityMetersPerSecond, 0,
-          point.velocityMetersPerSecond * point.curvatureRadPerMeter
-      );
+      var chassisSpeeds =
+          new ChassisSpeeds(
+              point.velocityMetersPerSecond,
+              0,
+              point.velocityMetersPerSecond * point.curvatureRadPerMeter);
 
       var wheelSpeeds = kinematics.toWheelSpeeds(chassisSpeeds);
 
       t += dt;
       assertAll(
           () -> assertTrue(wheelSpeeds.leftMetersPerSecond <= maxVelocity + 0.05),
-          () -> assertTrue(wheelSpeeds.rightMetersPerSecond <= maxVelocity + 0.05)
-      );
+          () -> assertTrue(wheelSpeeds.rightMetersPerSecond <= maxVelocity + 0.05));
     }
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/DifferentialDriveVoltageConstraintTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/DifferentialDriveVoltageConstraintTest.java
index 708e8622ce..6ad7bad819 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/DifferentialDriveVoltageConstraintTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/DifferentialDriveVoltageConstraintTest.java
@@ -4,10 +4,9 @@
 
 package edu.wpi.first.wpilibj.trajectory;
 
-import java.util.ArrayList;
-import java.util.Collections;
-
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
+import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
@@ -16,10 +15,9 @@ import edu.wpi.first.wpilibj.geometry.Translation2d;
 import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
 import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveVoltageConstraint;
-
-import static org.junit.jupiter.api.Assertions.assertAll;
-import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
-import static org.junit.jupiter.api.Assertions.assertTrue;
+import java.util.ArrayList;
+import java.util.Collections;
+import org.junit.jupiter.api.Test;
 
 class DifferentialDriveVoltageConstraintTest {
   @SuppressWarnings({"LocalVariableName", "PMD.AvoidInstantiatingObjectsInLoops"})
@@ -29,12 +27,10 @@ class DifferentialDriveVoltageConstraintTest {
     var feedforward = new SimpleMotorFeedforward(1, 1, 3);
     var kinematics = new DifferentialDriveKinematics(0.5);
     double maxVoltage = 10;
-    var constraint = new DifferentialDriveVoltageConstraint(feedforward,
-                                                            kinematics,
-                                                            maxVoltage);
+    var constraint = new DifferentialDriveVoltageConstraint(feedforward, kinematics, maxVoltage);
 
-    Trajectory trajectory = TrajectoryGeneratorTest.getTrajectory(
-        Collections.singletonList(constraint));
+    Trajectory trajectory =
+        TrajectoryGeneratorTest.getTrajectory(Collections.singletonList(constraint));
 
     var duration = trajectory.getTotalTimeSeconds();
     var t = 0.0;
@@ -42,10 +38,11 @@ class DifferentialDriveVoltageConstraintTest {
 
     while (t < duration) {
       var point = trajectory.sample(t);
-      var chassisSpeeds = new ChassisSpeeds(
-          point.velocityMetersPerSecond, 0,
-          point.velocityMetersPerSecond * point.curvatureRadPerMeter
-      );
+      var chassisSpeeds =
+          new ChassisSpeeds(
+              point.velocityMetersPerSecond,
+              0,
+              point.velocityMetersPerSecond * point.curvatureRadPerMeter);
 
       var wheelSpeeds = kinematics.toWheelSpeeds(chassisSpeeds);
 
@@ -54,19 +51,26 @@ class DifferentialDriveVoltageConstraintTest {
       // Not really a strictly-correct test as we're using the chassis accel instead of the
       // wheel accel, but much easier than doing it "properly" and a reasonable check anyway
       assertAll(
-          () -> assertTrue(feedforward.calculate(wheelSpeeds.leftMetersPerSecond,
-                                                 point.accelerationMetersPerSecondSq)
-                               <= maxVoltage + 0.05),
-          () -> assertTrue(feedforward.calculate(wheelSpeeds.leftMetersPerSecond,
-                                                 point.accelerationMetersPerSecondSq)
-                               >= -maxVoltage - 0.05),
-          () -> assertTrue(feedforward.calculate(wheelSpeeds.rightMetersPerSecond,
-                                                 point.accelerationMetersPerSecondSq)
-                               <= maxVoltage + 0.05),
-          () -> assertTrue(feedforward.calculate(wheelSpeeds.rightMetersPerSecond,
-                                                 point.accelerationMetersPerSecondSq)
-                               >= -maxVoltage - 0.05)
-      );
+          () ->
+              assertTrue(
+                  feedforward.calculate(
+                          wheelSpeeds.leftMetersPerSecond, point.accelerationMetersPerSecondSq)
+                      <= maxVoltage + 0.05),
+          () ->
+              assertTrue(
+                  feedforward.calculate(
+                          wheelSpeeds.leftMetersPerSecond, point.accelerationMetersPerSecondSq)
+                      >= -maxVoltage - 0.05),
+          () ->
+              assertTrue(
+                  feedforward.calculate(
+                          wheelSpeeds.rightMetersPerSecond, point.accelerationMetersPerSecondSq)
+                      <= maxVoltage + 0.05),
+          () ->
+              assertTrue(
+                  feedforward.calculate(
+                          wheelSpeeds.rightMetersPerSecond, point.accelerationMetersPerSecondSq)
+                      >= -maxVoltage - 0.05));
     }
   }
 
@@ -77,24 +81,25 @@ class DifferentialDriveVoltageConstraintTest {
     // Large trackwidth - need to test with radius of curvature less than half of trackwidth
     var kinematics = new DifferentialDriveKinematics(3);
     double maxVoltage = 10;
-    var constraint = new DifferentialDriveVoltageConstraint(feedforward,
-                                                            kinematics,
-                                                            maxVoltage);
+    var constraint = new DifferentialDriveVoltageConstraint(feedforward, kinematics, maxVoltage);
 
     var config = new TrajectoryConfig(12, 12).addConstraint(constraint);
 
     // Radius of curvature should be ~1 meter.
-    assertDoesNotThrow(() -> TrajectoryGenerator.generateTrajectory(
-        new Pose2d(1, 0, Rotation2d.fromDegrees(90)),
-        new ArrayList<Translation2d>(),
-        new Pose2d(0, 1, Rotation2d.fromDegrees(180)),
-        config));
-
-    assertDoesNotThrow(() -> TrajectoryGenerator.generateTrajectory(
-        new Pose2d(0, 1, Rotation2d.fromDegrees(180)),
-        new ArrayList<Translation2d>(),
-        new Pose2d(1, 0, Rotation2d.fromDegrees(90)),
-        config.setReversed(true)));
+    assertDoesNotThrow(
+        () ->
+            TrajectoryGenerator.generateTrajectory(
+                new Pose2d(1, 0, Rotation2d.fromDegrees(90)),
+                new ArrayList<Translation2d>(),
+                new Pose2d(0, 1, Rotation2d.fromDegrees(180)),
+                config));
 
+    assertDoesNotThrow(
+        () ->
+            TrajectoryGenerator.generateTrajectory(
+                new Pose2d(0, 1, Rotation2d.fromDegrees(180)),
+                new ArrayList<Translation2d>(),
+                new Pose2d(1, 0, Rotation2d.fromDegrees(90)),
+                config.setReversed(true)));
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/EllipticalRegionConstraintTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/EllipticalRegionConstraintTest.java
index e90bc28011..948b270757 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/EllipticalRegionConstraintTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/EllipticalRegionConstraintTest.java
@@ -4,9 +4,8 @@
 
 package edu.wpi.first.wpilibj.trajectory;
 
-import java.util.List;
-
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
@@ -14,9 +13,8 @@ import edu.wpi.first.wpilibj.geometry.Translation2d;
 import edu.wpi.first.wpilibj.trajectory.constraint.EllipticalRegionConstraint;
 import edu.wpi.first.wpilibj.trajectory.constraint.MaxVelocityConstraint;
 import edu.wpi.first.wpilibj.util.Units;
-
-import static org.junit.jupiter.api.Assertions.assertFalse;
-import static org.junit.jupiter.api.Assertions.assertTrue;
+import java.util.List;
+import org.junit.jupiter.api.Test;
 
 public class EllipticalRegionConstraintTest {
   @Test
@@ -24,11 +22,13 @@ public class EllipticalRegionConstraintTest {
     // Create constraints
     double maxVelocity = Units.feetToMeters(3.0);
     var maxVelocityConstraint = new MaxVelocityConstraint(maxVelocity);
-    var regionConstraint = new EllipticalRegionConstraint(
-        new Translation2d(Units.feetToMeters(5.0), Units.feetToMeters(5.0)),
-        Units.feetToMeters(10.0), Units.feetToMeters(5.0), Rotation2d.fromDegrees(180.0),
-        maxVelocityConstraint
-    );
+    var regionConstraint =
+        new EllipticalRegionConstraint(
+            new Translation2d(Units.feetToMeters(5.0), Units.feetToMeters(5.0)),
+            Units.feetToMeters(10.0),
+            Units.feetToMeters(5.0),
+            Rotation2d.fromDegrees(180.0),
+            maxVelocityConstraint);
 
     // Get trajectory
     var trajectory = TrajectoryGeneratorTest.getTrajectory(List.of(regionConstraint));
@@ -53,22 +53,28 @@ public class EllipticalRegionConstraintTest {
     double maxVelocity = Units.feetToMeters(3.0);
     var maxVelocityConstraint = new MaxVelocityConstraint(maxVelocity);
 
-    var regionConstraintNoRotation = new EllipticalRegionConstraint(
-        new Translation2d(Units.feetToMeters(1.0), Units.feetToMeters(1.0)),
-        Units.feetToMeters(2.0), Units.feetToMeters(4.0), new Rotation2d(),
-        maxVelocityConstraint);
+    var regionConstraintNoRotation =
+        new EllipticalRegionConstraint(
+            new Translation2d(Units.feetToMeters(1.0), Units.feetToMeters(1.0)),
+            Units.feetToMeters(2.0),
+            Units.feetToMeters(4.0),
+            new Rotation2d(),
+            maxVelocityConstraint);
 
-    assertFalse(regionConstraintNoRotation.isPoseInRegion(new Pose2d(
-        Units.feetToMeters(2.1), Units.feetToMeters(1.0), new Rotation2d()
-    )));
+    assertFalse(
+        regionConstraintNoRotation.isPoseInRegion(
+            new Pose2d(Units.feetToMeters(2.1), Units.feetToMeters(1.0), new Rotation2d())));
 
-    var regionConstraintWithRotation = new EllipticalRegionConstraint(
-        new Translation2d(Units.feetToMeters(1.0), Units.feetToMeters(1.0)),
-        Units.feetToMeters(2.0), Units.feetToMeters(4.0), Rotation2d.fromDegrees(90.0),
-        maxVelocityConstraint);
+    var regionConstraintWithRotation =
+        new EllipticalRegionConstraint(
+            new Translation2d(Units.feetToMeters(1.0), Units.feetToMeters(1.0)),
+            Units.feetToMeters(2.0),
+            Units.feetToMeters(4.0),
+            Rotation2d.fromDegrees(90.0),
+            maxVelocityConstraint);
 
-    assertTrue(regionConstraintWithRotation.isPoseInRegion(new Pose2d(
-        Units.feetToMeters(2.1), Units.feetToMeters(1.0), new Rotation2d()
-    )));
+    assertTrue(
+        regionConstraintWithRotation.isPoseInRegion(
+            new Pose2d(Units.feetToMeters(2.1), Units.feetToMeters(1.0), new Rotation2d())));
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/RectangularRegionConstraintTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/RectangularRegionConstraintTest.java
index 3c517cb5f1..7ad58c4e62 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/RectangularRegionConstraintTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/RectangularRegionConstraintTest.java
@@ -4,9 +4,8 @@
 
 package edu.wpi.first.wpilibj.trajectory;
 
-import java.util.List;
-
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
@@ -14,9 +13,8 @@ import edu.wpi.first.wpilibj.geometry.Translation2d;
 import edu.wpi.first.wpilibj.trajectory.constraint.MaxVelocityConstraint;
 import edu.wpi.first.wpilibj.trajectory.constraint.RectangularRegionConstraint;
 import edu.wpi.first.wpilibj.util.Units;
-
-import static org.junit.jupiter.api.Assertions.assertFalse;
-import static org.junit.jupiter.api.Assertions.assertTrue;
+import java.util.List;
+import org.junit.jupiter.api.Test;
 
 public class RectangularRegionConstraintTest {
   @Test
@@ -24,11 +22,11 @@ public class RectangularRegionConstraintTest {
     // Create constraints
     double maxVelocity = Units.feetToMeters(3.0);
     var maxVelocityConstraint = new MaxVelocityConstraint(maxVelocity);
-    var regionConstraint = new RectangularRegionConstraint(
-        new Translation2d(Units.feetToMeters(1.0), Units.feetToMeters(1.0)),
-        new Translation2d(Units.feetToMeters(7.0), Units.feetToMeters(27.0)),
-        maxVelocityConstraint
-    );
+    var regionConstraint =
+        new RectangularRegionConstraint(
+            new Translation2d(Units.feetToMeters(1.0), Units.feetToMeters(1.0)),
+            new Translation2d(Units.feetToMeters(7.0), Units.feetToMeters(27.0)),
+            maxVelocityConstraint);
 
     // Get trajectory
     var trajectory = TrajectoryGeneratorTest.getTrajectory(List.of(regionConstraint));
@@ -49,14 +47,15 @@ public class RectangularRegionConstraintTest {
   void testIsPoseWithinRegion() {
     double maxVelocity = Units.feetToMeters(3.0);
     var maxVelocityConstraint = new MaxVelocityConstraint(maxVelocity);
-    var regionConstraint = new RectangularRegionConstraint(
-        new Translation2d(Units.feetToMeters(1.0), Units.feetToMeters(1.0)),
-        new Translation2d(Units.feetToMeters(7.0), Units.feetToMeters(27.0)),
-        maxVelocityConstraint
-    );
+    var regionConstraint =
+        new RectangularRegionConstraint(
+            new Translation2d(Units.feetToMeters(1.0), Units.feetToMeters(1.0)),
+            new Translation2d(Units.feetToMeters(7.0), Units.feetToMeters(27.0)),
+            maxVelocityConstraint);
 
     assertFalse(regionConstraint.isPoseInRegion(new Pose2d()));
-    assertTrue(regionConstraint.isPoseInRegion(new Pose2d(Units.feetToMeters(3.0),
-        Units.feetToMeters(14.5), new Rotation2d())));
+    assertTrue(
+        regionConstraint.isPoseInRegion(
+            new Pose2d(Units.feetToMeters(3.0), Units.feetToMeters(14.5), new Rotation2d())));
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGeneratorTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGeneratorTest.java
index e920897e5f..fd580b3eb9 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGeneratorTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGeneratorTest.java
@@ -4,22 +4,20 @@
 
 package edu.wpi.first.wpilibj.trajectory;
 
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.List;
-
-import org.junit.jupiter.api.Test;
+import static edu.wpi.first.wpilibj.util.Units.feetToMeters;
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.geometry.Transform2d;
 import edu.wpi.first.wpilibj.geometry.Translation2d;
 import edu.wpi.first.wpilibj.trajectory.constraint.TrajectoryConstraint;
-
-import static edu.wpi.first.wpilibj.util.Units.feetToMeters;
-import static org.junit.jupiter.api.Assertions.assertAll;
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.api.Assertions.assertTrue;
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.List;
+import org.junit.jupiter.api.Test;
 
 class TrajectoryGeneratorTest {
   static Trajectory getTrajectory(List<? extends TrajectoryConstraint> constraints) {
@@ -27,24 +25,26 @@ class TrajectoryGeneratorTest {
     final double maxAccel = feetToMeters(12);
 
     // 2018 cross scale auto waypoints.
-    var sideStart = new Pose2d(feetToMeters(1.54), feetToMeters(23.23),
-        Rotation2d.fromDegrees(-180));
-    var crossScale = new Pose2d(feetToMeters(23.7), feetToMeters(6.8),
-        Rotation2d.fromDegrees(-160));
+    var sideStart =
+        new Pose2d(feetToMeters(1.54), feetToMeters(23.23), Rotation2d.fromDegrees(-180));
+    var crossScale =
+        new Pose2d(feetToMeters(23.7), feetToMeters(6.8), Rotation2d.fromDegrees(-160));
 
     var waypoints = new ArrayList<Pose2d>();
     waypoints.add(sideStart);
-    waypoints.add(sideStart.plus(
-        new Transform2d(new Translation2d(feetToMeters(-13), feetToMeters(0)),
-            new Rotation2d())));
-    waypoints.add(sideStart.plus(
-        new Transform2d(new Translation2d(feetToMeters(-19.5), feetToMeters(5)),
-            Rotation2d.fromDegrees(-90))));
+    waypoints.add(
+        sideStart.plus(
+            new Transform2d(
+                new Translation2d(feetToMeters(-13), feetToMeters(0)), new Rotation2d())));
+    waypoints.add(
+        sideStart.plus(
+            new Transform2d(
+                new Translation2d(feetToMeters(-19.5), feetToMeters(5)),
+                Rotation2d.fromDegrees(-90))));
     waypoints.add(crossScale);
 
-    TrajectoryConfig config = new TrajectoryConfig(maxVelocity, maxAccel)
-        .setReversed(true)
-        .addConstraints(constraints);
+    TrajectoryConfig config =
+        new TrajectoryConfig(maxVelocity, maxAccel).setReversed(true).addConstraints(constraints);
 
     return TrajectoryGenerator.generateTrajectory(waypoints, config);
   }
@@ -63,9 +63,9 @@ class TrajectoryGeneratorTest {
       t += dt;
       assertAll(
           () -> assertTrue(Math.abs(point.velocityMetersPerSecond) < feetToMeters(12.0) + 0.05),
-          () -> assertTrue(Math.abs(point.accelerationMetersPerSecondSq) < feetToMeters(12.0)
-              + 0.05)
-      );
+          () ->
+              assertTrue(
+                  Math.abs(point.accelerationMetersPerSecondSq) < feetToMeters(12.0) + 0.05));
     }
   }
 
@@ -73,12 +73,10 @@ class TrajectoryGeneratorTest {
   void testMalformedTrajectory() {
     var traj =
         TrajectoryGenerator.generateTrajectory(
-          Arrays.asList(
-            new Pose2d(0, 0, Rotation2d.fromDegrees(0)),
-            new Pose2d(1, 0, Rotation2d.fromDegrees(180))
-          ),
-          new TrajectoryConfig(feetToMeters(12), feetToMeters(12))
-        );
+            Arrays.asList(
+                new Pose2d(0, 0, Rotation2d.fromDegrees(0)),
+                new Pose2d(1, 0, Rotation2d.fromDegrees(180))),
+            new TrajectoryConfig(feetToMeters(12), feetToMeters(12)));
 
     assertEquals(traj.getStates().size(), 1);
     assertEquals(traj.getTotalTimeSeconds(), 0);
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryJsonTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryJsonTest.java
index 89532735dd..9dfb0ca6a1 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryJsonTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryJsonTest.java
@@ -4,26 +4,26 @@
 
 package edu.wpi.first.wpilibj.trajectory;
 
-import java.util.List;
-
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
+import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
 import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveKinematicsConstraint;
-
-import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
-import static org.junit.jupiter.api.Assertions.assertEquals;
+import java.util.List;
+import org.junit.jupiter.api.Test;
 
 public class TrajectoryJsonTest {
   @Test
   void deserializeMatches() {
-    var config = List.of(new DifferentialDriveKinematicsConstraint(
-        new DifferentialDriveKinematics(20), 3));
+    var config =
+        List.of(new DifferentialDriveKinematicsConstraint(new DifferentialDriveKinematics(20), 3));
     var trajectory = TrajectoryGeneratorTest.getTrajectory(config);
 
     var deserialized =
-        assertDoesNotThrow(() ->
-            TrajectoryUtil.deserializeTrajectory(TrajectoryUtil.serializeTrajectory(trajectory)));
+        assertDoesNotThrow(
+            () ->
+                TrajectoryUtil.deserializeTrajectory(
+                    TrajectoryUtil.serializeTrajectory(trajectory)));
 
     assertEquals(trajectory.getStates(), deserialized.getStates());
   }
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryTransformTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryTransformTest.java
index 0930a70abd..ad691d26fe 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryTransformTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryTransformTest.java
@@ -4,32 +4,30 @@
 
 package edu.wpi.first.wpilibj.trajectory;
 
-import java.util.List;
-
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.geometry.Transform2d;
 import edu.wpi.first.wpilibj.geometry.Translation2d;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
+import java.util.List;
+import org.junit.jupiter.api.Test;
 
 class TrajectoryTransformTest {
   @Test
   void testTransformBy() {
     var config = new TrajectoryConfig(3, 3);
-    var trajectory = TrajectoryGenerator.generateTrajectory(
-        new Pose2d(), List.of(), new Pose2d(1, 1, Rotation2d.fromDegrees(90)),
-        config
-    );
+    var trajectory =
+        TrajectoryGenerator.generateTrajectory(
+            new Pose2d(), List.of(), new Pose2d(1, 1, Rotation2d.fromDegrees(90)), config);
 
-    var transformedTrajectory = trajectory.transformBy(
-        new Transform2d(new Translation2d(1, 2), Rotation2d.fromDegrees(30)));
+    var transformedTrajectory =
+        trajectory.transformBy(
+            new Transform2d(new Translation2d(1, 2), Rotation2d.fromDegrees(30)));
 
     // Test initial pose.
-    assertEquals(new Pose2d(1, 2, Rotation2d.fromDegrees(30)),
-        transformedTrajectory.sample(0).poseMeters);
+    assertEquals(
+        new Pose2d(1, 2, Rotation2d.fromDegrees(30)), transformedTrajectory.sample(0).poseMeters);
 
     testSameShapedTrajectory(trajectory.getStates(), transformedTrajectory.getStates());
   }
@@ -37,11 +35,12 @@ class TrajectoryTransformTest {
   @Test
   void testRelativeTo() {
     var config = new TrajectoryConfig(3, 3);
-    var trajectory = TrajectoryGenerator.generateTrajectory(
-        new Pose2d(1, 2, Rotation2d.fromDegrees(30.0)),
-        List.of(), new Pose2d(5, 7, Rotation2d.fromDegrees(90)),
-        config
-    );
+    var trajectory =
+        TrajectoryGenerator.generateTrajectory(
+            new Pose2d(1, 2, Rotation2d.fromDegrees(30.0)),
+            List.of(),
+            new Pose2d(5, 7, Rotation2d.fromDegrees(90)),
+            config);
 
     var transformedTrajectory = trajectory.relativeTo(new Pose2d(1, 2, Rotation2d.fromDegrees(30)));
 
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrapezoidProfileTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrapezoidProfileTest.java
index c362adeb98..ca6f8b8fbf 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrapezoidProfileTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrapezoidProfileTest.java
@@ -4,12 +4,12 @@
 
 package edu.wpi.first.wpilibj.trajectory;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertNotEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import org.junit.jupiter.api.Test;
+
 @SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
 class TrapezoidProfileTest {
   private static final double kDt = 0.01;
@@ -32,8 +32,9 @@ class TrapezoidProfileTest {
    * @param eps Tolerance for whether values are near to each other.
    */
   private static void assertNear(double val1, double val2, double eps) {
-    assertTrue(Math.abs(val1 - val2) <= eps, "Difference between " + val1 + " and " + val2
-        + " is greater than " + eps);
+    assertTrue(
+        Math.abs(val1 - val2) <= eps,
+        "Difference between " + val1 + " and " + val2 + " is greater than " + eps);
   }
 
   /**
@@ -53,8 +54,7 @@ class TrapezoidProfileTest {
 
   @Test
   void reachesGoal() {
-    TrapezoidProfile.Constraints constraints =
-        new TrapezoidProfile.Constraints(1.75, 0.75);
+    TrapezoidProfile.Constraints constraints = new TrapezoidProfile.Constraints(1.75, 0.75);
     TrapezoidProfile.State goal = new TrapezoidProfile.State(3, 0);
     TrapezoidProfile.State state = new TrapezoidProfile.State();
 
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/util/UnitsTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/util/UnitsTest.java
index 7c4ae27dcc..bb417f9302 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/util/UnitsTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/util/UnitsTest.java
@@ -4,11 +4,10 @@
 
 package edu.wpi.first.wpilibj.util;
 
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import edu.wpi.first.wpilibj.UtilityClassTest;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
+import org.junit.jupiter.api.Test;
 
 class UnitsTest extends UtilityClassTest<Units> {
   UnitsTest() {
diff --git a/wpimath/src/test/java/edu/wpi/first/wpiutil/math/MathUtilTest.java b/wpimath/src/test/java/edu/wpi/first/wpiutil/math/MathUtilTest.java
index dd8ec3d75d..3b28f9e22d 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpiutil/math/MathUtilTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpiutil/math/MathUtilTest.java
@@ -4,10 +4,10 @@
 
 package edu.wpi.first.wpiutil.math;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
+import org.junit.jupiter.api.Test;
+
 class MathUtilTest {
   @Test
   void testAngleNormalize() {
diff --git a/wpimath/src/test/java/edu/wpi/first/wpiutil/math/MatrixTest.java b/wpimath/src/test/java/edu/wpi/first/wpiutil/math/MatrixTest.java
index 457c3a0fe1..bfe382541d 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpiutil/math/MatrixTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpiutil/math/MatrixTest.java
@@ -4,55 +4,43 @@
 
 package edu.wpi.first.wpiutil.math;
 
-import org.ejml.data.SingularMatrixException;
-import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertThrows;
+import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.wpiutil.math.numbers.N1;
 import edu.wpi.first.wpiutil.math.numbers.N2;
 import edu.wpi.first.wpiutil.math.numbers.N3;
 import edu.wpi.first.wpiutil.math.numbers.N4;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.api.Assertions.assertThrows;
-import static org.junit.jupiter.api.Assertions.assertTrue;
+import org.ejml.data.SingularMatrixException;
+import org.junit.jupiter.api.Test;
 
 public class MatrixTest {
   @Test
   void testMatrixMultiplication() {
-    var mat1 = Matrix.mat(Nat.N2(), Nat.N2())
-        .fill(2.0, 1.0,
-            0.0, 1.0);
-    var mat2 = Matrix.mat(Nat.N2(), Nat.N2())
-        .fill(3.0, 0.0,
-            0.0, 2.5);
+    var mat1 = Matrix.mat(Nat.N2(), Nat.N2()).fill(2.0, 1.0, 0.0, 1.0);
+    var mat2 = Matrix.mat(Nat.N2(), Nat.N2()).fill(3.0, 0.0, 0.0, 2.5);
 
     Matrix<N2, N2> result = mat1.times(mat2);
 
     assertEquals(result, Matrix.mat(Nat.N2(), Nat.N2()).fill(6.0, 2.5, 0.0, 2.5));
 
-    var mat3 = Matrix.mat(Nat.N2(), Nat.N3())
-        .fill(1.0, 3.0, 0.5,
-            2.0, 4.3, 1.2);
-    var mat4 = Matrix.mat(Nat.N3(), Nat.N4())
-        .fill(3.0, 1.5, 2.0, 4.5,
-            2.3, 1.0, 1.6, 3.1,
-            5.2, 2.1, 2.0, 1.0);
+    var mat3 = Matrix.mat(Nat.N2(), Nat.N3()).fill(1.0, 3.0, 0.5, 2.0, 4.3, 1.2);
+    var mat4 =
+        Matrix.mat(Nat.N3(), Nat.N4())
+            .fill(3.0, 1.5, 2.0, 4.5, 2.3, 1.0, 1.6, 3.1, 5.2, 2.1, 2.0, 1.0);
 
     Matrix<N2, N4> result2 = mat3.times(mat4);
 
-    assertTrue(Matrix.mat(Nat.N2(), Nat.N4())
-        .fill(12.5, 5.55, 7.8, 14.3,
-            22.13, 9.82, 13.28, 23.53).isEqual(
-            result2,
-              1E-9
-    ));
+    assertTrue(
+        Matrix.mat(Nat.N2(), Nat.N4())
+            .fill(12.5, 5.55, 7.8, 14.3, 22.13, 9.82, 13.28, 23.53)
+            .isEqual(result2, 1E-9));
   }
 
   @Test
   void testMatrixVectorMultiplication() {
-    var mat = Matrix.mat(Nat.N2(), Nat.N2())
-        .fill(1.0, 1.0,
-            0.0, 1.0);
+    var mat = Matrix.mat(Nat.N2(), Nat.N2()).fill(1.0, 1.0, 0.0, 1.0);
 
     var vec = VecBuilder.fill(3.0, 2.0);
 
@@ -62,10 +50,7 @@ public class MatrixTest {
 
   @Test
   void testTranspose() {
-    Matrix<N3, N1> vec = VecBuilder
-        .fill(1.0,
-            2.0,
-            3.0);
+    Matrix<N3, N1> vec = VecBuilder.fill(1.0, 2.0, 3.0);
 
     Matrix<N1, N3> transpose = vec.transpose();
 
@@ -91,68 +76,44 @@ public class MatrixTest {
 
   @Test
   void testInverse() {
-    var mat = Matrix.mat(Nat.N3(), Nat.N3())
-        .fill(1.0, 3.0, 2.0,
-            5.0, 2.0, 1.5,
-            0.0, 1.3, 2.5);
+    var mat = Matrix.mat(Nat.N3(), Nat.N3()).fill(1.0, 3.0, 2.0, 5.0, 2.0, 1.5, 0.0, 1.3, 2.5);
 
     var inv = mat.inv();
 
-    assertTrue(Matrix.eye(Nat.N3()).isEqual(
-        mat.times(inv),
-        1E-9
-    ));
+    assertTrue(Matrix.eye(Nat.N3()).isEqual(mat.times(inv), 1E-9));
 
-    assertTrue(Matrix.eye(Nat.N3()).isEqual(
-        inv.times(mat),
-        1E-9
-    ));
+    assertTrue(Matrix.eye(Nat.N3()).isEqual(inv.times(mat), 1E-9));
   }
 
   @Test
   void testUninvertableMatrix() {
-    var singularMatrix = Matrix.mat(Nat.N2(), Nat.N2())
-        .fill(2.0, 1.0,
-            2.0, 1.0);
+    var singularMatrix = Matrix.mat(Nat.N2(), Nat.N2()).fill(2.0, 1.0, 2.0, 1.0);
 
     assertThrows(SingularMatrixException.class, singularMatrix::inv);
   }
 
   @Test
   void testMatrixScalarArithmetic() {
-    var mat = Matrix.mat(Nat.N2(), Nat.N2())
-        .fill(1.0, 2.0,
-            3.0, 4.0);
+    var mat = Matrix.mat(Nat.N2(), Nat.N2()).fill(1.0, 2.0, 3.0, 4.0);
 
     assertEquals(Matrix.mat(Nat.N2(), Nat.N2()).fill(3.0, 4.0, 5.0, 6.0), mat.plus(2.0));
 
     assertEquals(Matrix.mat(Nat.N2(), Nat.N2()).fill(0.0, 1.0, 2.0, 3.0), mat.minus(1.0));
 
-    assertEquals(Matrix.mat(Nat.N2(), Nat.N2()).fill(2.0, 4.0, 6.0, 8.0),  mat.times(2.0));
+    assertEquals(Matrix.mat(Nat.N2(), Nat.N2()).fill(2.0, 4.0, 6.0, 8.0), mat.times(2.0));
 
-    assertTrue(Matrix.mat(Nat.N2(), Nat.N2()).fill(0.5, 1.0, 1.5, 2.0).isEqual(
-        mat.div(2.0),
-        1E-3
-    ));
+    assertTrue(Matrix.mat(Nat.N2(), Nat.N2()).fill(0.5, 1.0, 1.5, 2.0).isEqual(mat.div(2.0), 1E-3));
   }
 
   @Test
   void testMatrixMatrixArithmetic() {
-    var mat1 = Matrix.mat(Nat.N2(), Nat.N2())
-        .fill(1.0, 2.0,
-            3.0, 4.0);
+    var mat1 = Matrix.mat(Nat.N2(), Nat.N2()).fill(1.0, 2.0, 3.0, 4.0);
 
-    var mat2 = Matrix.mat(Nat.N2(), Nat.N2())
-        .fill(5.0, 6.0,
-            7.0, 8.0);
+    var mat2 = Matrix.mat(Nat.N2(), Nat.N2()).fill(5.0, 6.0, 7.0, 8.0);
 
-    assertEquals(Matrix.mat(Nat.N2(), Nat.N2()).fill(-4.0, -4.0, -4.0, -4.0),
-        mat1.minus(mat2)
-    );
+    assertEquals(Matrix.mat(Nat.N2(), Nat.N2()).fill(-4.0, -4.0, -4.0, -4.0), mat1.minus(mat2));
 
-    assertEquals(Matrix.mat(Nat.N2(), Nat.N2()).fill(6.0, 8.0, 10.0, 12.0),
-        mat1.plus(mat2)
-    );
+    assertEquals(Matrix.mat(Nat.N2(), Nat.N2()).fill(6.0, 8.0, 10.0, 12.0), mat1.plus(mat2));
   }
 
   @Test
@@ -165,7 +126,9 @@ public class MatrixTest {
     matrix = Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 2, 3, 4);
     result = matrix.times(0.01).exp();
 
-    assertTrue(result.isEqual(Matrix.mat(Nat.N2(), Nat.N2()).fill(1.01035625, 0.02050912,
-        0.03076368, 1.04111993), 1E-8));
+    assertTrue(
+        result.isEqual(
+            Matrix.mat(Nat.N2(), Nat.N2()).fill(1.01035625, 0.02050912, 0.03076368, 1.04111993),
+            1E-8));
   }
 }
diff --git a/wpiutil/src/dev/java/edu/wpi/first/wpiutil/DevMain.java b/wpiutil/src/dev/java/edu/wpi/first/wpiutil/DevMain.java
index 497faa78b9..2da5cd1aa1 100644
--- a/wpiutil/src/dev/java/edu/wpi/first/wpiutil/DevMain.java
+++ b/wpiutil/src/dev/java/edu/wpi/first/wpiutil/DevMain.java
@@ -5,14 +5,11 @@
 package edu.wpi.first.wpiutil;
 
 public final class DevMain {
-  /**
-   * Main entry point.
-   */
+  /** Main entry point. */
   public static void main(String[] args) {
     System.out.println("Hello World!");
     System.out.println(RuntimeDetector.getPlatformPath());
   }
 
-  private DevMain() {
-  }
+  private DevMain() {}
 }
diff --git a/wpiutil/src/main/java/edu/wpi/first/wpiutil/CircularBuffer.java b/wpiutil/src/main/java/edu/wpi/first/wpiutil/CircularBuffer.java
index 1897f6793c..b44bba1bf7 100644
--- a/wpiutil/src/main/java/edu/wpi/first/wpiutil/CircularBuffer.java
+++ b/wpiutil/src/main/java/edu/wpi/first/wpiutil/CircularBuffer.java
@@ -4,9 +4,7 @@
 
 package edu.wpi.first.wpiutil;
 
-/**
- * This is a simple circular buffer so we don't need to "bucket brigade" copy old values.
- */
+/** This is a simple circular buffer so we don't need to "bucket brigade" copy old values. */
 public class CircularBuffer {
   private double[] m_data;
 
@@ -114,10 +112,7 @@ public class CircularBuffer {
     return temp;
   }
 
-
-  /**
-   * Pop value at back of buffer.
-   */
+  /** Pop value at back of buffer. */
   public double removeLast() {
     // If there are no elements in the buffer, do nothing
     if (m_length == 0) {
@@ -143,9 +138,7 @@ public class CircularBuffer {
     m_front = 0;
   }
 
-  /**
-   * Sets internal buffer contents to zero.
-   */
+  /** Sets internal buffer contents to zero. */
   public void clear() {
     for (int i = 0; i < m_data.length; i++) {
       m_data[i] = 0.0;
@@ -163,16 +156,12 @@ public class CircularBuffer {
     return m_data[(m_front + index) % m_data.length];
   }
 
-  /**
-   * Increment an index modulo the length of the m_data buffer.
-   */
+  /** Increment an index modulo the length of the m_data buffer. */
   private int moduloInc(int index) {
     return (index + 1) % m_data.length;
   }
 
-  /**
-   * Decrement an index modulo the length of the m_data buffer.
-   */
+  /** Decrement an index modulo the length of the m_data buffer. */
   private int moduloDec(int index) {
     if (index == 0) {
       return m_data.length - 1;
diff --git a/wpiutil/src/main/java/edu/wpi/first/wpiutil/CombinedRuntimeLoader.java b/wpiutil/src/main/java/edu/wpi/first/wpiutil/CombinedRuntimeLoader.java
index b88debbafd..a89d0cf941 100644
--- a/wpiutil/src/main/java/edu/wpi/first/wpiutil/CombinedRuntimeLoader.java
+++ b/wpiutil/src/main/java/edu/wpi/first/wpiutil/CombinedRuntimeLoader.java
@@ -4,6 +4,8 @@
 
 package edu.wpi.first.wpiutil;
 
+import com.fasterxml.jackson.core.type.TypeReference;
+import com.fasterxml.jackson.databind.ObjectMapper;
 import java.io.File;
 import java.io.IOException;
 import java.nio.file.Files;
@@ -14,12 +16,8 @@ import java.util.List;
 import java.util.Map;
 import java.util.Objects;
 
-import com.fasterxml.jackson.core.type.TypeReference;
-import com.fasterxml.jackson.databind.ObjectMapper;
-
 public final class CombinedRuntimeLoader {
-  private CombinedRuntimeLoader() {
-  }
+  private CombinedRuntimeLoader() {}
 
   private static String extractionDirectory;
 
@@ -35,32 +33,34 @@ public final class CombinedRuntimeLoader {
 
   private static String getLoadErrorMessage(String libraryName, UnsatisfiedLinkError ule) {
     StringBuilder msg = new StringBuilder(512);
-    msg.append(libraryName).append(" could not be loaded from path\n"
-        + "\tattempted to load for platform ")
+    msg.append(libraryName)
+        .append(" could not be loaded from path\n" + "\tattempted to load for platform ")
         .append(RuntimeDetector.getPlatformPath())
         .append("\nLast Load Error: \n")
         .append(ule.getMessage())
         .append('\n');
     if (RuntimeDetector.isWindows()) {
-      msg.append("A common cause of this error is missing the C++ runtime.\n"
-          + "Download the latest at https://support.microsoft.com/en-us/help/2977003/the-latest-supported-visual-c-downloads\n");
+      msg.append(
+          "A common cause of this error is missing the C++ runtime.\n"
+              + "Download the latest at https://support.microsoft.com/en-us/help/2977003/the-latest-supported-visual-c-downloads\n");
     }
     return msg.toString();
   }
 
   /**
    * Extract a list of native libraries.
-   * @param <T>             The class where the resources would be located
-   * @param clazz           The actual class object
-   * @param resourceName    The resource name on the classpath to use for file lookup
-   * @return                List of all libraries that were extracted
-   * @throws IOException    Thrown if resource not found or file could not be extracted
+   *
+   * @param <T> The class where the resources would be located
+   * @param clazz The actual class object
+   * @param resourceName The resource name on the classpath to use for file lookup
+   * @return List of all libraries that were extracted
+   * @throws IOException Thrown if resource not found or file could not be extracted
    */
   @SuppressWarnings({"PMD.AvoidInstantiatingObjectsInLoops", "PMD.UnnecessaryCastRule"})
   public static <T> List<String> extractLibraries(Class<T> clazz, String resourceName)
       throws IOException {
-    TypeReference<HashMap<String, Object>> typeRef = new TypeReference<HashMap<String, Object>>() {
-    };
+    TypeReference<HashMap<String, Object>> typeRef =
+        new TypeReference<HashMap<String, Object>>() {};
     ObjectMapper mapper = new ObjectMapper();
     Map<String, Object> map;
     try (var stream = clazz.getResourceAsStream(resourceName)) {
@@ -116,6 +116,7 @@ public final class CombinedRuntimeLoader {
 
   /**
    * Load a single library from a list of extracted files.
+   *
    * @param libraryName The library name to load
    * @param extractedFiles The extracted files to search
    * @throws IOException If library was not found
@@ -150,8 +151,8 @@ public final class CombinedRuntimeLoader {
   /**
    * Load a list of native libraries out of a single directory.
    *
-   * @param <T>             The class where the resources would be located
-   * @param clazz           The actual class object
+   * @param <T> The class where the resources would be located
+   * @param clazz The actual class object
    * @param librariesToLoad List of libraries to load
    * @throws IOException Throws an IOException if not found
    */
diff --git a/wpiutil/src/main/java/edu/wpi/first/wpiutil/ErrorMessages.java b/wpiutil/src/main/java/edu/wpi/first/wpiutil/ErrorMessages.java
index 0ac05b06cf..5d568df733 100644
--- a/wpiutil/src/main/java/edu/wpi/first/wpiutil/ErrorMessages.java
+++ b/wpiutil/src/main/java/edu/wpi/first/wpiutil/ErrorMessages.java
@@ -6,28 +6,29 @@ package edu.wpi.first.wpiutil;
 
 import static java.util.Objects.requireNonNull;
 
-/**
- * Utility class for common WPILib error messages.
- */
+/** Utility class for common WPILib error messages. */
 public final class ErrorMessages {
-  /**
-   * Utility class, so constructor is private.
-   */
+  /** Utility class, so constructor is private. */
   private ErrorMessages() {
     throw new UnsupportedOperationException("This is a utility class!");
   }
 
   /**
-   * Requires that a parameter of a method not be null; prints an error message with
-   * helpful debugging instructions if the parameter is null.
+   * Requires that a parameter of a method not be null; prints an error message with helpful
+   * debugging instructions if the parameter is null.
    *
    * @param obj The parameter that must not be null.
    * @param paramName The name of the parameter.
    * @param methodName The name of the method.
    */
   public static <T> T requireNonNullParam(T obj, String paramName, String methodName) {
-    return requireNonNull(obj,
-        "Parameter " + paramName + " in method " + methodName + " was null when it"
+    return requireNonNull(
+        obj,
+        "Parameter "
+            + paramName
+            + " in method "
+            + methodName
+            + " was null when it"
             + " should not have been!  Check the stacktrace to find the responsible line of code - "
             + "usually, it is the first line of user-written code indicated in the stacktrace.  "
             + "Make sure all objects passed to the method in question were properly initialized -"
diff --git a/wpiutil/src/main/java/edu/wpi/first/wpiutil/RuntimeDetector.java b/wpiutil/src/main/java/edu/wpi/first/wpiutil/RuntimeDetector.java
index 814981390d..c7514d5460 100644
--- a/wpiutil/src/main/java/edu/wpi/first/wpiutil/RuntimeDetector.java
+++ b/wpiutil/src/main/java/edu/wpi/first/wpiutil/RuntimeDetector.java
@@ -21,7 +21,6 @@ public final class RuntimeDetector {
       return;
     }
 
-
     boolean intel32 = is32BitIntel();
     boolean intel64 = is64BitIntel();
 
@@ -62,45 +61,35 @@ public final class RuntimeDetector {
     }
   }
 
-  /**
-   * Get the file prefix for the current system.
-   */
+  /** Get the file prefix for the current system. */
   public static synchronized String getFilePrefix() {
     computePlatform();
 
     return filePrefix;
   }
 
-  /**
-   * Get the file extension for the current system.
-   */
+  /** Get the file extension for the current system. */
   public static synchronized String getFileExtension() {
     computePlatform();
 
     return fileExtension;
   }
 
-  /**
-   * Get the platform path for the current system.
-   */
+  /** Get the platform path for the current system. */
   public static synchronized String getPlatformPath() {
     computePlatform();
 
     return filePath;
   }
 
-  /**
-   * Get the path to the requested resource.
-   */
+  /** Get the path to the requested resource. */
   public static synchronized String getLibraryResource(String libName) {
     computePlatform();
 
     return filePath + filePrefix + libName + fileExtension;
   }
 
-  /**
-   * Get the path to the hash to the requested resource.
-   */
+  /** Get the path to the hash to the requested resource. */
   public static synchronized String getHashLibraryResource(String libName) {
     computePlatform();
 
@@ -112,7 +101,8 @@ public final class RuntimeDetector {
     return runRobotFile.exists();
   }
 
-  /** check if os is raspbian.
+  /**
+   * check if os is raspbian.
    *
    * @return if os is raspbian
    */
@@ -125,7 +115,8 @@ public final class RuntimeDetector {
     }
   }
 
-  /** check if architecture is aarch64.
+  /**
+   * check if architecture is aarch64.
    *
    * @return if architecture is aarch64
    */
@@ -155,7 +146,5 @@ public final class RuntimeDetector {
     return "amd64".equals(arch) || "x86_64".equals(arch);
   }
 
-  private RuntimeDetector() {
-
-  }
+  private RuntimeDetector() {}
 }
diff --git a/wpiutil/src/main/java/edu/wpi/first/wpiutil/RuntimeLoader.java b/wpiutil/src/main/java/edu/wpi/first/wpiutil/RuntimeLoader.java
index fa3b086eec..7af306252d 100644
--- a/wpiutil/src/main/java/edu/wpi/first/wpiutil/RuntimeLoader.java
+++ b/wpiutil/src/main/java/edu/wpi/first/wpiutil/RuntimeLoader.java
@@ -20,9 +20,7 @@ import java.util.Scanner;
 public final class RuntimeLoader<T> {
   private static String defaultExtractionRoot;
 
-  /**
-   * Gets the default extration root location (~/.wpilib/nativecache).
-   */
+  /** Gets the default extration root location (~/.wpilib/nativecache). */
   public static synchronized String getDefaultExtractionRoot() {
     if (defaultExtractionRoot != null) {
       return defaultExtractionRoot;
@@ -39,8 +37,8 @@ public final class RuntimeLoader<T> {
   /**
    * Creates a new library loader.
    *
-   * <p>Resources loaded on disk from extractionRoot, and from classpath from the
-   * passed in class. Library name is the passed in name.
+   * <p>Resources loaded on disk from extractionRoot, and from classpath from the passed in class.
+   * Library name is the passed in name.
    */
   public RuntimeLoader(String libraryName, String extractionRoot, Class<T> cls) {
     m_libraryName = libraryName;
@@ -51,22 +49,22 @@ public final class RuntimeLoader<T> {
   private String getLoadErrorMessage(UnsatisfiedLinkError ule) {
     StringBuilder msg = new StringBuilder(512);
     msg.append(m_libraryName)
-        .append(" could not be loaded from path or an embedded resource.\n"
+        .append(
+            " could not be loaded from path or an embedded resource.\n"
                 + "\tattempted to load for platform ")
         .append(RuntimeDetector.getPlatformPath())
         .append("\nLast Load Error: \n")
         .append(ule.getMessage())
         .append('\n');
     if (RuntimeDetector.isWindows()) {
-      msg.append("A common cause of this error is missing the C++ runtime.\n"
-                 + "Download the latest at https://support.microsoft.com/en-us/help/2977003/the-latest-supported-visual-c-downloads\n");
+      msg.append(
+          "A common cause of this error is missing the C++ runtime.\n"
+              + "Download the latest at https://support.microsoft.com/en-us/help/2977003/the-latest-supported-visual-c-downloads\n");
     }
     return msg.toString();
   }
 
-  /**
-   * Loads a native library.
-   */
+  /** Loads a native library. */
   @SuppressWarnings("PMD.PreserveStackTrace")
   public void loadLibrary() throws IOException {
     try {
@@ -108,11 +106,14 @@ public final class RuntimeLoader<T> {
     }
   }
 
-  /**
-   * Load a native library by directly hashing the file.
-   */
-  @SuppressWarnings({"PMD.NPathComplexity", "PMD.PreserveStackTrace", "PMD.EmptyWhileStmt",
-                     "PMD.AvoidThrowingRawExceptionTypes", "PMD.CyclomaticComplexity"})
+  /** Load a native library by directly hashing the file. */
+  @SuppressWarnings({
+    "PMD.NPathComplexity",
+    "PMD.PreserveStackTrace",
+    "PMD.EmptyWhileStmt",
+    "PMD.AvoidThrowingRawExceptionTypes",
+    "PMD.CyclomaticComplexity"
+  })
   public void loadLibraryHashed() throws IOException {
     try {
       // First, try loading path
diff --git a/wpiutil/src/main/java/edu/wpi/first/wpiutil/WPIUtilJNI.java b/wpiutil/src/main/java/edu/wpi/first/wpiutil/WPIUtilJNI.java
index 53ecb68b96..fa554ea605 100644
--- a/wpiutil/src/main/java/edu/wpi/first/wpiutil/WPIUtilJNI.java
+++ b/wpiutil/src/main/java/edu/wpi/first/wpiutil/WPIUtilJNI.java
@@ -26,7 +26,9 @@ public final class WPIUtilJNI {
   static {
     if (Helper.getExtractOnStaticLoad()) {
       try {
-        loader = new RuntimeLoader<>("wpiutiljni", RuntimeLoader.getDefaultExtractionRoot(), WPIUtilJNI.class);
+        loader =
+            new RuntimeLoader<>(
+                "wpiutiljni", RuntimeLoader.getDefaultExtractionRoot(), WPIUtilJNI.class);
         loader.loadLibrary();
       } catch (IOException ex) {
         ex.printStackTrace();
@@ -36,14 +38,14 @@ public final class WPIUtilJNI {
     }
   }
 
-  /**
-   * Force load the library.
-   */
+  /** Force load the library. */
   public static synchronized void forceLoad() throws IOException {
     if (libraryLoaded) {
       return;
     }
-    loader = new RuntimeLoader<>("wpiutiljni", RuntimeLoader.getDefaultExtractionRoot(), WPIUtilJNI.class);
+    loader =
+        new RuntimeLoader<>(
+            "wpiutiljni", RuntimeLoader.getDefaultExtractionRoot(), WPIUtilJNI.class);
     loader.loadLibrary();
     libraryLoaded = true;
   }
@@ -51,5 +53,6 @@ public final class WPIUtilJNI {
   public static native long now();
 
   public static native void addPortForwarder(int port, String remoteHost, int remotePort);
+
   public static native void removePortForwarder(int port);
 }
diff --git a/wpiutil/src/main/java/edu/wpi/first/wpiutil/net/PortForwarder.java b/wpiutil/src/main/java/edu/wpi/first/wpiutil/net/PortForwarder.java
index 91c897ae35..ddc3f3900a 100644
--- a/wpiutil/src/main/java/edu/wpi/first/wpiutil/net/PortForwarder.java
+++ b/wpiutil/src/main/java/edu/wpi/first/wpiutil/net/PortForwarder.java
@@ -7,8 +7,8 @@ package edu.wpi.first.wpiutil.net;
 import edu.wpi.first.wpiutil.WPIUtilJNI;
 
 /**
- * Forward ports to another host. This is primarily useful for accessing
- * Ethernet-connected devices from a computer tethered to the RoboRIO USB port.
+ * Forward ports to another host. This is primarily useful for accessing Ethernet-connected devices
+ * from a computer tethered to the RoboRIO USB port.
  */
 public final class PortForwarder {
   private PortForwarder() {
@@ -16,10 +16,10 @@ public final class PortForwarder {
   }
 
   /**
-   * Forward a local TCP port to a remote host and port.
-   * Note that local ports less than 1024 won't work as a normal user.
+   * Forward a local TCP port to a remote host and port. Note that local ports less than 1024 won't
+   * work as a normal user.
    *
-   * @param port       local port number
+   * @param port local port number
    * @param remoteHost remote IP address / DNS name
    * @param remotePort remote port number
    */
diff --git a/wpiutil/src/test/java/edu/wpi/first/wpiutil/CircularBufferTest.java b/wpiutil/src/test/java/edu/wpi/first/wpiutil/CircularBufferTest.java
index 02a8ac2ecb..6cfb346a16 100644
--- a/wpiutil/src/test/java/edu/wpi/first/wpiutil/CircularBufferTest.java
+++ b/wpiutil/src/test/java/edu/wpi/first/wpiutil/CircularBufferTest.java
@@ -4,17 +4,20 @@
 
 package edu.wpi.first.wpiutil;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
+import org.junit.jupiter.api.Test;
+
 class CircularBufferTest {
-  private final double[] m_values = {751.848, 766.366, 342.657, 234.252, 716.126,
-      132.344, 445.697, 22.727, 421.125, 799.913};
-  private final double[] m_addFirstOut = {799.913, 421.125, 22.727, 445.697, 132.344,
-      716.126, 234.252, 342.657};
-  private final double[] m_addLastOut = {342.657, 234.252, 716.126, 132.344, 445.697,
-      22.727, 421.125, 799.913};
+  private final double[] m_values = {
+    751.848, 766.366, 342.657, 234.252, 716.126, 132.344, 445.697, 22.727, 421.125, 799.913
+  };
+  private final double[] m_addFirstOut = {
+    799.913, 421.125, 22.727, 445.697, 132.344, 716.126, 234.252, 342.657
+  };
+  private final double[] m_addLastOut = {
+    342.657, 234.252, 716.126, 132.344, 445.697, 22.727, 421.125, 799.913
+  };
 
   @Test
   void addFirstTest() {
diff --git a/wpiutil/src/test/java/edu/wpi/first/wpiutil/WPIUtilJNITest.java b/wpiutil/src/test/java/edu/wpi/first/wpiutil/WPIUtilJNITest.java
index a6efe251ee..8a8c36c372 100644
--- a/wpiutil/src/test/java/edu/wpi/first/wpiutil/WPIUtilJNITest.java
+++ b/wpiutil/src/test/java/edu/wpi/first/wpiutil/WPIUtilJNITest.java
@@ -4,10 +4,10 @@
 
 package edu.wpi.first.wpiutil;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 
+import org.junit.jupiter.api.Test;
+
 public class WPIUtilJNITest {
   @Test
   public void testNow() {