From a751fa22d20e9fc268998c7c2e522226714f278b Mon Sep 17 00:00:00 2001 From: Peter Johnson Date: Tue, 29 Dec 2020 22:45:16 -0800 Subject: [PATCH] [build] Apply spotless for java formatting (#1768) Update checkstyle config to be compatible with spotless. Co-authored-by: Austin Shalit --- build.gradle | 14 + .../src/main/java/edu/wpi/Main.java | 90 +- .../edu/wpi/first/cameraserver/DevMain.java | 7 +- .../wpi/first/cameraserver/CameraServer.java | 493 +++++------ .../cameraserver/CameraServerShared.java | 1 - .../cameraserver/CameraServerSharedStore.java | 48 +- .../edu/wpi/first/vision/VisionPipeline.java | 9 +- .../edu/wpi/first/vision/VisionRunner.java | 48 +- .../edu/wpi/first/vision/VisionThread.java | 18 +- .../edu/wpi/first/vision/package-info.java | 8 +- cscore/java-examples/RawCVMatSink.java | 66 +- cscore/java-examples/RawCVMatSource.java | 28 +- .../src/dev/java/edu/wpi/cscore/DevMain.java | 7 +- .../main/java/edu/wpi/cscore/AxisCamera.java | 4 +- .../edu/wpi/cscore/CameraServerCvJNI.java | 21 +- .../java/edu/wpi/cscore/CameraServerJNI.java | 166 +++- .../src/main/java/edu/wpi/cscore/CvSink.java | 40 +- .../main/java/edu/wpi/cscore/CvSource.java | 21 +- .../main/java/edu/wpi/cscore/HttpCamera.java | 32 +- .../main/java/edu/wpi/cscore/ImageSink.java | 12 +- .../main/java/edu/wpi/cscore/ImageSource.java | 58 +- .../main/java/edu/wpi/cscore/MjpegServer.java | 40 +- .../main/java/edu/wpi/cscore/UsbCamera.java | 20 +- .../java/edu/wpi/cscore/UsbCameraInfo.java | 32 +- .../main/java/edu/wpi/cscore/VideoCamera.java | 36 +- .../main/java/edu/wpi/cscore/VideoEvent.java | 82 +- .../java/edu/wpi/cscore/VideoException.java | 4 +- .../java/edu/wpi/cscore/VideoListener.java | 11 +- .../main/java/edu/wpi/cscore/VideoMode.java | 35 +- .../java/edu/wpi/cscore/VideoProperty.java | 25 +- .../main/java/edu/wpi/cscore/VideoSink.java | 50 +- .../main/java/edu/wpi/cscore/VideoSource.java | 108 ++- .../java/edu/wpi/cscore/raw/RawFrame.java | 68 +- .../main/java/edu/wpi/cscore/raw/RawSink.java | 32 +- .../java/edu/wpi/cscore/raw/RawSource.java | 20 +- .../java/edu/wpi/cscore/UsbCameraTest.java | 21 +- .../dev/java/edu/wpi/first/hal/DevMain.java | 7 +- .../edu/wpi/first/hal/AccumulatorResult.java | 16 +- .../edu/wpi/first/hal/AddressableLEDJNI.java | 7 +- .../edu/wpi/first/hal/AllianceStationID.java | 7 +- .../java/edu/wpi/first/hal/AnalogGyroJNI.java | 9 +- .../java/edu/wpi/first/hal/AnalogJNI.java | 39 +- .../java/edu/wpi/first/hal/CANAPIJNI.java | 12 +- .../main/java/edu/wpi/first/hal/CANData.java | 6 +- .../java/edu/wpi/first/hal/ControlWord.java | 13 +- .../java/edu/wpi/first/hal/CounterJNI.java | 25 +- .../java/edu/wpi/first/hal/DutyCycleJNI.java | 4 + .../java/edu/wpi/first/hal/EncoderJNI.java | 20 +- hal/src/main/java/edu/wpi/first/hal/HAL.java | 50 +- .../main/java/edu/wpi/first/hal/HALUtil.java | 4 +- .../main/java/edu/wpi/first/hal/HALValue.java | 14 +- .../main/java/edu/wpi/first/hal/I2CJNI.java | 25 +- .../java/edu/wpi/first/hal/InterruptJNI.java | 17 +- .../java/edu/wpi/first/hal/JNIWrapper.java | 19 +- .../java/edu/wpi/first/hal/MatchInfoData.java | 36 +- .../java/edu/wpi/first/hal/NotifierJNI.java | 26 +- .../wpi/first/hal/PWMConfigDataResult.java | 24 +- .../main/java/edu/wpi/first/hal/PWMJNI.java | 22 +- .../main/java/edu/wpi/first/hal/SPIJNI.java | 32 +- .../java/edu/wpi/first/hal/SimBoolean.java | 4 +- .../java/edu/wpi/first/hal/SimDevice.java | 46 +- .../java/edu/wpi/first/hal/SimDeviceJNI.java | 115 +-- .../java/edu/wpi/first/hal/SimDouble.java | 4 +- .../main/java/edu/wpi/first/hal/SimEnum.java | 4 +- .../main/java/edu/wpi/first/hal/SimValue.java | 4 +- .../first/hal/can/CANExceptionFactory.java | 9 +- .../java/edu/wpi/first/hal/can/CANJNI.java | 9 +- .../java/edu/wpi/first/hal/can/CANStatus.java | 32 +- .../hal/simulation/AccelerometerDataJNI.java | 30 +- .../hal/simulation/AddressableLEDDataJNI.java | 27 +- .../hal/simulation/AnalogGyroDataJNI.java | 18 +- .../first/hal/simulation/AnalogInDataJNI.java | 54 +- .../hal/simulation/AnalogOutDataJNI.java | 12 +- .../hal/simulation/AnalogTriggerDataJNI.java | 18 +- .../wpi/first/hal/simulation/DIODataJNI.java | 30 +- .../hal/simulation/DigitalPWMDataJNI.java | 18 +- .../hal/simulation/DriverStationDataJNI.java | 65 +- .../hal/simulation/DutyCycleDataJNI.java | 18 +- .../first/hal/simulation/EncoderDataJNI.java | 51 +- .../wpi/first/hal/simulation/I2CDataJNI.java | 8 +- .../first/hal/simulation/NotifierDataJNI.java | 1 + .../wpi/first/hal/simulation/PCMDataJNI.java | 56 +- .../wpi/first/hal/simulation/PDPDataJNI.java | 23 +- .../wpi/first/hal/simulation/PWMDataJNI.java | 36 +- .../first/hal/simulation/RelayDataJNI.java | 24 +- .../first/hal/simulation/RoboRioDataJNI.java | 90 +- .../simulation/SPIAccelerometerDataJNI.java | 30 +- .../wpi/first/hal/simulation/SPIDataJNI.java | 12 +- .../hal/simulation/SimDeviceDataJNI.java | 30 +- .../hal/simulation/SimValueCallback.java | 3 +- .../hal/simulation/SimValueCallback2.java | 3 +- .../first/hal/simulation/SimulatorJNI.java | 10 + .../first/hal/util/AllocationException.java | 4 +- .../wpi/first/hal/util/BoundaryException.java | 4 +- .../first/hal/util/HalHandleException.java | 4 +- .../hal/util/UncleanStatusException.java | 10 +- myRobot/src/main/java/frc/robot/Main.java | 3 +- myRobot/src/main/java/frc/robot/MyRobot.java | 28 +- .../java/edu/wpi/first/ntcore/DevMain.java | 7 +- .../first/networktables/ConnectionInfo.java | 32 +- .../networktables/ConnectionNotification.java | 24 +- .../wpi/first/networktables/EntryInfo.java | 12 +- .../networktables/EntryListenerFlags.java | 33 +- .../networktables/EntryNotification.java | 36 +- .../wpi/first/networktables/LogMessage.java | 37 +- .../wpi/first/networktables/NetworkTable.java | 144 ++-- .../networktables/NetworkTableEntry.java | 186 ++--- .../networktables/NetworkTableInstance.java | 776 +++++++++--------- .../first/networktables/NetworkTableType.java | 31 +- .../networktables/NetworkTableValue.java | 4 +- .../first/networktables/NetworkTablesJNI.java | 138 +++- .../networktables/PersistentException.java | 4 +- .../wpi/first/networktables/RpcAnswer.java | 21 +- .../edu/wpi/first/networktables/RpcCall.java | 25 +- .../networktables/TableEntryListener.java | 12 +- .../first/networktables/TableListener.java | 4 +- .../wpilibj/networktables/NetworkTable.java | 640 +++++++-------- .../edu/wpi/first/wpilibj/tables/IRemote.java | 11 +- .../tables/IRemoteConnectionListener.java | 17 +- .../edu/wpi/first/wpilibj/tables/ITable.java | 194 +++-- .../first/wpilibj/tables/ITableListener.java | 54 +- .../networktables/ConnectionListenerTest.java | 28 +- .../networktables/EntryListenerTest.java | 26 +- .../wpi/first/networktables/LoggerTest.java | 7 +- .../first/networktables/NetworkTableTest.java | 17 +- styleguide/checkstyle.xml | 55 +- styleguide/suppressions.xml | 2 +- .../wpi/first/wpilibj2/commands/DevMain.java | 7 +- .../wpi/first/wpilibj2/command/Command.java | 189 ++--- .../first/wpilibj2/command/CommandBase.java | 51 +- .../wpilibj2/command/CommandGroupBase.java | 14 +- .../wpilibj2/command/CommandScheduler.java | 216 +++-- .../first/wpilibj2/command/CommandState.java | 7 +- .../wpilibj2/command/ConditionalCommand.java | 16 +- .../wpilibj2/command/FunctionalCommand.java | 22 +- .../wpilibj2/command/InstantCommand.java | 13 +- .../command/MecanumControllerCommand.java | 496 +++++------ .../wpilibj2/command/NotifierCommand.java | 16 +- .../first/wpilibj2/command/PIDCommand.java | 51 +- .../first/wpilibj2/command/PIDSubsystem.java | 16 +- .../command/ParallelCommandGroup.java | 12 +- .../command/ParallelDeadlineGroup.java | 22 +- .../wpilibj2/command/ParallelRaceGroup.java | 8 +- .../wpilibj2/command/PerpetualCommand.java | 6 +- .../first/wpilibj2/command/PrintCommand.java | 4 +- .../wpilibj2/command/ProfiledPIDCommand.java | 95 ++- .../command/ProfiledPIDSubsystem.java | 27 +- .../command/ProxyScheduleCommand.java | 6 +- .../wpilibj2/command/RamseteCommand.java | 139 ++-- .../first/wpilibj2/command/RunCommand.java | 17 +- .../wpilibj2/command/ScheduleCommand.java | 6 +- .../first/wpilibj2/command/SelectCommand.java | 19 +- .../command/SequentialCommandGroup.java | 11 +- .../wpilibj2/command/StartEndCommand.java | 16 +- .../wpi/first/wpilibj2/command/Subsystem.java | 54 +- .../first/wpilibj2/command/SubsystemBase.java | 19 +- .../command/SwerveControllerCommand.java | 155 ++-- .../command/TrapezoidProfileCommand.java | 21 +- .../command/TrapezoidProfileSubsystem.java | 43 +- .../first/wpilibj2/command/WaitCommand.java | 6 +- .../wpilibj2/command/WaitUntilCommand.java | 14 +- .../first/wpilibj2/command/button/Button.java | 43 +- .../command/button/InternalButton.java | 6 +- .../command/button/JoystickButton.java | 11 +- .../command/button/NetworkButton.java | 4 +- .../wpilibj2/command/button/POVButton.java | 11 +- .../wpilibj2/command/button/Trigger.java | 209 ++--- .../first/wpilibj2/MockHardwareExtension.java | 18 +- .../command/CommandDecoratorTest.java | 9 +- .../command/CommandGroupErrorTest.java | 11 +- .../command/CommandRequirementsTest.java | 13 +- .../wpilibj2/command/CommandScheduleTest.java | 4 +- .../wpilibj2/command/CommandTestBase.java | 20 +- .../command/ConditionalCommandTest.java | 7 +- .../wpilibj2/command/DefaultCommandTest.java | 4 +- .../command/FunctionalCommandTest.java | 11 +- .../wpilibj2/command/InstantCommandTest.java | 4 +- .../command/MecanumControllerCommandTest.java | 74 +- .../wpilibj2/command/NotifierCommandTest.java | 9 +- .../command/ParallelCommandGroupTest.java | 8 +- .../command/ParallelDeadlineGroupTest.java | 9 +- .../command/ParallelRaceGroupTest.java | 6 +- .../command/PerpetualCommandTest.java | 4 +- .../wpilibj2/command/PrintCommandTest.java | 9 +- .../command/ProxyScheduleCommandTest.java | 4 +- .../command/RobotDisabledCommandTest.java | 7 +- .../wpilibj2/command/RunCommandTest.java | 4 +- .../wpilibj2/command/ScheduleCommandTest.java | 4 +- .../first/wpilibj2/command/SchedulerTest.java | 4 +- .../wpilibj2/command/SelectCommandTest.java | 39 +- .../command/SequentialCommandGroupTest.java | 5 +- .../wpilibj2/command/StartEndCommandTest.java | 4 +- .../command/SwerveControllerCommandTest.java | 79 +- .../wpilibj2/command/WaitCommandTest.java | 15 +- .../command/WaitUntilCommandTest.java | 4 +- .../wpilibj2/command/button/ButtonTest.java | 10 +- .../command/button/NetworkButtonTest.java | 15 +- .../wpi/first/wpilibj/commands/DevMain.java | 7 +- .../edu/wpi/first/wpilibj/buttons/Button.java | 2 +- .../first/wpilibj/buttons/InternalButton.java | 6 +- .../first/wpilibj/buttons/JoystickButton.java | 7 +- .../first/wpilibj/buttons/NetworkButton.java | 4 +- .../wpi/first/wpilibj/buttons/POVButton.java | 7 +- .../wpi/first/wpilibj/buttons/Trigger.java | 6 +- .../wpi/first/wpilibj/command/Command.java | 175 ++-- .../first/wpilibj/command/CommandGroup.java | 113 ++- .../wpilibj/command/ConditionalCommand.java | 34 +- .../command/IllegalUseOfCommandException.java | 14 +- .../first/wpilibj/command/InstantCommand.java | 15 +- .../wpilibj/command/LinkedListElement.java | 4 +- .../wpi/first/wpilibj/command/PIDCommand.java | 101 ++- .../first/wpilibj/command/PIDSubsystem.java | 98 +-- .../first/wpilibj/command/PrintCommand.java | 4 +- .../wpi/first/wpilibj/command/Scheduler.java | 152 ++-- .../edu/wpi/first/wpilibj/command/Set.java | 9 +- .../first/wpilibj/command/StartCommand.java | 4 +- .../wpi/first/wpilibj/command/Subsystem.java | 41 +- .../first/wpilibj/command/TimedCommand.java | 16 +- .../first/wpilibj/command/WaitCommand.java | 2 +- .../wpilibj/command/WaitForChildren.java | 4 +- .../wpilibj/command/WaitUntilCommand.java | 4 +- .../first/wpilibj/MockHardwareExtension.java | 20 +- .../wpilibj/command/AbstractCommandTest.java | 16 +- .../wpi/first/wpilibj/command/ButtonTest.java | 9 +- .../command/CommandParallelGroupTest.java | 9 +- .../wpilibj/command/CommandScheduleTest.java | 8 +- .../command/CommandSequentialGroupTest.java | 7 +- .../wpilibj/command/CommandSupersedeTest.java | 19 +- .../wpilibj/command/CommandTimeoutTest.java | 22 +- .../command/ConditionalCommandTest.java | 52 +- .../wpilibj/command/DefaultCommandTest.java | 15 +- .../first/wpilibj/command/MockCommand.java | 38 +- .../command/MockConditionalCommand.java | 37 +- .../first/wpilibj/command/MockSubsystem.java | 4 +- .../shuffleboard/ShuffleboardTabTest.java | 68 +- .../java/edu/wpi/first/wpilibj/DevMain.java | 7 +- .../edu/wpi/first/wpilibj/ADXL345_I2C.java | 41 +- .../edu/wpi/first/wpilibj/ADXL345_SPI.java | 43 +- .../java/edu/wpi/first/wpilibj/ADXL362.java | 39 +- .../edu/wpi/first/wpilibj/ADXRS450_Gyro.java | 22 +- .../edu/wpi/first/wpilibj/AddressableLED.java | 22 +- .../first/wpilibj/AddressableLEDBuffer.java | 33 +- .../first/wpilibj/AnalogAccelerometer.java | 17 +- .../edu/wpi/first/wpilibj/AnalogEncoder.java | 30 +- .../edu/wpi/first/wpilibj/AnalogGyro.java | 36 +- .../edu/wpi/first/wpilibj/AnalogInput.java | 18 +- .../edu/wpi/first/wpilibj/AnalogOutput.java | 8 +- .../first/wpilibj/AnalogPotentiometer.java | 47 +- .../edu/wpi/first/wpilibj/AnalogTrigger.java | 18 +- .../first/wpilibj/AnalogTriggerOutput.java | 26 +- .../first/wpilibj/BuiltInAccelerometer.java | 5 +- .../main/java/edu/wpi/first/wpilibj/CAN.java | 62 +- .../edu/wpi/first/wpilibj/CameraServer.java | 468 ++++++----- .../edu/wpi/first/wpilibj/Compressor.java | 26 +- .../edu/wpi/first/wpilibj/Controller.java | 4 +- .../java/edu/wpi/first/wpilibj/Counter.java | 76 +- .../edu/wpi/first/wpilibj/CounterBase.java | 20 +- .../java/edu/wpi/first/wpilibj/DMC60.java | 24 +- .../first/wpilibj/DigitalGlitchFilter.java | 25 +- .../edu/wpi/first/wpilibj/DigitalOutput.java | 8 +- .../edu/wpi/first/wpilibj/DoubleSolenoid.java | 38 +- .../edu/wpi/first/wpilibj/DriverStation.java | 190 +++-- .../java/edu/wpi/first/wpilibj/DutyCycle.java | 29 +- .../wpi/first/wpilibj/DutyCycleEncoder.java | 44 +- .../java/edu/wpi/first/wpilibj/Encoder.java | 148 ++-- .../edu/wpi/first/wpilibj/Filesystem.java | 29 +- .../java/edu/wpi/first/wpilibj/GearTooth.java | 16 +- .../edu/wpi/first/wpilibj/GenericHID.java | 56 +- .../java/edu/wpi/first/wpilibj/GyroBase.java | 4 +- .../main/java/edu/wpi/first/wpilibj/I2C.java | 95 ++- .../wpilibj/InterruptHandlerFunction.java | 7 +- .../wpilibj/InterruptableSensorBase.java | 87 +- .../edu/wpi/first/wpilibj/IterativeRobot.java | 12 +- .../wpi/first/wpilibj/IterativeRobotBase.java | 57 +- .../java/edu/wpi/first/wpilibj/Jaguar.java | 21 +- .../java/edu/wpi/first/wpilibj/Joystick.java | 38 +- .../edu/wpi/first/wpilibj/MotorSafety.java | 8 +- .../edu/wpi/first/wpilibj/NidecBrushless.java | 25 +- .../java/edu/wpi/first/wpilibj/Notifier.java | 121 +-- .../java/edu/wpi/first/wpilibj/PIDBase.java | 55 +- .../edu/wpi/first/wpilibj/PIDController.java | 78 +- .../edu/wpi/first/wpilibj/PIDSourceType.java | 4 +- .../main/java/edu/wpi/first/wpilibj/PWM.java | 42 +- .../edu/wpi/first/wpilibj/PWMSparkMax.java | 27 +- .../wpi/first/wpilibj/PWMSpeedController.java | 6 +- .../edu/wpi/first/wpilibj/PWMTalonFX.java | 24 +- .../edu/wpi/first/wpilibj/PWMTalonSRX.java | 22 +- .../java/edu/wpi/first/wpilibj/PWMVenom.java | 22 +- .../edu/wpi/first/wpilibj/PWMVictorSPX.java | 24 +- .../first/wpilibj/PowerDistributionPanel.java | 16 +- .../edu/wpi/first/wpilibj/Preferences.java | 72 +- .../java/edu/wpi/first/wpilibj/Relay.java | 50 +- .../java/edu/wpi/first/wpilibj/Resource.java | 9 +- .../java/edu/wpi/first/wpilibj/RobotBase.java | 235 +++--- .../wpi/first/wpilibj/RobotController.java | 7 +- .../edu/wpi/first/wpilibj/RobotDrive.java | 227 ++--- .../edu/wpi/first/wpilibj/RobotState.java | 3 +- .../java/edu/wpi/first/wpilibj/SD540.java | 26 +- .../main/java/edu/wpi/first/wpilibj/SPI.java | 230 +++--- .../java/edu/wpi/first/wpilibj/Sendable.java | 11 +- .../edu/wpi/first/wpilibj/SendableBase.java | 5 +- .../edu/wpi/first/wpilibj/SensorUtil.java | 47 +- .../edu/wpi/first/wpilibj/SerialPort.java | 93 ++- .../java/edu/wpi/first/wpilibj/Servo.java | 7 +- .../wpi/first/wpilibj/SlewRateLimiter.java | 13 +- .../java/edu/wpi/first/wpilibj/Solenoid.java | 16 +- .../java/edu/wpi/first/wpilibj/Spark.java | 26 +- .../wpi/first/wpilibj/SpeedController.java | 16 +- .../first/wpilibj/SpeedControllerGroup.java | 11 +- .../java/edu/wpi/first/wpilibj/Talon.java | 21 +- .../java/edu/wpi/first/wpilibj/Threads.java | 33 +- .../edu/wpi/first/wpilibj/TimedRobot.java | 48 +- .../java/edu/wpi/first/wpilibj/Timer.java | 8 +- .../java/edu/wpi/first/wpilibj/Tracer.java | 37 +- .../edu/wpi/first/wpilibj/Ultrasonic.java | 56 +- .../java/edu/wpi/first/wpilibj/Victor.java | 30 +- .../java/edu/wpi/first/wpilibj/VictorSP.java | 24 +- .../java/edu/wpi/first/wpilibj/Watchdog.java | 37 +- .../edu/wpi/first/wpilibj/XboxController.java | 11 +- .../wpilibj/controller/ControllerUtil.java | 10 +- .../controller/HolonomicDriveController.java | 61 +- .../wpilibj/controller/PIDController.java | 52 +- .../controller/ProfiledPIDController.java | 76 +- .../wpilibj/controller/RamseteController.java | 106 ++- .../wpilibj/drive/DifferentialDrive.java | 110 +-- .../first/wpilibj/drive/KilloughDrive.java | 106 ++- .../wpi/first/wpilibj/drive/MecanumDrive.java | 100 +-- .../first/wpilibj/drive/RobotDriveBase.java | 31 +- .../edu/wpi/first/wpilibj/drive/Vector2d.java | 9 +- .../edu/wpi/first/wpilibj/filters/Filter.java | 4 +- .../wpilibj/filters/LinearDigitalFilter.java | 31 +- .../wpilibj/interfaces/Accelerometer.java | 11 +- .../wpi/first/wpilibj/interfaces/Gyro.java | 32 +- .../wpilibj/interfaces/Potentiometer.java | 4 +- .../first/wpilibj/livewindow/LiveWindow.java | 112 +-- .../wpilibj/shuffleboard/BuiltInLayouts.java | 10 +- .../wpilibj/shuffleboard/BuiltInWidgets.java | 334 +++++--- .../wpilibj/shuffleboard/ComplexWidget.java | 1 - .../wpilibj/shuffleboard/ContainerHelper.java | 17 +- .../wpilibj/shuffleboard/EventImportance.java | 22 +- .../wpilibj/shuffleboard/LayoutType.java | 4 +- .../shuffleboard/RecordingController.java | 15 +- .../shuffleboard/SendableCameraWrapper.java | 21 +- .../wpilibj/shuffleboard/Shuffleboard.java | 50 +- .../shuffleboard/ShuffleboardComponent.java | 18 +- .../shuffleboard/ShuffleboardContainer.java | 62 +- .../shuffleboard/ShuffleboardInstance.java | 15 +- .../shuffleboard/ShuffleboardLayout.java | 41 +- .../shuffleboard/ShuffleboardRoot.java | 21 +- .../wpilibj/shuffleboard/ShuffleboardTab.java | 39 +- .../shuffleboard/ShuffleboardValue.java | 14 +- .../shuffleboard/ShuffleboardWidget.java | 5 +- .../wpilibj/shuffleboard/SimpleWidget.java | 9 +- .../shuffleboard/SuppliedValueWidget.java | 20 +- .../wpilibj/shuffleboard/WidgetType.java | 4 +- .../wpilibj/simulation/ADXRS450_GyroSim.java | 4 +- .../wpilibj/simulation/AddressableLEDSim.java | 22 +- .../wpilibj/simulation/AnalogEncoderSim.java | 15 +- .../wpilibj/simulation/AnalogGyroSim.java | 10 +- .../wpilibj/simulation/AnalogInputSim.java | 43 +- .../wpilibj/simulation/AnalogOutputSim.java | 8 +- .../wpilibj/simulation/AnalogTriggerSim.java | 26 +- .../first/wpilibj/simulation/BatterySim.java | 29 +- .../simulation/BuiltInAccelerometerSim.java | 18 +- .../wpilibj/simulation/CallbackStore.java | 2 +- .../wpi/first/wpilibj/simulation/DIOSim.java | 14 +- .../simulation/DifferentialDrivetrainSim.java | 263 +++--- .../wpilibj/simulation/DigitalPWMSim.java | 14 +- .../wpilibj/simulation/DriverStationSim.java | 50 +- .../simulation/DutyCycleEncoderSim.java | 12 +- .../wpilibj/simulation/DutyCycleSim.java | 14 +- .../first/wpilibj/simulation/ElevatorSim.java | 117 +-- .../first/wpilibj/simulation/EncoderSim.java | 34 +- .../first/wpilibj/simulation/FlywheelSim.java | 52 +- .../wpilibj/simulation/GenericHIDSim.java | 13 +- .../wpi/first/wpilibj/simulation/I2CSim.java | 2 + .../first/wpilibj/simulation/JoystickSim.java | 7 +- .../wpilibj/simulation/LinearSystemSim.java | 44 +- .../first/wpilibj/simulation/Mechanism2D.java | 12 +- .../first/wpilibj/simulation/NotifierSim.java | 7 +- .../wpi/first/wpilibj/simulation/PCMSim.java | 46 +- .../wpi/first/wpilibj/simulation/PDPSim.java | 19 +- .../wpi/first/wpilibj/simulation/PWMSim.java | 16 +- .../first/wpilibj/simulation/RelaySim.java | 18 +- .../first/wpilibj/simulation/RoboRioSim.java | 94 ++- .../simulation/SPIAccelerometerSim.java | 10 + .../wpi/first/wpilibj/simulation/SPISim.java | 5 +- .../wpilibj/simulation/SimDeviceSim.java | 20 +- .../first/wpilibj/simulation/SimHooks.java | 3 +- .../simulation/SingleJointedArmSim.java | 189 +++-- .../wpilibj/simulation/XboxControllerSim.java | 4 +- .../first/wpilibj/smartdashboard/Field2d.java | 31 +- .../wpilibj/smartdashboard/FieldObject2d.java | 15 +- .../smartdashboard/ListenerExecutor.java | 4 +- .../smartdashboard/SendableBuilder.java | 101 ++- .../smartdashboard/SendableBuilderImpl.java | 198 +++-- .../smartdashboard/SendableChooser.java | 100 +-- .../smartdashboard/SendableRegistry.java | 121 ++- .../smartdashboard/SmartDashboard.java | 157 ++-- .../edu/wpi/first/wpilibj/util/Color.java | 583 ++++--------- .../edu/wpi/first/wpilibj/util/Color8Bit.java | 19 +- .../wpi/first/wpilibj/util/ErrorMessages.java | 21 +- .../first/wpilibj/vision/VisionPipeline.java | 10 +- .../first/wpilibj/vision/VisionRunner.java | 49 +- .../first/wpilibj/vision/VisionThread.java | 19 +- .../first/wpilibj/vision/package-info.java | 8 +- .../wpilibj/AddressableLEDBufferTest.java | 23 +- .../wpi/first/wpilibj/DriverStationTest.java | 35 +- .../edu/wpi/first/wpilibj/JoystickTest.java | 5 +- .../first/wpilibj/MockHardwareExtension.java | 18 +- .../wpi/first/wpilibj/PreferencesTest.java | 50 +- .../first/wpilibj/SlewRateLimiterTest.java | 4 +- .../wpilibj/SpeedControllerGroupTest.java | 66 +- .../edu/wpi/first/wpilibj/TimedRobotTest.java | 87 +- .../wpi/first/wpilibj/UtilityClassTest.java | 28 +- .../edu/wpi/first/wpilibj/WatchdogTest.java | 87 +- .../wpi/first/wpilibj/XboxControllerTest.java | 9 +- .../wpi/first/wpilibj/can/CANStatusTest.java | 5 +- .../controller/ControllerUtilTest.java | 4 +- .../HolonomicDriveControllerTest.java | 46 +- .../controller/PIDInputOutputTest.java | 6 +- .../wpilibj/controller/PIDToleranceTest.java | 29 +- .../controller/ProfiledPIDControllerTest.java | 9 +- .../ProfiledPIDInputOutputTest.java | 12 +- .../controller/RamseteControllerTest.java | 32 +- .../wpi/first/wpilibj/drive/DriveTest.java | 228 +++-- .../edu/wpi/first/wpilibj/hal/JNITest.java | 3 +- .../first/wpilibj/hal/MatchInfoDataTest.java | 10 +- .../shuffleboard/MockActuatorSendable.java | 4 +- .../ShuffleboardInstanceTest.java | 77 +- .../shuffleboard/ShuffleboardTest.java | 6 +- .../shuffleboard/SuppliedValueWidgetTest.java | 36 +- .../simulation/AccelerometerSimTest.java | 18 +- .../simulation/AnalogEncoderSimTest.java | 4 +- .../simulation/AnalogInputSimTest.java | 9 +- .../simulation/AnalogOutputSimTest.java | 19 +- .../DifferentialDrivetrainSimTest.java | 90 +- .../wpilibj/simulation/ElevatorSimTest.java | 38 +- .../wpilibj/simulation/SimDeviceSimTest.java | 107 ++- .../simulation/SingleJointedArmSimTest.java | 22 +- .../smartdashboard/SmartDashboardTest.java | 16 +- .../edu/wpi/first/wpilibj/util/ColorTest.java | 21 +- .../first/wpilibj/util/ErrorMessagesTest.java | 11 +- .../commands/command/ReplaceMeCommand.java | 12 +- .../commands/command2/ReplaceMeCommand.java | 13 +- .../commandgroup/ReplaceMeCommandGroup.java | 4 +- .../emptyclass/ReplaceMeEmptyClass.java | 7 +- .../instant/ReplaceMeInstantCommand.java | 12 +- .../ReplaceMeInstantCommand.java | 3 +- .../ReplaceMeParallelCommandGroup.java | 4 +- .../ReplaceMeParallelDeadlineGroup.java | 4 +- .../ReplaceMeParallelRaceGroup.java | 4 +- .../pidcommand/ReplaceMePIDCommand.java | 4 +- .../pidsubsystem/ReplaceMePIDSubsystem.java | 8 +- .../pidsubsystem2/ReplaceMePIDSubsystem.java | 4 +- .../ReplaceMeProfiledPIDCommand.java | 8 +- .../ReplaceMeProfiledPIDSubsystem.java | 13 +- .../ReplaceMeSequentialCommandGroup.java | 4 +- .../subsystem/ReplaceMeSubsystem.java | 4 +- .../subsystem2/ReplaceMeSubsystem.java | 8 +- .../commands/timed/ReplaceMeTimedCommand.java | 20 +- .../ReplaceMeTrapezoidProfileCommand.java | 4 +- .../ReplaceMeTrapezoidProfileSubsystem.java | 4 +- .../commands/trigger/ReplaceMeTrigger.java | 4 +- .../wpilibj/examples/addressableled/Main.java | 9 +- .../wpilibj/examples/arcadedrive/Main.java | 9 +- .../wpilibj/examples/arcadedrive/Robot.java | 4 +- .../arcadedrivexboxcontroller/Main.java | 9 +- .../arcadedrivexboxcontroller/Robot.java | 8 +- .../wpilibj/examples/armbot/Constants.java | 10 +- .../first/wpilibj/examples/armbot/Main.java | 3 +- .../first/wpilibj/examples/armbot/Robot.java | 37 +- .../examples/armbot/RobotContainer.java | 64 +- .../armbot/subsystems/ArmSubsystem.java | 27 +- .../armbot/subsystems/DriveSubsystem.java | 35 +- .../examples/armbotoffboard/Constants.java | 8 +- .../ExampleSmartMotorController.java | 35 +- .../wpilibj/examples/armbotoffboard/Main.java | 3 +- .../examples/armbotoffboard/Robot.java | 40 +- .../armbotoffboard/RobotContainer.java | 38 +- .../subsystems/ArmSubsystem.java | 29 +- .../subsystems/DriveSubsystem.java | 35 +- .../wpilibj/examples/armsimulation/Main.java | 9 +- .../wpilibj/examples/armsimulation/Robot.java | 31 +- .../wpilibj/examples/axiscamera/Main.java | 9 +- .../wpilibj/examples/axiscamera/Robot.java | 80 +- .../first/wpilibj/examples/canpdp/Main.java | 9 +- .../differentialdrivebot/Drivetrain.java | 38 +- .../examples/differentialdrivebot/Main.java | 9 +- .../examples/differentialdrivebot/Robot.java | 4 +- .../Drivetrain.java | 56 +- .../differentialdriveposeestimator/Main.java | 9 +- .../differentialdriveposeestimator/Robot.java | 4 +- .../drivedistanceoffboard/Constants.java | 4 +- .../ExampleSmartMotorController.java | 35 +- .../examples/drivedistanceoffboard/Main.java | 3 +- .../examples/drivedistanceoffboard/Robot.java | 40 +- .../drivedistanceoffboard/RobotContainer.java | 64 +- .../commands/DriveDistanceProfiled.java | 14 +- .../subsystems/DriveSubsystem.java | 36 +- .../examples/dutycycleencoder/Main.java | 9 +- .../examples/dutycycleencoder/Robot.java | 1 - .../wpilibj/examples/dutycycleinput/Main.java | 9 +- .../examples/dutycycleinput/Robot.java | 1 - .../examples/elevatorprofiledpid/Main.java | 9 +- .../examples/elevatorsimulation/Main.java | 9 +- .../examples/elevatorsimulation/Robot.java | 30 +- .../ExampleSmartMotorController.java | 35 +- .../elevatortrapezoidprofile/Main.java | 9 +- .../elevatortrapezoidprofile/Robot.java | 6 +- .../first/wpilibj/examples/encoder/Main.java | 9 +- .../first/wpilibj/examples/encoder/Robot.java | 7 +- .../examples/frisbeebot/Constants.java | 10 +- .../wpilibj/examples/frisbeebot/Main.java | 3 +- .../wpilibj/examples/frisbeebot/Robot.java | 40 +- .../examples/frisbeebot/RobotContainer.java | 83 +- .../frisbeebot/subsystems/DriveSubsystem.java | 35 +- .../subsystems/ShooterSubsystem.java | 17 +- .../first/wpilibj/examples/gearsbot/Main.java | 3 +- .../wpilibj/examples/gearsbot/Robot.java | 39 +- .../examples/gearsbot/RobotContainer.java | 35 +- .../gearsbot/commands/Autonomous.java | 17 +- .../examples/gearsbot/commands/CloseClaw.java | 7 +- .../gearsbot/commands/DriveStraight.java | 17 +- .../examples/gearsbot/commands/OpenClaw.java | 7 +- .../examples/gearsbot/commands/Pickup.java | 12 +- .../examples/gearsbot/commands/Place.java | 12 +- .../gearsbot/commands/PrepareToPickup.java | 15 +- .../gearsbot/commands/SetDistanceToBox.java | 17 +- .../commands/SetElevatorSetpoint.java | 4 +- .../gearsbot/commands/SetWristSetpoint.java | 6 +- .../examples/gearsbot/commands/TankDrive.java | 15 +- .../examples/gearsbot/subsystems/Claw.java | 24 +- .../gearsbot/subsystems/DriveTrain.java | 22 +- .../gearsbot/subsystems/Elevator.java | 19 +- .../examples/gearsbot/subsystems/Wrist.java | 19 +- .../wpilibj/examples/gettingstarted/Main.java | 9 +- .../examples/gettingstarted/Robot.java | 44 +- .../wpi/first/wpilibj/examples/gyro/Main.java | 9 +- .../first/wpilibj/examples/gyro/Robot.java | 15 +- .../examples/gyrodrivecommands/Constants.java | 8 +- .../examples/gyrodrivecommands/Main.java | 3 +- .../examples/gyrodrivecommands/Robot.java | 40 +- .../gyrodrivecommands/RobotContainer.java | 70 +- .../commands/TurnToAngle.java | 9 +- .../commands/TurnToAngleProfiled.java | 22 +- .../subsystems/DriveSubsystem.java | 39 +- .../wpilibj/examples/gyromecanum/Main.java | 9 +- .../wpilibj/examples/gyromecanum/Robot.java | 13 +- .../examples/hatchbotinlined/Constants.java | 10 +- .../examples/hatchbotinlined/Main.java | 3 +- .../examples/hatchbotinlined/Robot.java | 39 +- .../hatchbotinlined/RobotContainer.java | 65 +- .../commands/ComplexAutoCommand.java | 29 +- .../subsystems/DriveSubsystem.java | 35 +- .../subsystems/HatchSubsystem.java | 27 +- .../hatchbottraditional/Constants.java | 10 +- .../examples/hatchbottraditional/Main.java | 3 +- .../examples/hatchbottraditional/Robot.java | 39 +- .../hatchbottraditional/RobotContainer.java | 34 +- .../commands/ComplexAuto.java | 16 +- .../commands/DefaultDrive.java | 6 +- .../commands/DriveDistance.java | 3 +- .../commands/GrabHatch.java | 7 +- .../commands/HalveDriveSpeed.java | 3 +- .../commands/ReleaseHatch.java | 7 +- .../subsystems/DriveSubsystem.java | 35 +- .../subsystems/HatchSubsystem.java | 27 +- .../wpilibj/examples/hidrumble/Main.java | 9 +- .../wpilibj/examples/hidrumble/Robot.java | 4 +- .../examples/intermediatevision/Main.java | 9 +- .../examples/intermediatevision/Robot.java | 79 +- .../examples/mecanumbot/Drivetrain.java | 65 +- .../wpilibj/examples/mecanumbot/Main.java | 9 +- .../wpilibj/examples/mecanumbot/Robot.java | 6 +- .../mecanumcontrollercommand/Constants.java | 21 +- .../mecanumcontrollercommand/Main.java | 3 +- .../mecanumcontrollercommand/Robot.java | 40 +- .../RobotContainer.java | 103 ++- .../subsystems/DriveSubsystem.java | 90 +- .../wpilibj/examples/mecanumdrive/Main.java | 9 +- .../wpilibj/examples/mecanumdrive/Robot.java | 8 +- .../mecanumdriveposeestimator/Drivetrain.java | 83 +- .../ExampleGlobalMeasurementSensor.java | 12 +- .../mecanumdriveposeestimator/Main.java | 9 +- .../mecanumdriveposeestimator/Robot.java | 6 +- .../wpilibj/examples/motorcontrol/Main.java | 9 +- .../wpilibj/examples/motorcontrol/Robot.java | 9 +- .../examples/motorcontrolencoder/Main.java | 9 +- .../examples/motorcontrolencoder/Robot.java | 13 +- .../first/wpilibj/examples/pacgoat/Main.java | 9 +- .../first/wpilibj/examples/pacgoat/OI.java | 27 +- .../first/wpilibj/examples/pacgoat/Robot.java | 27 +- .../pacgoat/commands/CheckForHotGoal.java | 8 +- .../examples/pacgoat/commands/CloseClaw.java | 4 +- .../examples/pacgoat/commands/Collect.java | 9 +- .../commands/DriveAndShootAutonomous.java | 9 +- .../pacgoat/commands/DriveForward.java | 10 +- .../pacgoat/commands/DriveWithJoystick.java | 5 +- .../pacgoat/commands/ExtendShooter.java | 5 +- .../examples/pacgoat/commands/LowGoal.java | 10 +- .../examples/pacgoat/commands/OpenClaw.java | 5 +- .../pacgoat/commands/SetCollectionSpeed.java | 7 +- .../pacgoat/commands/SetPivotSetpoint.java | 7 +- .../examples/pacgoat/commands/Shoot.java | 9 +- .../pacgoat/commands/WaitForBall.java | 6 +- .../pacgoat/commands/WaitForPressure.java | 5 +- .../pacgoat/subsystems/Collector.java | 33 +- .../pacgoat/subsystems/DriveTrain.java | 46 +- .../examples/pacgoat/subsystems/Pivot.java | 39 +- .../pacgoat/subsystems/Pneumatics.java | 21 +- .../examples/pacgoat/subsystems/Shooter.java | 81 +- .../pacgoat/triggers/DoubleButton.java | 6 +- .../examples/potentiometerpid/Main.java | 9 +- .../examples/potentiometerpid/Robot.java | 8 +- .../wpilibj/examples/quickvision/Main.java | 9 +- .../wpilibj/examples/quickvision/Robot.java | 7 +- .../examples/ramsetecommand/Constants.java | 8 +- .../wpilibj/examples/ramsetecommand/Main.java | 3 +- .../examples/ramsetecommand/Robot.java | 40 +- .../ramsetecommand/RobotContainer.java | 104 ++- .../subsystems/DriveSubsystem.java | 45 +- .../ramsetecontroller/Drivetrain.java | 40 +- .../examples/ramsetecontroller/Main.java | 9 +- .../examples/ramsetecontroller/Robot.java | 18 +- .../first/wpilibj/examples/relay/Main.java | 9 +- .../first/wpilibj/examples/relay/Robot.java | 1 - .../examples/romireference/Constants.java | 7 +- .../wpilibj/examples/romireference/Main.java | 3 +- .../wpilibj/examples/romireference/Robot.java | 39 +- .../romireference/RobotContainer.java | 31 +- .../commands/TeleopArcadeDrive.java | 20 +- .../romireference/subsystems/Drivetrain.java | 4 +- .../romireference/subsystems/OnBoardIO.java | 35 +- .../schedulereventlogging/Constants.java | 10 +- .../examples/schedulereventlogging/Main.java | 3 +- .../examples/schedulereventlogging/Robot.java | 39 +- .../schedulereventlogging/RobotContainer.java | 44 +- .../examples/selectcommand/Constants.java | 10 +- .../wpilibj/examples/selectcommand/Main.java | 3 +- .../wpilibj/examples/selectcommand/Robot.java | 39 +- .../selectcommand/RobotContainer.java | 24 +- .../wpilibj/examples/shuffleboard/Main.java | 9 +- .../wpilibj/examples/shuffleboard/Robot.java | 23 +- .../Drivetrain.java | 41 +- .../Main.java | 9 +- .../Robot.java | 22 +- .../first/wpilibj/examples/solenoid/Main.java | 9 +- .../wpilibj/examples/solenoid/Robot.java | 1 - .../wpilibj/examples/statespacearm/Main.java | 9 +- .../wpilibj/examples/statespacearm/Robot.java | 73 +- .../Constants.java | 21 +- .../Main.java | 9 +- .../Robot.java | 8 +- .../RobotContainer.java | 97 +-- .../subsystems/DriveSubsystem.java | 78 +- .../examples/statespaceelevator/Main.java | 9 +- .../examples/statespaceelevator/Robot.java | 75 +- .../examples/statespaceflywheel/Main.java | 9 +- .../examples/statespaceflywheel/Robot.java | 57 +- .../statespaceflywheelsysid/Main.java | 9 +- .../statespaceflywheelsysid/Robot.java | 46 +- .../examples/swervebot/Drivetrain.java | 37 +- .../wpilibj/examples/swervebot/Main.java | 9 +- .../examples/swervebot/SwerveModule.java | 26 +- .../swervecontrollercommand/Constants.java | 34 +- .../swervecontrollercommand/Main.java | 3 +- .../swervecontrollercommand/Robot.java | 40 +- .../RobotContainer.java | 89 +- .../subsystems/DriveSubsystem.java | 99 ++- .../subsystems/SwerveModule.java | 46 +- .../swervesdriveposeestimator/Drivetrain.java | 53 +- .../ExampleGlobalMeasurementSensor.java | 13 +- .../swervesdriveposeestimator/Main.java | 9 +- .../SwerveModule.java | 26 +- .../wpilibj/examples/tankdrive/Main.java | 9 +- .../wpilibj/examples/tankdrive/Robot.java | 4 +- .../tankdrivexboxcontroller/Main.java | 9 +- .../tankdrivexboxcontroller/Robot.java | 8 +- .../wpilibj/examples/ultrasonic/Main.java | 9 +- .../wpilibj/examples/ultrasonic/Robot.java | 14 +- .../wpilibj/examples/ultrasonicpid/Main.java | 9 +- .../wpilibj/examples/ultrasonicpid/Robot.java | 12 +- .../templates/commandbased/Constants.java | 7 +- .../wpilibj/templates/commandbased/Main.java | 3 +- .../wpilibj/templates/commandbased/Robot.java | 39 +- .../commandbased/RobotContainer.java | 22 +- .../commandbased/commands/ExampleCommand.java | 13 +- .../subsystems/ExampleSubsystem.java | 8 +- .../templates/oldcommandbased/Main.java | 9 +- .../wpilibj/templates/oldcommandbased/OI.java | 4 +- .../templates/oldcommandbased/Robot.java | 61 +- .../templates/oldcommandbased/RobotMap.java | 7 +- .../commands/ExampleCommand.java | 16 +- .../subsystems/ExampleSubsystem.java | 5 +- .../templates/robotbaseskeleton/Main.java | 9 +- .../templates/robotbaseskeleton/Robot.java | 20 +- .../templates/romicommandbased/Constants.java | 7 +- .../templates/romicommandbased/Main.java | 3 +- .../templates/romicommandbased/Robot.java | 39 +- .../romicommandbased/RobotContainer.java | 22 +- .../commands/ExampleCommand.java | 13 +- .../subsystems/RomiDrivetrain.java | 4 +- .../wpilibj/templates/romitimed/Main.java | 9 +- .../wpilibj/templates/romitimed/Robot.java | 84 +- .../templates/romitimed/RomiDrivetrain.java | 4 +- .../first/wpilibj/templates/timed/Main.java | 9 +- .../first/wpilibj/templates/timed/Robot.java | 84 +- .../wpilibj/templates/timedskeleton/Main.java | 9 +- .../templates/timedskeleton/Robot.java | 42 +- .../first/wpilibj/AbstractInterruptTest.java | 130 ++- .../first/wpilibj/AnalogCrossConnectTest.java | 28 +- .../wpilibj/AnalogPotentiometerTest.java | 19 +- .../wpilibj/BuiltInAccelerometerTest.java | 21 +- .../wpi/first/wpilibj/ConstantsPortsTest.java | 50 +- .../edu/wpi/first/wpilibj/CounterTest.java | 41 +- .../first/wpilibj/DIOCrossConnectTest.java | 45 +- .../wpilibj/DigitalGlitchFilterTest.java | 23 +- .../wpi/first/wpilibj/DriverStationTest.java | 15 +- .../edu/wpi/first/wpilibj/EncoderTest.java | 61 +- .../java/edu/wpi/first/wpilibj/GyroTest.java | 18 +- .../java/edu/wpi/first/wpilibj/MockDS.java | 72 +- .../wpi/first/wpilibj/MotorEncoderTest.java | 127 +-- .../wpi/first/wpilibj/MotorInvertingTest.java | 47 +- .../java/edu/wpi/first/wpilibj/PCMTest.java | 51 +- .../java/edu/wpi/first/wpilibj/PDPTest.java | 50 +- .../java/edu/wpi/first/wpilibj/PIDTest.java | 80 +- .../first/wpilibj/RelayCrossConnectTest.java | 60 +- .../edu/wpi/first/wpilibj/SampleTest.java | 11 +- .../java/edu/wpi/first/wpilibj/TimerTest.java | 15 +- .../wpi/first/wpilibj/WpiLibJTestSuite.java | 32 +- .../wpi/first/wpilibj/can/CANStatusTest.java | 3 +- .../fixtures/AnalogCrossConnectFixture.java | 11 +- .../fixtures/DIOCrossConnectFixture.java | 14 +- .../wpilibj/fixtures/FakeCounterFixture.java | 16 +- .../wpilibj/fixtures/FakeEncoderFixture.java | 13 +- .../wpilibj/fixtures/MotorEncoderFixture.java | 30 +- .../fixtures/RelayCrossConnectFixture.java | 11 +- .../first/wpilibj/fixtures/SampleFixture.java | 1 - .../fixtures/TiltPanCameraFixture.java | 16 +- .../mockhardware/FakeCounterSource.java | 28 +- .../mockhardware/FakeEncoderSource.java | 28 +- .../mockhardware/FakePotentiometerSource.java | 10 +- .../first/wpilibj/test/AbstractComsSetup.java | 100 +-- .../first/wpilibj/test/AbstractTestSuite.java | 40 +- .../wpilibj/test/AbstractTestSuiteTest.java | 69 +- .../first/wpilibj/test/AntJunitLanucher.java | 7 +- .../edu/wpi/first/wpilibj/test/QuickTest.java | 5 +- .../wpi/first/wpilibj/test/RepeatRule.java | 12 +- .../edu/wpi/first/wpilibj/test/TestBench.java | 51 +- .../edu/wpi/first/wpilibj/test/TestSuite.java | 123 +-- .../wpi/first/wpilibj/test/package-info.java | 11 +- .../edu/wpi/first/wpiutil/math/DevMain.java | 7 +- .../main/java/edu/wpi/first/math/Drake.java | 38 +- .../edu/wpi/first/math/MathSharedStore.java | 26 +- .../java/edu/wpi/first/math/WPIMathJNI.java | 51 +- .../edu/wpi/first/wpilibj/LinearFilter.java | 22 +- .../edu/wpi/first/wpilibj/MedianFilter.java | 13 +- .../wpilibj/controller/ArmFeedforward.java | 75 +- ...ontrolAffinePlantInversionFeedforward.java | 107 +-- .../controller/ElevatorFeedforward.java | 54 +- .../LinearPlantInversionFeedforward.java | 50 +- .../controller/LinearQuadraticRegulator.java | 135 ++- .../controller/SimpleMotorFeedforward.java | 54 +- .../wpilibj/estimator/AngleStatistics.java | 31 +- .../DifferentialDrivePoseEstimator.java | 356 ++++---- .../estimator/ExtendedKalmanFilter.java | 100 +-- .../first/wpilibj/estimator/KalmanFilter.java | 52 +- .../KalmanFilterLatencyCompensator.java | 70 +- .../estimator/MecanumDrivePoseEstimator.java | 254 +++--- .../estimator/MerweScaledSigmaPoints.java | 46 +- .../estimator/SwerveDrivePoseEstimator.java | 261 +++--- .../estimator/UnscentedKalmanFilter.java | 245 +++--- .../wpi/first/wpilibj/geometry/Pose2d.java | 94 ++- .../first/wpilibj/geometry/Rotation2d.java | 44 +- .../first/wpilibj/geometry/Transform2d.java | 19 +- .../first/wpilibj/geometry/Translation2d.java | 65 +- .../wpi/first/wpilibj/geometry/Twist2d.java | 21 +- .../wpilibj/kinematics/ChassisSpeeds.java | 74 +- .../DifferentialDriveKinematics.java | 43 +- .../kinematics/DifferentialDriveOdometry.java | 45 +- .../DifferentialDriveWheelSpeeds.java | 42 +- .../kinematics/MecanumDriveKinematics.java | 119 +-- .../kinematics/MecanumDriveMotorVoltages.java | 49 +- .../kinematics/MecanumDriveOdometry.java | 74 +- .../kinematics/MecanumDriveWheelSpeeds.java | 86 +- .../kinematics/SwerveDriveKinematics.java | 150 ++-- .../kinematics/SwerveDriveOdometry.java | 75 +- .../wpilibj/kinematics/SwerveModuleState.java | 23 +- .../first/wpilibj/math/Discretization.java | 96 +-- .../first/wpilibj/math/StateSpaceUtil.java | 117 ++- .../wpilibj/spline/CubicHermiteSpline.java | 57 +- .../wpilibj/spline/PoseWithCurvature.java | 10 +- .../wpilibj/spline/QuinticHermiteSpline.java | 59 +- .../edu/wpi/first/wpilibj/spline/Spline.java | 24 +- .../first/wpilibj/spline/SplineHelper.java | 145 ++-- .../wpilibj/spline/SplineParameterizer.java | 50 +- .../first/wpilibj/system/LinearSystem.java | 57 +- .../wpilibj/system/LinearSystemLoop.java | 166 ++-- .../wpilibj/system/NumericalJacobian.java | 62 +- .../wpi/first/wpilibj/system/RungeKutta.java | 51 +- .../first/wpilibj/system/plant/DCMotor.java | 98 ++- .../wpilibj/system/plant/LinearSystemId.java | 194 ++--- .../first/wpilibj/trajectory/Trajectory.java | 153 ++-- .../wpilibj/trajectory/TrajectoryConfig.java | 52 +- .../trajectory/TrajectoryGenerator.java | 132 +-- .../trajectory/TrajectoryParameterizer.java | 215 ++--- .../wpilibj/trajectory/TrajectoryUtil.java | 13 +- .../wpilibj/trajectory/TrapezoidProfile.java | 79 +- .../CentripetalAccelerationConstraint.java | 38 +- ...DifferentialDriveKinematicsConstraint.java | 40 +- .../DifferentialDriveVoltageConstraint.java | 71 +- .../EllipticalRegionConstraint.java | 48 +- .../constraint/MaxVelocityConstraint.java | 10 +- .../MecanumDriveKinematicsConstraint.java | 39 +- .../RectangularRegionConstraint.java | 39 +- .../SwerveDriveKinematicsConstraint.java | 39 +- .../constraint/TrajectoryConstraint.java | 41 +- .../edu/wpi/first/wpilibj/util/Units.java | 8 +- .../wpi/first/wpiutil/math/MatBuilder.java | 16 +- .../edu/wpi/first/wpiutil/math/MathUtil.java | 8 +- .../edu/wpi/first/wpiutil/math/Matrix.java | 207 +++-- .../wpi/first/wpiutil/math/MatrixUtils.java | 17 +- .../java/edu/wpi/first/wpiutil/math/Num.java | 4 +- .../first/wpiutil/math/SimpleMatrixUtils.java | 85 +- .../wpi/first/wpiutil/math/VecBuilder.java | 38 +- .../edu/wpi/first/wpiutil/math/Vector.java | 16 +- .../java/edu/wpi/first/math/DrakeTest.java | 52 +- .../edu/wpi/first/math/WPIMathJNITest.java | 4 +- .../wpi/first/wpilibj/LinearFilterTest.java | 56 +- .../wpi/first/wpilibj/MedianFilterTest.java | 4 +- .../wpi/first/wpilibj/UtilityClassTest.java | 28 +- ...olAffinePlantInversionFeedforwardTest.java | 34 +- .../LinearPlantInversionFeedforwardTest.java | 15 +- .../LinearQuadraticRegulatorTest.java | 43 +- .../controller/LinearSystemLoopTest.java | 69 +- .../estimator/AngleStatisticsTest.java | 24 +- .../DifferentialDrivePoseEstimatorTest.java | 80 +- .../estimator/ExtendedKalmanFilterTest.java | 127 +-- .../wpilibj/estimator/KalmanFilterTest.java | 188 +++-- .../MecanumDrivePoseEstimatorTest.java | 98 +-- .../estimator/MerweScaledSigmaPointsTest.java | 34 +- .../SwerveDrivePoseEstimatorTest.java | 100 ++- .../estimator/UnscentedKalmanFilterTest.java | 300 ++++--- .../first/wpilibj/geometry/Pose2dTest.java | 19 +- .../wpilibj/geometry/Rotation2dTest.java | 13 +- .../wpilibj/geometry/Transform2dTest.java | 21 +- .../wpilibj/geometry/Translation2dTest.java | 25 +- .../first/wpilibj/geometry/Twist2dTest.java | 16 +- .../wpilibj/kinematics/ChassisSpeedsTest.java | 15 +- .../DifferentialDriveKinematicsTest.java | 26 +- .../DifferentialDriveOdometryTest.java | 16 +- .../MecanumDriveKinematicsTest.java | 47 +- .../kinematics/MecanumDriveOdometryTest.java | 28 +- .../kinematics/SwerveDriveKinematicsTest.java | 74 +- .../kinematics/SwerveDriveOdometryTest.java | 51 +- .../wpilibj/math/StateSpaceUtilTest.java | 68 +- .../spline/CubicHermiteSplineTest.java | 87 +- .../spline/QuinticHermiteSplineTest.java | 69 +- .../wpilibj/system/LinearSystemIDTest.java | 42 +- .../first/wpilibj/system/RungeKuttaTest.java | 20 +- ...CentripetalAccelerationConstraintTest.java | 17 +- ...erentialDriveKinematicsConstraintTest.java | 26 +- ...ifferentialDriveVoltageConstraintTest.java | 93 ++- .../EllipticalRegionConstraintTest.java | 56 +- .../RectangularRegionConstraintTest.java | 35 +- .../trajectory/TrajectoryGeneratorTest.java | 62 +- .../trajectory/TrajectoryJsonTest.java | 20 +- .../trajectory/TrajectoryTransformTest.java | 35 +- .../trajectory/TrapezoidProfileTest.java | 12 +- .../edu/wpi/first/wpilibj/util/UnitsTest.java | 5 +- .../wpi/first/wpiutil/math/MathUtilTest.java | 4 +- .../wpi/first/wpiutil/math/MatrixTest.java | 101 +-- .../java/edu/wpi/first/wpiutil/DevMain.java | 7 +- .../edu/wpi/first/wpiutil/CircularBuffer.java | 21 +- .../first/wpiutil/CombinedRuntimeLoader.java | 37 +- .../edu/wpi/first/wpiutil/ErrorMessages.java | 21 +- .../wpi/first/wpiutil/RuntimeDetector.java | 31 +- .../edu/wpi/first/wpiutil/RuntimeLoader.java | 33 +- .../edu/wpi/first/wpiutil/WPIUtilJNI.java | 13 +- .../wpi/first/wpiutil/net/PortForwarder.java | 10 +- .../wpi/first/wpiutil/CircularBufferTest.java | 19 +- .../edu/wpi/first/wpiutil/WPIUtilJNITest.java | 4 +- 883 files changed, 16526 insertions(+), 17751 deletions(-) mode change 100755 => 100644 wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hidrumble/Robot.java mode change 100755 => 100644 wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java mode change 100755 => 100644 wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Robot.java mode change 100755 => 100644 wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Robot.java 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": , - "ntmode": <"client" or "server", "client" if unspecified> - "cameras": [ - { - "name": - "path": - "pixel format": <"MJPEG", "YUYV", etc> // optional - "width":