Clean up Java warning suppressions (#4433)

Checkstyle naming conventions were changed to allow most of what's in wpimath. Naming rules were disabled completely in wpimath since almost all suppressions are for math notation.
2026-06-24 01:31:46 +00:00 · 2022-09-24 00:13:55 -07:00
parent 17f504f548
commit a791470de7
233 changed files with 282 additions and 881 deletions
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
@@ -611,7 +611,6 @@ public class ADIS16448_IMU implements AutoCloseable, NTSendable {
    m_spi.write(buf, 2);
  }

-  /** {@inheritDoc} */
  public void reset() {
    synchronized (this) {
      m_integ_gyro_angle_x = 0.0;
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
@@ -636,7 +636,6 @@ public class ADIS16470_IMU implements AutoCloseable, NTSendable {
    m_spi.write(buf, 2);
  }

-  /** {@inheritDoc} */
  public void reset() {
    synchronized (this) {
      m_integ_angle = 0.0;
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
@@ -49,7 +49,6 @@ public class ADXL345_I2C implements Accelerometer, NTSendable, AutoCloseable {
    kZ((byte) 0x04);

    /** The integer value representing this enumeration. */
-    @SuppressWarnings("MemberName")
    public final byte value;

    Axes(byte value) {
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java
@@ -26,7 +26,7 @@ import java.nio.ByteOrder;
 * <p>This class is for the digital ADXRS450 gyro sensor that connects via SPI. Only one instance of
 * an ADXRS Gyro is supported.
 */
-@SuppressWarnings({"TypeName", "AbbreviationAsWordInName", "PMD.UnusedPrivateField"})
+@SuppressWarnings({"TypeName", "PMD.UnusedPrivateField"})
 public class ADXRS450_Gyro implements Gyro, Sendable {
  private static final double kSamplePeriod = 0.0005;
  private static final double kCalibrationSampleTime = 5.0;
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AddressableLEDBuffer.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AddressableLEDBuffer.java
@@ -28,7 +28,6 @@ public class AddressableLEDBuffer {
   * @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) {
    m_buffer[index * 4] = (byte) b;
    m_buffer[(index * 4) + 1] = (byte) g;
@@ -44,7 +43,6 @@ public class AddressableLEDBuffer {
   * @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) {
    if (s == 0) {
      setRGB(index, v, v, v);
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java
@@ -192,7 +192,6 @@ public class Counter implements CounterBase, Sendable, AutoCloseable {
   *
   * @return the Counter's FPGA index
   */
-  @SuppressWarnings("AbbreviationAsWordInName")
  public int getFPGAIndex() {
    return m_index;
  }
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DataLogManager.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DataLogManager.java
@@ -188,7 +188,6 @@ public final class DataLogManager {
    }
  }

-  @SuppressWarnings("PMD.EmptyCatchBlock")
  private static String makeLogDir(String dir) {
    if (!dir.isEmpty()) {
      return dir;
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
@@ -80,59 +80,25 @@ public final class DriverStation {
    }
  } /* DriverStationTask */

+  @SuppressWarnings("MemberName")
  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;

    MatchDataSender() {
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycle.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycle.java
@@ -100,7 +100,6 @@ public class DutyCycle implements Sendable, AutoCloseable {
   *
   * @return the FPGA index
   */
-  @SuppressWarnings("AbbreviationAsWordInName")
  public final int getFPGAIndex() {
    return DutyCycleJNI.getFPGAIndex(m_handle);
  }
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
@@ -299,7 +299,6 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
   *
   * @return the FPGA index
   */
-  @SuppressWarnings("AbbreviationAsWordInName")
  public int getFPGAIndex() {
    return m_dutyCycle.getFPGAIndex();
  }
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java
@@ -282,7 +282,6 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
   *
   * @return The Encoder's FPGA index.
   */
-  @SuppressWarnings("AbbreviationAsWordInName")
  public int getFPGAIndex() {
    return EncoderJNI.getEncoderFPGAIndex(m_encoder);
  }
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/I2C.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/I2C.java
@@ -116,7 +116,6 @@ public class I2C implements AutoCloseable {
   * @param receiveSize Number of bytes to read from the device.
   * @return Transfer Aborted... false for success, true for aborted.
   */
-  @SuppressWarnings("ByteBufferBackingArray")
  public synchronized boolean transaction(
      ByteBuffer dataToSend, int sendSize, ByteBuffer dataReceived, int receiveSize) {
    if (dataToSend.hasArray() && dataReceived.hasArray()) {
@@ -211,7 +210,6 @@ public class I2C implements AutoCloseable {
   * @param size The number of data bytes to write.
   * @return Transfer Aborted... false for success, true for aborted.
   */
-  @SuppressWarnings("ByteBufferBackingArray")
  public synchronized boolean writeBulk(ByteBuffer data, int size) {
    if (data.hasArray()) {
      return writeBulk(data.array(), size);
@@ -266,7 +264,6 @@ public class I2C implements AutoCloseable {
   * @param buffer A buffer to store the data read from the device.
   * @return Transfer Aborted... false for success, true for aborted.
   */
-  @SuppressWarnings("ByteBufferBackingArray")
  public boolean read(int registerAddress, int count, ByteBuffer buffer) {
    if (count < 1) {
      throw new BoundaryException("Value must be at least 1, " + count + " given");
@@ -323,7 +320,6 @@ public class I2C implements AutoCloseable {
   * @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");
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
@@ -134,7 +134,6 @@ public abstract class IterativeRobotBase extends RobotBase {
   * <p>Users should override this method for initialization code which will be called each time the
   * robot enters test mode.
   */
-  @SuppressWarnings("PMD.JUnit4TestShouldUseTestAnnotation")
  public void testInit() {}

  /* ----------- Overridable periodic code ----------------- */
@@ -196,7 +195,6 @@ public abstract class IterativeRobotBase extends RobotBase {
  private boolean m_tmpFirstRun = true;

  /** Periodic code for test mode should go here. */
-  @SuppressWarnings("PMD.JUnit4TestShouldUseTestAnnotation")
  public void testPeriodic() {
    if (m_tmpFirstRun) {
      System.out.println("Default testPeriodic() method... Override me!");
@@ -234,7 +232,6 @@ public abstract class IterativeRobotBase extends RobotBase {
   * <p>Users should override this method for code which will be called each time the robot exits
   * test mode.
   */
-  @SuppressWarnings("PMD.JUnit4TestShouldUseTestAnnotation")
  public void testExit() {}

  /**
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
@@ -269,27 +269,11 @@ public abstract class RobotBase implements AutoCloseable {
  /** Ends the main loop in startCompetition(). */
  public abstract void endCompetition();

-  @SuppressWarnings("MissingJavadocMethod")
-  public static boolean getBooleanProperty(String name, boolean defaultValue) {
-    String propVal = System.getProperty(name);
-    if (propVal == null) {
-      return defaultValue;
-    }
-    if ("false".equalsIgnoreCase(propVal)) {
-      return false;
-    } else if ("true".equalsIgnoreCase(propVal)) {
-      return true;
-    } else {
-      throw new IllegalStateException(propVal);
-    }
-  }
-
  private static final ReentrantLock m_runMutex = new ReentrantLock();
  private static RobotBase m_robotCopy;
  private static boolean m_suppressExitWarning;

  /** Run the robot main loop. */
-  @SuppressWarnings({"PMD.AvoidCatchingThrowable", "PMD.AvoidReassigningCatchVariables"})
  private static <T extends RobotBase> void runRobot(Supplier<T> robotSupplier) {
    System.out.println("********** Robot program starting **********");

--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotController.java
@@ -21,7 +21,6 @@ public final class RobotController {
   *
   * @return FPGA Version number.
   */
-  @SuppressWarnings("AbbreviationAsWordInName")
  public static int getFPGAVersion() {
    return HALUtil.getFPGAVersion();
  }
@@ -33,7 +32,6 @@ public final class RobotController {
   *
   * @return FPGA Revision number.
   */
-  @SuppressWarnings("AbbreviationAsWordInName")
  public static long getFPGARevision() {
    return (long) HALUtil.getFPGARevision();
  }
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java
@@ -4,28 +4,57 @@

 package edu.wpi.first.wpilibj;

-@SuppressWarnings("MissingJavadocMethod")
 public final class RobotState {
+  /**
+   * Returns true if the robot is disabled.
+   *
+   * @return True if the robot is disabled.
+   */
  public static boolean isDisabled() {
    return DriverStation.isDisabled();
  }

+  /**
+   * Returns true if the robot is enabled.
+   *
+   * @return True if the robot is enabled.
+   */
  public static boolean isEnabled() {
    return DriverStation.isEnabled();
  }

+  /**
+   * Returns true if the robot is E-stopped.
+   *
+   * @return True if the robot is E-stopped.
+   */
  public static boolean isEStopped() {
    return DriverStation.isEStopped();
  }

+  /**
+   * Returns true if the robot is in teleop mode.
+   *
+   * @return True if the robot is in teleop mode.
+   */
  public static boolean isTeleop() {
    return DriverStation.isTeleop();
  }

+  /**
+   * Returns true if the robot is in autonomous mode.
+   *
+   * @return True if the robot is in autonomous mode.
+   */
  public static boolean isAutonomous() {
    return DriverStation.isAutonomous();
  }

+  /**
+   * Returns true if the robot is in test mode.
+   *
+   * @return True if the robot is in test mode.
+   */
  public static boolean isTest() {
    return DriverStation.isTest();
  }
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java
@@ -208,7 +208,6 @@ public class SPI implements AutoCloseable {
   * @param size The number of bytes to send.
   * @return Number of bytes written or -1 on error.
   */
-  @SuppressWarnings("ByteBufferBackingArray")
  public int write(ByteBuffer dataToSend, int size) {
    if (dataToSend.hasArray()) {
      return write(dataToSend.array(), size);
@@ -257,7 +256,6 @@ public class SPI implements AutoCloseable {
   * @param size The length of the transaction, in bytes
   * @return Number of bytes read or -1 on error.
   */
-  @SuppressWarnings("ByteBufferBackingArray")
  public int read(boolean initiate, ByteBuffer dataReceived, int size) {
    if (dataReceived.hasArray()) {
      return read(initiate, dataReceived.array(), size);
@@ -297,7 +295,6 @@ public class SPI implements AutoCloseable {
   * @param size The length of the transaction, in bytes
   * @return TODO
   */
-  @SuppressWarnings("ByteBufferBackingArray")
  public int transaction(ByteBuffer dataToSend, ByteBuffer dataReceived, int size) {
    if (dataToSend.hasArray() && dataReceived.hasArray()) {
      return transaction(dataToSend.array(), dataReceived.array(), size);
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SensorUtil.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SensorUtil.java
@@ -141,7 +141,6 @@ public final class SensorUtil {
   *
   * @return The number of the default solenoid module.
   */
-  @SuppressWarnings("AbbreviationAsWordInName")
  public static int getDefaultCTREPCMModule() {
    return 0;
  }
@@ -151,7 +150,6 @@ public final class SensorUtil {
   *
   * @return The number of the default solenoid module.
   */
-  @SuppressWarnings("AbbreviationAsWordInName")
  public static int getDefaultREVPHModule() {
    return 1;
  }
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SynchronousInterrupt.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SynchronousInterrupt.java
@@ -21,14 +21,13 @@ public class SynchronousInterrupt implements AutoCloseable {

  private final int m_handle;

-  @SuppressWarnings("JavadocMethod")
+  /** Event trigger combinations for a synchronous interrupt. */
  public enum WaitResult {
    kTimeout(0x0),
    kRisingEdge(0x1),
    kFallingEdge(0x100),
    kBoth(0x101);

-    @SuppressWarnings("MemberName")
    public final int value;

    WaitResult(int value) {
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
@@ -101,7 +101,6 @@ public class TimedRobot extends IterativeRobotBase {

  /** Provide an alternate "main loop" via startCompetition(). */
  @Override
-  @SuppressWarnings("UnsafeFinalization")
  public void startCompetition() {
    robotInit();

--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java
@@ -17,7 +17,6 @@ public class Timer {
   *
   * @return Robot running time in seconds.
   */
-  @SuppressWarnings("AbbreviationAsWordInName")
  public static double getFPGATimestamp() {
    return RobotController.getFPGATime() / 1000000.0;
  }
@@ -55,7 +54,7 @@ public class Timer {
  private double m_accumulatedTime;
  private boolean m_running;

-  @SuppressWarnings("MissingJavadocMethod")
+  /** Timer constructor. */
  public Timer() {
    reset();
  }
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Tracer.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Tracer.java
@@ -22,7 +22,6 @@ public class Tracer {
  private long m_lastEpochsPrintTime; // microseconds
  private long m_startTime; // microseconds

-  @SuppressWarnings("PMD.UseConcurrentHashMap")
  private final Map<String, Long> m_epochs = new HashMap<>(); // microseconds

  /** Tracer constructor. */
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java
@@ -208,7 +208,6 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
    m_suppressTimeoutMessage = suppress;
  }

-  @SuppressWarnings("resource")
  private static void updateAlarm() {
    if (m_watchdogs.size() == 0) {
      NotifierJNI.cancelNotifierAlarm(m_notifier);
@@ -225,7 +224,6 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
    return inst;
  }

-  @SuppressWarnings("PMD.AvoidDeeplyNestedIfStmts")
  private static void schedulerFunc() {
    while (!Thread.currentThread().isInterrupted()) {
      long curTime = NotifierJNI.waitForNotifierAlarm(m_notifier);
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java
@@ -30,7 +30,6 @@ public class XboxController extends GenericHID {
    kBack(7),
    kStart(8);

-    @SuppressWarnings("MemberName")
    public final int value;

    Button(int value) {
@@ -64,7 +63,6 @@ public class XboxController extends GenericHID {
    kLeftTrigger(2),
    kRightTrigger(3);

-    @SuppressWarnings("MemberName")
    public final int value;

    Axis(int value) {
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
@@ -155,7 +155,6 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
   * @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
   *     positive.
   */
-  @SuppressWarnings("ParameterName")
  public void arcadeDrive(double xSpeed, double zRotation) {
    arcadeDrive(xSpeed, zRotation, true);
  }
@@ -168,7 +167,6 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
   *     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(
@@ -198,7 +196,6 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
   * @param allowTurnInPlace If set, overrides constant-curvature turning for turn-in-place
   *     maneuvers. zRotation will control turning rate instead of curvature.
   */
-  @SuppressWarnings("ParameterName")
  public void curvatureDrive(double xSpeed, double zRotation, boolean allowTurnInPlace) {
    if (!m_reported) {
      HAL.report(
@@ -264,7 +261,6 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
   * @param squareInputs If set, decreases the input sensitivity at low speeds.
   * @return Wheel speeds [-1.0..1.0].
   */
-  @SuppressWarnings("ParameterName")
  public static WheelSpeeds arcadeDriveIK(double xSpeed, double zRotation, boolean squareInputs) {
    xSpeed = MathUtil.clamp(xSpeed, -1.0, 1.0);
    zRotation = MathUtil.clamp(zRotation, -1.0, 1.0);
@@ -323,7 +319,6 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
   *     maneuvers. zRotation will control rotation rate around the Z axis instead of curvature.
   * @return Wheel speeds [-1.0..1.0].
   */
-  @SuppressWarnings("ParameterName")
  public static WheelSpeeds curvatureDriveIK(
      double xSpeed, double zRotation, boolean allowTurnInPlace) {
    xSpeed = MathUtil.clamp(xSpeed, -1.0, 1.0);
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java
@@ -172,7 +172,6 @@ public class KilloughDrive extends RobotDriveBase implements Sendable, AutoClose
   * @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
   *     positive.
   */
-  @SuppressWarnings("ParameterName")
  public void driveCartesian(double ySpeed, double xSpeed, double zRotation) {
    driveCartesian(ySpeed, xSpeed, zRotation, 0.0);
  }
@@ -190,7 +189,6 @@ public class KilloughDrive extends RobotDriveBase implements Sendable, AutoClose
   * @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(
@@ -221,7 +219,6 @@ public class KilloughDrive extends RobotDriveBase implements Sendable, AutoClose
   * @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
   *     positive.
   */
-  @SuppressWarnings("ParameterName")
  public void drivePolar(double magnitude, double angle, double zRotation) {
    if (!m_reported) {
      HAL.report(tResourceType.kResourceType_RobotDrive, tInstances.kRobotDrive2_KilloughPolar, 3);
@@ -247,7 +244,6 @@ public class KilloughDrive extends RobotDriveBase implements Sendable, AutoClose
   *     positive.
   * @return Wheel speeds [-1.0..1.0].
   */
-  @SuppressWarnings("ParameterName")
  public WheelSpeeds driveCartesianIK(double ySpeed, double xSpeed, double zRotation) {
    return driveCartesianIK(ySpeed, xSpeed, zRotation, 0.0);
  }
@@ -266,7 +262,6 @@ public class KilloughDrive extends RobotDriveBase implements Sendable, AutoClose
   *     to implement field-oriented controls.
   * @return Wheel speeds [-1.0..1.0].
   */
-  @SuppressWarnings("ParameterName")
  public WheelSpeeds driveCartesianIK(
      double ySpeed, double xSpeed, double zRotation, double gyroAngle) {
    ySpeed = MathUtil.clamp(ySpeed, -1.0, 1.0);
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
@@ -139,7 +139,6 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
   * @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
   *     positive.
   */
-  @SuppressWarnings("ParameterName")
  public void driveCartesian(double ySpeed, double xSpeed, double zRotation) {
    driveCartesian(ySpeed, xSpeed, zRotation, 0.0);
  }
@@ -157,7 +156,6 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
   * @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(
@@ -189,7 +187,6 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
   * @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
   *     positive.
   */
-  @SuppressWarnings("ParameterName")
  public void drivePolar(double magnitude, double angle, double zRotation) {
    if (!m_reported) {
      HAL.report(tResourceType.kResourceType_RobotDrive, tInstances.kRobotDrive2_MecanumPolar, 4);
@@ -215,7 +212,6 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
   *     positive.
   * @return Wheel speeds [-1.0..1.0].
   */
-  @SuppressWarnings("ParameterName")
  public static WheelSpeeds driveCartesianIK(double ySpeed, double xSpeed, double zRotation) {
    return driveCartesianIK(ySpeed, xSpeed, zRotation, 0.0);
  }
@@ -234,7 +230,6 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
   *     to implement field-oriented controls.
   * @return Wheel speeds [-1.0..1.0].
   */
-  @SuppressWarnings("ParameterName")
  public static WheelSpeeds driveCartesianIK(
      double ySpeed, double xSpeed, double zRotation, double gyroAngle) {
    ySpeed = MathUtil.clamp(ySpeed, -1.0, 1.0);
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/Vector2d.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/Vector2d.java
@@ -5,11 +5,9 @@
 package edu.wpi.first.wpilibj.drive;

 /** This is a 2D vector struct that supports basic vector operations. */
+@SuppressWarnings("MemberName")
 public class Vector2d {
-  @SuppressWarnings("MemberName")
  public double x;
-
-  @SuppressWarnings("MemberName")
  public double y;

  public Vector2d() {}
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/SendableCameraWrapper.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/SendableCameraWrapper.java
@@ -37,7 +37,6 @@ public final class SendableCameraWrapper implements Sendable, AutoCloseable {
  }

  /** Clears all cached wrapper objects. This should only be used in tests. */
-  @SuppressWarnings("PMD.DefaultPackage")
  static void clearWrappers() {
    m_wrappers.clear();
  }
@@ -73,7 +72,6 @@ public final class SendableCameraWrapper implements Sendable, AutoCloseable {
   * @return a sendable wrapper object for the video source, usable in Shuffleboard via {@link
   *     ShuffleboardTab#add(Sendable)} and {@link ShuffleboardLayout#add(Sendable)}
   */
-  @SuppressWarnings("PMD.CyclomaticComplexity")
  public static SendableCameraWrapper wrap(String cameraName, String... cameraUrls) {
    if (m_wrappers.containsKey(cameraName)) {
      return m_wrappers.get(cameraName);
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADIS16448_IMUSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADIS16448_IMUSim.java
@@ -8,7 +8,7 @@ import edu.wpi.first.hal.SimDouble;
 import edu.wpi.first.wpilibj.ADIS16448_IMU;

 /** Class to control a simulated ADIS16448 gyroscope. */
-@SuppressWarnings({"TypeName", "AbbreviationAsWordInName"})
+@SuppressWarnings("TypeName")
 public class ADIS16448_IMUSim {
  private final SimDouble m_simGyroAngleX;
  private final SimDouble m_simGyroAngleY;
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADIS16470_IMUSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADIS16470_IMUSim.java
@@ -8,7 +8,7 @@ import edu.wpi.first.hal.SimDouble;
 import edu.wpi.first.wpilibj.ADIS16470_IMU;

 /** Class to control a simulated ADIS16470 gyroscope. */
-@SuppressWarnings({"TypeName", "AbbreviationAsWordInName"})
+@SuppressWarnings("TypeName")
 public class ADIS16470_IMUSim {
  private final SimDouble m_simGyroAngleX;
  private final SimDouble m_simGyroAngleY;
--- 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
@@ -8,7 +8,7 @@ import edu.wpi.first.hal.SimDouble;
 import edu.wpi.first.wpilibj.ADXRS450_Gyro;

 /** Class to control a simulated ADXRS450 gyroscope. */
-@SuppressWarnings({"TypeName", "AbbreviationAsWordInName"})
+@SuppressWarnings("TypeName")
 public class ADXRS450_GyroSim {
  private final SimDouble m_simAngle;
  private final SimDouble m_simRate;
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/BuiltInAccelerometerSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/BuiltInAccelerometerSim.java
@@ -116,7 +116,6 @@ public class BuiltInAccelerometerSim {
   *
   * @param x the new reading of the X axis
   */
-  @SuppressWarnings("ParameterName")
  public void setX(double x) {
    AccelerometerDataJNI.setX(m_index, x);
  }
@@ -148,7 +147,6 @@ public class BuiltInAccelerometerSim {
   *
   * @param y the new reading of the Y axis
   */
-  @SuppressWarnings("ParameterName")
  public void setY(double y) {
    AccelerometerDataJNI.setY(m_index, y);
  }
@@ -180,7 +178,6 @@ public class BuiltInAccelerometerSim {
   *
   * @param z the new reading of the Z axis
   */
-  @SuppressWarnings("ParameterName")
  public void setZ(double z) {
    AccelerometerDataJNI.setZ(m_index, z);
  }
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/CTREPCMSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/CTREPCMSim.java
@@ -10,7 +10,6 @@ import edu.wpi.first.wpilibj.PneumaticsControlModule;
 import edu.wpi.first.wpilibj.SensorUtil;

 /** Class to control a simulated Pneumatic Control Module (PCM). */
-@SuppressWarnings("AbbreviationAsWordInName")
 public class CTREPCMSim extends PneumaticsBaseSim {
  /** Constructs for the default PCM. */
  public CTREPCMSim() {
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java
@@ -59,7 +59,6 @@ public class DCMotorSim extends LinearSystemSim<N2, N1, N2> {
   * @param jKgMetersSquared The moment of inertia of the DC motor. If this is unknown, use the
   *     {@link #DCMotorSim(LinearSystem, DCMotor, double, Matrix)} constructor.
   */
-  @SuppressWarnings("ParameterName")
  public DCMotorSim(DCMotor gearbox, double gearing, double jKgMetersSquared) {
    super(LinearSystemId.createDCMotorSystem(gearbox, jKgMetersSquared, gearing));
    m_gearbox = gearbox;
@@ -75,7 +74,6 @@ public class DCMotorSim extends LinearSystemSim<N2, N1, N2> {
   *     {@link #DCMotorSim(LinearSystem, DCMotor, double, Matrix)} constructor.
   * @param measurementStdDevs The standard deviations of the measurements.
   */
-  @SuppressWarnings("ParameterName")
  public DCMotorSim(
      DCMotor gearbox, double gearing, double jKgMetersSquared, Matrix<N2, N1> measurementStdDevs) {
    super(
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
@@ -44,13 +44,8 @@ public class DifferentialDrivetrainSim {
  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;

  private final double m_rb;
@@ -72,7 +67,6 @@ public class DifferentialDrivetrainSim {
   *     m/s, and position measurement standard deviations of 0.005 meters are a reasonable starting
   *     point.
   */
-  @SuppressWarnings("ParameterName")
  public DifferentialDrivetrainSim(
      DCMotor driveMotor,
      double gearing,
@@ -153,7 +147,6 @@ public class DifferentialDrivetrainSim {
   *
   * @param dtSeconds the time difference
   */
-  @SuppressWarnings("LocalVariableName")
  public void update(double dtSeconds) {
    // Update state estimate with RK4
    m_x = NumericalIntegration.rk4(this::getDynamics, m_x, m_u, dtSeconds);
@@ -316,7 +309,6 @@ public class DifferentialDrivetrainSim {
    m_x.set(State.kRightPosition.value, 0, 0);
  }

-  @SuppressWarnings({"DuplicatedCode", "LocalVariableName", "ParameterName"})
  protected Matrix<N7, N1> getDynamics(Matrix<N7, N1> x, Matrix<N2, N1> u) {
    // Because G can be factored out of B, we can divide by the old ratio and multiply
    // by the new ratio to get a new drivetrain model.
@@ -373,10 +365,8 @@ public class DifferentialDrivetrainSim {
    kLeftPosition(5),
    kRightPosition(6);

-    @SuppressWarnings("MemberName")
    public final int value;

-    @SuppressWarnings("ParameterName")
    State(int i) {
      this.value = i;
    }
@@ -393,10 +383,8 @@ public class DifferentialDrivetrainSim {
    k7p31(7.31),
    k5p95(5.95);

-    @SuppressWarnings("MemberName")
    public final double value;

-    @SuppressWarnings("ParameterName")
    KitbotGearing(double i) {
      this.value = i;
    }
@@ -413,10 +401,8 @@ public class DifferentialDrivetrainSim {
    kSingleNEOPerSide(DCMotor.getNEO(1)),
    kDoubleNEOPerSide(DCMotor.getNEO(2));

-    @SuppressWarnings("MemberName")
    public final DCMotor value;

-    @SuppressWarnings("ParameterName")
    KitbotMotor(DCMotor i) {
      this.value = i;
    }
@@ -428,10 +414,8 @@ public class DifferentialDrivetrainSim {
    kEightInch(Units.inchesToMeters(8)),
    kTenInch(Units.inchesToMeters(10));

-    @SuppressWarnings("MemberName")
    public final double value;

-    @SuppressWarnings("ParameterName")
    KitbotWheelSize(double i) {
      this.value = i;
    }
@@ -479,7 +463,6 @@ public class DifferentialDrivetrainSim {
   *     point.
   * @return A sim for the standard FRC kitbot.
   */
-  @SuppressWarnings("ParameterName")
  public static DifferentialDrivetrainSim createKitbotSim(
      KitbotMotor motor,
      KitbotGearing gearing,
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DriverStationSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DriverStationSim.java
@@ -138,7 +138,6 @@ public final class DriverStationSim {
   *
   * @param eStop true to activate
   */
-  @SuppressWarnings("ParameterName")
  public static void setEStop(boolean eStop) {
    DriverStationDataJNI.setEStop(eStop);
  }
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java
@@ -244,14 +244,13 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N1> {
   * @param u The system inputs (voltage).
   * @param dtSeconds The time difference between controller updates.
   */
-  @SuppressWarnings({"ParameterName", "LambdaParameterName"})
  @Override
  protected Matrix<N2, N1> updateX(Matrix<N2, N1> currentXhat, Matrix<N1, N1> u, double dtSeconds) {
    // Calculate updated x-hat from Runge-Kutta.
    var updatedXhat =
        NumericalIntegration.rkdp(
-            (x, u_) -> {
-              Matrix<N2, N1> xdot = m_plant.getA().times(x).plus(m_plant.getB().times(u_));
+            (x, _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, -9.8));
              }
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java
@@ -58,7 +58,6 @@ public class FlywheelSim extends LinearSystemSim<N1, N1, N1> {
   * @param jKgMetersSquared The moment of inertia of the flywheel. If this is unknown, use the
   *     {@link #FlywheelSim(LinearSystem, DCMotor, double, Matrix)} constructor.
   */
-  @SuppressWarnings("ParameterName")
  public FlywheelSim(DCMotor gearbox, double gearing, double jKgMetersSquared) {
    super(LinearSystemId.createFlywheelSystem(gearbox, jKgMetersSquared, gearing));
    m_gearbox = gearbox;
@@ -74,7 +73,6 @@ public class FlywheelSim extends LinearSystemSim<N1, N1, N1> {
   *     {@link #FlywheelSim(LinearSystem, DCMotor, double, Matrix)} constructor.
   * @param measurementStdDevs The standard deviations of the measurements.
   */
-  @SuppressWarnings("ParameterName")
  public FlywheelSim(
      DCMotor gearbox, double gearing, double jKgMetersSquared, Matrix<N1, N1> measurementStdDevs) {
    super(
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java
@@ -27,19 +27,13 @@ import org.ejml.simple.SimpleMatrix;
 * @param <Inputs> The number of inputs to the system.
 * @param <Outputs> The number of outputs of the system.
 */
-@SuppressWarnings("ClassTypeParameterName")
 public class LinearSystemSim<States extends Num, Inputs extends Num, Outputs extends Num> {
  // The plant that represents the linear system.
  protected final LinearSystem<States, Inputs, Outputs> m_plant;

  // 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;

  // The standard deviations of measurements, used for adding noise
@@ -77,7 +71,6 @@ public class LinearSystemSim<States extends Num, Inputs extends Num, Outputs ext
   *
   * @param dtSeconds The time between updates.
   */
-  @SuppressWarnings("LocalVariableName")
  public void update(double dtSeconds) {
    // Update X. By default, this is the linear system dynamics X = Ax + Bu
    m_x = updateX(m_x, m_u, dtSeconds);
@@ -115,7 +108,6 @@ public class LinearSystemSim<States extends Num, Inputs extends Num, Outputs ext
   *
   * @param u The system inputs.
   */
-  @SuppressWarnings("ParameterName")
  public void setInput(Matrix<Inputs, N1> u) {
    this.m_u = clampInput(u);
  }
@@ -136,7 +128,6 @@ public class LinearSystemSim<States extends Num, Inputs extends Num, Outputs ext
   *
   * @param u An array of doubles that represent the inputs of the system.
   */
-  @SuppressWarnings("ParameterName")
  public void setInput(double... u) {
    if (u.length != m_u.getNumRows()) {
      throw new MatrixDimensionException(
@@ -172,7 +163,6 @@ public class LinearSystemSim<States extends Num, Inputs extends Num, Outputs ext
   * @param dtSeconds The time difference between controller updates.
   * @return The new state.
   */
-  @SuppressWarnings("ParameterName")
  protected Matrix<States, N1> updateX(
      Matrix<States, N1> currentXhat, Matrix<Inputs, N1> u, double dtSeconds) {
    return m_plant.calculateX(currentXhat, u, dtSeconds);
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/REVPHSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/REVPHSim.java
@@ -10,7 +10,6 @@ import edu.wpi.first.wpilibj.PneumaticHub;
 import edu.wpi.first.wpilibj.SensorUtil;

 /** Class to control a simulated PneumaticHub (PH). */
-@SuppressWarnings("AbbreviationAsWordInName")
 public class REVPHSim extends PneumaticsBaseSim {
  /** Constructs for the default PH. */
  public REVPHSim() {
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/RoboRioSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/RoboRioSim.java
@@ -21,7 +21,6 @@ public final class RoboRioSim {
   * @return the {@link CallbackStore} object associated with this callback. Save a reference to
   *     this object so GC doesn't cancel the callback.
   */
-  @SuppressWarnings("AbbreviationAsWordInName")
  public static CallbackStore registerFPGAButtonCallback(
      NotifyCallback callback, boolean initialNotify) {
    int uid = RoboRioDataJNI.registerFPGAButtonCallback(callback, initialNotify);
@@ -33,7 +32,6 @@ public final class RoboRioSim {
   *
   * @return the FPGA button state
   */
-  @SuppressWarnings("AbbreviationAsWordInName")
  public static boolean getFPGAButton() {
    return RoboRioDataJNI.getFPGAButton();
  }
@@ -43,7 +41,6 @@ public final class RoboRioSim {
   *
   * @param fpgaButton the new state
   */
-  @SuppressWarnings("AbbreviationAsWordInName")
  public static void setFPGAButton(boolean fpgaButton) {
    RoboRioDataJNI.setFPGAButton(fpgaButton);
  }
@@ -76,7 +73,6 @@ public final class RoboRioSim {
   *
   * @param vInVoltage the new voltage
   */
-  @SuppressWarnings("ParameterName")
  public static void setVInVoltage(double vInVoltage) {
    RoboRioDataJNI.setVInVoltage(vInVoltage);
  }
@@ -109,7 +105,6 @@ public final class RoboRioSim {
   *
   * @param vInCurrent the new current
   */
-  @SuppressWarnings("ParameterName")
  public static void setVInCurrent(double vInCurrent) {
    RoboRioDataJNI.setVInCurrent(vInCurrent);
  }
@@ -526,7 +521,6 @@ public final class RoboRioSim {
   *
   * @param vInVoltage the new voltage
   */
-  @SuppressWarnings("ParameterName")
  public static void setBrownoutVoltage(double vInVoltage) {
    RoboRioDataJNI.setBrownoutVoltage(vInVoltage);
  }
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SPIAccelerometerSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SPIAccelerometerSim.java
@@ -109,7 +109,6 @@ public class SPIAccelerometerSim {
   *
   * @param x the new reading of the X axis
   */
-  @SuppressWarnings("ParameterName")
  public void setX(double x) {
    SPIAccelerometerDataJNI.setX(m_index, x);
  }
@@ -141,7 +140,6 @@ public class SPIAccelerometerSim {
   *
   * @param y the new reading of the Y axis
   */
-  @SuppressWarnings("ParameterName")
  public void setY(double y) {
    SPIAccelerometerDataJNI.setY(m_index, y);
  }
@@ -173,7 +171,6 @@ public class SPIAccelerometerSim {
   *
   * @param z the new reading of the Z axis
   */
-  @SuppressWarnings("ParameterName")
  public void setZ(double z) {
    SPIAccelerometerDataJNI.setZ(m_index, z);
  }
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
@@ -22,7 +22,6 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
  private final double m_gearing;

  // The length of the arm.
-  @SuppressWarnings("MemberName")
  private final double m_r;

  // The minimum angle that the arm is capable of.
@@ -115,7 +114,6 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
   * @param armMassKg The mass of the arm.
   * @param simulateGravity Whether gravity should be simulated or not.
   */
-  @SuppressWarnings("ParameterName")
  public SingleJointedArmSim(
      DCMotor gearbox,
      double gearing,
@@ -150,7 +148,6 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
   * @param simulateGravity Whether gravity should be simulated or not.
   * @param measurementStdDevs The standard deviations of the measurements.
   */
-  @SuppressWarnings("ParameterName")
  public SingleJointedArmSim(
      DCMotor gearbox,
      double gearing,
@@ -270,7 +267,6 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
   * @param dtSeconds The time difference between controller updates.
   */
  @Override
-  @SuppressWarnings({"ParameterName", "LambdaParameterName"})
  protected Matrix<N2, N1> updateX(Matrix<N2, N1> currentXhat, Matrix<N1, N1> u, double dtSeconds) {
    // Horizontal case:
    // Torque = F * r = I * alpha
@@ -283,8 +279,8 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
    // cos(theta)]]
    Matrix<N2, N1> updatedXhat =
        NumericalIntegration.rkdp(
-            (Matrix<N2, N1> x, Matrix<N1, N1> u_) -> {
-              Matrix<N2, N1> xdot = m_plant.getA().times(x).plus(m_plant.getB().times(u_));
+            (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(
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/Field2d.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/Field2d.java
@@ -54,7 +54,6 @@ public class Field2d implements NTSendable {
   * @param yMeters Y location, in meters
   * @param rotation rotation
   */
-  @SuppressWarnings("ParameterName")
  public synchronized void setRobotPose(double xMeters, double yMeters, Rotation2d rotation) {
    m_objects.get(0).setPose(xMeters, yMeters, rotation);
  }
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java
@@ -41,7 +41,6 @@ public class FieldObject2d {
   * @param yMeters Y location, in meters
   * @param rotation rotation
   */
-  @SuppressWarnings("ParameterName")
  public synchronized void setPose(double xMeters, double yMeters, Rotation2d rotation) {
    setPose(new Pose2d(xMeters, yMeters, rotation));
  }
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color.java
@@ -50,7 +50,6 @@ public class Color {
   * @param v The v value [0-255]
   * @return The color
   */
-  @SuppressWarnings("ParameterName")
  public static Color fromHSV(int h, int s, int v) {
    if (s == 0) {
      return new Color(v / 255.0, v / 255.0, v / 255.0);